CN210518029U - Microminiature brushless DC motor integrates driver - Google Patents
Microminiature brushless DC motor integrates driver Download PDFInfo
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- CN210518029U CN210518029U CN201921433728.8U CN201921433728U CN210518029U CN 210518029 U CN210518029 U CN 210518029U CN 201921433728 U CN201921433728 U CN 201921433728U CN 210518029 U CN210518029 U CN 210518029U
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Abstract
A microminiature brushless direct current motor integrated driver belongs to the technical field of electromechanical servo systems. The utility model adopts a miniaturized electrical scheme, the control electricity, the driving electricity and the power electricity adopt non-isolated power supply, a non-isolated power conversion chip is adopted, the increase of the volume of a driver caused by the introduction of an isolation device is avoided, and the electromagnetic interference among the power electricity, the driving electricity and the control electricity is reduced to the maximum extent through the electromagnetic compatibility design; an integrated driving scheme is adopted, partial hardware design of a driving circuit is developed on the basis of an AMT49413 chip, and the acquisition of motor HALL signals, motor reversing control and closed-loop control are completed by utilizing the resources of the chip; meanwhile, a double-layer board opposite-inserting structure is adopted, circuits of a control part and a driving part are concentrated on an upper layer board, a power circuit is concentrated on a lower layer board, the layout and the shape of the control driving board are designed according to a power board bus wire inlet mode, and the opposite-inserting height of the two boards is reduced.
Description
Technical Field
The utility model relates to a microminiature brushless DC motor integrates driver belongs to electromechanical servo technical field.
Background
With the rapid development and maturity of the robot technology, miniaturization and low cost become the main trend of future development, which puts higher and higher requirements on the volume and cost of the robot joint. The brushless direct current motor is widely applied to robot joints due to the characteristics of simple structure, high power density, high efficiency, good speed regulation performance and the like. As a main component of a robot joint, a brushless dc motor driver has a size and cost that become key factors limiting the development of robot technology.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem be: the defects of the prior art are overcome, the microminiature brushless direct current motor integrated driver is provided, the size and the weight of a robot joint can be effectively reduced, the research and development cost and the product cost are reduced, and the research and development period is shortened.
The technical solution of the utility model is that: a microminiature brushless direct current motor integrated driver comprises a power supply module, an interface conversion module, an MCU (microprogrammed control unit) main control module, an integrated drive module and a power module, wherein the MCU main control module is used for receiving an upper computer instruction, a motor position signal, a driver temperature signal and a bus current signal and outputting a drive circuit speed instruction;
the input end of the power supply module is input voltage, and the output end of the power supply module is connected with the driving electric equipment and the control electric equipment and respectively provides driving voltage and control voltage for the driving electric equipment and the control electric equipment; the driving electric equipment comprises an integrated driving module, and the control electric equipment comprises an MCU main control module and an interface conversion module; the power module is connected with an input voltage; the input end of the MCU master control module is connected with the upper computer, the industrial personal computer and the position sensor through the interface conversion module, and the output end of the MCU master control module is connected with the first input end of the integrated driving module; the second input end of the integrated driving module is connected with the first output end of the power module, and the output end of the integrated driving module is connected with the input end of the power module; and the second output end of the power module is connected with the brushless direct current motor.
And furthermore, the control electric equipment and the driving electric equipment are positioned on the upper plate, the power electric equipment is positioned on the lower plate, the layout and the shape of the control electric equipment, the driving electric equipment and the power electric equipment are determined according to a bus incoming line mode, and the opposite insertion height of the two plates is reduced.
Further, the interface conversion module comprises an information exchange circuit for communicating with different source devices.
Furthermore, the information exchange circuit comprises a CAN bus interface circuit used for communicating with an upper computer, an SSI interface circuit of an absolute encoder, an incremental encoder interface circuit and a USB-to-UART protocol conversion circuit used for realizing code programming of the MCU master control module.
Further, the driving chip of the integrated driving module is AMT 49413.
Further, a signal conditioning circuit for collecting bus current is integrated inside the driving chip AMT 49413.
Further, the driving chip AMT49413The driving voltage is V obtained by isolating the input voltage through a BNX026H01L chip of the power supply moduleBAT+ provided, the control voltage used by the control electronics is generated by a voltage regulator conversion integrated inside the driver chip AMT 49413.
Further, the power supply module further comprises a power conversion chip TPS79333 and a power conversion chip TPS 54560; the input end of the power conversion chip is connected with the TPS79333 through a USB and an external +5V power supply, and the output end of the power conversion chip is connected with the output end of the TPS 54560; the input end of the power conversion chip TPS54560 is connected with an input voltage through a BNX026H01L chip, and the input end of the driving chip AMT49413 is connected with the output end of the BNX026H01L chip and the input end of the power conversion chip TPS 54560.
Further, the input voltage is 48V.
Further, the control ground of the control electric device and the power ground of the power electric device are connected through the magnetic bead single point, and the driving electric device is simultaneously connected with the control ground and the power ground.
Compared with the prior art, the utility model the advantage lie in:
1. the utility model discloses a miniaturized electric scheme, control electricity, drive electricity and power electricity adopt non-isolated power supply, adopt non-isolated power conversion chip, avoid introducing of isolation device to cause the driver volume increase. Through the electromagnetic compatibility design, the electromagnetic interference among the power electricity, the driving electricity and the control electricity is reduced to the maximum extent. An integrated driving scheme is adopted, partial hardware design of a driving circuit is developed on the basis of an AMT49413 chip, and the acquisition of motor HALL signals, motor reversing control and closed-loop control are completed by utilizing the resources of the chip.
2. The utility model adopts a light structure design, adopts a double-layer board opposite-insertion structure, concentrates the control and drive part circuits on the upper layer board, concentrates the power circuit on the lower layer board, designs the layout and the shape of the control drive board according to the bus incoming line mode of the power board, and reduces the opposite-insertion height of the two boards; the casing adopts 3D to print, makes casing and driver laminate more, alleviates driver volume and weight, simplifies the driver installation.
3. The utility model adopts the driver cost control, adopts the non-isolated power conversion chip TPS54560 to supply power, the +3.3V control electricity is obtained by the direct conversion of power electricity, and the +5V control electricity is provided by the 5V reference voltage provided by the AMT49413, thereby reducing the number of the power conversion chips by half; build drive circuit with AMT49413, AMT49413 has with low costs, and the characteristics that the integrated level is high reduce drive circuit's cost 1/3, and this chip internal integration busbar current acquisition circuit has further reduced circuit cost simultaneously.
Drawings
Fig. 1 is a schematic diagram of the hardware components of the brushless dc motor driver according to the present invention;
fig. 2 is a schematic diagram of a power supply scheme of the brushless dc motor driver of the present invention.
Fig. 3 is a schematic layout diagram of a first driver board according to the present invention;
fig. 4 is a schematic layout diagram of a second driver board according to the present invention;
fig. 5 is a schematic view of the design of the driver housing according to the present invention.
Detailed Description
The present invention will be described with reference to the accompanying drawings.
As shown in fig. 1, the utility model discloses divide brushless dc driver into a plurality of modules, include power module 1, MCU host system 3, interface conversion module 2, integrate drive module 4 and power module 5.
The input end of the power supply module 1 is input voltage, and the output end of the power supply module is connected with the driving electric equipment and the control electric equipment to respectively provide driving voltage and control voltage for the driving electric equipment and the control electric equipment; the driving electric equipment comprises an integrated driving module 4, and the control electric equipment comprises an MCU (microprogrammed control Unit) main control module 3 and an interface conversion module 2; the power module 5 is connected to an input voltage. The power supply module 1 respectively converts the +48V bus voltage and the +5VUSB power supply voltage into VBATThe + drive electricity and the +3.3V control electricity supply power for the power module 5, the MCU main control module 3 and peripheral circuits thereof; AMT49413 mixing VBATThe + driving electricity is converted to generate +5V control electricity for the control electric equipment to use.
The input of MCU host system 3 passes through interface conversion module 2 and is connected with host computer, industrial computer and position sensor, receives host computer instruction and motor position signal, and the output is connected with the first input that integrates drive module 4, to integrating drive module 4 output drive circuit speed instruction, and the driver temperature signal, the generating line current signal that receive to integrate drive module 4 and send out. The MCU main control module 3 receives an instruction of an upper computer, finishes motor position closed-loop control by collecting a motor position signal, outputs a speed instruction of a driving circuit, and realizes overvoltage, undervoltage, overcurrent and temperature protection of the driver according to the collected temperature of the driver, a bus voltage signal and current provided by the integrated driving module;
the interface conversion module 2 comprises a CAN bus interface circuit, an SSI interface circuit of an absolute encoder, an incremental encoder interface circuit and a USB-to-UART protocol conversion circuit, wherein the CAN bus is used for communicating with an upper computer, receiving instructions of the upper computer and feeding back operating parameters of a driver, and the USB-to-UART protocol conversion circuit realizes code programming of the MCU. The interface conversion module 2 comprises an information exchange circuit for communicating with different source devices. The information exchange circuit comprises a CAN bus interface circuit used for communicating with an upper computer, an SSI interface circuit of an absolute encoder, an incremental encoder interface circuit and a USB-to-UART protocol conversion circuit used for realizing 3-code programming of the MCU main control module.
The second input end of the integrated driving module 4 is connected with the first output end of the power module 5, the output end of the integrated driving module is connected with the input end of the power module 5, and the second output end of the power module (5) is connected with the brushless direct current motor. The integrated driving module 4 receives a driving circuit speed instruction sent by the MCU main control module 3, a temperature sampling signal sent by the power module 5 and a brushless direct current motor HALL signal, and outputs a driving signal to the power module 5. The power module 5 is connected with the brushless direct current motor, receives the driving signal and provides torque, rotating speed and position information required by operation for the brushless direct current motor. Drive module 4 integrates replaces drive chip with AMT49413, realizes the collection of brushless direct current motor HALL signal, motor commutation control and speed closed-loop control, and the internal integrated signal conditioning circuit of this chip passes through the high accuracy resistance sampling in addition, gathers bus current, has saved the current sensor chip and has chooseed the cost for use.
Detailed description of the embodiments of the present invention
As shown in fig. 2, the power supply, the driving power and the control power of the present invention are supplied by non-isolated power. The power electricity is +48V bus voltage, and the driving electricity and the control electricity are converted from the +48V bus voltage. Wherein the drive current takes +48V bus voltage as input, and is isolated by a BNX026H01L chip of the power module 1 to obtain VBAT+ provide. The control electricity is supplied by double channels, when the driver is in a debugging stage, 5V power supply is provided for the driver through a USB, and the control electricity is converted into +3.3V control electricity through the TPS 79333; when the driver is working normally, the drive voltage VBAT+ generates the +3.3V power supply required for control through the power conversion chip TPS 54560. Because the output of the power circuit is obtained by PWM chopping, when the output current is large, large electromagnetic interference is generated on the driving circuit and the control circuit, the communication of the control circuit, signal acquisition and signal output control are influenced, and meanwhile, the interference is caused on the driving waveform generated by the driving circuit, so that the power device can not be normally switched. Therefore, the utility model discloses a mode of single-point ground connects power ground and control ground through the magnetic bead, the interference that the filtering power ground produced.
Fig. 3 and 4 are layout and overall structure design of each layer board of the driver, wherein the control board is irregularly designed to provide wire outlet space for the power electric connector of the drive board. The structural design mode reduces the overall height of the driver; the driver casing adopts the mode that 3D printed, makes casing and driver more laminate, reduces unnecessary space waste, reduction in production cost, simplifies the installation method, and the casing is as shown in figure 5, and brushless DC motor driver's mechanical dimension reaches 54mm 43mm 18 mm.
The details of the present invention not described in detail in the specification are well known to those skilled in the art.
Claims (10)
1. A microminiature brushless DC motor integrates driver which characterized in that: the system comprises a power module (1), an interface conversion module (2), an MCU (microprogrammed control unit) main control module (3) for receiving an instruction of an upper computer, a position signal of a motor, a temperature signal of a driver, a bus current signal and a speed instruction of an output driving circuit, an integrated driving module (4) for receiving the speed instruction of the driving circuit, a temperature sampling signal, a HALL signal of a brushless direct current motor and the output driving signal, and a power module (5) for controlling the torque, the rotating speed and the position of the brushless direct current motor;
the input end of the power supply module (1) is input voltage, and the output end of the power supply module is connected with the driving electric equipment and the control electric equipment and respectively provides driving voltage and control voltage for the driving electric equipment and the control electric equipment; the driving electric equipment comprises an integrated driving module (4), and the control electric equipment comprises an MCU (microprogrammed control Unit) main control module (3) and an interface conversion module (2); the power module (5) is connected with an input voltage; the input end of the MCU main control module (3) is connected with an upper computer, an industrial personal computer and a position sensor through an interface conversion module (2), and the output end of the MCU main control module is connected with the first input end of the integrated drive module (4); the second input end of the integrated driving module (4) is connected with the first output end of the power module (5), and the output end of the integrated driving module is connected with the input end of the power module (5); and a second output end of the power module (5) is connected with the brushless direct current motor.
2. The integrated driver of miniature brushless dc motor as claimed in claim 1, wherein: the control electric equipment and the driving electric equipment are located on the upper plate, the power electric equipment is located on the lower plate, the layout and the shape of the control electric equipment, the driving electric equipment and the power electric equipment are determined according to a bus incoming line mode, and the opposite insertion height of the two plates is reduced.
3. The integrated driver of miniature brushless dc motor as claimed in claim 2, wherein: the interface conversion module (2) comprises an information exchange circuit for communicating with different source devices.
4. The integrated driver of miniature brushless DC motor as claimed in claim 3, wherein: the information exchange circuit comprises a CAN bus interface circuit used for communicating with an upper computer, an SSI interface circuit of an absolute encoder, an incremental encoder interface circuit and a USB-to-UART protocol conversion circuit used for realizing code programming of the MCU main control module (3).
5. The integrated driver of miniature brushless dc motor as claimed in claim 2, wherein: the drive chip of the integrated drive module (4) is AMT 49413.
6. The integrated driver of miniature brushless DC motor as claimed in claim 5, wherein: and a signal conditioning circuit for collecting bus current is integrated in the drive chip AMT 49413.
7. The integrated driver of miniature brushless DC motor as claimed in claim 5, wherein: the driving voltage of the driving chip AMT49413 is V obtained by isolating the input voltage through a BNX026H01L chip of the power module (1)BAT+ provided, the control voltage used by the control electronics is generated by a voltage regulator conversion integrated inside the driver chip AMT 49413.
8. The integrated driver of miniature brushless dc motor as claimed in claim 7, wherein: the power supply module (1) further comprises a power supply conversion chip TPS79333 and a power supply conversion chip TPS 54560; the input end of the power conversion chip is connected with the TPS79333 through a USB and an external +5V power supply, and the output end of the power conversion chip is connected with the output end of the TPS 54560; the input end of the power conversion chip TPS54560 is connected with an input voltage through a BNX026H01L chip, and the input end of the driving chip AMT49413 is connected with the output end of the BNX026H01L chip and the input end of the power conversion chip TPS 54560.
9. The integrated driver of miniature brushless dc motor as claimed in claim 2, wherein: the input voltage is 48V.
10. The integrated driver of miniature brushless dc motor as claimed in claim 2, wherein: the control ground of the control electric device and the power ground of the power electric device are connected through the magnetic bead single point, and the driving electric device is simultaneously connected with the control ground and the power ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921433728.8U CN210518029U (en) | 2019-08-30 | 2019-08-30 | Microminiature brushless DC motor integrates driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921433728.8U CN210518029U (en) | 2019-08-30 | 2019-08-30 | Microminiature brushless DC motor integrates driver |
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| Publication Number | Publication Date |
|---|---|
| CN210518029U true CN210518029U (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921433728.8U Active CN210518029U (en) | 2019-08-30 | 2019-08-30 | Microminiature brushless DC motor integrates driver |
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| Country | Link |
|---|---|
| CN (1) | CN210518029U (en) |
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- 2019-08-30 CN CN201921433728.8U patent/CN210518029U/en active Active
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