A steering gear and a steering gear control system

Abstract

The application discloses a steering engine and a steering engine control system. The steering engine control system comprises an upper system, a main control chip, an acquisition circuit, a driving circuit and a voltage acquisition circuit. The voltage acquisition circuit is connected with the power supply and the main control chip to acquire the power supply voltage and output a feedback signal to the main control chip. The main control chip adjusts the output PWM duty cycle to 50% when confirming that the steering engine is in a powered-off state according to the feedback signal. Compared with the current technology, when the power supply instantaneously drops, the main control chip continuously adjusts the PWM duty cycle to eliminate the deviation, which causes the steering engine to vibrate. According to the technical scheme, the main control chip acquires the power supply voltage through the voltage acquisition circuit and confirms whether the steering engine is in a powered-off state according to the feedback signal of the voltage acquisition circuit. When the steering engine is in the powered-off state, the main control chip adjusts the output PWM duty cycle to 50%, so that the steering engine keeps the current position and does not eliminate the deviation adjustment, thereby avoiding the vibration or rotation of the steering engine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aerospace, in particular to a steering engine and a steering engine control system. BACKGROUND

[0002] The steering engine refers to an execution component for controlling the rotation of the aircraft rudder surface (control surface) in the autopilot. The steering engine is a position (angle) servo driver, which is suitable for the control system that needs to change the angle constantly and can maintain it. The steering engine is widely used in ships and aerospace.

[0003] The control system of the steering engine usually adopts closed-loop control. The main control chip controls the movement of the steering engine output shaft, compares the actual current, rotation speed and position of the steering engine output shaft with the set value, and adjusts the PWM duty cycle for correction until the deviation is eliminated. However, in the actual implementation, during the power-off process of the steering engine, the deviation will change due to the characteristics of the power supply, and the steering engine is still in control. The main control chip will continuously adjust the PWM duty cycle to eliminate the deviation, thereby causing the steering engine to vibrate or rotate randomly.

[0004] Therefore, how to avoid the steering engine from vibrating or rotating randomly during the power-off process of the steering engine is a problem to be solved by those skilled in the art. SUMMARY

[0005] The purpose of the present application is to provide a steering engine and a steering engine control system for avoiding the steering engine from vibrating or rotating randomly during the power-off process of the steering engine.

[0006] To solve the above technical problems, the present application provides a steering engine control system, comprising:

[0007] an upper system, a main control chip, a collection circuit, a driving circuit and a voltage collection circuit;

[0008] The main control chip confirms the output PWM duty cycle according to the control instruction output by the upper system and the position signal of the potentiometer collected by the collection circuit, and drives the motor through the driving circuit to eliminate the error;

[0009] The voltage collection circuit is connected with the power supply and the main control chip to collect the power supply voltage and output a feedback signal to the main control chip. The main control chip adjusts the output PWM duty cycle to 50% when confirming that the steering engine is in the power-off state or the power supply is instantaneously lowered due to abnormal disturbance.

[0010] Preferably, the voltage collection circuit comprises:

[0011] a first resistor, a diode, an optoelectronic coupler, a second resistor and a first capacitor;

[0012] The first end of the first capacitor and the first resistance is connected to a power supply, the second end of the first capacitor is grounded, the second end of the first resistance is connected to the cathode of the diode, the anode of the diode is connected to the first end of the light emitter of the optocoupler, the second end of the light emitter of the optocoupler is grounded, the first end of the light receiver of the optocoupler is connected to the first end of the second resistance and the master control chip, the second end of the second resistance is connected to a power supply, and the second end of the light receiver of the optocoupler is grounded.

[0013] Preferably, the voltage acquisition circuit comprises:

[0014] An isolated operational amplifier, a follower, and an analog-to-digital converter.

[0015] The isolated operational amplifier is connected to a power supply to isolate and convert the power supply voltage into a differential output.

[0016] The follower is connected to the isolated operational amplifier to convert the differential signal into a TTL level output.

[0017] The analog-to-digital converter is connected to the follower and the master control chip to convert the signal output by the follower into a digital signal input to the master control chip, so that the master control chip determines whether the power supply voltage is lower than a threshold value, and adjusts the PWM duty cycle to 50% when the power supply voltage is lower than the threshold value.

[0018] Preferably, it further comprises a third resistance and a fourth resistance.

[0019] The third resistance and the fourth resistance are connected in parallel and connected to the isolated operational amplifier to divide the power supply voltage.

[0020] Preferably, it further comprises a second capacitor and a third capacitor.

[0021] The output ends of the third resistance and the fourth resistance are connected to the isolated operational amplifier through the second capacitor and the third capacitor to filter the voltage.

[0022] Preferably, the follower comprises:

[0023] An operational amplifier, a fifth resistance, a sixth resistance, a seventh resistance, and an eighth resistance.

[0024] The first end of the fifth resistor is connected to the first output end of the isolation operational amplifier, the first end of the sixth resistor is connected to the second output end of the isolation operational amplifier, the second end of the fifth resistor and the first end of the seventh resistor are commonly connected to the non-inverting input end of the operational amplifier, the second end of the sixth resistor and the first end of the eighth resistor are commonly connected to the inverting input end of the operational amplifier, the second end of the seventh resistor is grounded, and the second end of the eighth resistor and the output end of the operational amplifier are connected to the analog-to-digital converter.

[0025] Preferably, the application further comprises a ninth resistor and a fourth capacitor.

[0026] The second end of the eighth resistor and the output end of the operational amplifier are connected to the analog-to-digital converter through voltage division of the ninth resistor and filtering of the fourth capacitor.

[0027] Preferably, the application further comprises a prompting device.

[0028] The prompting device is connected to the master control chip to send a prompt signal when the rudder is confirmed to be in a powered-off state or the power supply is instantaneously lowered due to abnormal disturbance.

[0029] Preferably, the prompting device is an indicator light that sends a prompt signal in the form of flickering when the rudder is confirmed to be in a powered-off state or the power supply is instantaneously lowered due to abnormal disturbance.

[0030] To solve the above technical problems, the application provides a rudder, which comprises a motor and a potentiometer and further comprises the above-mentioned rudder control system.

[0031] The rudder control system provided by the application comprises an upper system, a main control chip, a collection circuit, a driving circuit and a voltage collection circuit. The main control chip confirms the output PWM duty cycle according to the control instruction output by the upper system and the position signal of the potentiometer collected by the collection circuit, and drives the motor through the driving circuit to eliminate the error; the voltage collection circuit is connected with the power supply and the main control chip, so as to collect the power supply voltage and output a feedback signal to the main control chip. When the rudder is in a powered-off state or the power supply is instantaneously lowered due to abnormal disturbance, the main control chip adjusts the output PWM duty cycle to 50% according to the feedback signal. Compared with the current technology, when the rudder is powered off or the power supply is instantaneously lowered due to abnormal disturbance during movement, the main control chip constantly adjusts the PWM duty cycle to eliminate the deviation, which causes the rudder to vibrate. By using the technical solution, the main control chip collects the power supply voltage through the voltage collection circuit, and confirms whether the rudder is in a powered-off state or the power supply is instantaneously lowered due to abnormal disturbance according to the feedback signal of the voltage collection circuit. When the rudder is in a powered-off state or the power supply is instantaneously lowered due to abnormal disturbance, the main control chip adjusts the output PWM duty cycle to 50%, so that the rudder remains at the current position and does not adjust and eliminate the deviation, thereby avoiding the vibration or rotation of the rudder.

[0032] In addition, the rudder provided by the application comprises a motor and a potentiometer, and further comprises the rudder control system described above, and the effects are the same as above. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the application, the drawings required in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Figure 1 A schematic diagram of a power supply system outputting power supply;

[0035] Figure 2 A schematic diagram of the working principle of a potentiometer;

[0036] Figure 3 A schematic diagram of a rudder control system provided by an embodiment of the application;

[0037] Figure 4 A circuit diagram of a voltage collection circuit provided by an embodiment of the application;

[0038] Figure 5 A circuit diagram of another voltage collection circuit provided by an embodiment of the application;

[0039] The reference signs are as follows: 1 is an upper system, 2 is an interface circuit, 3 is a main control chip, 4 is a driving circuit, 5 is a steering engine, 6 is a voltage acquisition circuit, 7 is an acquisition circuit, 8 is a power supply system, and 9 is a current acquisition circuit. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0041] The steering engine refers to a kind of execution component for steering the steering surface (control surface) rotation in autopilot, and the steering engine is used as a position (angle) servo driver, is suitable for those control systems needing angle change and can keep, and is widely used in ships and aerospace.

[0042] The control system of the steering engine usually adopts closed-loop control, the main control chip controls the steering engine output shaft movement, compares the actual current flowing into the steering engine, the speed and position of the steering engine output shaft with the set value, and then adjusts the PWM duty cycle for correction until the deviation is eliminated. However, in the specific implementation, during the power-off process of the steering engine, due to the characteristics of the power supply, the deviation will change, and the steering engine is still in control, the main control chip will continuously adjust the PWM duty cycle to eliminate the deviation, thereby causing the steering engine to shake or rotate randomly.

[0043] The current control system of the steering engine usually includes an upper system, an interface circuit, a main control chip, a driving circuit and an acquisition circuit. The power supply system supplies power to the interface circuit, the main control chip, the acquisition circuit and the potentiometer. The main control chip is connected to the interface circuit and obtains control instructions from the upper system through a communication bus, i.e. obtains the set value, denoted as Vg. The main control chip also obtains the position signal of the potentiometer in the steering engine through the acquisition circuit, i.e. the actual current flowing into the steering engine, the speed and position of the steering engine output shaft, denoted as Vf. The main control chip calculates the deviation e = Vg - Vf, and adjusts the PWM duty cycle to make the deviation 0. The output is performed through the driving circuit to control the stable operation of the motor.

[0044] According to the PID working principle, when e = 0, the PWM duty cycle is adjusted to 50%, and the steering engine output shaft is stationary; when e > 0, the PWM duty cycle needs to be adjusted to be greater than 50%, and the steering engine output shaft rotates positively to deflect until the deviation is eliminated; when e > 0, the PWM duty cycle is adjusted to be less than 50%, and the steering engine output shaft rotates negatively to deflect until the deviation is eliminated.

[0045] Figure 1 A schematic diagram of the power supply system outputting power supply is shown in Figure 1 The power supply system 8 outputs U + and U - to the potentiometer, and the power supply module B outputs U1 to the main control chip 3. In theory, when the system is powered off, U + , U - and U1 should be simultaneously disconnected, and the rudder 5 should remain stable. However, in practice, the rudder 5 will shake or rotate during power-off. The root cause of the shaking or rotation of the rudder 5 is that the deviation e is not equal to 0.

[0046] During the power-off process of the rudder 5, Vg does not change, and the change of the deviation e is the change of Vf. Vf is the output of the potentiometer, and the potentiometer is a kind of adjustable electronic component, which is composed of a resistance body and a rotating or sliding system, Figure 2 A schematic diagram of the working principle of the potentiometer is shown in Figure 1 When a voltage is applied between the two fixed contacts A and B of the resistance body, the position of the moving contact C on the resistance body is changed by rotating or sliding, and a voltage U related to the position L1 of the moving contact C is obtained between the moving contact C and the fixed contact A, that is:

[0047]

[0048] It can be seen that in order to cause the change of Vf, only U+ and U- change. Due to the characteristics of the power supply system 8 itself, when the system is powered off, the output power of the power supply module A and the power supply module B cannot be synchronized to drop, the voltage U + and U - output by the power supply module A drops sharply, the voltage U1 output by the power supply module B drops slowly, the deviation e changes, and the main control chip 3 still controls the rudder 5. According to the PID control principle, at this time, the main control chip 3 will adjust the duty cycle of the PWM pulse width modulation wave to control the rudder 5 to move continuously to eliminate the deviation, so that the rudder 5 cannot maintain the current position, and thus shaking or rotation occurs.

[0049] Therefore, how to avoid the shaking or rotation of the rudder 5 during the power-off process of the rudder 5 is a problem to be solved by those skilled in the art.

[0050] The core of the present application is to provide a rudder and a rudder control system for avoiding shaking or rotation of the rudder during the power-off process of the rudder.

[0051] In order for those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] Figure 3 A schematic diagram of a steering engine control system provided by an embodiment of the present application is shown in Figure 3 The system comprises:

[0053] a host system 1, a master control chip 3, a collection circuit 7, a driving circuit 4, and a voltage collection circuit 6.

[0054] The master control chip 3 confirms the output PWM duty cycle according to the control instruction output by the host system 1 and the position signal of the potentiometer collected by the collection circuit 7, and drives the motor through the driving circuit 4 to eliminate the error.

[0055] The voltage collection circuit 6 is connected with the power supply and the master control chip 3 to collect the power supply voltage and output a feedback signal to the master control chip 3. The master control chip 3 adjusts the output PWM duty cycle to 50% according to the feedback signal when confirming that the steering engine 5 is in a powered-off state or the power supply is instantaneously lowered due to abnormal disturbance.

[0056] As can be seen, the steering engine control system provided by the present application adds the voltage collection circuit 6 compared with the current steering engine control system described in the above. The voltage collection circuit 6 outputs a feedback signal to the master control chip 3 after collecting the power supply voltage. The master control chip 3 confirms whether the steering engine 5 is in a powered-off state or the power supply is instantaneously lowered due to abnormal disturbance through the feedback signal. If the steering engine 5 is not in a powered-off state or the power supply is not instantaneously lowered due to abnormal disturbance, the master control chip 3 adjusts the PWM pulse width modulation frequency duty cycle in a control mode to eliminate the deviation, and normally controls the steering engine 5 to operate. If the steering engine 5 is in a powered-off state, the master control chip 3 adjusts the PWM pulse width modulation frequency duty cycle to 50%, ignores the change of the deviation, and thus makes the steering engine 5 keep the current operating state, thereby avoiding shaking or turning randomly.

[0057] In a specific implementation, the steering engine control system further comprises a current collection circuit 9 for collecting the current output by the driving circuit 4 and actually flowing into the steering engine 5. The master control chip 3 confirms the output PWM duty cycle in combination with the current, the speed and position of the output shaft of the steering engine collected by the collection circuit 7.

[0058] The rudder control system provided in the application comprises an upper system, a main control chip, a collection circuit, a driving circuit and a voltage collection circuit. The main control chip confirms the output PWM duty cycle according to the control instruction output by the upper system and the position signal of the potentiometer collected by the collection circuit, and drives the motor through the driving circuit to eliminate the error. The voltage collection circuit is connected with the power supply and the main control chip to collect the power supply voltage and output a feedback signal to the main control chip. The main control chip adjusts the output PWM duty cycle to 50% according to the feedback signal when confirming that the rudder is in the powered-off state or the power supply is instantaneously lowered due to abnormal disturbance. Compared with the current technology, when the rudder is powered off or the power supply is instantaneously lowered due to abnormal disturbance during movement, the main control chip constantly adjusts the PWM duty cycle to eliminate the deviation, which causes the rudder to vibrate. By using the technical solution, the main control chip collects the power supply voltage through the voltage collection circuit, and confirms whether the rudder is in the powered-off state or the power supply is instantaneously lowered due to abnormal disturbance according to the feedback signal of the voltage collection circuit. When the rudder is in the powered-off state or the power supply is instantaneously lowered due to abnormal disturbance, the main control chip adjusts the output PWM duty cycle to 50%, so that the rudder remains at the current position and does not adjust and eliminate the deviation, thereby avoiding the vibration or rotation of the rudder.

[0059] The above embodiment only provides a method that the main control chip can control the PWM duty cycle by judging the power-on or power-off state of the rudder, thereby ensuring the stability of the rudder. The present embodiment provides a specific judgment method, Figure 4 A circuit diagram of the voltage collection circuit provided in the embodiment of the application is shown in the figure, Figure 4 The circuit comprises:

[0060] a first resistor R1, a diode D1, a photoelectric coupler Q1, a second resistor R2 and a first capacitor C1.

[0061] The first end of the first capacitor C1 and the first resistor R1 is connected with the power supply, the second end of the first capacitor C1 is grounded, the second end of the first resistor R1 is connected with the cathode of the diode D1, the anode of the diode D1 is connected with the first end of the light emitter of the photoelectric coupler Q1, the second end of the light emitter of the photoelectric coupler Q1 is grounded, the first end of the light receiver of the photoelectric coupler Q1 is connected with the first end of the second resistor R2 and the main control chip, the second end of the second resistor R2 is connected with the power supply, and the second end of the light receiver of the photoelectric coupler Q1 is grounded.

[0062] In the embodiment, the first resistor R1 and the first capacitor C1 are used for voltage division and filtering of the power supply voltage. In a specific implementation, when the steering engine is in a normal power-on state, the power supply voltage is greater than the breakdown voltage of the diode D1, so that the light emitter of the optocoupler Q1 emits light, the optocoupler Q1 is turned on, and then the voltage at the first end of the light receiver of the optocoupler Q1 is pulled low to the ground, and the logic signal collected by the master control chip is low. When the steering engine is in a power-off state or the power supply is abnormally disturbed to cause a transient drop, the power supply voltage is less than the breakdown voltage of the diode D1, the optocoupler Q1 is not turned on, and the signal collected by the master control chip is pulled up by the second resistor R2, and the logic signal is high. In turn, the master control chip can confirm whether the steering engine is in a power-off state according to the logic signal. When the master control chip collects a low level, it represents that the power supply voltage input is normal, and the master control chip normally outputs a pulse width modulation wave to control the steering engine; when the master control chip collects a high level, it represents that the power supply voltage input is abnormal, and the master control chip controls the duty cycle of the output pulse width modulation wave to be 50%, and the steering engine remains at the current position.

[0063] The voltage collection circuit provided in the embodiment uses the single-phase conduction characteristic of the diode and the electrical isolation characteristic of the optocoupler, collects a low level by the master control chip in a normal power-on state of the steering engine, and collects a high level when the power supply is lower than a threshold value, for example, in a power-off state, thereby distinguishing the power-on and power-off states, and then controlling the PWM duty cycle to be 50% in the power-off process, to avoid the jitter of the steering engine.

[0064] The voltage collection circuit provided in the above embodiment distinguishes whether the steering engine is powered off by the reverse breakdown capability of the diode D1, and the application also provides another distinguishing method, Figure 5 The circuit diagram of another voltage collection circuit provided in the embodiment of the application is shown in FIG. 3, which includes Figure 5

[0065] The isolation operational amplifier U1, the follower U2, and the analog-to-digital converter U3;

[0066] The isolation operational amplifier U1 is connected to the power supply to isolate and convert the power supply voltage into a differential output;

[0067] The follower U2 is connected to the isolation operational amplifier U1 to convert the differential signal into a TTL level output;

[0068] The analog-to-digital converter U3 is connected to the follower U2 and the master control chip to convert the signal output by the follower U2 into a digital signal input to the master control chip, so that the master control chip judges whether the power supply voltage is lower than a threshold value, and adjusts the PWM duty cycle to be 50% when the power supply voltage is lower than the threshold value.

[0069] ​It can be seen that, unlike the voltage acquisition circuit provided in the above embodiment, the master control chip confirms whether the steering engine is in the powered-off state according to whether the voltage acquisition circuit feeds back a high level or a low level, and the voltage acquisition circuit in the embodiment acquires a specific power supply voltage, and the master control chip compares the acquisition value with a threshold value, and confirms that the steering engine is in the powered-off state or the power supply is subjected to abnormal disturbance to cause transient drop when the acquisition value is lower than the threshold value, and adjusts the PWM duty cycle to 50%.

[0070] The voltage acquisition circuit provided in the embodiment compares the acquired specific power supply voltage value with the threshold value to realize the judgment on the steering engine state, and it can be understood that the threshold value setting can provide higher freedom, and the user can set a suitable threshold value according to the voltage change to change the adjustment time of the PWM duty cycle.

[0071] In a specific implementation, in order to protect the devices in the circuit, the voltage acquisition circuit can further include a third resistor R3 and a fourth resistor R4.

[0072] The third resistor R3 and the fourth resistor R4 are connected and accessed to the isolation operational amplifier U1 in parallel to divide the power supply voltage.

[0073] Further, in order to improve the accuracy of the power supply voltage, the voltage acquisition circuit can further include a second capacitor C2 and a third capacitor C3.

[0074] The output ends of the third resistor R3 and the fourth resistor R4 are accessed to the isolation operational amplifier U1 through the second capacitor C2 and the third capacitor C3 to filter the voltage.

[0075] Through resistance voltage division and capacitor filtering, the voltage acquisition circuit can more safely and accurately acquire the power supply voltage.

[0076] On the basis of the above embodiment, the embodiment provides a specific follower U2, which includes:

[0077] An operational amplifier Q2, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, and an eighth resistor R8.

[0078] The first end of the fifth resistor R5 is connected to the first output end of the isolation operational amplifier U1, the first end of the sixth resistor R6 is connected to the second output end of the isolation operational amplifier U1, the second end of the fifth resistor R5 and the first end of the seventh resistor R7 are commonly connected to the non-inverting input end of the operational amplifier Q2, the second end of the sixth resistor R6 and the first end of the eighth resistor R8 are commonly connected to the inverting input end of the operational amplifier Q2, the second end of the seventh resistor R7 is grounded, and the second end of the eighth resistor R8 and the output end of the operational amplifier Q2 are connected to the analog-to-digital converter U3.

[0079] In addition, the ninth resistor R9 and the fourth capacitor C4 can be further included.

[0080] The second end of the eighth resistor R8 and the output end of the operational amplifier Q2 are connected to the analog-to-digital converter U3 through the ninth resistor R9 and the fourth capacitor C4.

[0081] In a specific implementation, in order to make the user know the power-on or power-off state of the steering engine or the instantaneous drop caused by abnormal disturbance of the power supply, the steering engine control system can further include a prompting device;

[0082] The prompting device is connected to the main control chip to send a prompt signal in the case that the steering engine is confirmed to be in a power-off state or the instantaneous drop caused by abnormal disturbance of the power supply.

[0083] As a preferred embodiment, the prompting device can be an indicator, which sends a prompt signal in the form of flickering in the case that the steering engine is confirmed to be in a power-off state or the instantaneous drop caused by abnormal disturbance of the power supply.

[0084] In other embodiments, the prompting device can also be a buzzer, a display screen or the like, and when the prompting device is an indicator, it can also be displayed in a constant light mode.

[0085] The steering engine control system provided in the embodiment sends a prompt signal to prompt the technician when the steering engine is in a power-off state or the instantaneous drop caused by abnormal disturbance of the power supply by adding a prompting device such as an indicator.

[0086] The above embodiment describes the steering engine control system provided in the application in detail, and in addition, the application also provides a steering engine including a motor and a potentiometer and the above-described steering engine control system.

[0087] The rudder provided by the application comprises the rudder control system, the rudder control system comprises an upper system, a main control chip, a collection circuit, a driving circuit and a voltage collection circuit. The main control chip confirms the output PWM duty cycle according to the control instruction output by the upper system and the position signal of the potentiometer collected by the collection circuit, and drives the motor through the driving circuit to eliminate the error; the voltage collection circuit is connected with the power supply and the main control chip, so as to collect the power supply voltage and output a feedback signal to the main control chip, and the main control chip adjusts the output PWM duty cycle to 50% according to the feedback signal when confirming that the rudder is in the powered-off state or the power supply is instantaneously lowered due to abnormal disturbance. Compared with the current technology, when the rudder is powered off or the power supply is instantaneously lowered due to abnormal disturbance during movement, the main control chip constantly adjusts the PWM duty cycle to eliminate the deviation, which causes the rudder to shake. By using the technical solution, the main control chip collects the power supply voltage through the voltage collection circuit, and confirms whether the rudder is in the powered-off state according to the feedback signal of the voltage collection circuit. When in the powered-off state, the main control chip adjusts the output PWM duty cycle to 50%, so that the rudder remains in the current position and does not adjust and eliminate the deviation, thereby avoiding the shaking or random rotation of the rudder.

[0088] The rudder and the rudder control system provided by the application are described in detail above. Each embodiment in the specification is described in a progressive manner, and each embodiment mainly describes the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part. It should be pointed out that, for ordinary skilled in the art, without departing from the principle of the application, some improvements and modifications can be made to the application, and these improvements and modifications also fall within the protection scope of the claims of the application.

[0089] It should also be noted that, in the specification, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitation, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

Claims

1. A servo motor control system, characterized in that, include: Host system, main control chip, acquisition circuit, drive circuit, voltage acquisition circuit; The main control chip determines the output PWM duty cycle based on the control command output by the host system and the position signal of the potentiometer acquired by the acquisition circuit, and drives the motor through the drive circuit to eliminate errors. The voltage acquisition circuit is connected to the power supply and the main control chip to acquire the power supply voltage and output a feedback signal to the main control chip. The main control chip adjusts the output PWM duty cycle to 50% based on the feedback signal when it confirms that the servo is in a powered-off state or that the power supply is subjected to abnormal disturbances that cause a momentary drop, so that the servo remains stationary in its current position.

2. The servo control system according to claim 1, characterized in that, The voltage acquisition circuit includes: First resistor, diode, optocoupler, second resistor, first capacitor; The first capacitor and the first resistor share a common power supply at their first ends. The second end of the first capacitor is grounded. The second end of the first resistor is connected to the cathode of the diode. The anode of the diode is connected to the first end of the light emitter of the optocoupler. The second end of the light emitter of the optocoupler is grounded. The first end of the light receiver of the optocoupler is connected to the first end of the second resistor and the main control chip. The second end of the second resistor is connected to the power supply. The second end of the light receiver of the optocoupler is grounded.

3. The servo control system according to claim 1, characterized in that, The voltage acquisition circuit includes: Isolation operational amplifiers, followers, analog-to-digital converters; The isolation operational amplifier is connected to a power supply to isolate the power supply voltage and convert it into a differential output; The follower is connected to the isolation operational amplifier to convert the differential signal into a TTL level output; The analog-to-digital converter connects the follower and the main control chip to convert the signal output by the follower into a digital signal and input it into the main control chip so that the main control chip can determine whether the power supply voltage is lower than the threshold. If it is lower than the threshold, the PWM duty cycle is adjusted to 50%.

4. The servo control system according to claim 3, characterized in that, Also includes: Third resistor, fourth resistor; The third resistor and the fourth resistor are connected in parallel to the isolation operational amplifier to divide the power supply voltage.

5. The servo control system according to claim 4, characterized in that, Also includes: Second capacitor, third capacitor; The output terminals of the third resistor and the fourth resistor are connected to the isolation operational amplifier through the second capacitor and the third capacitor to filter the voltage.

6. The servo control system according to claim 3, characterized in that, The follower includes: Operational amplifier, fifth resistor, sixth resistor, seventh resistor, eighth resistor; The first end of the fifth resistor is connected to the first output terminal of the isolation operational amplifier, the first end of the sixth resistor is connected to the second output terminal of the isolation operational amplifier, the second end of the fifth resistor and the first end of the seventh resistor are connected together to the non-inverting input terminal of the operational amplifier, the second end of the sixth resistor and the first end of the eighth resistor are connected together to the inverting input terminal of the operational amplifier, the second end of the seventh resistor is grounded, and the second end of the eighth resistor and the output terminal of the operational amplifier are connected to the analog-to-digital converter.

7. The servo control system according to claim 6, characterized in that, Also includes: The ninth resistor and the fourth capacitor; The second terminal of the eighth resistor and the output terminal of the operational amplifier are connected to the analog-to-digital converter after being divided by the ninth resistor and filtered by the fourth capacitor.

8. The servo control system according to claim 1, characterized in that, It also includes: a prompting device; The prompting device is connected to the main control chip to issue a prompt signal when the servo motor is confirmed to be in a power-off state or when the power supply is subjected to abnormal disturbances that cause a momentary drop.

9. The servo control system according to claim 8, characterized in that, The indicator device is an indicator light that flashes to indicate that the servo motor is in a powered-off state or that the power supply is momentarily reduced due to abnormal disturbance.

10. A servo motor, comprising a motor and a potentiometer, characterized in that, It also includes the servo control system according to any one of claims 1 to 9.

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