阅读说明：本技术 一种采用无刷直流电机的智能执行器及其控制方法 (Intelligent actuator adopting brushless direct current motor and control method thereof ) 是由 金鑫 周林鸣 吴明 蔡吉 于 2020-05-28 设计创作，主要内容包括：本发明公开了一种采用无刷直流电机的智能执行器及其控制方法,智能执行器包括驱动控制板,无刷直流电机,机械传动机构,特征为：驱动控制板安装在无刷直流电机上,中央处理电路具有信号输入端口接收以PWM形式发送的输入信号,设有处理模块,获取PWM信号,提取其频率和占空比信息并据此确定对电机的控制信息。上位机向中央处理电路发送PWM信号,中央处理电路获取PWM信号的频率和占空比,转换为电机的控制信息；中央处理电路将电机的位置信号转换成PWM信号,上位机据此获取电机位置,作为电机控制参数。本发明既简化了控制板上的电路布置,又减小了控制板的体积,使得控制板能方便地与电机安装到一起,可以方便地实现电机的控制。(The invention discloses an intelligent actuator adopting a brushless direct current motor and a control method thereof, wherein the intelligent actuator comprises a drive control panel, the brushless direct current motor and a mechanical transmission mechanism, and is characterized in that: the drive control board is installed on the brushless DC motor, the central processing circuit is provided with a signal input port for receiving input signals sent in a PWM mode, and the central processing circuit is provided with a processing module for acquiring PWM signals, extracting frequency and duty ratio information of the PWM signals and determining control information of the motor according to the frequency and duty ratio information. The upper computer sends a PWM signal to the central processing circuit, and the central processing circuit acquires the frequency and the duty ratio of the PWM signal and converts the frequency and the duty ratio into control information of the motor; the central processing circuit converts the position signal of the motor into a PWM signal, and the upper computer obtains the position of the motor as a motor control parameter. The invention simplifies the circuit arrangement on the control board, reduces the volume of the control board, enables the control board to be conveniently installed together with the motor and can conveniently realize the control of the motor.)

1. The utility model provides an adopt brushless DC motor's intelligent executor, includes the drive control panel who comprises supply circuit, brushless DC drive circuit, signal acquisition circuit, signal output circuit and central processing circuit, brushless DC motor, mechanical transmission mechanism, brushless DC drive circuit connects brushless DC motor, brushless DC motor connects mechanical transmission mechanism, its characterized in that: the drive control board is installed on the brushless direct current motor, the central processing circuit is provided with a signal input port, the signal input port receives input signals sent in a PWM mode, a processing module is arranged in the central processing circuit, and the processing module acquires the PWM signals, extracts frequency and duty ratio information of the PWM signals and determines control information of the motor according to the frequency and duty ratio information.

2. The intelligent actuator using a brushless dc motor according to claim 1, wherein: the central processing circuit has a signal output port that sends an output signal in the form of PWM that represents position feedback information of the brushless dc motor by frequency and/or duty cycle information.

3. The intelligent actuator using a brushless dc motor according to claim 2, wherein: the different duty ratios of the PWM signals respectively represent the motor forward rotation, reverse rotation and stop signals and the different position feedback information of the motor.

4. The intelligent actuator using a brushless dc motor according to claim 1, wherein: the speed control information of the brushless dc motor is represented by different frequencies of the PWM signal.

5. A method of controlling the intelligent actuator of any one of claims 1 to 4, wherein the signal input port and the signal output port of the central processing circuit of the intelligent actuator are connected to an upper computer, and the method comprises the following steps: the upper computer sends a PWM signal to a signal input port of a central processing circuit of the intelligent actuator through a PWM communication port, the central processing circuit receives the signal and analyzes the signal to obtain the frequency and the duty ratio of the PWM signal, and the PWM signal is converted into control information of the motor according to a conversion rule of the preset frequency and the preset duty ratio and used for controlling the motor of the intelligent actuator; the central processing circuit converts the position signal of the motor into a PWM signal with a specific duty ratio and sends the PWM signal to the upper computer through a signal output port, and the upper computer acquires the PWM signal and converts the PWM signal into a motor position signal as a motor control parameter.

6. The method of controlling according to claim 5, characterized in that: in the PWM signals sent by the upper computer, different duty ratios of the PWM signals respectively represent the instructions of forward rotation, reverse rotation and stop of the motor, and different frequency ratios of the PWM signals represent the speed control instruction of the brushless direct current motor.

7. The method of controlling according to claim 5, characterized in that: in the PWM signal sent by the central processing circuit, different duty ratios of the PWM signal respectively represent different position feedback information of the motor.

Technical Field

The invention relates to an electric actuator, in particular to an intelligent actuator adopting a brushless direct current motor.

Background

The actuator is a combination of an actuator and an adjustment mechanism in an automatic control system. The electric actuator uses electric energy as power, generally comprises a motor, and automatically changes operation variables by receiving standard signals and converting the standard signals into corresponding linear displacement, rotation angle and the like through the motor and a transmission mechanism so as to control parameters. With the development of technology, smart actuators with microprocessors have become the mainstream products of electric actuators at present.

Because the starting performance and the speed regulation performance of the alternating current motor are poor, the brushless direct current motor becomes the first choice of the intelligent actuator. For example, chinese utility model patent CN206377327U discloses an intelligent actuator with communication function and controlled by a dc brushless motor, which realizes motor control by providing a brushless dc driving circuit, a signal acquisition circuit, a signal output circuit, a central processing circuit and a dial circuit; the brushless direct current motor is connected with a brushless direct current motor driving circuit, and the mechanical transmission mechanism is connected with the brushless direct current motor to form an actuator device; and the NFC near field communication module, the RS485 interface circuit and the Bluetooth module are connected with the central processing circuit for communication. Above-mentioned structure can realize the control and the executive operation of intelligent executor, but wherein, carries out the communication through setting up modules such as NFC near field communication module, RS485 interface circuit, bluetooth module, has increased structure complexity and product volume on the one hand, and on the other hand, these communication modules have certain requirement to operational environment, receive the interference easily when working in the industrial environment. Even if the communication module is replaced by a LIN or CAN bus communication module, an interface module needs to be arranged, communication protocols of intelligent actuators of different manufacturers are different, and particularly, specific parameter definitions are different. Therefore, when the system needs to be applied to a work place using a plurality of intelligent actuators, or the intelligent actuators of different manufacturers need to be replaced, the host control system needs to be changed greatly, which increases the development workload.

If the control of the intelligent actuator can be realized on the premise of not needing an additional communication interface, the control method has important significance for reducing the volume of the intelligent actuator and simplifying the application design process.

Disclosure of Invention

The invention aims to provide an intelligent actuator adopting a brushless direct current motor, which realizes the control of the intelligent actuator on the premise of not using an external communication interface; another object of the present invention is to provide a control method of an intelligent actuator using a brushless dc motor.

In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows: the utility model provides an adopt brushless DC motor's intelligent executor, includes the drive control panel that comprises supply circuit, brushless DC drive circuit, signal acquisition circuit, signal output circuit and central processing circuit, brushless DC motor, mechanical transmission mechanism, brushless DC drive circuit connects brushless DC motor, brushless DC motor connects mechanical transmission mechanism, drive control panel installs on brushless DC motor, central processing circuit has signal input port, signal input port receives the input signal who sends with the PWM form, be equipped with processing module in the central processing circuit, processing module acquires the PWM signal, extracts its frequency and duty cycle information and confirms the control information to the motor according to this.

In the above, a PWM signal is used for information interaction, PWM is pulse width modulation, and in the prior art, the PWM signal is used as an analog control mode, that is, when narrow pulses with equal impulse but different shapes are applied to an inertial link, the effect is basically the same by using a sampling control theory, so that the control of the inertial link is realized by adjusting the duty ratio. PWM is generally considered unsuitable for control of brushless dc motors. In the invention, the PWM is creatively changed from an analog control mode to signal control, the frequency and the duty ratio of the PWM signal are utilized and respectively represent different signals for expressing the control command and the position feedback information of the motor. Because the PWM signal does not need to use a special communication interface, the intelligent actuator adopting the scheme of the invention does not need to increase a communication interface, simplifies the structure and occupies space, and can conveniently install the control board and the motor together.

In the above technical solution, the central processing circuit has a signal output port, the signal output port sends an output signal in a PWM form, and the signal in the PWM form represents position feedback information of the brushless dc motor by frequency and/or duty ratio information.

According to the preferred technical scheme, the motor forward rotation, reverse rotation and stop signals and different position feedback information of the motor are respectively represented by different duty ratios of the PWM signals.

According to the preferred technical scheme, the speed control information of the brushless direct current motor is represented by different frequencies of PWM signals.

In order to realize another purpose of the invention, the invention also provides a method for controlling the intelligent actuator, wherein a signal input port and a signal output port of a central processing circuit of the intelligent actuator are connected to an upper computer, the upper computer sends a PWM signal to the signal input port of the central processing circuit of the intelligent actuator through a PWM communication port, the central processing circuit receives the signal and analyzes the signal to obtain the frequency and the duty ratio of the PWM signal, and the PWM signal is converted into control information of the motor according to a conversion rule of the preset frequency and the preset duty ratio and is used for controlling the motor of the intelligent actuator; the central processing circuit converts the position signal of the motor into a PWM signal with a specific duty ratio and sends the PWM signal to the upper computer through a signal output port, and the upper computer acquires the PWM signal and converts the PWM signal into a motor position signal as a motor control parameter.

In the technical scheme, in the PWM signals sent by the upper computer, the different duty ratios of the PWM signals respectively represent the forward rotation, reverse rotation and stop commands of the motor, and the different frequency ratios of the PWM signals represent the speed control command of the brushless direct current motor.

In the above technical solution, in the PWM signal sent by the central processing circuit, different duty ratios of the PWM signal respectively represent different position feedback information of the motor.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:

1. the invention creatively provides the use of PWM as a control signal, so that the PWM is applied to the control of the brushless direct current motor, and therefore, a special interface module is not required to be arranged, the circuit arrangement on the control board is simplified, the volume of the control board is reduced, and the control board can be conveniently installed together with the motor.

2. The invention converts the PWM which is originally used as analog control into signal transmission, can conveniently prescribe the forward rotation, reverse rotation, stop instruction and speed control of the motor, does not have the control difficulty caused by different manufacturers defining different parameters in the protocol when the existing communication interface is adopted, and is easy to realize.

Drawings

FIG. 1 is a block diagram of a system in an embodiment of the invention;

FIG. 2 is a schematic diagram of PWM signals of motor control commands in an embodiment;

fig. 3 is a PWM signal diagram of a motor position feedback signal in an embodiment.

Detailed Description

The invention is further described with reference to the following figures and examples: