CN206135675U

CN206135675U - Digital steering engine

Info

Publication number: CN206135675U
Application number: CN201621056649.6U
Authority: CN
Inventors: 王彬; 曹仲文
Original assignee: Hangzhou Sea Smart Power Technology Co
Current assignee: Hangzhou Sea Smart Power Technology Co
Priority date: 2016-09-14
Filing date: 2016-09-14
Publication date: 2017-04-26
Anticipated expiration: 2026-09-14

Abstract

The utility model provides a digital steering engine, including direct current motor, decelerator and power take -off, direct current motor is controlled by control module, is provided with the controller among this control module, and the input of controller is connected with temperature sensor, communication module and potentiometre, and the output is connected with drive circuit, drive circuit's output and direct current motor connect, decelerator's input is connected on direct current motor's output shaft, decelerator's output links to each other with power take -off, and the potentiometre is installed on decelerator, communication module is used for receiving host machine's control signal to with this control signal transmission to controller, the potentiometre is used for detecting direct current motor's turned angle information feedback to controller. Beneficial effect: the utility model discloses can realize multiple mode's conversion, improve control accuracy, reduce cost, adopt asynchronous serial bus and host computer to carry out the communication simultaneously, simplified the accuse line number volume of host computer, reduced the burden of host computer.

Description

A kind of digital rudder controller

Technical field

This utility model is related to robot application technology field, and in particular to a kind of digital rudder controller.

Background technology

Steering wheel has small, lightweight, moment of torsion big and the features such as high precision, and as driving remote control mould is widely used in Type and robot field.It is divided into simulation steering wheel and digital rudder controller according to signal processing difference, traditional simulation steering wheel is to be input into Control signal PWM one bias voltage is obtained by demodulator circuit demodulation, the voltage difference of the bias voltage and potentiometer voltage is led to Overdrive circuit motor is rotated, and by gear train speed, when voltage difference is zero, motor stalls, need not period Sending pwm signal with stopping can just make motor keep a certain rotational speed；But digital rudder controller only needs to send a pwm signal i.e. Motor can be allowed persistently to rotate under setting speed.

Digital rudder controller can meet different functional requirements compared to simulation steering wheel, the microprocessor of setting, to a certain degree Ground optimization steering wheel performance, simultaneously because the input pulse frequency of motor is higher so that the precision that digital rudder controller can be provided is more accurate Really.But existing digital rudder controller still suffers from many defects to be needed to solve, such as：Mode of operation is single, can only select 0-180 The continuous rotation one of which mode of operation of degree, 0-270 degree and 360 degree, if system needs the steering wheel of various modes, it is necessary to choose The steering wheel of three types, not only in-convenience in use, and cost is too high；Can not make current information Real-time Feedback to control end Obtain control accuracy low, poor reliability.

Utility model content

For defect of the prior art, this utility model provides a kind of digital rudder controller, and the digital rudder controller can be realized The conversion of multiple-working mode, improves control accuracy, reduces cost；Led to host computer using asynchronous serial bus simultaneously News, simplify the control line number amount of host computer, reduce the burden of host computer.

A kind of digital rudder controller, including direct current generator, deceleration device and PTO, direct current generator is by control module Control, is provided with controller in the control module, the input of controller is connected with temperature sensor, communication module and current potential Device, outfan is connected with drive circuit；The outfan of drive circuit and direct current generator connect；The input of deceleration device is connected to On the output shaft of direct current generator；The outfan of deceleration device is connected with PTO, and potentiometer is arranged on the dress that slows down Put；Communication module is used to receive the control signal of host computer, and the control signal is transferred to into the controller；Temperature sensing Device is used to detect current operational temperature information and feed back to controller；Potentiometer is used to detect the rotational angle information of direct current generator Feed back to controller.

In the digital rudder controller that this utility model is provided, temperature sensor can detect the current running temperature of the digital rudder controller Information, and controller is timely fed back to, the response for controller provides parameter；Pass through asynchronous serial between controller and host computer Bus carries out communication connection, and communication module can receive the control number of host computer, then transmit control signals to controller；Current potential Device can detect the rotational angle information of direct current generator, and by feedback of the information to controller, controller is believed according to the temperature of feedback The control signal of breath, the rotational angle information of direct current generator and host computer can adjust the mode of operation of the digital rudder controller；Can With switch Working mould have respectively 0-180 degree, 0-270 degree, 360 degree.

Alternatively, in above-mentioned digital rudder controller, controller carries out communication and is connected with host computer by asynchronous serial bus, is used for Receive the control signal of host computer.

Enter communication by the way of asynchronous serial bus is carried out between the controller and host computer of above-mentioned digital rudder controller to connect, Can simultaneously be connected 254 steering wheels, and can be to work independently and interference-free between each steering wheel；Will by bus All information are sent to steering wheel, are matched by corresponding ID, the ID data of matching are obtained, so as to realize independent control.

Alternatively, in above-mentioned digital rudder controller, controller includes main control chip, and the main control chip adopts chip STM8S003F3。

Single-chip microcomputer STM8S003F3 can simplify circuit, and with 8K FLASH spaces, can be used for storing related ginseng Number, low cost is suitable as steering wheel internal controller.

Alternatively, in above-mentioned digital rudder controller, drive circuit includes the first integrated chip IRF7389, the second integrated chip IRF7389, for driving the direct current generator to rotate.

Alternatively, in above-mentioned digital rudder controller, the supply voltage of direct current generator is 5-12V.

Alternatively, in above-mentioned digital rudder controller, drive circuit also includes audion Q2, audion Q4, audion Q6, audion Q1, audion Q3, audion Q5；The colelctor electrode of audion Q4 is connected with the G1 pins of the first integrated chip IRF7389, audion Q6 colelctor electrodes are connected with the G2 pins of the first integrated chip IRF7389, after the base stage of audion Q4 is in parallel with audion Q6 base stages It is connected with the colelctor electrode of audion Q2, the base stage of audion Q2 is connected with the output terminal of clock mouth of main control chip STM8S003F3； The colelctor electrode of audion Q3 is connected with the G1 pins of the second integrated chip IRF7389, and the colelctor electrode of audion Q1 is integrated with second The G2 pins connection of chip I RF7389, the colelctor electrode after the base stage of audion Q1 is in parallel with audion Q3 base stages with audion Q5 Connection, the base stage of audion Q5 is connected with the access port of intervalometer 3 of main control chip STM8S003F3.

Alternatively, in above-mentioned digital rudder controller, also including a LED lamp, the LED is connected with the main control chip, is used for Show the running status of the digital rudder controller.

The beneficial effects of the utility model：This utility model provide digital rudder controller, including direct current generator, deceleration device with And PTO, direct current generator is provided with controller, the input of controller by control module control in the control module Temperature sensor, communication module and potentiometer are connected with, outfan is connected with drive circuit；The outfan of drive circuit and straight Stream motor connection；The input of deceleration device is connected on the output shaft of direct current generator；The outfan of deceleration device is defeated with power Go out device to be connected, potentiometer is arranged on the deceleration device；Communication module is used to receive the control signal of host computer, and should Control signal is transferred to the controller；Temperature sensor is used to detect current operational temperature information and feed back to controller；Electricity Position device is used to detect the rotational angle feedback of the information of direct current generator to controller.Temperature information, direct current of the controller according to feedback The rotational angle information of motor and the control signal of host computer can adjust the mode of operation of the digital rudder controller, realize various works The conversion of operation mode, improves control accuracy, reduces cost；Communicated with host computer using asynchronous serial bus simultaneously, letter Changed the control line number amount of host computer, reduced the burden of host computer, can connect 254 steering wheels simultaneously, realize each steering wheel it Between autonomous working and interference-free.

Description of the drawings

Fig. 1 is the structural representation of this utility model digital rudder controller；

Fig. 2 is the control module schematic diagram of this utility model digital rudder controller；

Fig. 3 is the drive circuit circuit diagram of this utility model digital rudder controller.

Reference：

1- digital rudder controller interfaces；2- control modules；3- direct current generators；4- deceleration devices；5- output devices；6- stopping means

Specific embodiment

The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for Technical scheme is clearly illustrated, therefore is intended only as example, and the protection of the present invention can not be limited with this Scope.

Embodiment：

With reference to Fig. 1, the digital rudder controller that this utility model is provided includes digital rudder controller interface 1, control module 2, direct current generator 3rd, deceleration device 4, output device 5, stopping means 6；The drive circuit outfan and direct current generator 3 of control module 2 connects, direct current With being connected to deceleration device 4, deceleration device 4 is connected the output shaft of motor 3 with output device 5, control module 2 also with a stopping means 6 connections.

With reference to Fig. 2, the control module of this utility model digital rudder controller includes controller, temperature sensor, communication module, electricity Position device, drive circuit, protection circuit；The input of the controller connects respectively with temperature sensor, communication module and potentiometer Connect, outfan is connected respectively with drive circuit, protection circuit；The outfan of drive circuit and direct current generator connect；Potentiometer is pacified It is mounted on deceleration device；Controller carries out communication and is connected with host computer by asynchronous serial bus, and communication module is used to receive The control signal of position machine, and the control signal is transferred to into controller；Controller includes main control chip, and the main control chip adopts core Piece STM8S003F3；Temperature sensor is used to for current operational temperature information to feed back to controller；Potentiometer is used for accurate detection The rotational angle information of direct current generator, and by feedback of the information to controller；Protection circuit is used to detect the driving electricity of direct current generator Whether stream exceedes preset value, and whether input voltage exceedes predeterminated voltage, and detection information is fed back to into controller；Direct current generator Supply voltage is 10V；A LED lamp is also associated with main control chip STM8S003F3, for showing the fortune of the digital rudder controller Row state.

Be the drive circuit in Fig. 2 with reference to Fig. 3, the drive circuit include audion Q2, audion Q4, audion Q6, three Pole pipe Q1, audion Q3, audion Q5；The colelctor electrode of audion Q4 is connected with the G1 pins of the first integrated chip IRF7389, and three Pole pipe Q6 colelctor electrode is connected with the G2 pins of the first integrated chip IRF7389, and the base stage of audion Q4 is with audion Q6 base stages simultaneously It is connected with the colelctor electrode of audion Q2 after connection, the base stage of audion Q2 connects with the output terminal of clock mouth of main control chip STM8S003F3 Connect；The colelctor electrode of audion Q3 is connected with the G1 pins of the second integrated chip IRF7389, and the colelctor electrode of audion Q1 and second collects G2 pins into chip I RF7389 connect, the current collection after the base stage of audion Q1 is in parallel with audion Q3 base stages with audion Q5 Pole connects, and the base stage of audion Q5 is connected with the access port of intervalometer 3 of main control chip STM8S003F3；Audion Q1 and Q6 are PNP type triode, model MMBT2907 of employing, audion Q2, Q3, Q4 and Q5 be NPN type triode, the model of employing MMBT2222A；The base stage of Q2 is connected with resistance R6, and the base stage of Q4 is connected with resistance R11, and the base stage of Q6 is connected with resistance R16, Q1 Base stage be connected with resistance R5, the base stage of Q3 is connected with resistance R10, and the base stage of Q5 is connected with resistance R15；Direct current generator M connects Between the outfan of the first integrated chip IRF7389 and the second integrated chip IRF7389.

In specific implementation process, control signal is transferred to by way of asynchronous serial bus host computer communication mould Block, communication module to be received and be transmitted to controller after control signal；Temperature sensor detects the current fortune of the digital rudder controller Trip temperature feedback of the information is to controller；Potentiometer detects the rotational angle information of direct current generator, and by feedback of the information to controller； Controller is according to the temperature information of feedback, the rotational angle information of direct current generator and the control signal of host computer by control instruction It is transferred to drive circuit；The outfan connection direct current generator of drive circuit, direct current generator rotates according to specified rotating speed；Deceleration device The high rotating speed of direct current generator, low torque output are converted into into the slow-speed of revolution, high torque output；Output mechanism is by the slow-speed of revolution, high torque Export digital rudder controller；By above workflow, it is possible to achieve the switching of the digital rudder controller mode of operation, there is 0-180 respectively Degree, 0-270 degree, 360 degree, and lock-bit is accurately, non-jitter, without overshoot, during steering wheel use, greatly improves debugging effect Rate；The digital rudder controller response is fast, and the situation for having prevented " reactionless area " occurs；Simultaneously driving pulse frequency is high, and reaction is fast, accelerates It is rapider, softer with slowing down, degree of accuracy and stability can be improved；The high accuracy of deceleration device, can turn round direct current generator output Square increases 200-300 times.

In the description of the present application, term " first ", " second " etc. be only used for describe purpose, and it is not intended that indicate or Hint relative importance or the implicit quantity for indicating indicated technical characteristic.

In description of the present utility model, a large amount of details are illustrated.It is to be appreciated, however, that reality of the present utility model Applying example can put into practice in the case of without these details.In some instances, known method, knot is not been shown in detail Structure and technology, so as not to obscure the understanding of this description.

Finally it should be noted that：Above example only to illustrate the technical solution of the utility model, rather than a limitation； Although being described in detail to this utility model with reference to foregoing embodiments, one of ordinary skill in the art should manage Solution：It still can modify to the technical scheme described in foregoing embodiments, either to which part or whole skills Art feature carries out equivalent；And these modifications or replacement, do not make essence disengaging each reality of the invention of appropriate technical solution The scope of a technical scheme is applied, it all should cover in the middle of the scope of claim of the present utility model and description.

Claims

1. a kind of digital rudder controller, including direct current generator, deceleration device and PTO, it is characterised in that the direct current Motor is provided with controller by control module control in the control module, the input of controller is connected with temperature sensor, leads to News module and potentiometer, outfan is connected with drive circuit；The outfan of the drive circuit and direct current generator connect；

The input of the deceleration device is connected on the output shaft of the direct current generator；The outfan of the deceleration device and institute State PTO to be connected, the potentiometer is arranged on the deceleration device；

The communication module is used to receive the control signal of host computer, and the control signal is transferred to into the controller；It is described Temperature sensor is used to detect current operational temperature information and feed back to the controller；The potentiometer is used to detect described The rotational angle information of direct current generator simultaneously feeds back to the controller.

2. digital rudder controller according to claim 1, it is characterised in that the controller is total by asynchronous serial with host computer Line carries out communication connection, for receiving the control signal of host computer.

3. digital rudder controller according to claim 2, it is characterised in that the controller includes main control chip, the master control core Piece adopts chip STM8S003F3.

4. digital rudder controller according to claim 3, it is characterised in that the drive circuit includes the first integrated chip IRF7389, the second integrated chip IRF7389, for driving the direct current generator to rotate.

5. digital rudder controller according to claim 4, it is characterised in that the supply voltage of the direct current generator is 5-12V.

6. digital rudder controller according to claim 5, it is characterised in that the drive circuit also includes audion Q2, three poles Pipe Q4, audion Q6, audion Q1, audion Q3, audion Q5, the colelctor electrode of the audion Q4 and the described first integrated core The G1 pins connection of piece IRF7389, the audion Q6 colelctor electrodes connect with the G2 pins of first integrated chip IRF7389 Connect, the base stage of the audion Q4 is connected with after the parallel connection of audion Q6 base stages with the colelctor electrode of audion Q2, the base of audion Q2 Pole is connected with the output terminal of clock mouth of the main control chip STM8S003F3；The colelctor electrode of the audion Q3 and the described second collection G1 pins into chip I RF7389 connect, and the colelctor electrode of the audion Q1 is managed with the G2 of second integrated chip IRF7389 Foot connects, and the base stage of the audion Q1 is connected with after the parallel connection of audion Q3 base stages with the colelctor electrode of audion Q5, audion Q5 Base stage be connected with the access port of intervalometer 3 of the main control chip STM8S003F3.

7. digital rudder controller according to claim 6, it is characterised in that also including a LED lamp, the LED and the master Control chip connection, for showing the running status of the digital rudder controller.