阅读说明：本技术 一种消除舵机电气噪声的有刷直流电机调控电路 (Brush direct current motor regulating and controlling circuit for eliminating electric noise of steering engine ) 是由 王艳荣 张晓艳 李滟津 梁勇 张慧文 解全泽 闫玉花 宋培培 丁继伟 杨威 于 2020-05-28 设计创作，主要内容包括：本发明公开了一种消除舵机电气噪声的有刷直流电机调控电路,解决了如何克服水下航行器舵机的有刷直流电机产生尖锐电磁噪声的问题。包括减法电路(1)、取绝对值电路(2)、死区电压调节电路(3)、比较电路(4)、开关电路(5)、直流电机驱动模块(6)和控制舵机转动角度的有刷直流电机；当控制端电压信号U8为低电平时,即目标角度和反馈角度的偏差绝对值小于死区电压时,开关断开,开关电路(5)的输出端电压信号U9被第十五下拉电阻R15下拉为0V,直流电机驱动模块6输出PWM脉宽调制信号的占空比为0,有刷直流电机不工作；实现了在死区电压下,不向控制舵机转动角度的有刷直流电机输出电压。(The invention discloses a brush direct current motor regulating and controlling circuit for eliminating electric noise of a steering engine, which solves the problem of how to overcome sharp electromagnetic noise generated by a brush direct current motor of the steering engine of an underwater vehicle. The device comprises a subtraction circuit (1), an absolute value taking circuit (2), a dead zone voltage regulating circuit (3), a comparison circuit (4), a switch circuit (5), a direct current motor driving module (6) and a brush direct current motor for controlling the rotation angle of a steering engine; when the voltage signal U8 at the control end is at a low level, that is, the absolute value of the deviation between the target angle and the feedback angle is smaller than the dead zone voltage, the switch is turned off, the voltage signal U9 at the output end of the switch circuit (5) is pulled down to 0V by a fifteenth pull-down resistor R15, the duty ratio of the PWM signal output by the DC motor driving module 6 is 0, and the brushed DC motor does not work; under the dead zone voltage, the voltage is not output to the brush direct current motor for controlling the rotation angle of the steering engine.)

1. A brushed direct current motor regulating and controlling circuit for eliminating electric noise of a steering engine comprises a subtraction circuit (1), an absolute value taking circuit (2), a dead zone voltage regulating circuit (3), a comparison circuit (4), a switch circuit (5), a direct current motor driving module (6) and a brushed direct current motor for controlling the rotation angle of the steering engine, and is characterized in that a steering engine target angle voltage signal U1 is connected to the positive input end of the subtraction circuit (1), a steering engine output angle feedback signal U2 is connected to the negative input end of the subtraction circuit (1), an output end voltage signal U3 of the subtraction circuit (1) is respectively connected with the negative input end of the absolute value taking circuit (2) and the input end of the switch circuit (5), the positive input end of the absolute value taking circuit (2) is grounded, an output end voltage signal U6 of the absolute value taking circuit (2) is connected with the positive input end of the comparison circuit (4), a dead zone voltage adjusting circuit (3) is connected on the negative input end of the comparison circuit (4), the dead zone adjusting circuit (3) is composed of a twelfth divider resistor R12 and a thirteenth adjustable resistor R13, one end of the twelfth divider resistor R12 is connected with a 15V direct current power supply, the other end of the twelfth divider resistor R12 is connected with the negative input end of the comparison circuit (4), one end of the adjustable resistor R13 is connected with the negative input end of the comparison circuit (4), the other end of the thirteenth adjustable resistor R13 is grounded, an output end voltage signal U8 of the comparison circuit (4) is connected with the control end of the switch circuit (5) through a current limiting resistor R14, the output end of the switch circuit (5) is connected with the input end of the direct current motor driving module (6), and the output end of the switch circuit (5) is grounded through a fifteenth ground resistor R15, and PWM pulse width modulation voltage signals on the output end of the direct current motor driving module (6) are connected to a brushed direct current motor for controlling the rotation angle of the steering engine.

2. The brush direct current motor regulating circuit for eliminating electric noise of the steering engine according to claim 1, wherein the subtraction circuit (1) is composed of a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a filter capacitor C1 and a first operational amplifier N1, and the resistance value of the first resistor R1, the resistance value of the second resistor R2, the resistance value of the third resistor R3 and the resistance value of the fourth resistor R4 are equal.

3. The brush direct current motor regulating circuit for eliminating steering engine electric noise according to claim 2, wherein the absolute value obtaining circuit (2) is composed of a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, a first diode V1, a second diode V2, a second operational amplifier N2 and a third operational amplifier N3; the resistance of the seventh resistor R7 is twice that of the fifth resistor R5, the resistance of the eighth resistor R8, the resistance of the ninth resistor R9 and the resistance of the tenth resistor R10 are equal, and the sixth resistor R6 and the eleventh resistor R11 are balanced resistors for eliminating null shift.

4. The direct current motor regulating circuit capable of eliminating electric noise of the steering engine according to claim 3, wherein the switching circuit (5) is composed of a switching device N5, a fourteenth current limiting resistor R14 and a fifteenth pull-down resistor R15; the direct current motor driving module (6) is a PWM direct current servo controller.

Technical Field

The invention relates to a control circuit of a brush direct current motor, in particular to a control circuit of a brush direct current motor of a control steering engine, which can effectively eliminate the electrical noise of the steering engine.

Background

An underwater vehicle steering engine generally adopts a brush direct current motor to provide rotation power, and the brush direct current motor is controlled by a direct current motor driving module with PWM pulse width modulation; the brush direct current motor regulating and controlling circuit processes an input signal by adopting a subtraction circuit, namely, a voltage signal representing a target angle is subtracted from a real-time output voltage feedback signal of a steering engine angle to form an error signal of the target signal and the feedback signal, the error signal is input into a direct current motor driving module, the duty ratio output by the direct current motor driving module drives a motor to correct the steering engine angle; however, when the error between the feedback angle of the steering engine and the target angle of the steering engine is small, that is, the obtained error regulation signal is small, the duty ratio of the PWM pulse width modulation signal loaded on the steering engine control motor is too small, that is, the average voltage is too small, and is not enough to drive the steering engine to rotate, but the error PWM pulse width modulation control signal generates sharp electromagnetic noise, which causes pollution to the acoustic environment, increases the power consumption, and how to overcome the problem is a technical problem to be solved on site.

Disclosure of Invention

The invention provides a brush direct current motor regulating and controlling circuit for eliminating electric noise of a steering engine, and solves the technical problem of how to overcome sharp electromagnetic noise generated by a brush direct current motor of the steering engine of an underwater vehicle.

The invention solves the technical problems by the following technical scheme:

a brushed direct current motor regulating and controlling circuit for eliminating electric noise of a steering engine comprises a subtraction circuit, an absolute value taking circuit, a dead zone voltage regulating circuit, a comparison circuit, a switch circuit, a direct current motor driving module and a brushed direct current motor for controlling the rotation angle of the steering engine, wherein a steering engine target angle voltage signal U1 is connected to the positive input end of the subtraction circuit, a steering engine output angle feedback signal U2 is connected to the negative input end of the subtraction circuit, an output end voltage signal U3 of the subtraction circuit is respectively connected with the negative input end of the absolute value taking circuit and the input end of the switch circuit, the positive input end of the absolute value taking circuit is grounded, an output end voltage signal U6 of the absolute value taking circuit is connected with the positive input end of the comparison circuit, the negative input end of the comparison circuit is connected with the dead zone voltage regulating circuit, and the dead zone regulating circuit is composed of a twelfth divider resistor R12 and a thirteenth adjustable resistor R13, one end of a twelfth voltage-dividing resistor R12 is connected with a 15V direct-current power supply, the other end of the twelfth voltage-dividing resistor R12 is connected with the negative input end of a comparison circuit, one end of an adjustable resistor R13 is connected with the negative input end of the comparison circuit, the other end of a thirteenth adjustable resistor R13 is grounded, an output end voltage signal U8 of the comparison circuit is connected with the control end of a switch circuit through a current-limiting resistor R14, the output end of the switch circuit is connected with the input end of a direct-current motor driving module, the output end of the switch circuit is grounded through a fifteenth grounding resistor R15, and a PWM pulse width modulation voltage signal on the output end of the direct-current motor driving module is connected to a brush direct-current motor for controlling the rotation angle of a steering engine.

The subtraction circuit is composed of a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a filter capacitor C1 and a first operational amplifier N1, wherein the resistance value of the first resistor R1, the resistance value of the second resistor R2, the resistance value of the third resistor R3 and the resistance value of the fourth resistor R4 are equal.

The absolute value taking circuit is composed of a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, a first diode V1, a second diode V2, a second operational amplifier N2 and a third operational amplifier N3; the resistance of the seventh resistor R7 is twice that of the fifth resistor R5, the resistance of the eighth resistor R8, the resistance of the ninth resistor R9 and the resistance of the tenth resistor R10 are equal, and the sixth resistor R6 and the eleventh resistor R11 are balanced resistors for eliminating null shift.

The switching circuit is composed of a switching device N5, a fourteenth current limiting resistor R14 and a fifteenth pull-down resistor R15; the direct current motor driving module is a PWM direct current servo controller.

The invention has the characteristics of simple circuit structure, low power consumption and high reliability, and effectively eliminates the electromagnetic noise caused when the voltage output by the direct current motor driving module is not enough to drive the direct current motor to rotate when the comparison error signal of the target angle and the feedback angle is smaller.

Drawings

Fig. 1 is a schematic diagram of the circuit structure of the present invention.

Detailed Description

The invention is described in detail below with reference to the accompanying drawings:

the subtraction circuit 1 is composed of a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a filter capacitor C1 and a first operational amplifier N1, wherein the resistance of the first resistor R1, the resistance of the second resistor R2, the resistance of the third resistor R3 and the resistance of the fourth resistor R4 are equal, so that error operation between the target angle voltage signal U1 and the feedback angle voltage signal U2 is realized, and the output end voltage signal U3 of the first operational amplifier N1: u3= U1-U2;

the absolute value taking circuit 2 realizes absolute value taking operation of an error between the target angle voltage signal U1 and the feedback angle voltage signal U2, when U3 is greater than 0, the output voltage value of the second operational amplifier N2 is less than 0, the first diode V1 is cut off, which is equivalent to a circuit break, the second diode V2 is turned on, which is equivalent to a short circuit, the fifth resistor R5, the seventh resistor R7 and the second operational amplifier N2 form inverse proportion operation, inverse proportion operation is performed on U3, and the gain is: -R7/R5= -2, output voltage signal U5, U5= -2U3 of the second operational amplifier N2, eighth resistor R8, ninth resistor R9, tenth resistor R10 and third operational amplifier N3, which together form an inverse summation ratio operation, summation voltage is U5 and U3, and gain is: -R10/R9= -1, -R10/R8= -1, voltage value U6 of the output of the third operational amplifier N3, U6= -U5-U3= U3; when the U3 is less than 0, the output voltage value of the second operational amplifier N2 is greater than 0, the first diode V1 is turned on, which is equivalent to a short circuit, the second diode V2 is turned off, which is equivalent to an open circuit, the seventh resistor R7, the eighth resistor R8, the ninth resistor R9, the tenth resistor R10 and the third operational amplifier N3 form an inverse proportion operation, the summation voltage is U4 and U3, the gain is-R10/(R7 + R9) = -1/3, -R10/R8= -1, the output voltage signal U4 of the second operational amplifier N2 is a "virtual ground" voltage according to the characteristics of the operational amplifiers "virtual short" and "virtual short", so that U4=0V, U6= -1/3 × U4-U3= -U3; so U6= | U3 |;

the dead-time voltage adjusting circuit (3) adjusts the voltage signal output to the inverting input terminal of the fourth operational amplifier N4 using a twelfth voltage dividing resistor R12 and a thirteenth adjustable resistor R13: u7= R13/(R12 + R13) × 15V;

the comparison circuit (4) compares the positive input end voltage signal U6 with the dead zone voltage signal U7 of the reverse input end, and when U6 is larger than U7, the output signal U8 of the third operational amplifier N3 is at a high level; when U6 is less than U7, the output signal U8 of the third operational amplifier N3 is low;

the switch circuit 5 determines whether the control switch is turned on according to the level state of the input voltage signal U8 at the control terminal:

when the control terminal voltage signal U8 is at a high level, namely the absolute value of the deviation between the target angle and the feedback angle is greater than the dead zone voltage, the switch is switched on, so that the voltage at the output end of the switch circuit 5 is equal to the voltage signal at the output end of the subtraction circuit 1, at this time, an error voltage signal U3 of the steering engine target angle voltage signal U1 and a steering engine output angle feedback signal U2 can be input into the direct current motor driving module 6, the direct current motor driving module 6 outputs a PWM (pulse width modulation) signal with a proportional duty ratio, and the brush direct current motor for controlling the rotation angle of the steering engine is driven to rotate;

when the voltage signal U8 at the control end is at a low level, that is, the absolute value of the deviation between the target angle and the feedback angle is smaller than the dead zone voltage, the switch is turned off, the voltage signal U9 at the output end of the switching circuit 5 is pulled down to 0V by a fifteenth pull-down resistor R15, the duty ratio of the PWM pulse width modulation signal output by the dc motor driving module 6 is 0, that is, no voltage is applied to the brushed dc motor controlling the rotation angle of the steering engine, and the brushed dc motor does not work;

under the dead zone voltage, the voltage is not output to the brush direct current motor for controlling the rotation angle of the steering engine, and sharp electromagnetic noise can not be generated.