阅读说明：本技术 一种柔性外骨骼集成电机控制驱动器及电机 (Flexible exoskeleton integrated motor control driver and motor ) 是由 李林 张勇 强利刚 杨义光 冉浩 宋定安 张松魁 肖陶康 齐维伟 郭超 于 2020-11-25 设计创作，主要内容包括：本发明公开柔性外骨骼集成电机控制驱动器及电机,电机控制驱动器包括依次相连的电机控制电路、高速光电耦合器、逻辑门电路、电机驱动电路及电机功放电路,电机控制电路通过AD采样电路连接有用于采集电机转动的电位计,电机功放电路的供电端通过滤波整流电路与电源相连,电机功放电路的信号端与被控电机相连。本发明通过AD采样电路采集被控电机转动的电位计信号,将采集到的信号通过电机控制电路进行滤波、放大、采样、保持、量化和编码完成AD转换,并输出稳定PWM脉冲和正反转信号F/R；输出的控制信号经高速光电耦合器逻辑门电路后,通过电机驱动电路、电机功放电路控制相应的场效应晶体管导通,实现被控电机通电控制,从而达到驱动电机运行的目的。(The invention discloses a flexible exoskeleton integrated motor control driver and a motor, wherein the motor control driver comprises a motor control circuit, a high-speed photoelectric coupler, a logic gate circuit, a motor drive circuit and a motor power amplifier circuit which are sequentially connected, the motor control circuit is connected with a potentiometer for collecting the rotation of the motor through an AD sampling circuit, the power supply end of the motor power amplifier circuit is connected with a power supply through a filter rectification circuit, and the signal end of the motor power amplifier circuit is connected with a controlled motor. The invention collects the potentiometer signal of the controlled motor rotation through the AD sampling circuit, and the collected signal is filtered, amplified, sampled, kept, quantized and coded through the motor control circuit to complete AD conversion, and output stable PWM pulse and positive and negative rotation signal F/R; after passing through the logic gate circuit of the high-speed photoelectric coupler, the output control signal controls the conduction of the corresponding field effect transistor through the motor driving circuit and the motor power amplification circuit, so that the power-on control of the controlled motor is realized, and the purpose of driving the motor to operate is achieved.)

1. An integrated motor controlled drive for a flexible exoskeleton, comprising: the device comprises a motor control circuit, a high-speed photoelectric coupler, a logic gate circuit, a motor drive circuit and a motor power amplifier circuit which are sequentially connected, wherein the motor control circuit is connected with a potentiometer for collecting the rotation of a motor through an AD sampling circuit;

the AD sampling circuit collects potentiometer signals rotated by a controlled motor, the collected signals are filtered, amplified, sampled, kept, quantized and encoded through the motor control circuit to complete AD conversion, and stable PWM pulses and positive and negative rotation signals F/R are output; the output control signal passes through the high-speed photoelectric coupler and the logic gate circuit, and then the corresponding field effect transistor is controlled by the motor driving circuit and the motor power amplification circuit to be conducted, so that the power-on control of the controlled motor is realized, and the aim of driving the controlled motor to operate is fulfilled.

2. The flexible exoskeleton integrated motor control driver of claim 1, wherein: the motor control circuit consists of a precision amplifier and a controller with an internal MPU-6050 module which are connected in sequence.

3. The flexible exoskeleton integrated motor control driver of claim 1 or claim 2, wherein: the motor control circuit adopts an MPU-60509 shaft motion processing sensor based on STM32F373CB, and a power supply, a 485 interface, a pressure sensor interface and a direct voltage acquisition interface are arranged on the module.

4. The flexible exoskeleton integrated motor control driver of claim 2, wherein: the motor control circuit is also provided with an SWD burning interface, and the controller is configured according to the control requirement.

5. The flexible exoskeleton integrated motor control driver of claim 2, wherein: the model of the precision amplifier is OPA335AID, and the model of the controller is STM32F373 CB.

6. The flexible exoskeleton integrated motor control driver of claim 1, wherein: the high-speed photoelectric coupler is assembled by a light emitting diode, a high-gain linear operational amplifier and a phototriode.

7. The flexible exoskeleton integrated motor control driver of claim 1 or 6, wherein: and a Schmitt trigger and an inverter are sequentially connected between the high-speed photoelectric coupler and the logic gate circuit.

8. The flexible exoskeleton integrated motor control driver of claim 1, wherein: the motor driving circuit is composed of a field effect transistor and a driving chip, and the conduction and the disconnection of the field effect transistor are controlled through the output AH, AL, BH, BL, CH and CL of the driving chip.

9. A flexible exoskeleton integrated motor, comprising: comprising a motor body and a control driver according to any one of claims 1 to 9, wherein the input end of the motor body is connected with a motor power amplifier circuit of the control driver, and the output end of the motor body is connected with a logic gate circuit of the control driver.

10. The flexible exoskeleton integrated motor of claim 9, wherein: the model of a driving chip in the motor driving circuit is IR2113 MBF; the models of the logic gate circuits are CD4070BPW, CD4081BPW and CD4073BPW, and the motor power amplification circuit adopts a three-phase six-arm full-bridge driving control circuit.

Technical Field

The invention relates to a motor, in particular to a flexible exoskeleton integrated motor control driver and a motor.

Background

With the development trend of high-efficiency motors, a high-efficiency and low-consumption motor control scheme naturally becomes a great trend, and the aims of quick starting, quick response, high efficiency, high torque output and high overload capacity of the motor can be achieved through effective motor control. Traditional motor drive has with high costs, at the bottom of efficient, similar problems such as time consuming, and the concrete expression is:

firstly, a triode which provides enough current is needed for switching, the running speed of the motor is low, the vibration of the motor is large, and the heat is large.

Secondly, the requirements on circuit design and the interference resistance of the circuit are high, high frequency is easily caused, driving elements are easily burnt out, and the requirements on element performance are high.

Thirdly, the circuit is complex, the interference in the circuit is difficult to control and is consistent with the theoretical requirement, the jitter is easy to generate, the wave crest and the wave trough of the sine wave are formed in the control, the high-frequency interference is easy to cause, and then the driving element is heated or the frequency is too high to age.

Disclosure of Invention

The invention aims to provide a flexible exoskeleton integrated motor control driver and a motor with reasonable design, wherein the motor control driver has the performance characteristics of digitalization, integration, high power density, high reliability and the like, and has high practical value.

In order to achieve the above purpose, the invention provides the following technical scheme:

the invention relates to a flexible exoskeleton integrated motor control driver which is characterized by comprising a motor control circuit, a high-speed photoelectric coupler, a logic gate circuit, a motor drive circuit and a motor power amplifier circuit which are sequentially connected, wherein the motor control circuit is connected with a potentiometer for collecting the rotation of a motor through an AD sampling circuit;

the AD sampling circuit collects potentiometer signals rotated by a controlled motor, the collected signals are filtered, amplified, sampled, kept, quantized and encoded through the motor control circuit to complete AD conversion, and stable PWM pulses and positive and negative rotation signals F/R are output; the output control signal passes through the logic gate circuit of the high-speed photoelectric coupler and then is conducted by the corresponding field effect transistor controlled by the motor driving circuit and the motor power amplification circuit, so that the power-on control of the controlled motor is realized, and the aim of driving the motor to operate is fulfilled.

Preferably, the motor control circuit consists of a precision amplifier and a controller with an internal MPU-6050 module which are connected in sequence.

Preferably, the motor control circuit adopts an MPU-60509 shaft motion processing sensor based on STM32F373CB, and a power supply and 485 interface, a pressure sensor interface and a direct voltage acquisition interface are arranged on the module.

Preferably, the motor control circuit is further provided with an SWD burning interface, and the controller is configured according to control requirements.

Preferably, the precision amplifier is of the type OPA335AID, and the controller is of the type STM32F373 CB.

Preferably, the high-speed photocoupler is assembled by a light emitting diode, a high-gain linear operational amplifier and a phototriode, the light emitting diode and the phototriode are assembled together and transmit information by using an optical signal, so that the electrical- > optical- > electrical transmission of a circuit signal (photocoupler circuit) is realized, the purpose is to realize the electrical isolation of an input part and an output part so as to improve the anti-interference capability, reliability and stability of the circuit in a completely isolated state of the input part and the electrical part of the circuit.

Preferably, a schmitt trigger and an inverter are sequentially connected between the high-speed photoelectric coupler and the logic gate circuit, and the schmitt trigger and the inverter play roles in shaping and isolating.

Preferably, the motor driving circuit consists of a field effect transistor and a driving chip, the conduction and the disconnection of the field effect transistor are controlled by the output AH, AL, BH, BL, CH and CL of the driving chip, the requirement of motor driving can be conveniently met, and the excellent performances of high precision of speed regulation, wide output range, low circuit power consumption and the like are obtained.

The invention also provides a flexible exoskeleton integrated motor which is characterized by comprising a motor body and the control driver, wherein the input end of the motor body is connected with a motor power amplifier circuit of the control driver, and the output end of the motor body is connected with a logic gate circuit of the control driver.

Preferably, the model of the driving chip in the motor driving circuit is IR2113 MBF.

Preferably, the motor power amplifier circuit adopts a three-phase six-arm full-bridge drive control circuit, so that the speed regulation is high in precision, the output range is wide, the circuit power consumption is low, the motor running speed is high, the motor vibration is low, the heating is low, the requirements on circuit design requirements, circuit anti-interference requirements and element performance are reduced, high frequency cannot be caused, and drive elements cannot be burnt out.

Preferably, the models of the logic gate circuits are CD4070BPW, CD4081BPW and CD4073 BPW.

Compared with the prior art, the invention collects the potentiometer signal rotated by the controlled motor through the AD sampling circuit, carries out filtering, amplification, sampling, holding, quantization and coding on the collected signal through the motor control circuit to complete AD conversion, and outputs stable PWM pulse and positive and negative rotation signal F/R; the output control signal passes through the logic gate circuit of the high-speed photoelectric coupler and then is conducted by the corresponding field effect transistor controlled by the motor driving circuit and the motor power amplification circuit, so that the power-on control of the controlled motor is realized, and the aim of driving the motor to operate is fulfilled. The motor control driver has the performance characteristics of digitalization, integration, high power density, high reliability and the like, and has high practical value.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a system block diagram of the flexible exoskeleton integrated motor of the present invention;

FIG. 2 is a circuit diagram of a three-phase six-arm full-bridge driving control circuit in the motor power amplifier circuit according to the present invention;

fig. 3 is a circuit diagram of a high-speed photocoupler of the present invention;

FIG. 4 is a circuit diagram of a driving chip in the motor driving circuit according to the present invention;

FIG. 5 is a circuit diagram of an MPU-6050 module in the motor control circuit according to the present invention;

FIG. 6 is a schematic circuit diagram of the motor power amplifier circuit of the present invention;

FIG. 7 is a schematic circuit diagram of the motor drive circuit of the present invention;

fig. 8 is a circuit schematic of the motor control circuit of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, the present invention provides a flexible exoskeleton integrated motor including a motor body and a control driver for controlling the motor body;

the control driver comprises a motor control circuit, a high-speed photoelectric coupler, a logic gate circuit, a motor drive circuit and a motor power amplifier circuit which are sequentially connected, wherein the motor control circuit is connected with a potentiometer for collecting the rotation of a motor through an AD sampling circuit, the power supply end of the motor power amplifier circuit is connected with a power supply through a filter rectification circuit, and the signal end of the motor power amplifier circuit is connected with a controlled motor;

the input end of the motor body is connected with a motor power amplifier circuit of the control driver, and the output end of the motor body is connected with a logic gate circuit of the control driver; the motor body is a three-phase brushless direct current motor.

The AD sampling circuit collects potentiometer signals rotated by a controlled motor, the collected signals are filtered, amplified, sampled, kept, quantized and encoded through the motor control circuit to complete AD conversion, and stable PWM pulses and positive and negative rotation signals F/R are output; the output control signal passes through the logic gate circuit of the high-speed photoelectric coupler and then is conducted by the corresponding field effect transistor controlled by the motor driving circuit and the motor power amplification circuit, so that the power-on control of the controlled motor is realized, and the aim of driving the motor to operate is fulfilled.

Referring to fig. 5 and 8, the motor control circuit is composed of a precision amplifier and a controller with an MPU-6050 module, wherein the precision amplifier is of an OPA335AID type, and the controller is of an STM32F373CB type.

The motor control circuit adopts an MPU-60509 axis motion processing sensor based on STM32F373CB, a power supply and 485 interface, a pressure sensor interface and a direct voltage acquisition interface are arranged on the module, a 3-axis MEMS gyroscope and a 3-axis MEMS accelerometer are integrated, and the acceleration of the motor is controlled through the rotation angle of the MPU-6050 module; the motor control circuit is also provided with an SWD burning interface, and the controller is configured according to the control requirement. In conclusion, the motor control driver has the performance characteristics of digitalization, integration, high power density, high reliability and the like, and has high practical value.

Referring to fig. 3, the high-speed photoelectric coupler is assembled by a light emitting diode, a high-gain linear operational amplifier and a phototriode, and a schmitt trigger and an inverter are sequentially connected between the high-speed photoelectric coupler and the logic gate circuit. Taking the high-speed photocoupler 6N137 as an example, the high-speed photocoupler assembles the light emitting diode and the phototriode together and uses the optical signal to transmit information, so as to realize the electric- > optical- > electric transmission of the circuit signal (photocoupler circuit), the purpose is to realize the electrical isolation of the input and output parts and improve the anti-interference capability, reliability and stability of the input and output parts in order that the input and the electrical of the circuit are in a complete isolation state, the working principle is that signals are input from a pin 1 and a pin 3, a light emitting diode emits light, the light is transmitted to a phototriode through an optical channel in a chip, the phototriode with reverse bias is conducted after being illuminated by light and is transmitted to one input end of an AND gate after current-voltage conversion, the other input end of the AND gate is an enabling end, when the enable end is high, the AND gate outputs high level, and the photoelectric isolator outputs low level after the high level is reversed by the output triode. When the current of the input signal is smaller than the trigger threshold or the enable end is low, a high level is output, but the logic high is that the collector is open, and a pull resistor or a voltage adjusting circuit can be added to the receiving circuit; the model of the Schmitt trigger is a CD40106BPW Schmitt trigger, and an inverter connected with the output end of the Schmitt trigger plays roles in shaping and isolating.

Referring to fig. 4 and 7, the motor driving circuit is composed of a field effect transistor and a driving chip, and the on and off of the field effect transistor is controlled by the driving chip outputs AH, AL, BH, BL, CH, CL; the model of a driving chip in the motor driving circuit is IR2113MBF, the module is a field effect transistor and an IGBT driving chip with large voltage and high speed, outputs AH, AL, BH, BL, CH and CL control the on and off of the MOSFET, the motor driving circuit formed by the IR2113MBF can conveniently meet the requirement of motor driving, and excellent performances of high speed regulation precision, wide output range, small circuit power consumption and the like are obtained.

Referring to fig. 2 and 6, the motor power amplifier circuit adopts a three-phase six-arm full-bridge driving control circuit, the driving control adopts a three-phase six-state control strategy, the power tube has six trigger states, only two tubes are conducted each time, the reversing is performed once at an electrical angle of 60 degrees, and if the AB phase is conducted at a certain moment, the C phase is cut and no current is output. For example, the turn-on sequence is: Q1Q2 → Q2Q3 → Q3Q4 → Q4Q5 → Q5Q6 → Q6Q1 → Q1Q2 …. The singlechip realizes the power-on control of the motor by utilizing the switching characteristic of the MOSFET according to the detected position of the motor rotor. The continuous operation of the motor can be realized as long as the accurate reversing is carried out at a proper time.

The models of the logic gate circuits are CD4070BPW, CD4081BPW and CD4073 BPW.

The motor driver has the advantages of high speed regulation precision, wide output range, low circuit power consumption, high motor running speed, low motor vibration and low heat emission; the circuit design requirement is low, the circuit has strong anti-interference capability, driving elements are not easy to burn out, and the requirement on the element performance is low; moreover, the circuit is simple, interference in the circuit is controlled to be identical with theoretical requirements, jitter is not easy to generate, high-frequency interference is not easy to cause when wave crests and wave troughs of sine waves are formed in the control mode, and then the driving element is not prone to heating or aging due to overhigh frequency.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.