Double-system controlled all-digital model airplane steering engine

Abstract

The invention relates to a double-system controlled all-digital model airplane steering engine. The steering engine comprises a shell, and a signal converter, a singlechip, a driving circuit, a direct current motor, a speed reducing gear group and a potentiometer which are arranged in the shell, wherein the singlechip comprises an operation storage unit, an analog-to-digital (AD) converter and a motor drive pulse width modulation (PWM) signal module, communicates with an upper computer in two compatible modes of an angle coded PWM signal and RS232 through a single-wire double-mode control interface, receives a control instruction of the upper computer and controls the speed of the steering engine; and the AD converter on the singlechip is connected with the potentiometer, and the singlechip controls the rotating angle of the steering engine, acquires the current position information of the steering engine and transmits the current position information to the upper computer. The rotating speed of the steering engine is adjustable in 255 levels, and the lower limit and the upper limit of the rotating speed of the steering engine are 3.75 degrees per second and 260 degrees per second. Compared with the conventional steering engine, the steering engine has the advantages that: intelligence is improved by using the characteristic of a digital system, the application range is expanded, and the steering engine can be widely applied to the research and development of various robots and advanced model airplanes.

Description

technical field [0001] The invention relates to a dual-control all-digital model airplane steering gear, in particular to a steering gear suitable for application fields such as humanoid robots, bionic robots, robot fish, and advanced model airplanes. Background technique [0002] The steering gear is generally assembled from control chips and circuits, reduction gear sets, DC motors, potentiometers and shells. At its core is the control hardware and / or software. The working principle of the traditional analog steering gear is that the PWM (pulse width modulation) signal enters the signal demodulation circuit from the receiving channel, and the bias voltage is obtained after demodulation. After the voltage is compared with the voltage of the potentiometer, the voltage difference is obtained and output, and then sent to the motor to drive the motor to rotate. This kind of steering gear is analog, that is, without the control of the single-chip microcomputer, the rotation an...

AI Technical Summary

Problems solved by technology

The main problems include: using the change of duty cycle to change the position of the steering gear, there is a lack of precision and robustness, it is easy to cause the vibration of the steering gear, the steering gear is easy to burn, and there is a phenomenon of tooth sweeping; The one-way control signal cannot feed back information to the upper computer, which brings inconvenience to the debugging and programming of the robot; without the position lock function, the upper computer needs to continuously send position information to maintain the current position, thereby increasing the burden on the upper computer and other problems

The disadvantages of this kind of steering gear are: ① the control mode is single, and the duplex communication is adopted, so that the serial communication interface between the upper computer and the steering gear control chip is not fully utilized; To read the internal program of the steering gear, you need to use the ISP download cable, which increases the complexity of the control board circuit; ④The internal parameters of the steering gear cannot be adjusted, so it cannot be applied to more applications

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