Brush direct current motor driving device and method and driving equipment

Abstract

The invention relates to a brush direct current motor driving device, method and equipment, the brush direct current motor driving device comprises a controller, a position detection unit and a motor driving circuit, the controller receives a control instruction signal and a position feedback signal which are externally input, and outputs a control signal; the position detection unit is arranged on the output side of the brush direct current motor, is connected with the controller, detects the actual rotation angle of an output shaft of the brush direct current motor, generates a corresponding position feedback signal and sends the position feedback signal to the controller, and the motor driving circuit is connected between the controller and the brush direct current motor and drives the brush direct current motor to operate according to a control signal. And the controller analyzes the control instruction signal into a target angle position, reads a position feedback signal to obtain a current angle position, adjusts parameters of the control signal according to an angle error between the target angle position and the current angle position, and outputs the parameters to the motor driving circuit to reduce the angle error. And the use reliability of the brush direct current motor is improved.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a brushed DC motor drive device, method and drive equipment. Background Technology

[0002] The core function of a brushed DC motor is to convert electrical energy into mechanical energy to drive equipment to rotate, that is, to drive the load in circular motion. Despite competition from brushless motors, its unique advantages make it indispensable in certain applications. Brushed DC motors play a vital role in consumer electronics, power tools, automobiles, industrial automation, medical equipment, and robotics due to their relatively simple design, lower manufacturing costs, and ease of control.

[0003] Currently, the control method of brushed DC motors is extremely simple, with only two power lines. The operation involves rotating when an external power signal is applied and stopping when the power is cut off; generally, they can only rotate the load. This results in users being unable to accurately control the angle and position of the brushed DC motor, severely limiting its functionality and causing low reliability. Summary of the Invention

[0004] Therefore, it is necessary to address the technical problem of low reliability in the use of traditional brushed DC motors by providing a brushed DC motor drive device, method, and drive equipment that can improve the reliability of brushed DC motors.

[0005] In a first aspect, this application provides a brushed DC motor drive device, comprising:

[0006] The controller is used to receive external control command signals and position feedback signals, and to output control signals.

[0007] A position detection unit is located on the output side of the brushed DC motor and connected to the controller. It is used to detect the actual rotation angle of the output shaft of the brushed DC motor and generate a corresponding position feedback signal to be sent to the controller.

[0008] A motor drive circuit is connected between the controller and the brushed DC motor, and is used to drive the brushed DC motor to run according to the control signal;

[0009] The controller is further configured to: parse the control command signal into a target angular position, read the position feedback signal to obtain the current angular position, adjust the parameters of the control signal according to the angular error between the target angular position and the current angular position, and then output the signal to the motor drive circuit to reduce the angular error.

[0010] In one embodiment, the position detection unit includes a potentiometer disposed on the output side of the brushed DC motor and connected to the controller.

[0011] In one embodiment, the position detection unit includes a structural limiting device and a current detection circuit, the current detection circuit being connected to the controller;

[0012] The structural limiting device is set at a preset angle position on the rotation path of the brushed DC motor. The current detection circuit is used to detect the operating current of the brushed DC motor in real time. When the brushed DC motor rotates and touches the structural limiting device and stalls, the current detection circuit generates a stall signal and sends it to the controller.

[0013] In one embodiment, the control command signal is a PWM signal, which is connected through the PWM input pin of the controller, and the pulse width of the PWM signal has a preset mapping relationship with the target angle position.

[0014] In one embodiment, the brushed DC motor drive further includes a signal conversion circuit, the input of which is connected to the PWM input pin.

[0015] In one embodiment, the signal conversion circuit is an RC timing circuit or a timer unit inside the controller.

[0016] In one embodiment, a reduction gear set is also included, which is disposed on the output shaft of the brushed DC motor.

[0017] In one embodiment, the controller is further configured to: when the angle error is less than a preset error threshold, control the brushed DC motor to stop running and maintain the current position.

[0018] In one embodiment, the motor drive circuit is an H-bridge motor drive circuit.

[0019] Secondly, this application also provides a brushed DC motor driving method, implemented based on the above-mentioned brushed DC motor driving device, the method comprising:

[0020] Receives externally input control command signals and position feedback signals.

[0021] The control command signal is parsed into a target angular position, and the current angular position is obtained by reading the position feedback signal;

[0022] The parameters of the control signal are adjusted according to the angle error between the target angle position and the current angle position;

[0023] The adjusted control signal is output to the motor drive circuit to reduce the angle error.

[0024] In one embodiment, the parameters of the control signal adjusted according to the angle error between the target angle position and the current angle position include:

[0025] Based on the PID algorithm, the parameters of the control signal are adjusted according to the angle error between the target angle position and the current angle position.

[0026] Thirdly, this application also provides a drive device, including a brushed DC motor and a brushed DC motor drive as described above.

[0027] The aforementioned brushed DC motor drive device, method, and drive equipment include a controller, a position detection unit, and a motor drive circuit. The controller receives externally input control command signals and position feedback signals, and outputs control signals. The position detection unit is located on the output side of the brushed DC motor and connected to the controller. It detects the actual rotation angle of the brushed DC motor output shaft and generates a corresponding position feedback signal, which is sent to the controller. The motor drive circuit is connected between the controller and the brushed DC motor, and drives the brushed DC motor to operate according to the control signals. The controller is further configured to: parse the control command signal into a target angular position, read the position feedback signal to obtain the current angular position, adjust the parameters of the control signal according to the angular error between the target angular position and the current angular position, and then output the signal to the motor drive circuit to reduce the angular error. Therefore, by acquiring the actual rotation angle of the brushed DC motor output shaft and adjusting the feedback according to the angular error between the target angular position and the current angular position, the angular error can be reduced, achieving precise angular positioning of the brushed DC motor and improving the reliability of the brushed DC motor. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic block diagram of a brushed DC motor drive device in one embodiment.

[0030] Figure 2 This is a schematic diagram showing the location of the potentiometer in one embodiment;

[0031] Figure 3This is a flowchart illustrating a brushed DC motor driving method in one embodiment;

[0032] Figure 4 This is a flowchart illustrating a brushed DC motor driving method in another embodiment;

[0033] Figure 5 This is a schematic block diagram of the drive device in one embodiment;

[0034] Figure 6 This is a schematic diagram of the working process of the driving device in one embodiment. Detailed Implementation

[0035] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0037] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0038] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0039] It is understandable that "at least one" refers to one or more, and "multiple" refers to two or more. "At least a part of an element" refers to part or all of an element.

[0040] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0041] This application provides a brushed DC motor drive device for driving a brushed DC motor. A brushed DC motor is a rotating device that converts DC electrical energy into mechanical energy. A brushed DC motor mainly includes a stator, a rotor, and a commutator. The stator is typically a permanent magnet used to generate a fixed magnetic field. The rotor, or armature, has coils wound around it. The commutator rotates coaxially with the rotor. The brushes, under spring pressure, maintain sliding contact with the commutator and are responsible for guiding current from the external power supply into the rotating rotor coils. When current flows through the coils, a force (torque) is generated in the stator magnetic field, driving the rotor to rotate. The commutator's function is to automatically switch the direction of current flowing into different coils as the rotor rotates, thereby maintaining continuous unidirectional rotation of the rotor. To overcome the drawback of brushed DC motors' inability to achieve precise positioning, this application provides an external brushed DC motor drive device, enabling the brushed DC motor to possess servo positioning capabilities.

[0042] In one embodiment, such as Figure 1 As shown, a brushed DC motor drive device is provided, including a controller 10, a position detection unit 12, and a motor drive circuit 14. The controller 10 is used to receive externally input control command signals and position feedback signals, and output control signals. The position detection unit 12 is disposed on the output side of the brushed DC motor 20 and connected to the controller 10. It is used to detect the actual rotation angle of the output shaft of the brushed DC motor 20 and generate a corresponding position feedback signal to be sent to the controller 10. The motor drive circuit 14 is connected between the controller 10 and the brushed DC motor 20, and is used to drive the brushed DC motor 20 to run according to the control signal. The controller 10 is also configured to: parse the control command signal into a target angle position, read the position feedback signal to obtain the current angle position, and adjust the parameters of the control signal according to the angle error between the target angle position and the current angle position before outputting it to the motor drive circuit 14 to reduce the angle error. Therefore, by collecting the actual rotation angle of the output shaft of the brushed DC motor 20 and adjusting the angle error between the target angle position and the current angle position, the angle error can be reduced, the brushed DC motor 20 can be accurately positioned, and the reliability of the brushed DC motor 20 can be improved.

[0043] The position detection unit 12 is located on the output side of the brushed DC motor 20, meaning it is mechanically mounted on the output shaft of the brushed DC motor 20 or on the final moving part driven by the output shaft. Its purpose is to detect the actual rotation angle of the output shaft of the brushed DC motor 20 and send the result to the controller 10. The position detection unit 12 can be connected to the controller 10 by connecting its feedback signal line to the ADC or digital input pin of the controller 10. The position detection unit 12 is a generalized sensor module whose core function is to detect the actual rotation angle of the output shaft of the brushed DC motor 20 and generate a corresponding position feedback signal to be sent to the controller 10. This converts the mechanical angular position of the output shaft of the brushed DC motor 20 into an electrical signal that the controller 10 can recognize in real time and with high precision.

[0044] The position detection unit 12 is not only key to achieving closed-loop control in this application, but also directly determines the positioning accuracy of the brushed DC motor drive device. The structure of the position detection unit 12 is not unique. For example, the position detection unit 12 can be a rotary encoder, which offers high accuracy and low mechanical wear. Alternatively, the position detection unit 12 can also be a rotary transformer, which reflects the angle through the voltage amplitude or phase of its output windings, is robust and durable, and can be used in harsh industrial environments such as high temperature and high vibration.

[0045] The motor drive circuit 14 is connected between the controller 10 and the brushed DC motor 20, and is used to drive the brushed DC motor 20 to operate according to the control signals sent by the controller 10. The power output terminal of the motor drive circuit 14 can be connected to the two electrodes of the brushed DC motor 20, and the power input terminal of the motor drive circuit 14 is connected to an external main power supply. When the motor drive circuit 14 is working, it amplifies the low-power control signal output by the controller 10, converting it into voltage and current sufficient to drive the brushed DC motor 20 to operate. The structure of the motor drive circuit 14 is not unique; for example, it may include a linear power amplifier, which can output a current / voltage that is linearly related to the input signal, resulting in smooth control.

[0046] In one exemplary embodiment, the motor drive circuit 14 is an H-bridge motor drive circuit. The H-bridge motor drive circuit typically consists of four switching elements (such as MOSFETs) forming an H-bridge structure, which can control the bidirectional flow of current through the brushed DC motor 20, thereby controlling the forward and reverse rotation of the brushed DC motor 20.

[0047] The controller 10 is connected to the control logic input of the H-bridge motor drive circuit. The power output of the H-bridge motor drive circuit is directly connected to the two electrodes of the brushed DC motor 20. The power supply of the H-bridge motor drive circuit is connected to an external motor power supply. By controlling the level combination of the control logic input of the H-bridge motor drive circuit, the direction of the brushed DC motor 20 can be controlled. This allows the controller 10 to drive the brushed DC motor 20 to rotate bidirectionally to eliminate angular errors in the positive and negative directions.

[0048] In this embodiment, the motor drive circuit 14 is an H-bridge motor drive circuit, which provides bidirectional drive capability, can achieve positioning at any angle, and offers flexible control.

[0049] As the core component of the brushed DC motor drive device, the controller 10 can receive signals from other devices and send signals to other devices to control their operating states. In this embodiment, the controller 10 receives externally input control command signals and position feedback signals, and outputs control signals. The control command signal can be any electrical signal containing the target angular position. The position feedback signal is the signal detected by the position detection unit 12, which can be an analog voltage signal or a digital pulse signal reflecting the actual rotation angle of the output shaft of the brushed DC motor 20. The control signal is usually a PWM signal, but it can also be a direction / enable signal pair, which is not limited here. The controller 10 uses a microcontroller 10, whose output terminal is connected to the motor drive circuit 14 to output control signals to the motor drive circuit 14.

[0050] Furthermore, after receiving the control command signal, the controller 10 parses the control command signal to obtain the target angle position. The target angle position is the stop position of the brushed DC motor 20 required by the user. In addition, after receiving the position feedback signal, the controller 10 parses the position feedback signal to obtain the current angle position. Then, the controller 10 calculates the difference between the target angle position and the current angle position as the angle error, and adjusts the parameters of the control signal according to the angle error. The parameters of the control signal may include the duty cycle, high and low level durations, etc., which are not limited here. Finally, the controller 10 sends the adjusted control signal to the motor drive circuit 14, causing the motor drive circuit 14 to drive the brushed DC motor 20 to work according to the adjusted control signal, adjusting the position of the brushed DC motor 20 to reduce the angle error, making the actual position of the brushed DC motor 20 closer to or equal to the target angle position, thus achieving precise control of the position of the brushed DC motor 20.

[0051] For example, after power-on, the controller enters a loop: 1. Receives the externally input control command signal to obtain the target angular position A; 2. Reads the position feedback signal from the position detection unit to obtain the current angular position B; 3. Calculates the error e = AB; 4. Adjusts the parameters of the output control signal according to the error e; 5. Outputs the control signal with the new parameters to the motor drive circuit; 6. The motor drive circuit amplifies the signal power and drives the brushed DC motor to rotate in the direction that reduces the error e. This loop continues until the error e approaches zero.

[0052] The aforementioned brushed DC motor drive device includes a controller, a position detection unit, and a motor drive circuit. The controller receives externally input control command signals and position feedback signals, and outputs control signals. The position detection unit is located on the output side of the brushed DC motor and connected to the controller. It detects the actual rotation angle of the brushed DC motor's output shaft and generates a corresponding position feedback signal, which is then sent to the controller. The motor drive circuit is connected between the controller and the brushed DC motor, and drives the brushed DC motor to operate according to the control signals. The controller is also configured to: parse the control command signal into a target angular position, read the position feedback signal to obtain the current angular position, adjust the parameters of the control signal based on the angle error between the target and current angular positions, and then output the signal to the motor drive circuit to reduce the angle error. Thus, by acquiring the actual rotation angle of the brushed DC motor's output shaft and adjusting the feedback based on the angle error between the target and current angular positions, a closed-loop control structure is established. This reduces angle errors, achieves precise angle positioning of the brushed DC motor, is low-cost, has a fast response, and strong anti-interference capabilities. It endows ordinary brushed DC motors with position servo capabilities, improving the reliability of brushed DC motors.

[0053] The structure of the position detection unit is not unique; in one exemplary embodiment, such as... Figure 2 As shown, the position detection unit 12 includes a potentiometer 122, which is located on the output side of the brushed DC motor 20 and connected to the controller.

[0054] Potentiometer 122 is a sensor that converts mechanical angle into resistance or voltage. In this embodiment, the potentiometer can be a rotary precision potentiometer, which has good linearity and low cost.

[0055] The potentiometer can be positioned on the output side of a brushed DC motor in the following ways: the potentiometer housing is fixed by a bracket, and the potentiometer shaft is rigidly connected to the output shaft of the brushed DC motor via a coupling, ensuring synchronous rotation. Alternatively, when the brushed DC motor drive unit also includes a reduction gear set, the potentiometer is positioned on the final output shaft of the brushed DC motor after passing through the reduction gear set.

[0056] The potentiometer can be connected to the controller as follows: Connect the two ends of the potentiometer (VCC and GND) to the reference voltage provided by the controller and ground, respectively. Connect the sliding end of the potentiometer to the ADC analog input pin of the controller.

[0057] When the brushed DC motor rotates, it drives the potentiometer shaft to rotate synchronously. The output voltage at the potentiometer's sliding terminal changes linearly with the rotation angle, and the two are directly proportional. The voltage value sent by the potentiometer from the ADC module inside the controller is digitized and converted into a precise angle value representing the current angular position through a preset "voltage-angle" correspondence. This "voltage-angle" correspondence can be a curve correspondence or a tabular correspondence, etc., and is not limited here.

[0058] In this embodiment, the position detection unit includes a potentiometer, which is located on the output side of the brushed DC motor and connected to the controller. The potentiometer can provide continuous, real-time angle feedback with high accuracy, low cost, and simple installation.

[0059] In another exemplary embodiment, the position detection unit includes a structural limiting device and a current detection circuit, the current detection circuit being connected to the controller. The structural limiting device is positioned at a preset angle on the rotation path of the brushed DC motor, and the current detection circuit is used to detect the operating current of the brushed DC motor in real time; when the brushed DC motor rotates and touches the structural limiting device, causing a stall, the current detection circuit generates a stall signal and sends it to the controller.

[0060] Among them, the structural limiting device is a physical stop or rib fixed to the mechanical structure, used to stop the load from continuing to move at a preset angular position on the rotation path of the brushed DC motor. For example, the structural limiting device is a limiting rib, which is rigidly fixed to the frame at a preset angular position (such as 0° and 180°) by welding or screws.

[0061] A current sensing circuit typically includes a sampling resistor and a comparator. The sampling circuit is connected to the comparator, and the comparator is connected to the controller. The sampling resistor is connected in series in the current loop of the brushed DC motor, for example, in series on the power line between the motor drive circuit and the brushed DC motor, to convert the current into voltage. The comparator is used to determine whether the current exceeds a set threshold and sends the comparison result to the controller.

[0062] When the brushed DC motor rotates and touches the structural limit device, it stalls, and the current rises rapidly. When the current detection circuit detects that the current exceeds the threshold, it sends a stall signal to the controller. Upon receiving the stall signal, the controller immediately cuts off the motor power supply, thus protecting the brushed DC motor.

[0063] For example, taking a control command signal representing a target angular position of 180°, and the preset angular position of the structural limit device also being 180°, after receiving the control command signal, the controller controls the motor drive circuit to drive the brushed DC motor to the 180° limit point. When the load contacts the structural limit device at 180°, the brushed DC motor stalls, and the current rises sharply. The voltage across the sampling resistor of the current detection circuit rises accordingly, triggering the comparator to flip its output level, generating a stall signal. After detecting the stall signal, the controller immediately stops the control signal output, cuts off the motor power supply, and stops the brushed DC motor at the 180° position.

[0064] In this embodiment, the position detection unit includes a structural limiting device and a current detection circuit, with the current detection circuit connected to the controller. The structural limiting device is positioned at a preset angle on the rotation path of the brushed DC motor, and the current detection circuit is used to detect the operating current of the brushed DC motor in real time. When the brushed DC motor rotates and touches the structural limiting device, causing a stall, the current detection circuit generates a stall signal and sends it to the controller. This provides an extremely simple endpoint positioning scheme, suitable for applications where high precision is not required but reliable physical limiting is necessary.

[0065] In an exemplary embodiment, the control command signal is a PWM signal, which is connected through the PWM input pin of the controller. The pulse width of the PWM signal has a preset mapping relationship with the target angular position.

[0066] PWM signal refers to pulse width modulation signal, which transmits information through duty cycle. PWM signal is connected through a dedicated input pin of the controller (such as a timer input capture pin). The PWM signal source can be a remote control receiver, main control board, or other controllers.

[0067] The duration of the high level of the PWM signal is linearly related to the rotation angle of the brushed DC motor. The correspondence between the angle and the PWM time can be established through experimental calibration. For example, 0° corresponds to 500μs, 90° corresponds to 1500μs, and 180° corresponds to 2500μs.

[0068] The signal connected to the PWM input pin is usually a square wave signal with a frequency of 50Hz. The controller analyzes the high-level time of the connected PWM signal (e.g., 0.5-2.5ms) and converts the time parameter into the target angle position of the brushed DC motor based on a preset mapping relationship.

[0069] In this embodiment, the control command signal is a PWM signal, which is input through the PWM input pin of the controller. The pulse width of the PWM signal has a preset mapping relationship with the target angular position. PWM signals have good compatibility and strong versatility as control command signals.

[0070] In one exemplary embodiment, the brushed DC motor drive further includes a signal conversion circuit, the input of which is connected to a PWM input pin. The core function of the signal conversion circuit is to convert the pulse width of the PWM signal into a digital value that the controller can read, so that the controller can smoothly execute subsequent control processes.

[0071] The structure of the signal conversion circuit is not unique. In one exemplary embodiment, the signal conversion circuit is an RC timing circuit or a timer unit inside the controller.

[0072] An RC timing circuit is an analog circuit scheme that utilizes the charging and discharging principle of a resistor and capacitor. An RC timing circuit includes a resistor and a capacitor. When a PWM signal is applied to the RC timing circuit, the PWM signal charges the capacitor through a resistor. The capacitor charges when the PWM signal is high and discharges when it is low. The peak voltage across the capacitor is proportional to the PWM pulse width. This voltage is connected to a controller, which can calculate or deduce the pulse width by measuring the ADC value or by looking up a table.

[0073] The controller's internal timer unit is a purely digital solution. Utilizing the timer's hardware functionality, the internal timer unit directly reads the captured pulse width count value from the register, eliminating the need for external components. The PWM signal is directly connected to the timer pin configured for input capture mode, resulting in high accuracy and efficiency.

[0074] In this embodiment, the brushed DC motor drive also includes a signal conversion circuit, the input of which is connected to the PWM input pin. The core function of the signal conversion circuit is to convert the pulse width of the PWM signal into a digital value that the controller can read, enabling the controller to smoothly execute subsequent control processes. Two specific schemes for pulse width measurement are provided: the RC timing circuit is low-cost, and the timer unit inside the controller has high accuracy and reliability, which can be selected according to actual needs.

[0075] In one exemplary embodiment, the brushed DC motor drive further includes a reduction gear set disposed on the output shaft of the brushed DC motor.

[0076] The reduction gear set is a transmission mechanism composed of multiple gears, used to reduce speed and increase output torque.

[0077] The reduction gear set can be installed on the output shaft of a brushed DC motor in the following ways: the input shaft of the reduction gear set is connected to the output shaft of the brushed DC motor via a coupling or directly. The output shaft of the gear set is used to connect the load. The reduction gear set is usually encapsulated in a separate gearbox, which is directly connected to the motor housing to form a single unit.

[0078] Brushed DC motors rotate at high speeds and low torque. After reduction by a gear set, the output shaft achieves low speeds and high torque. This is not only more suitable for driving loads with high inertia, but also improves the resolution of angle control. The output shaft rotates only once for every multiple rotations of the motor shaft, allowing for more precise control of the output shaft angle.

[0079] In this embodiment, the brushed DC motor drive device further includes a reduction gear set, which is disposed on the output shaft of the brushed DC motor. The reduction gear set can increase torque, reduce speed, and improve the system's load capacity, angle control accuracy, and resolution.

[0080] In one exemplary embodiment, the controller is further configured to: control the brushed DC motor to stop running and maintain the current position when the angle error is less than a preset error threshold.

[0081] The preset error threshold is a small angle value (such as 0.5° or 1°) that defines a dead zone or allowable error range.

[0082] In the closed-loop control cycle, after calculating the angle error, the controller first checks if its absolute value is less than a preset error threshold. If the absolute value of the angle error is less than the preset error threshold, the controller assumes the brushed DC motor has reached its position and outputs a control signal (such as a PWM signal with a zero duty cycle) to stop the brushed DC motor and maintain its current position. If the absolute value of the angle error is greater than or equal to the preset error threshold, the normal adjustment process continues: the parameters of the control signal are adjusted according to the angle error, and then output to the motor drive circuit. This strategy prevents the brushed DC motor drive from generating high-frequency oscillations near the target point due to small errors, thus achieving stable holding.

[0083] In this embodiment, the controller is further configured to stop the brushed DC motor and maintain its current position when the angle error is less than a preset error threshold. This reduces system jitter, makes the brushed DC motor stop more smoothly, and reduces unnecessary energy consumption and mechanical wear.

[0084] In one embodiment, this application also provides a brushed DC motor driving method, implemented based on a brushed DC motor driving device according to any of the above embodiments, for example, it can be executed by the controller of the brushed DC motor driving device. Figure 3 As shown, the brushed DC motor driving method includes steps 302 to 308. Wherein:

[0085] Step 302: Receive externally input control command signals and position feedback signals.

[0086] Step 304: Parse the control command signal into the target angle position and read the position feedback signal to obtain the current angle position.

[0087] Step 306: Adjust the parameters of the control signal according to the angle error between the target angle position and the current angle position.

[0088] Step 308: Output the adjusted control signal to the motor drive circuit to reduce angle error.

[0089] The controller can receive control command signals through interactive devices. After receiving the control command signal, it parses the signal to obtain the target angular position. The target angular position is the stopping position of the brushed DC motor required by the user.

[0090] Furthermore, after receiving the position feedback signal, the controller analyzes it to obtain the current angular position. The position feedback signal is generated and sent by the position detection unit after detecting the actual rotation angle of the brushed DC motor output shaft.

[0091] Next, the controller calculates the difference between the target angular position and the current angular position as the angular error, and then adjusts the parameters of the control signal based on the angular error. The parameters of the control signal may include the duty cycle, high / low level duration, etc., which are not limited here.

[0092] Finally, the controller sends the adjusted control signal to the motor drive circuit, which then drives the brushed DC motor to work according to the adjusted control signal. This adjusts the position of the brushed DC motor, reduces the angle error, and makes the actual position of the brushed DC motor closer to or equal to the target angle position, thus achieving precise control of the position of the brushed DC motor.

[0093] For example, after power-on, the controller enters a loop: 1. Receives the externally input control command signal to obtain the target angular position A; 2. Reads the position feedback signal from the position detection unit to obtain the current angular position B; 3. Calculates the error e = AB; 4. Adjusts the parameters of the output control signal according to the error e; 5. Outputs the control signal with the new parameters to the motor drive circuit; 6. The motor drive circuit amplifies the signal power and drives the brushed DC motor to rotate in the direction that reduces the error e. This loop continues until the error e approaches zero.

[0094] In this embodiment, by collecting the actual rotation angle of the output shaft of the brushed DC motor and adjusting the angle error between the target angle position and the current angle position, the angle error can be reduced, the brushed DC motor can be accurately positioned, and the reliability of the brushed DC motor can be improved.

[0095] In one exemplary embodiment, such as Figure 4As shown, step 306 includes step 406: Based on the PID algorithm, adjust the parameters of the control signal according to the angle error between the target angle position and the current angle position.

[0096] PID stands for Proportional-Integral-Derivative (PID) control. Proportional (P) control responds to the current error, integral (I) control eliminates accumulated error, and derivative (D) control suppresses overshoot and predicts changing trends.

[0097] For example, after reading the target angular position A and the current angular position B, the controller calculates the angular error e = A – B. Then, it performs PID calculations to determine the control quantity Output: Output = Kp * e + Ki * ∫edt + Kd * (de / dt), where Kp, Ki, and Kd are pre-tuned parameters. The Output value is limited to the allowable range of the PWM duty cycle (e.g., 0–100%). Finally, the final Output value is output as the new PWM duty cycle to the motor drive circuit.

[0098] In this embodiment, based on the PID algorithm, the parameters of the control signal are adjusted according to the angle error between the target angle position and the current angle position. PID control makes the system respond quickly and stably, with no steady-state error and small overshoot, thus achieving a smooth and accurate positioning process.

[0099] This application also provides a drive device, including a brushed DC motor and a brushed DC motor drive unit as described in any of the above embodiments. The brushed DC motor and the brushed DC motor drive unit can be integrated into a single housing. The entire device functions as a standalone black-box module and can be directly installed into a robot limb or other device. The user only needs to provide power and control command signals to the device's interface, and the drive device automatically performs the precise angle positioning functions described in all the above embodiments.

[0100] The drive device provided in this embodiment realizes the modularization and standardization of the product, which facilitates integration and use by end users and improves reliability and ease of use.

[0101] To better understand the above embodiments, a detailed explanation is provided below with reference to one embodiment. In one embodiment, as... Figure 5 As shown, the drive device includes a brushed DC motor 20 and a brushed DC motor drive unit. The brushed DC motor drive unit includes a controller 10, a motor drive circuit 14, a position detection unit, a signal conversion circuit, and a reduction gear set. In the figure, VCC is the power supply, PWM is the PWM signal, FG is the position feedback signal, and GND is ground. Figure 6 As shown, the specific working process of the drive device includes:

[0102] The control command signal connected to the controller's PWM input pin can be set by the user. This signal contains target angle position information. The control command signal is a PWM signal, typically a 50Hz square wave, with a high-level duration of 0.5–2.5ms. A signal conversion circuit converts the time parameter representing the high-level duration into the target motor rotation angle value corresponding to the target angle position information. This signal conversion circuit can be an RC timing circuit or a timer unit within the controller.

[0103] The controller employs a microcontroller, whose output is connected to the motor drive circuit, which controls the operation of the brushed DC motor. The controller controls the rotation angle of the motor rotor by adjusting the duty cycle of the output PWM signal. The high-level duration of the PWM signal has a linear relationship with the motor rotation angle. Through experimental calibration, a correspondence table between angle and PWM time can be established, thereby achieving precise angle control.

[0104] The motor output shaft is connected to a reduction gear set to reduce output speed and increase torque. A potentiometer is mounted on the output shaft as an angle sensing element; its sliding terminal voltage is proportional to the rotation angle. The potentiometer's output voltage is connected to the analog input terminal of the controller to provide feedback on the current angle. Alternatively, instead of using a potentiometer, a structural limit device can be employed. Limit ribs are set at the required positions. Once the brushed DC motor rotates to its designated position, it enters a stall state, causing a sudden and significant increase in current. The current value is collected by the sampling resistor of the current sensing circuit and fed back to the motor drive circuit or controller, immediately disconnecting the power signal to the brushed DC motor.

[0105] The controller has an internal feedback control module that receives the target angle position set by the user and compares it with the current angle position fed back by the potentiometer to calculate the angle error. If the angle error is greater than a preset error threshold, the controller outputs a corresponding PWM signal to drive the motor to rotate; when the angle error is less than the preset error threshold, the controller stops the motor and maintains a stable angle.

[0106] Through the closed-loop control logic described above, the drive device can achieve precise angle control and stable holding.

[0107] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0108] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A brushed DC motor drive device, characterized in that, The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device.

2. The brushed DC motor drive apparatus according to claim 1, characterized by, The application relates to a brush DC motor driving device.

3. The brushed DC motor drive apparatus according to claim 1, characterized by, The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device.

4. The brushed DC motor drive apparatus according to claim 1, characterized by, The application relates to a brush DC motor driving device.

5. The brushed DC motor drive apparatus according to claim 4, characterized by The application relates to a brush DC motor driving device.

6. The brushed DC motor drive apparatus according to claim 5, wherein The application relates to a brush DC motor driving device.

7. The brushed DC motor drive apparatus of claim 1, wherein The application relates to a brush DC motor driving device.

8. The brushed DC motor drive of claim 1, wherein, The application relates to a brush DC motor driving device.

9. The brushed DC motor drive of claim 1, wherein, The application relates to a brush DC motor driving device.

10. A brush DC motor drive method characterized by comprising: The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device.

11. The method of claim 10, wherein, The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device.

12. A drive apparatus characterized by comprising: The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. The application relates to a brush DC motor driving device. 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