阅读说明：本技术 一种舵机的控制电路及控制方法 (Control circuit and control method of steering engine ) 是由 马保军 韦振剑 范德业 张龙 程文辉 于 2020-06-04 设计创作，主要内容包括：本发明提供了一种舵机的控制电路及控制方法,所述控制电路包括电源模块、控制模块、升压限流模块、反向放电稳压模块和静电保护模块,所述电源模块与控制模块、升压限流模块连接,所述升压限流模块与反向放电稳压模块连接,所述反向放电稳压模块与舵机连接,所述控制模块通过静电保护模块与舵机连接,所述控制模块与升压限流模块连接。采用本发明的技术方案,电路和控制方法简单易用,只需要几个元器件便可以实现舵机转向功能,包括正转反转,停车,精准到位,而且可以方便实现模块化,便于进行拓展；降低了成本,生产组装和测试简单,维护成本低。(The invention provides a control circuit and a control method of a steering engine, wherein the control circuit comprises a power supply module, a control module, a boosting current-limiting module, a reverse discharge voltage-stabilizing module and an electrostatic protection module, the power supply module is connected with the control module and the boosting current-limiting module, the boosting current-limiting module is connected with the reverse discharge voltage-stabilizing module, the reverse discharge voltage-stabilizing module is connected with the steering engine, the control module is connected with the steering engine through the electrostatic protection module, and the control module is connected with the boosting current-limiting module. By adopting the technical scheme, the circuit and the control method are simple and easy to use, the steering function of the steering engine can be realized by only a plurality of components, including forward rotation and reverse rotation, parking and accurate and in-place, and modularization and expansion can be conveniently realized; the cost is reduced, the production, the assembly and the test are simple, and the maintenance cost is low.)

1. The utility model provides a control circuit of steering wheel which characterized in that: the power supply module is connected with the control module and the boosting current-limiting module, the boosting current-limiting module is connected with the reverse discharging voltage-stabilizing module, the reverse discharging voltage-stabilizing module is connected with a steering engine, the control module is connected with the steering engine through the electrostatic protection module, and the control module is connected with the boosting current-limiting module.

2. The control circuit of the steering engine according to claim 1, wherein: the control module comprises a control chip U2, the PWMOUT end of the control chip U2 is connected with the PWM end of the steering engine, and the ADCIN end of the control chip U2 is connected with the ADC end of the steering engine;

the electrostatic protection module comprises an ESD electrostatic diode V1 and an ESD electrostatic diode V2, the PWMOUT end of the control chip U2 is grounded through the ESD electrostatic diode V1, and the ADCIN end of the control chip U2 is grounded through the ESD electrostatic diode V2.

3. The control circuit of the steering engine according to claim 2, wherein: the power supply module comprises a power supply management chip U3 and a battery, wherein a VCORE end, a VLDO end, a DLDO end, an SCL end and an SDA end of the power supply management chip U3 are respectively connected with a VCORE end, a VLDO end, a DLDO end, an SCL end and an SDA end of a control chip U2, and a VBAT1 end, a VBAT2 end and a VBAT3 end of the power supply management chip U3 are connected with the positive pole of the battery.

4. The control circuit of the steering engine of claim 3, wherein: the boost current-limiting module comprises a converter chip U1, the reverse discharge voltage-stabilizing module comprises a capacitor C4, a capacitor C5, a capacitor C6, a resistor R3 and a resistor R6, an OUT end of the converter chip U1 is connected with a VCC end and a V + end of the steering engine, and is grounded through the capacitor C4 and the capacitor C5, connected with an FB end of the converter chip U1 through a resistor R3 and connected with the FB end of the converter chip U1 through a capacitor C6; the FB end of the converter chip U1 is grounded through a resistor R6; the SW end of the converter chip U1 is connected with the IN end and is grounded through a capacitor C2 and a capacitor C3, and the SW end of the converter chip U1 is connected with the anode of the battery; the EN end of the converter chip U1 is connected with the GPIO1 end of the control chip U2, the UVLO end of the converter chip U1 is grounded, and the ISET end of the converter chip U1 is grounded through a resistor R5.

5. A control method of a control circuit of a steering engine according to any one of claims 1 to 4, characterized in that: which comprises the following steps:

step S1, the control module controls the voltage boosting and current limiting module to boost voltage, the voltage boosting and current limiting module boosts the working voltage, and limits the output current voltage to pass through the reverse discharge voltage stabilizing module and the electrostatic protection module and then is transmitted to a steering engine;

step S2, the control module sends out positive rotation PWM waves to pass through the electrostatic protection module and then convey the positive rotation PWM waves to a steering engine;

step S3, after receiving the working voltage and the PWM wave signal, the steering engine starts to rotate and feeds back the analog position linear electric signal to the control module;

step S4, the steering engine continuously outputs an electric signal of the rotation angle position, and the electric signal passes through the electrostatic protection module and then is input into the control module;

step S5, after receiving the electric signal of the steering engine angle position, the control module converts the analog electric signal into a digital signal and tracks the angle in real time;

and step S6, when the control module follows to a specified angle, the PWM signal is stopped to be output, the steering engine stops rotating, the voltage boosting and current limiting module is controlled to stop boosting, the voltage is stopped to be output to the steering engine, and the steering engine finishes a period of action.

6. The steering engine control method according to claim 5, wherein: and when the specified angle received by the control module is larger than the angle of the current steering engine, rotating to the specified angle according to the steps S1-S6.

7. The steering engine control method according to claim 6, wherein: and when the designated angle received by the control module is smaller than the angle of the current steering engine, implementing the step S1, then sending out reverse PWM waves by the control module, carrying out electrostatic protection, conveying to the steering engine, and then acting according to the steps S3-S6 until stopping.

8. The steering engine control method according to claim 7, wherein: the forward rotation PWM wave is a 200HZ sine wave, and the reverse rotation PWM wave is a 500HZ sine wave.

Technical Field

The invention belongs to the technical field of steering engines, and particularly relates to a control circuit and a control method of a steering engine.

Background

At present, the steering engine on the market is controlled by adopting an externally-hung MCU (microprogrammed control unit), the MCU is controlled by a serial port, and an MOS (metal oxide semiconductor) tube is controlled by the MCU, so that the mode is complex in logic and not strong in stability. The forward and reverse rotation needs complex signal logic signals, occupies more GPIO resources, has more complex circuits, poor stability, high precision, needs more devices and has high cost.

Disclosure of Invention

Aiming at the technical problems, the invention discloses a control circuit and a control method of a steering engine, which are simple in circuit, simple in control method and low in cost.

In contrast, the technical scheme adopted by the invention is as follows:

the control circuit of the steering engine comprises a power supply module, a control module, a boosting current-limiting module, a reverse discharge voltage-stabilizing module and an electrostatic protection module, wherein the power supply module is connected with the control module and the boosting current-limiting module, the boosting current-limiting module is connected with the reverse discharge voltage-stabilizing module, the reverse discharge voltage-stabilizing module is connected with the steering engine, the control module is connected with the steering engine through the electrostatic protection module, and the control module is connected with the boosting current-limiting module.

The boosting current-limiting module limits passing current to protect a battery, a boosting current-limiting IC and a steering engine motor. The reverse discharge voltage stabilizing module is used for protecting the boosting current limiting module. The static protection module is used for designing a discharge loop for generating static electricity for the rotation of a steering engine, and protecting the control module, wherein the steering engine is a rotating motor assembly.

As a further improvement of the invention, the control module comprises a control chip U2, the PWMOUT end of the control chip U2 is connected with the PWM end of the steering engine, and the ADCIN end of the control chip U2 is connected with the ADC end of the steering engine;

the electrostatic protection module comprises an ESD electrostatic diode V1 and an ESD electrostatic diode V2, the PWMOUT end of the control chip U2 is grounded through the ESD electrostatic diode V1, and the ADCIN end of the control chip U2 is grounded through the ESD electrostatic diode V2.

Further, the model of the ESD electrostatic diode V1 and ESD electrostatic diode V2 is TEVB3R0V05B 1X.

Further, the control chip U2 is an MTK ARM processor MT 8167S. The chip is a 4-core A35, the highest main frequency is 1.35GHZ, the chip supports display, 2.4Gwifi, GPIO, PWM, UART, USB and IIS audio interfaces,

as a further improvement of the invention, the power supply module comprises a power supply management chip U3 and a battery, the VCORE terminal, the VLDO terminal, the DLDO terminal, the SCL terminal and the SDA terminal of the power supply management chip U3 are respectively connected with the VCORE terminal, the VLDO terminal, the DLDO terminal, the SCL terminal and the SDA terminal of the control chip U2, and the VBAT1 terminal, the VBAT2 terminal and the VBAT3 terminal of the power supply management chip U3 are connected with the positive pole of the battery. Further, the battery is a lithium ion battery.

Furthermore, the model of the power management chip is MT6392, and the power management chip can be used with the MT8167S in a matched manner, so that required power is supplied to the central processing unit, and meanwhile, bidirectional intelligent interaction between battery charging and battery power taking is realized.

As a further improvement of the present invention, the boost current-limiting module includes a converter chip U1, the reverse discharge voltage-stabilizing module includes a capacitor C4, a capacitor C5, a capacitor C6, a resistor R3 and a resistor R6, an OUT terminal of the converter chip U1 is connected to a VCC terminal and a V + terminal of the steering engine, and is grounded through the capacitor C4 and the capacitor C5, connected to an FB terminal of the converter chip U1 through a resistor R3, and connected to the FB terminal of the converter chip U1 through a capacitor C6; the FB end of the converter chip U1 is grounded through a resistor R6; the SW end of the converter chip U1 is connected with the IN end and is grounded through a capacitor C2 and a capacitor C3, and the SW end of the converter chip U1 is connected with the anode of the battery; the EN end of the converter chip U1 is connected with the GPIO1 end of the control chip U2, the UVLO end of the converter chip U1 is grounded, and the ISET end of the converter chip U1 is grounded through a resistor R5.

Further, the boost current limiting module comprises a boost module and a current limiting module, and further, the boost module and the current limiting module are integrated in the same IC. Further, the converter chip U1 has a model number ETA 1090.

The invention also discloses a control method of the control circuit of the steering engine, which comprises the following steps:

step S1, the control module controls the voltage boosting and current limiting module to boost voltage, the voltage boosting and current limiting module boosts the voltage to 5V, and limits output current voltage to pass through the reverse discharge voltage stabilizing module and the electrostatic protection module and then transmits the output current voltage to a steering engine;

step S2, the control module sends out positive rotation PWM waves to pass through the electrostatic protection module and then convey the positive rotation PWM waves to a steering engine;

step S3, after receiving the signals of 5V working voltage and PWM wave, the steering engine starts to rotate and feeds back the linear electric signal of the analog position to the control module;

step S4, the steering engine continuously outputs an electric signal of the rotation angle position, and the electric signal passes through the electrostatic protection module and then is input into the control module;

step S5, after receiving the electric signal of the steering engine angle position, the control module converts the analog electric signal into a digital signal and tracks the angle in real time;

and step S6, when the control module follows to a specified angle, the PWM signal is stopped to be output, the steering engine stops rotating, the voltage boosting and current limiting module is controlled to stop boosting, the voltage is stopped to be output to the steering engine, and the steering engine finishes a period of action.

As a further improvement of the invention, when the specified angle received by the control module is larger than the angle of the current steering engine, the steering engine is rotated to the specified angle according to the steps S1-S6.

As a further improvement of the invention, when the designated angle received by the control module is smaller than the angle of the current steering engine, the step S1 is implemented, then the control module sends out reverse PWM waves, the reverse PWM waves are subjected to electrostatic protection and are conveyed to the steering engine, and then the control module acts according to the steps S3-S6 until the control module stops.

In a further improvement of the present invention, the forward rotation PWM wave is a 200HZ sine wave, and the reverse rotation PWM wave is a 500HZ sine wave.

Compared with the prior art, the invention has the beneficial effects that:

by adopting the technical scheme, the control circuit and the control method are simple and easy to use, the complex application design is reduced, and the steering function of the steering engine, including forward rotation and reverse rotation, parking and accurate in-place can be realized only by a plurality of components; modularization can be realized, and the mechanical rotating parts with the required number of steering engines are duplicated by using the same line design, so that the development period is shortened; the cost is reduced, the materials are universal, the purchasing period is short, and the cost is better; the production and assembly are simple, and the test is simple; the maintenance is simple and easy.

Drawings

FIG. 1 is a block diagram of one embodiment of the present invention.

Fig. 2 is a circuit diagram of an embodiment of the present invention.

Detailed Description

Preferred embodiments of the present invention are described in further detail below.

As shown in fig. 1, a control circuit of a steering engine comprises a power supply module, a control module, a boosting current-limiting module, a reverse discharge voltage-stabilizing module and an electrostatic protection module, wherein the power supply module is connected with the control module and the boosting current-limiting module, the boosting current-limiting module is connected with the reverse discharge voltage-stabilizing module, the reverse discharge voltage-stabilizing module is connected with the steering engine, the control module is connected with the steering engine through the electrostatic protection module, and the control module is connected with the boosting current-limiting module.

As shown in fig. 2, the control module includes a central processing unit CPU U2, a PWMOUT end of the central processing unit CPU is connected to a PWM end of the steering engine, an ADCIN end of the central processing unit CPU is connected to an ADC end of the steering engine, and the PWMOUT end and the ADCIN end of the central processing unit CPU are grounded through electrostatic tubes, respectively; the electrostatic protection module comprises an ESD electrostatic diode V1 and an ESD electrostatic diode V2, the PWMOUT end of the central processing unit CPU is grounded through the ESD electrostatic diode V1, and the ADCIN end of the central processing unit CPU is grounded through the ESD electrostatic diode V2. The ESD electrostatic diode V1 and the ESD electrostatic diode V2 are TEVB3R0V05B1X in model number.

The power supply module comprises an intelligent power management PMU U3 and a lithium ion battery, wherein a VCORE end, a VLDO end, a DLDO end, an SCL end and an SDA end of the intelligent power management PMU U3 are respectively connected with a VCORE end, a VLDO end, a DLDO end, an SCL end and an SDA end of a central processing unit CPU 2, and a VBAT1 end, a VBAT2 end and a VBAT3 end of the intelligent power management PMU U3 are connected with the anode of the battery; the boost current-limiting module comprises a converter chip U1, the reverse discharge voltage-stabilizing module comprises a capacitor C4, a capacitor C5, a capacitor C6, a resistor R3 and a resistor R6, an OUT end of the converter chip U1 is connected with a VCC end and a V + end of the steering engine, and is grounded through the capacitor C4 and the capacitor C5, connected with an FB end of the converter chip U1 through a resistor R3 and connected with the FB end of the converter chip U1 through a capacitor C6; the FB end of the converter chip U1 is grounded through a resistor R6; the SW end of the converter chip U1 is connected with the IN end and is grounded through a capacitor C2 and a capacitor C3, and the SW end of the converter chip U1 is connected with the anode of the battery; the EN end of the converter chip U1 is connected with the GPIO1 end of the CPU U2, the UVLO end of the converter chip U1 is grounded, and the ISET end of the converter chip U1 is grounded through a resistor R5.

The CPU is an MTK ARM processor MT8167S, the chip is a 4-core A35, the highest main frequency is 1.35GHZ, display support is achieved, and the audio interface comprises 2.4Gwifi, GPIO, PWM, UART, USB and IIS. The intelligent power manager PMU is MT6392, is matched with MT8167S for use, supplies required power to the CPU, and simultaneously charges the 3.7V lithium ion battery and gets electricity from the 3.7V lithium ion battery for bidirectional intelligent interaction. The 3.7V lithium ion battery is for intelligent power management PMU, the current limiting module that steps up provides the electric energy, the current limiting module that steps up provides the power for the steering wheel motor supplies to the restriction passes through electric current, sets up with protection lithium ion battery, the current limiting module that steps up and steering wheel motor. The boost current-limiting module comprises a battery boost 5V and a current-limiting module, the battery boost 5V and the current-limiting module are processed by an ETA1090 power supply integrated converter chip, the reverse discharge voltage-stabilizing module is used for protecting the boost current-limiting module, the electrostatic protection module is used for designing a discharge loop for generating static electricity for the rotation of a steering engine, and meanwhile, PWM and ADC of a Central Processing Unit (CPU) are protected, and the steering engine is a rotary motor assembly.

The intelligent power manager PMU provides required working power for the central processing unit CPU and manages a 3.7V lithium battery, the central processing unit CPU is used for outputting PWM waves, after electrostatic protection, the PWM waves are output to the steering engine for controlling the steering engine to rotate forwards and reversely, meanwhile, another path of GPIO is also output to the boosting current limiting module to serve as a switch enabling signal, the voltage of the 3.7V lithium ion battery is boosted to 5V, the boosting current limiting module works, the current limiting module of the boosting current limiting module is a current controller arranged for protecting the boosting module, the lithium ion battery and the steering engine, the boosting module and the steering engine can work in a safe battery range to provide protection for ensuring the 3.7V lithium ion battery, the reverse discharging voltage stabilizing module is used for protecting the current limiting module and the ETA1090 main module, after the steering engine module is prevented from inertial rotation after sudden power failure, the voltage generated by the internal magnetic force of the motor is input to the ETA1090 through a cutting motor coil, designed to protect ETA1090, the electrostatic protection module is to protect PWM output directly from the central processor and ADC signal input to the central processor.

The control method of the control circuit comprises the following steps:

1) the central processing unit CPU sends out the order, and GPIO high level of output all the way enables the current limiting module that steps up, gets the electricity from 3.7V lithium ion battery this moment, steps up to 5V to restrict output current voltage and carry the steering wheel through 5V voltage stabilizing module and electrostatic protection module.

2) After the CPU just sends out an instruction, the CPU sends out PWM waves again, at the moment, the CPU forwards rotates, sends out a sine wave of 200HZ and sends the sine wave to the steering engine through the electrostatic protection module.

3) And the steering engine starts to rotate after receiving the 5V working voltage and the PWM wave signal, and feeds back the analog position linear electric signal to the Central Processing Unit (CPU).

4) The steering engine continuously outputs an electric signal of a rotation angle position, and the electric signal is input to a Central Processing Unit (CPU) through the electrostatic protection module.

5) After receiving the electric signals of the steering engine angle position, the ADC of the CPU converts the analog electric signals into digital signals through the ADC with 10 bit wide calculation force and tracks the angle in real time.

6) When the CPU of the central processing unit follows up to a specified angle, the PWM signal is stopped to be output, the steering engine stops rotating, 5V boosting is enabled through GPIO low level, ETA1090 stops boosting, voltage output to the steering engine is stopped, and the steering engine finishes a period of action.

7) And when the CPU receives the specified angle, if the angle is larger than the current steering engine, the CPU rotates to the receiving specified angle according to the flow from 1) to 6).

8) When the CPU receives a specified angle, if the angle is smaller than the current steering engine angle, the CPU receives an instruction according to the step 1), a PWM wave needs to be sent, because the angle is smaller than the current angle, the CPU needs to reverse, a 500HZ sine wave is sent at the moment, the sine wave is sent to the steering engine through electrostatic protection, and the actions according to the step 3) to the step 6) are carried out until the stop.

The technical scheme of this embodiment just can make the steering wheel realize forward, location, feedback, reversal, definition in adopting several modules, several devices, realizes whole rotation control, and circuit and signal are simple, and stability is good, and the precision is high, and is with low costs, and equipment and test are simple, convenient maintenance.

The control circuit and the control method of the steering engine can be used in many places, such as a turntable, a head of a robot, a hand of the robot, a display, an intelligent home, a fan, a curtain sweeper and the like, and have wide application prospects.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.