CN217115952U - Motor control circuit, motor adjusting device and mechanical equipment - Google Patents

Abstract

The application discloses motor control circuit, motor adjusting device and mechanical equipment, wherein, this motor control circuit includes: a master control circuit; the controlled motor is coupled with the main control circuit, receives the control signal sent by the main control circuit and operates based on the control signal; the torque sensor is coupled with the main control circuit and the controlled motor, detects the working state of the controlled motor, and sends a feedback signal to the main control circuit based on the working state of the controlled motor, so that the main control circuit adjusts the control signal according to the feedback signal, and sends the adjusted control signal to the controlled motor, and the current working state of the controlled motor is adjusted. In this way, motor control circuit in this application is through integrated torque sensor to carry out local processing to feedback signal, effectively simplified the line design and the circuit realization of walking of motor feedback regulation, and the interference killing feature among the signal transmission also can strengthen.

Description

Motor control circuit, motor adjusting device and mechanical equipment

Technical Field

The application relates to the technical field of motor control, in particular to a motor control circuit, a motor adjusting device and mechanical equipment.

Background

Nowadays, with the continuous development of mechanical intelligence, how to perform feedback adjustment on the control of a motor is a research subject which is usually not opened by the industrial control field, for example, in the control of a harmonic reducer, because the reduction ratio is large and usually larger than 100, but the efficiency is low, the working current cannot be directly mapped into torque, and therefore, in a scene requiring torque control, an additional torque sensor is required to perform feedback of corresponding torque.

However, the existing torque sensor data is not directly connected to the motor control system, but a separate bus different from the motor control system bus is used to feed back the torque information to the upper computer, so that the upper computer performs corresponding feedback adjustment. The manner inevitably adds a new bus on the basis of the original bus, so that the structural complexity of the motor control system is increased, and the design and assembly difficulty of the motor control system is further increased. Meanwhile, the upper computer is usually far away from the joint module, so that the simulation or SPI (serial peripheral interface) signal interference resistance transmitted by the torque sensor is insufficient, and the upper computer is easily interfered in remote transmission.

SUMMERY OF THE UTILITY MODEL

The application provides a motor control circuit, motor adjusting device and mechanical equipment, this motor control circuit can solve the motor control circuit among the prior art and need carry out feedback control to the motor through the host computer, and increased motor control circuit's complexity, and the corresponding feedback signal that needs carry out remote transmission also easily receives the problem of interference.

In order to solve the technical problem, the application adopts a technical scheme that: provided is a motor control circuit, wherein the motor control circuit includes: a master control circuit; the controlled motor is coupled with the main control circuit, receives the control signal sent by the main control circuit and operates based on the control signal; the torque sensor is coupled with the main control circuit and the controlled motor, detects the working state of the controlled motor, and sends a feedback signal to the main control circuit based on the working state of the controlled motor, so that the main control circuit adjusts the control signal according to the feedback signal, and sends the adjusted control signal to the controlled motor, and the current working state of the controlled motor is adjusted.

The motor control circuit further comprises a pulse width modulation circuit, the pulse width modulation circuit is coupled with the main control circuit and the controlled motor, the pulse width modulation circuit receives a control signal sent by the main control circuit, the control signal is converted into a pulse width modulation signal and then sent to the controlled motor, and the working state of the controlled motor is controlled based on the pulse width modulation signal.

The controlled motor is a three-phase motor, the motor control circuit further comprises a driving circuit, the driving circuit comprises a first switching tube, a second switching tube and a third switching tube, the first switching tube, the second switching tube and the third switching tube are respectively coupled with a three-phase winding and a pulse width modulation circuit of the three-phase motor, and the pulse width modulation circuit sends pulse width modulation signals to the first switching tube, the second switching tube and the third switching tube to adjust the conduction time of the first switching tube, the second switching tube and the third switching tube so as to control the working state of the controlled motor.

The main control circuit further comprises a vector controller, the vector controller is coupled with the pulse width modulation circuit, and the vector controller sends a vector control signal to the pulse width modulation circuit so that the pulse width modulation circuit converts the vector control signal into a pulse width modulation signal.

The motor control circuit further comprises a communication circuit, the communication circuit is coupled with the main control circuit and an external upper computer, and the communication circuit receives a program control instruction sent by the upper computer, so that the program control instruction is sent to the main control circuit after signal conversion is carried out on the program control instruction, and the main control circuit correspondingly generates a control signal.

The motor control circuit further comprises a power circuit, the power circuit comprises a first sub power circuit and a second sub power circuit which are coupled, the first sub power circuit is coupled with the controlled motor, and the second sub power circuit is coupled with the main control circuit and the torque sensor.

The main control circuit further comprises at least two different communication interfaces, and one of the at least two communication interfaces is coupled with the torque sensor.

The number of the torque sensors is at least two, and is less than or equal to the number of the communication interfaces, the at least two torque sensors are respectively coupled to different communication interfaces and the controlled motor so as to detect the output torques at different positions of the controlled motor and correspondingly generate at least two feedback signals, so that the main control circuit adjusts the control signals according to the at least two feedback signals.

In order to solve the above technical problem, the present application adopts another technical solution: there is provided a motor adjustment device, wherein the motor adjustment device comprises a housing and a motor control circuit mounted on the housing, the motor control circuit being as described in any one of the above.

In order to solve the above technical problem, the present application adopts another technical solution: the mechanical equipment comprises a motor adjusting device and a mechanical arm controlled by the motor adjusting device, wherein the motor adjusting device is the motor adjusting device.

The beneficial effect of this application is: different from the prior art, the motor control circuit in this application includes: the motor control system comprises a main control circuit, a controlled motor and a torque sensor; wherein, the controlled motor receives the control signal that master control circuit sent, and based on control signal work operation, and torque sensor can detect the operating condition of controlled motor, and send feedback signal to master control circuit, so that master control circuit can adjust the current operating condition of controlled motor according to this feedback signal, and effectively avoided sending feedback signal for the host computer, with the control command based on the host computer accomplishes feedback adjustment, just also need not establish in addition the interconnecting link that is connected to the host computer by torque sensor, thereby the line design and the circuit realization of having simplified motor feedback adjustment effectively, and feedback signal also can great reinforcing in transmission process's interference killing feature.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:

FIG. 1 is a schematic diagram of a servo motor control system in the prior art;

FIG. 2 is a schematic structural diagram of a first embodiment of a motor control circuit according to the present application;

FIG. 3 is a schematic structural diagram of a second embodiment of a motor control circuit according to the present application;

FIG. 4 is a schematic structural diagram of a third embodiment of the motor control circuit of the present application;

FIG. 5 is a schematic structural diagram of a fourth embodiment of a motor control circuit according to the present application;

FIG. 6 is a schematic structural diagram of a fifth embodiment of a motor control circuit according to the present application;

FIG. 7 is a schematic structural diagram of a sixth embodiment of a motor control circuit according to the present application;

FIG. 8 is a schematic structural diagram of a seventh embodiment of a motor control circuit according to the present application;

FIG. 9 is a schematic structural diagram of an embodiment of a motor adjustment apparatus of the present application;

FIG. 10 is a schematic structural diagram of an embodiment of the present application.

Detailed Description

Through long-term research, two types of joint modules mainly exist in the market at present, one type of joint module adopts a planetary reducer, the reduction ratio of the planetary reducer is basically about 20-30, the joint module can directly control the output torque of a servo motor through the feedback of a current loop, and the requirement of torque control can be met without an external integrated torque sensor.

The other type is that a harmonic reducer is adopted, the reduction ratio is large, generally larger than 100, and because the reduction ratio is large and the efficiency of the harmonic reducer is low, the working current of the harmonic reducer cannot be directly mapped into torque, and in a scene needing torque control, an additional torque sensor is needed for torque feedback. Specifically, as shown in fig. 1, fig. 1 is a schematic structural diagram of a servo motor control system in the prior art, where the control system includes an upper computer, an RS485 (standard for defining electrical characteristics of a driver and a receiver in a balanced digital multipoint system) interface, a motor controller, a servo motor, a harmonic reducer, a torque sensor, and communication interfaces such as an ADC (analog-to-digital conversion)/SPI/UART (asynchronous transceiver transmitter). Wherein, under normal conditions, communication interfaces such as RS485 interface, motor controller, servo motor, harmonic speed reducer ware, torque sensor and ADC/SPI/UART are integrated on the joint module, and the host computer is kept away from the joint module to through corresponding communication interface communication connection to the joint module, with carry out remote control to the joint module.

Therefore, in the existing scheme, torque data acquired by the torque sensor corresponding to the harmonic reducer is not directly sent to the motor controller, but torque information is fed back to the upper computer by using a separate bus different from a bus of the motor control system, and the way inevitably adds a bus on the basis of the original bus, so that the structural complexity of the motor control system is increased, and the design and assembly difficulty of the motor control system is further increased. Meanwhile, the upper computer is usually far away from the joint module, the anti-interference capacity of the simulation or SPI signal transmitted by the torque sensor is insufficient, the interference is easy to occur in remote transmission, the model selection of the torque sensor is limited if the RS485 transmission is limited, and the situation that the model selection of the sensor cannot be completed in some scenes can occur.

In order to realize effectively simplifying the line design and the circuit realization of motor feedback regulation to strengthen signal transmission's interference killing feature, this application provides an adjusting device and electronic equipment. The present application will be described in further detail with reference to the following drawings and examples. It is to be noted that the following examples are only illustrative of the present application, and do not limit the scope of the present application. Likewise, the following examples are only some examples and not all examples of the present application, and all other examples obtained by a person of ordinary skill in the art without any inventive work are within the scope of the present application.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a motor control circuit according to a first embodiment of the present application. In the present embodiment, the motor control circuit 10 includes: a main control circuit 11, a controlled motor 12 and a torque sensor 13.

The motor control circuit 10 provided in the present application is specifically applied to feedback control of a motor, for example, the motor control circuit 10 is integrated in a shutdown module of an exoskeleton robot to perform feedback regulation on a servo motor in the shutdown module. Of course, in other embodiments, the motor control circuit 10 may be used in any other reasonable feedback control of an industrial control mechanical mechanism including a driving motor, and the embodiment is not limited thereto.

Specifically, the main Control circuit 11 may include any reasonable program processing Unit such as an MCU (Micro Control Unit) circuit, a single chip microcomputer or a processor, and may be understood as a signal processing center of the motor Control circuit 10 to enable program data to be loaded through the signal processing center, or receive an upper computer, that is, a set Control instruction sent by any reasonable intelligent terminal communicatively connected to the main Control circuit 11, for example, a background computer or a small industrial computer, to generate a corresponding Control signal, and complete operation Control of the controlled motor 12 based on the Control signal.

Further, the controlled motor 12 may be any reasonable type of motor, such as a servo motor or a driving motor, and is coupled to the main control circuit 11, for example, the controlled motor 12 may be in communication connection with the main control circuit 11 through a communication data line or a wireless communication module, so as to receive the control signal correspondingly generated by the main control circuit 11 and operate in a corresponding working state in response to the control signal.

In an embodiment, the main control circuit 11 may specifically send a control signal to the controlled motor 12, so that the controlled motor 12 starts to operate, stops operating, operates in a high-frequency rotation state, operates in a low-frequency rotation state, or starts to rotate reversely, and the like to operate in any reasonable working state, which is not limited in this application.

The torque sensor 13 is further coupled to the main control circuit 11 and the controlled motor 12, and is specifically mounted corresponding to the position of the controlled motor 12, so as to be able to monitor the current working state of the controlled motor 12 in real time, generate a corresponding feedback signal based on the detected working state, and send the feedback signal to the main control circuit 11.

Further, the main control circuit 11 can adjust the control signal sent to the controlled motor 12 according to the feedback signal received by the main control circuit, and send the adjusted control signal to the controlled motor 12, so as to further adjust the current working state of the controlled motor 12, for example, adjust the controlled motor 12 in a high-frequency running state to a low-frequency rotating state, or adjust the output power, the output torque, or the rotating angle of the controlled motor 12.

Above-mentioned scheme, master control circuit 11 can be directly according to the operating condition of torque sensor 13 detection controlled motor 12, and the feedback signal who sends for master control circuit 11 adjusts the current operating condition of controlled motor 12, thereby can effectively avoid sending feedback signal for the host computer, with the control command based on the host computer accomplishes feedback adjustment, also just need not establish in addition and be connected the interconnecting link of host computer by torque sensor 13, consequently, the realization circuit of motor feedback adjustment has been simplified effectively, and feedback signal also can great reinforcing in transmission process's interference killing feature.

In an embodiment, the main control Circuit 11 further includes at least two different communication interfaces, for example, at least two of any reasonable communication interfaces such as an ADC interface, an SPI interface, an IIC (Inter-Integrated Circuit bus) interface, and a UART interface, which is not limited in this application.

Further, the torque sensor 13 can be connected to the main control circuit 11 through one of the communication interfaces matched with the torque sensor 13, and the other communication interfaces of the main control circuit 11 that are not used can also be used to connect to the torque sensor 13 matched with other communication modes, or to replace the torque sensor 13 matched with other communication modes. And as many communication interfaces as possible are integrated in the main control circuit 11, the application range of the main control circuit 11 can be effectively expanded, and matching, model selection, replacement and installation of the torque sensor 13 are facilitated.

In an embodiment, the number of the torque sensors 13 is at least two, and the number of the torque sensors is less than or equal to the number of the communication interfaces, and the at least two torque sensors 13 are respectively coupled to different communication interfaces in the main control circuit 11, and further coupled to the controlled motor 12, and may be specifically installed corresponding to different positions of the controlled motor 12, so as to be able to detect output torques of different positions of the controlled motor 12, and correspondingly generate at least two feedback signals. Therefore, the main control circuit 11 can also adjust the control signal according to at least two feedback signals, so as to ensure that the feedback adjustment of the current working state of the controlled motor 12 is more effective and accurate.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a test circuit according to a second embodiment of the present application. In this embodiment, on the basis of the first embodiment of the motor control circuit provided in the present application, the motor control circuit 20 further includes a pulse width modulation circuit 24.

It can be understood that, in order to implement accurate power control, start-stop control, and the like of the controlled motor 22, pulse width modulation is generally used, so that the adjustment of the operating state of the controlled motor 22 can be completed by adjusting the duty ratio of the pulse width modulation signal.

Specifically, the pulse width modulation circuit 24 is coupled to the main control circuit 21 and the controlled motor 22, so as to be capable of receiving the control signal sent by the main control circuit 21, converting the control signal into a pulse width modulation signal, and then sending the pulse width modulation signal to the controlled motor 22, so as to control the operating state of the controlled motor 22 based on the pulse width modulation signal.

It should be noted that pulse width modulation is an analog control method, and modulates the bias of the Transistor base or the gate of a MOS Transistor (Metal-Oxide-Semiconductor Field-Effect Transistor) according to the change of a corresponding load, so as to change the conduction time of the Transistor or the MOS Transistor, thereby changing the output of the switching regulator. This way the output voltage of the power supply can be kept constant when the operating conditions change, which is a very effective technique for controlling an analog circuit by means of the digital signal of the microprocessor. Pulse width modulation is a very efficient technique for controlling analog circuits using the digital output of a microprocessor, and is widely used in many fields ranging from measurement, communications to power control and conversion.

It is understood that in the present embodiment, the main control circuit 21, the controlled motor 22 and the torque sensor 23 are respectively the same as the main control circuit 11, the controlled motor 12 and the torque sensor 13, and specific reference is made to fig. 2 and related text, which are not repeated herein.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a motor control circuit according to a third embodiment of the present application. In this embodiment, based on the second embodiment of the motor control circuit provided in the present application, the controlled motor 32 is specifically a three-phase motor, and the motor control circuit 30 further includes a driving circuit 35, and the driving circuit 35 further includes a first switching tube (not shown), a second switching tube (not shown), and a third switching tube (not shown).

The first switch tube, the second switch tube, and the third switch tube are respectively coupled to a three-phase winding of the three-phase motor and the pulse width modulation circuit 34, and the pulse width modulation circuit 34 specifically adjusts the on-time of the first switch tube, the second switch tube, and the third switch tube by respectively sending pulse width modulation signals to the first switch tube, the second switch tube, and the third switch tube, so as to control the working state of the controlled motor 32.

It can be understood that, in the present embodiment, the main control circuit 31, the controlled motor 32, the torque sensor 33, and the pulse width modulation circuit 34 are respectively the same as the main control circuit 21, the controlled motor 22, the torque sensor 23, and the pulse width modulation circuit 24, and specific reference is made to fig. 3 and related text, which are not repeated herein.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a fourth embodiment of a motor control circuit according to the present application. In this embodiment, on the basis of the second embodiment of the motor control circuit provided in this application, the main control circuit 41 in the motor control circuit 40 further includes a vector controller 411.

The vector controller 411 is coupled to the pwm circuit 44, and the main control circuit 41 specifically sends a vector control signal to the pwm circuit 44 through the vector controller 411, so that the pwm circuit 44 converts the vector control signal into a pwm signal, and the current operating state of the controlled motor 42 can be adjusted based on the pwm signal.

It should be noted that the vector controller 411 is also called a field-oriented control (FOC) controller, where FOC is specifically a magnetic field oriented control (vectorentrol), which is a technology for controlling a three-phase ac motor by using a frequency converter (VFD), and controls the output of the motor by adjusting the output frequency of the frequency converter, the magnitude and the angle of the output voltage. The characteristics of the motor are that the magnetic field and the torque of the motor can be controlled individually, and the characteristics of the separately excited direct current motor are similar. Since the three-phase output current and voltage are expressed as vectors during processing, vector control is called. The FOC can accurately control the size and the direction of a magnetic field, so that the motor has the advantages of smooth torque, low noise, high efficiency and high-speed dynamic response. Since the advantages of FOC are obvious, the FOC has gradually replaced the traditional control mode in many applications, and has attracted attention in the motion control industry.

It is understood that, in the present embodiment, the controlled motor 42, the torque sensor 43 and the pulse width modulation circuit 44 are respectively the same as the controlled motor 22, the torque sensor 23 and the pulse width modulation circuit 24, and please refer to fig. 3 and related text, which are not repeated herein.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a fifth embodiment of a motor control circuit according to the present application. In this embodiment, on the basis of the first embodiment of the motor control circuit provided in the present application, the motor control circuit 50 further includes a communication circuit 54.

The communication circuit 54 is coupled to the main control circuit 51 and an external upper computer, that is, the communication circuit 54 is specifically in communication connection with any reasonable intelligent terminal, for example, a background computer or a small industrial control computer, and the main control circuit 51 is in communication connection with the upper computer to receive a program control instruction sent by the upper computer, and sends the program control instruction to the main control circuit 51 after performing signal conversion on the program control instruction, so that the main control circuit 51 correspondingly generates a control signal.

In an embodiment, the communication circuit 54 may be a CAN (Controller Area Network) transceiver chip, and the upper computer is specifically in communication connection with the CAN transceiver chip through a CAN bus, so as to be able to send a CAN bus signal to the CAN transceiver chip, and after the CAN bus signal is converted into a TX (transmit)/RX (receive) signal by the CAN transceiver chip, the TX (transmit)/RX (receive) signal is sent to the main control circuit 51, so that the main control circuit 51 generates a control signal correspondingly.

It is understood that in the present embodiment, the main control circuit 51, the controlled motor 52 and the torque sensor 53 are respectively the same as the main control circuit 11, the controlled motor 12 and the torque sensor 13, and specific reference is made to fig. 2 and related text, which are not repeated herein.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a motor control circuit according to a sixth embodiment of the present application. In this embodiment, on the basis of the first embodiment of the motor control circuit provided in the present application, the motor control circuit 60 further includes a power supply circuit 64.

It can be understood that, unlike the drive control of the controlled motor 62, which generally requires a large voltage, the main control circuit 61 and the torque sensor 63 for acquiring the feedback signal for performing the corresponding control generally require a small voltage, and thus, it is inevitably necessary to distinguish the power supply of the controlled motor 62 from the power supply of the main control circuit 61 and the torque sensor 63.

Specifically, the power circuit 64 further includes a first sub power circuit 641 and a second sub power circuit 642 coupled to each other, and the first sub power circuit 641 is coupled to the controlled motor 62, and the second sub power circuit 642 is coupled to the main control circuit 61 and the torque sensor 63.

The output voltage of the first sub power supply circuit 641 is greater than the output voltage of the second sub power supply circuit 642.

Alternatively, the output voltage of the first sub power supply circuit 641 is 48V-60V.

Optionally, the output voltage of the second sub power supply circuit 642 is 3V-6.6V.

Alternatively, the second sub power circuit 642 can correspondingly output two voltage signals with different voltage levels to be respectively provided to the main control circuit 61 and the torque sensor 63, and the voltage signal provided to the main control circuit 61 is 3.3V, and the voltage signal provided to the torque sensor 63 is 5V.

It is understood that in the present embodiment, the main control circuit 61, the controlled motor 62 and the torque sensor 63 are respectively the same as the main control circuit 11, the controlled motor 12 and the torque sensor 13, and specific reference is made to fig. 2 and related text, which are not repeated herein.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a seventh embodiment of a motor control circuit according to the present application.

In this embodiment, the motor control circuit specifically includes a CAN bus 77, a main control circuit 71, a PWM controller 72, a driving circuit 73, a controlled motor 74, a torque sensor 75, and a power supply circuit 76; the main control circuit 71 further includes a communication circuit 711, a FOC controller 712, a first interface 713, and a second interface 714, and the driving circuit 73 further includes a first switch transistor T1 through a sixth switch transistor T6.

The communication circuit 711 is coupled to the CAN bus 77 to be communicatively connected to an upper computer through the CAN bus 77, the FOC controller 712 is coupled to the PWM controller 72, the PWM controller 72 is further coupled to the first switch transistor T1 to the sixth switch transistor T6, the first switch transistor T1 to the sixth switch transistor T6 are coupled to the controlled motor 74, the first interface 713 is coupled to the torque sensor 75, the torque sensor 75 is further coupled to the controlled motor 74 and the power circuit 76, and the power circuit 76 is coupled to the power terminal of the main control circuit 71.

Specifically, the communication circuit 711 further includes a CAN transceiver chip (not shown), the first interface 713 includes one or more of any reasonable communication interfaces such as an ADC interface, an SPI interface, an IIC interface, and a UART interface, and the second interface 714 includes a JTAG (Joint Test Action Group) interface and/or a UART interface, so as to reserve access to other functional circuits.

It will be understood that the host computer CAN send a CAN bus 77 signal to the CAN transceiver chip via the CAN bus 77, so as to be sent to a processing center (not shown) in the master control circuit 71 after being converted into a TX/RX signal by the CAN transceiver chip. The main control processing hub can demodulate a protocol of the TX/RX signal to extract a corresponding motor control command, and send the motor control command to the FOC controller 712; the FOC controller 712 can further convert the motor control command into a vector control signal to be sent to the PWM controller 72 for further conversion into a PWM signal, so that the first to sixth switching tubes T1 to T6 can be driven by the PWM signal to make the controlled motor 74 perform corresponding operations.

Meanwhile, the first interface 713 of the main control circuit 71 may be in butt joint with different torque sensors 75 according to circumstances, and feedback signals given by the torque sensors 75 may also be directly transmitted to the main control circuit 71 through the first interface 713, and after processing the torque information received by the main control circuit 71, the torque information is merged into the communication circuit 711 and is subjected to protocol coding with feedback information acquired from the controlled motor 74 and then returned to the upper computer.

The power supply circuit 76 is responsible for supplying power to the main control circuit 71, the controllers, the controlled motor 74 and the torque sensor 75.

In one embodiment, the motor control circuit is specifically installed in a joint module of an exoskeleton robot, and it can be seen that the interference rejection capability of the first interface 713 is enhanced due to the close installation position of the main control circuit 71 and the torque sensor 75. Meanwhile, the external interface of the motor control circuit only comprises a power supply and a CAN communication interface, and other redundant wire harnesses are not available, so that the circuit design difficulty of the whole motor control circuit is reduced.

Based on the general technical concept, the present application further provides a motor adjusting device, please refer to fig. 9, and fig. 9 is a schematic structural diagram of an embodiment of the motor adjusting device of the present application.

In the present embodiment, the motor adjusting device 81 includes a housing 811 and a motor control circuit 812 mounted on the housing 811; the motor control circuit 812 is any one of the motor control circuits 10 to 70 described above, and please refer to fig. 2 to 8 and related text, which are not repeated herein.

It is understood that the housing 811 may be a mounting housing 811 of a joint module of an exoskeleton robot, and the motor control circuit 812 is disposed inside the housing 811, so that the motor control circuit 812 can be protected by the housing 811.

Based on the general technical concept, the present application further provides a mechanical device, please refer to fig. 10, and fig. 10 is a schematic structural diagram of an embodiment of the mechanical device of the present application.

In this embodiment, the mechanical apparatus 91 includes a motor adjusting device 911 and a mechanical arm 912 controlled by the motor adjusting device 911; the motor adjustment device 911 is the motor adjustment device 911 described above, and please refer to fig. 9 and related text, which are not described herein again.

It can be understood that the mechanical device 91 may specifically be an industrial control mechanical generating device or an exoskeleton robot, the mechanical arm 912 corresponds to an industrial control actuator or an exoskeleton joint device of the mechanical device, and the motor adjusting device 911 is used for driving and adjusting the mechanical arm 912.

Different from the prior art, the motor control circuit in this application includes: the motor control system comprises a main control circuit, a controlled motor and a torque sensor; the controlled motor receives a control signal sent by the main control circuit and operates based on the control signal, the torque sensor can detect the working state of the controlled motor and sends a feedback signal to the main control circuit, so that the main control circuit can adjust the current working state of the controlled motor according to the feedback signal, the feedback signal is effectively prevented from being sent to the upper computer, the feedback adjustment is completed based on a control instruction of the upper computer, a connecting circuit connected to the upper computer through the torque sensor is not needed to be additionally arranged, wiring design and circuit implementation of motor feedback adjustment are effectively simplified, and the anti-interference capability of the feedback signal in the transmission process is greatly enhanced.

The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.

Claims (10)

1. A motor control circuit, comprising:

a master control circuit;

the controlled motor is coupled with the main control circuit, receives the control signal sent by the main control circuit and works and operates based on the control signal;

the torque sensor is coupled with the main control circuit and the controlled motor, detects the working state of the controlled motor, and sends a feedback signal to the main control circuit based on the working state of the controlled motor, so that the main control circuit adjusts the control signal according to the feedback signal, and sends the adjusted control signal to the controlled motor, and the current working state of the controlled motor is adjusted.

2. The motor control circuit of claim 1,

the motor control circuit further comprises a pulse width modulation circuit, the pulse width modulation circuit is coupled with the main control circuit and the controlled motor, the pulse width modulation circuit receives a control signal sent by the main control circuit, the control signal is converted into a pulse width modulation signal and then sent to the controlled motor, and the working state of the controlled motor is controlled based on the pulse width modulation signal.

3. The motor control circuit of claim 2,

the controlled motor is a three-phase motor, the motor control circuit further comprises a driving circuit, the driving circuit comprises a first switch tube, a second switch tube and a third switch tube, the first switch tube, the second switch tube and the third switch tube are respectively coupled with a three-phase winding of the three-phase motor and the pulse width modulation circuit, and the pulse width modulation circuit is used for adjusting the conduction time of the first switch tube, the second switch tube and the third switch tube by sending pulse width modulation signals to the first switch tube, the second switch tube and the third switch tube so as to control the working state of the controlled motor.

4. The motor control circuit of claim 2,

the main control circuit further comprises a vector controller, the vector controller is coupled to the pulse width modulation circuit, and the vector controller sends a vector control signal to the pulse width modulation circuit, so that the pulse width modulation circuit converts the vector control signal into the pulse width modulation signal.

5. The motor control circuit of claim 1,

the motor control circuit further comprises a communication circuit, the communication circuit is coupled with the main control circuit and an external upper computer, and the communication circuit receives a program control command sent by the upper computer, so that the program control command is sent to the main control circuit after being subjected to signal conversion, and the control signal is correspondingly generated by the main control circuit.

6. The motor control circuit of claim 1,

the motor control circuit further comprises a power supply circuit, the power supply circuit comprises a first sub power supply circuit and a second sub power supply circuit which are coupled, the first sub power supply circuit is coupled with the controlled motor, and the second sub power supply circuit is coupled with the main control circuit and the torque sensor.

7. The motor control circuit of claim 1,

the main control circuit further comprises at least two different communication interfaces, and one of the at least two communication interfaces is coupled with the torque sensor.

8. The motor control circuit of claim 7,

the number of the torque sensors is at least two, and is less than or equal to the number of the communication interfaces, and the at least two torque sensors are respectively coupled to different communication interfaces and the controlled motor so as to detect output torques at different positions of the controlled motor and correspondingly generate at least two feedback signals, so that the main control circuit adjusts the control signals according to the at least two feedback signals.

9. A motor conditioning device, comprising a housing and a motor control circuit mounted on the housing, the motor control circuit being as claimed in any one of claims 1 to 8.

10. A mechanical apparatus, characterized in that the mechanical apparatus comprises a motor adjusting device and a mechanical arm controlled by the motor adjusting device, wherein the motor adjusting device is the motor adjusting device as claimed in claim 9.

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