ASIC and test vehicle with multi-motor drive and control functions

Abstract

The invention discloses a composite function multi-motor drive-control integrated ASIC and a test vehicle. In the ASIC, in the first motor drive module, the T1OUT pin of the communication chip is connected to the No. 5 interface of the motor driver, the R1IN pin is connected to the No. 2 interface of the motor driver, the R1OUT pin is connected to the USARTRX pin of the main control chip, and the T1IN is connected to the USARTTX pin of the main control chip; in the second motor drive module, the T1OUT pin of the communication chip is connected to the No. 4 interface of the motor driver, the R1IN pin is connected to the No. 3 interface of the motor driver, the R1OUT pin is connected to the USARTRX pin of the main control chip, and the T1IN is connected to the USARTTX pin of the main control chip. By adopting the above technical solution, the same main control chip drives motors of different models and different powers respectively, and multiple motors can be controlled more coordinated.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated circuits, and in particular to a composite-function multi-motor drive-control integrated special integrated circuit and a test vehicle. Background Art

[0002] For special mechanical equipment, motors with multiple power ranges are needed. For example, in order to avoid interference between the actions of the limbs, the arms and legs are driven by independent motors. The arms use smaller motors, while the legs need to use larger motors. At the same time, the motors on the arms and the legs are driven by the same driver chip, which allows the limbs to move in a coordinated manner.

[0003] However, in the prior art, the existing chip development board can easily solve the problem of using multiple motors, but when using motors of different models or even a large number of motors of different models at the same time, it is often necessary to use multiple control modules for control. At the same time, when the motor power to be controlled is large, the traditional chip development board cannot meet the demand. Their modules are often designed for communicating small motors below 100w, and cannot be used for controlling high-power motors. Summary of the invention

[0004] Purpose of the invention: The present invention provides a composite multi-motor drive and control integrated special integrated circuit, which aims to achieve the same main control chip driving motors of different models and powers through two improved types of motor drive modules.

[0005] Technical solution: The present invention provides a composite multi-motor drive-control integrated application-specific integrated circuit, including: a main control chip, a first motor drive module and a second motor drive module, wherein: the first motor drive module includes a communication chip and a motor driver, and the second motor drive module includes a communication chip and a motor driver; in the first motor drive module and the second motor drive module, the pin connection circuit of the communication chip is that two capacitors are respectively connected to a pair of C1 pins and a pair of C2 pins, a pair of V pins are respectively grounded and capacitors are arranged on the grounding circuit, the VCC pin is sequentially connected to the power supply voltage, the capacitor and the ground, and the GND pin is grounded; the connection circuit of the capacitor is ... The capacitance value of the capacitor is 0.1uF; in the first motor drive module, the T1OUT pin of the communication chip is connected to the No. 5 interface of the motor driver, the R1IN pin is connected to the No. 2 interface of the motor driver, the R1OUT pin is connected to the USARTRX pin of the main control chip, and T1IN is connected to the USARTTX pin of the main control chip; in the second motor drive module, the T1OUT pin of the communication chip is connected to the No. 4 interface of the motor driver, the R1IN pin is connected to the No. 3 interface of the motor driver, the R1OUT pin is connected to the USARTRX pin of the main control chip, and T1IN is connected to the USARTTX pin of the main control chip.

[0006] Specifically, it also includes a clock module for providing timing to the integrated circuit, and the frequency is set to 8 MHz.

[0007] Specifically, the main control chip model is GD32F103 or STM32F103.

[0008] Specifically, the communication chip model is SP3232EEN.

[0009] Specifically, interface No. 2 of the motor driver is a pulse negative input interface, interface No. 3 is a direction positive input interface, interface No. 4 is a direction negative input interface, and interface No. 5 is an enable positive input interface.

[0010] Specifically, the first motor driving module is used for a DC servo motor with a power of 0 to 500 W, and the second motor driving module is used for a DC servo motor with a power of 500 to 1200 W.

[0011] Specifically, it also includes a keyboard module and an infrared module. The keyboard module is connected to the main control chip, and the keys set therein are used to control the on and off of the corresponding motor control circuit; the infrared module is connected to the main control chip and is used to receive remote control signals.

[0012] Specifically, it also includes an indicator light module, which is connected to the main control chip and connected to the motor drive module. When the motor drive module is running, the corresponding indicator light is lit.

[0013] The present invention also provides a load testing vehicle, comprising: a vehicle chassis, an obstacle-crossing motion motor, a ground-leveling motion motor, a wheel set and a composite-function multi-motor drive-control integrated special integrated circuit provided by the present invention, wherein: both sides of the vehicle chassis are provided with an obstacle-crossing motion motor, a ground-leveling motion motor and a wheel set, the special integrated circuit is provided with two first motor drive modules and two second motor drive modules, the two first motor drive modules are respectively used to control the ground-leveling motion motor, and the two second motor drive modules are respectively used to control the obstacle-crossing motion motor; the wheel set comprises a tube shaft, a thin shaft, a rotating arm, a central gear, a transition gear, a driving gear and a wheel, the driving gear and the wheel share a common rotating shaft, the rotating shaft is arranged on the rotating arm, the obstacle-crossing motion motor drives the tube shaft, the ground-leveling motion motor drives the thin shaft, the tube shaft and the thin shaft are mutually empty sleeved through bearings, the tube shaft is connected to the rotating arm, the thin shaft passes through the rotating arm and is connected to the central gear, the central gear drives the driving gear to rotate through the transition gear, and the driving gear drives the wheel to rotate.

[0014] Specifically, it also includes a sprocket chain and an ultrasonic module. The obstacle-crossing motion motor and the flat-ground motion motor drive the tubular shaft and the thin shaft respectively through the sprocket chain. The ultrasonic module is connected to the main control chip to calculate the distance between the test vehicle and the surrounding obstacles.

[0015] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the same main control chip drives motors of different models and powers respectively, and can control multiple motors more coordinately. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a chip driving main circuit provided by the present invention;

[0017] Figure 2 A schematic diagram of a first motor driving module and a second motor driving module provided by the present invention;

[0018] Figure 3 A schematic diagram of a chip power supply circuit provided by the present invention;

[0019] Figure 4 A schematic diagram of a keyboard module provided by the present invention;

[0020] Figure 5 A schematic diagram of an infrared module provided by the present invention;

[0021] Figure 6 A schematic diagram of an indicator light module provided by the present invention;

[0022] Figure 7 A schematic diagram of an ultrasonic module provided by the present invention;

[0023] Figure 8 A schematic diagram of a test vehicle provided by the present invention;

[0024] Fig. 9 A schematic diagram of a wheel set provided by the present invention;

[0025] Fig.10 A schematic diagram of the composition of the test vehicle provided by the present invention;

[0026] 1- vehicle chassis; 2- obstacle crossing motor; 3- ground leveling motor; 4- wheel set; 5- tubular shaft; 6- thin shaft; 7- rotating arm; 8- center gear; 9- transition gear; 10- driving gear; 11- wheel. DETAILED DESCRIPTION

[0027] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0028] See also Figure 1 and Figure 2 The present invention provides a composite function multi-motor drive integrated integrated circuit, including: a main control chip, a first motor drive module and a second motor drive module, wherein: the first motor drive module includes a communication chip and a motor driver, and the second motor drive module includes a communication chip and a motor driver; in the first motor drive module and the second motor drive module, the pin connection circuit of the communication chip is that two capacitors are respectively connected to a pair of C1 pins (C1+ and C1-) and a pair of C2 pins (C2+ and C2-), a pair of V pins (V+ and V-) are respectively grounded and a capacitor is arranged on the grounding circuit, the VCC pin is sequentially connected to the power supply voltage, the capacitor and the ground, and the GND The pin is grounded; the capacitance value of the connected capacitor is 0.1uF (50V); in the first motor drive module, the T1OUT pin of the communication chip is connected to the No. 5 interface of the motor driver, the R1IN pin is connected to the No. 2 interface of the motor driver, the R1OUT pin is connected to the USARTRX pin of the main control chip, and T1IN is connected to the USARTTX pin of the main control chip; in the second motor drive module, the T1OUT pin of the communication chip is connected to the No. 4 interface of the motor driver, the R1IN pin is connected to the No. 3 interface of the motor driver, the R1OUT pin is connected to the USARTRX pin of the main control chip, and T1IN is connected to the USARTTX pin of the main control chip.

[0029] In the embodiment of the present invention, the main control chip model is GD32F103 or STM32F103.

[0030] In the embodiment of the present invention, the first motor driving module is used for a DC servo motor with a power of 0 to 500 W, and the second motor driving module is used for a DC servo motor with a power of 500 to 1200 W.

[0031] In the embodiment of the present invention, interface No. 2 of the motor driver is a pulse negative input interface, interface No. 3 is a direction positive input interface, interface No. 4 is a direction negative input interface, and interface No. 5 is an enable positive input interface.

[0032] In a specific implementation, the motor driver in the motor drive module (U3 to U8 therein) is used to connect the corresponding motor. If there are multiple motors of different models and powers, multiple motor drive modules can be set.

[0033] In the specific implementation, the motor driver (U3 to U8) has 6 communication interfaces, and the communication interfaces of the high-power DC servo motor (U7 and U8) reach 8. The additional communication interfaces are used for voltage stabilization. If all of them are to be used, the motor driver of the second motor drive module must be used. The data of the communication interface is as follows:

[0034] Interface 1, marked as PUL+, named pulse positive input, the pulse signal is valid on the rising edge of the pulse, 4-5V at high level, 0-0.5V at low level, the pulse width should be greater than 1.6us, if 12V or 24V is used, a 1.5-2.2K resistor must be connected in series;

[0035] Interface No. 2, marked as PUL-, is named pulse negative input, and the pulse signal is the same as pulse positive input.

[0036] Interface 3, marked as DIR+, named direction positive input, the direction signal is reverse when a high level is input between DIR+ and DIR-, and forward when it is input. The direction signal should be established at least 5us before the pulse signal, 4-5V when high level, 0-0.5V when low level, and a 1.5-2.2K resistor must be connected in series if 12V or 24V is used;

[0037] Interface No. 4, marked as DIR-, is called direction negative input, and the direction signal is the same as the direction positive input.

[0038] Interface 5 is marked as ENA+, named enable positive input. The enable signal is used to enable or disable the servo motor. When the level between ENA+ and ENA- is high, the driver will cut off the power supply of the motor, making the motor in a free state and not responding to pulses. When the level between ENA+ and ENA- is low, the motor is enabled. If 12V or 24V is used, a 1.5-2.2K resistor must be connected in series.

[0039] Interface No. 6, marked as ENA-, is named enable negative input, and the enable signal is the same as the enable positive input.

[0040] In a specific implementation, by selecting the communication chip model, selecting the pins to be used, setting the capacitance value of the pins connected, and selecting the connected motor driver communication interface, the first motor drive module and the second motor drive module can drive DC servo motors of different power ranges and different models.

[0041] In the specific implementation, Figures 2 to 7 The wiring of the modules in Figure 1 It can be found in the main control chip (MCU MAIN).

[0042] The embodiment of the present invention further includes a clock module (HSE) for providing timing to the integrated circuit, and the frequency is set to 8 MHz.

[0043] In a specific implementation, the frequency setting of the clock module is also to enable the motor drive module to drive DC servo motors of different power ranges and different models.

[0044] In the specific implementation, the RESET module is used to reset the entire chip system; the SWD module is a debugging interface used to detect whether the chip is powered and working normally; BOOT MODE, the boot mode setting module, sets the startup signal of the chip.

[0045] See also Figure 3 , MCU POWER module, power supply; DC 5V, low-voltage power supply module for low-voltage small module chips; LDO, voltage regulator, to prevent excessive voltage changes; MICRO USB, spare USB interface; BATTERY, on-board power supply module (different from the motor power supply, it is used to power components and modules within the chip.

[0046] In an embodiment of the present invention, a keyboard module and an infrared module are also included. The keyboard module is connected to the main control chip, and the buttons set therein are used to control the on and off of the corresponding motor control circuit; the infrared module is connected to the main control chip and is used to receive remote control signals.

[0047] See also Figure 4 The keyboard module directly controls the on and off of 4 motor controls through 4 buttons (when 4 motors are set, 4 buttons are set, and the number of buttons can be set accordingly in other cases).

[0048] See also Figure 5, the infrared module IR uses HEAD-1X3P as a standard remote control signal receiver. The working parameters of the module include: button battery power supply; 0-12m control distance; effective control angle 60°; effective life 20,000 times. The coding rule used by the infrared remote control is the NEC coding rule, and its characteristics are as follows: the carrier frequency of the NEC coding rule is 38Khz; the guide code characteristics: 9ms high level, +4.5ms low level; 1 code characteristics: 0.56ms high level, +0.56ms low level; 0 code characteristics: 0.56ms high level, +1.68ms low level; end code characteristics: 0.56ms high level. The format of the data frame: guide code + address + address inverse code + key value + key value inverse code + end code; the format of the repeated frame: 9ms high level + 2.25ms low level + end bit + end code; the high bit of the data is in front, that is, the first data received is the high bit. The level polarity of the receiving head HX1838 equipped in the selected infrared remote control module is opposite to the protocol, so whenever a 9ms low level plus a 4.5ms high level is captured, it is considered to have received a guide code.

[0049] The decoding of the remote control only needs to obtain the high and low characteristic levels and duration of each waveform, and then clear the corresponding data to 0 or set it to 1, and finally read the entire data. The decoding sequence process can be divided into three parts:

[0050] 1. Timing capture: This part of the program is used to capture the changes between high and low levels, and record the time they last and then record them in an array. When initializing, set the timer channel to falling edge capture. When a falling edge is captured, change the capture polarity to the rising edge and record the time at this time. When the next capture is performed, it means that a low level is obtained again. The difference between the two times can be used to calculate the time of the low level signal.

[0051] 2. Timing decoding: This part of the program is used to read the values ​​captured by the timing, and needs to judge the code value based on the duration, and finally merge it into data. For example, if the first time value and the second time value of the array are read as 9ms and 4.5ms respectively, then it is considered that a required guide code is captured, and if a 0.56ms low-level signal and a 0.56ms high-level signal are read, then it is considered that a 0 code is read.

[0052] 3. Execution program: This part of the program executes the corresponding control code according to the key value obtained by parsing.

[0053] In the embodiment of the present invention, an indicator light module is also included, which is connected to the main control chip and connected to the motor drive module. When the motor drive module is running, the corresponding indicator light is lit.

[0054] See also Figure 6 The indicator light module has a total of five indicator lights, which are directly connected to the power supply circuit of the four motors and the power supply circuit of the main control chip GD32F103. They light up and down to show whether the motors and the main control chip are working normally. The pin module can also be modified into an LED display screen, and the program is written to directly express the working parameters on the display screen. When the number of motors changes, the number of indicator lights can be set accordingly.

[0055] See also Figure 7 Commonly used ultrasonic modules all use 4 interfaces HEAD-1X4P for intra-chip communication. When the module is initialized, the ECHO port and TRIG port are set to low level. At the beginning, a pulse of no less than 10us (high level) is sent to the TRIG port. At this time, the module will automatically send out 8 sets of square waves. At this time, you need to wait and capture the output rising edge of the ECHO port. When the output rising edge is captured, turn on the timer for timing, and then wait again and capture the falling edge of the ECHO port. After capturing the falling edge, read the time recorded by the timer. This is the time the emitted ultrasonic wave travels in the air. At this time, the distance from the module to the obstacle can be calculated.

[0056] The present invention also provides a load test vehicle, comprising: a vehicle chassis 1, an obstacle-crossing motion motor 2, a ground-leveling motion motor 3, a wheel set 4, and a composite multi-motor drive-control integrated special integrated circuit provided in an embodiment of the present invention, wherein: both sides of the vehicle chassis 1 are provided with an obstacle-crossing motion motor 2, a ground-leveling motion motor 3, and a wheel set 4, and the special integrated circuit is provided with two first motor drive modules and two second motor drive modules, the two first motor drive modules are respectively used to control the ground-leveling motion motor 3, and the two second motor drive modules are respectively used to control the obstacle-crossing motion motor 3. The motor 2 is driven by the motor 2; the wheel set 4 includes a tubular shaft 5, a thin shaft 6, a rotating arm 7, a central gear 8, a transition gear 9, a driving gear 10 and a wheel 11. The driving gear 10 and the wheel 11 share a rotating shaft, and the rotating shaft is arranged on the rotating arm 7. The obstacle crossing movement motor 2 drives the tubular shaft 5, and the flat ground movement motor 3 drives the thin shaft 6. The tubular shaft 5 and the thin shaft 6 are mutually loosely sleeved through bearings. The tubular shaft 5 is connected to the rotating arm 7, and the thin shaft 6 passes through the rotating arm 7 and is connected to the central gear 8. The central gear 8 drives the driving gear 10 to rotate through the transition gear 9, and the driving gear 10 drives the wheel 11 to rotate.

[0057] In the embodiment of the present invention, a sprocket chain and an ultrasonic module are also included. The obstacle-crossing motion motor 2 and the flat-ground motion motor 3 drive the tubular shaft 5 and the thin shaft 6 respectively through the sprocket chain. The ultrasonic module is connected to the main control chip and is used to calculate the distance between the test vehicle and the surrounding obstacles.

[0058] See also Figure 8The elevator (obstacle) load test vehicle is equipped with two 400W DC servo motors for flat ground movement (flat ground movement motor 3), two 750W DC servo motors for climbing movement (obstacle crossing movement motor 2), and two RJ11 modules (first motor drive module) and two RJ45 modules (second motor drive module) are designed to be connected to the main control chip for vehicle control. The vehicle can measure the distance between the two walls in the elevator to self-position. Two ultrasonic sensors are set, and the ultrasonic sensor ULTRASONIC is connected to the main control chip in two ways.

[0059] See also Fig. 9 When traveling on a flat road, the flat motion motor 3 drives the thin shaft 6 to rotate, driving the central gear 8 to rotate, thereby rotating the four driving gears 10, driving the four wheels 11 to rotate and move forward. At this time, the tubular shaft 5 does not move; when climbing over obstacles, the obstacle-crossing motion motor 2 drives the tubular shaft 5 to rotate, driving the entire rotating arm 7 to flip and complete the obstacle-crossing action. At this time, the thin shaft 6 does not move.

[0060] See also Fig.10 , which is a schematic diagram of the composition of the test vehicle provided by the present invention, the start of the motor of group A corresponds to the start of the overturning, the stop of the motor of group A corresponds to the stop of the overturning, the start of the motor of group B corresponds to the start of the forward movement, and the stop of the motor of group B corresponds to the stop of the forward movement.

Claims

1. A composite multi-motor drive and control integrated special integrated circuit, characterized in that: include: A main control chip, a first motor drive module and a second motor drive module, wherein: The first motor drive module includes a communication chip and a motor driver, and the second motor drive module includes a communication chip and a motor driver; the first motor drive module is used for a DC servo motor of 0 to 500W, and the second motor drive module is used for a DC servo motor of 500 to 1200W; the main control chip model is GD32F103 or STM32F103; the communication chip model is SP3232EEN; interface No. 2 of the motor driver is a pulse negative input interface, interface No. 3 is a direction positive input interface, interface No. 4 is a direction negative input interface, and interface No. 5 enables a positive input interface; In the first motor drive module and the second motor drive module, the pin connection circuit of the communication chip is that two capacitors are respectively connected to a pair of C1 pins and a pair of C2 pins, a pair of V pins are respectively grounded and a capacitor is arranged on the ground circuit, the VCC pin is sequentially connected to the power supply voltage, the capacitor and the ground, and the GND pin is grounded; the capacitance value of the connected capacitor is 0.1uF; In the first motor drive module, the T1OUT pin of the communication chip is connected to the No. 5 interface of the motor driver, the R1IN pin is connected to the No. 2 interface of the motor driver, the R1OUT pin is connected to the USARTRX pin of the main control chip, and the T1IN is connected to the USARTTX pin of the main control chip; In the second motor drive module, the T1OUT pin of the communication chip is connected to the No. 4 interface of the motor driver, the R1IN pin is connected to the No. 3 interface of the motor driver, the R1OUT pin is connected to the USARTRX pin of the main control chip, and T1IN is connected to the USARTTX pin of the main control chip.

2. The composite multi-motor drive and control integrated ASIC according to claim 1, characterized in that: A clock module is also included for providing timing to the integrated circuit, and the frequency is set to 8MHz.

3. The composite multi-motor drive-control integrated circuit according to claim 2, characterized in that: It also includes a keyboard module and an infrared module. The keyboard module is connected to the main control chip, and the keys provided therein are used to control the on and off of the corresponding motor control circuit; the infrared module is connected to the main control chip and is used to receive remote control signals.

4. The composite multi-motor drive-control integrated circuit according to claim 3, characterized in that: It also includes an indicator light module, which is connected to the main control chip and connected to the motor drive module. When the motor drive module is running, the corresponding indicator light is lit.

5. A load testing vehicle, characterized in that: include: A vehicle chassis, an obstacle-crossing motor, a leveling motor, a wheel set, and a composite multi-motor drive-control integrated special integrated circuit according to any one of claims 1 to 4, wherein: Both sides of the vehicle chassis are provided with an obstacle-crossing motion motor, a ground-leveling motion motor and a wheel set, and the dedicated integrated circuit is provided with two first motor drive modules and two second motor drive modules, the two first motor drive modules are respectively used to control the ground-leveling motion motors, and the two second motor drive modules are respectively used to control the obstacle-crossing motion motors; The wheel set includes a tubular shaft, a thin shaft, a rotating arm, a central gear, a transition gear, a driving gear and a wheel. The driving gear and the wheel share a common rotating shaft, and the rotating shaft is arranged on the rotating arm. The obstacle crossing movement motor drives the tubular shaft, and the level ground movement motor drives the thin shaft. The tubular shaft and the thin shaft are loosely mounted on each other through bearings. The tubular shaft is connected to the rotating arm, and the thin shaft passes through the rotating arm and is connected to the central gear. The central gear drives the driving gear to rotate through the transition gear, and the driving gear drives the wheel to rotate.

6. The load testing vehicle according to claim 5, characterized in that: It also includes a sprocket chain and an ultrasonic module. The obstacle-crossing motion motor and the flat-ground motion motor drive the tubular shaft and the thin shaft respectively through the sprocket chain. The ultrasonic module is connected to the main control chip to calculate the distance between the test vehicle and the surrounding obstacles.

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