Traction pwm control device based on full-automatic unmanned peristaltic mode

Abstract

The application discloses a traction PWM control device based on a full-automatic unmanned peristaltic mode, which comprises a control module, a first output module, a second output module, a first driving module, a second driving module and a braking module; a first pulse signal output by a first output end of the control module is transmitted to the braking module through the first output module and the first driving module in sequence; a second pulse signal output by a second output end of the control module is transmitted to the braking module through the second output module and the second driving module in sequence; and the braking module is configured to receive and combine the first pulse signal transmitted by the first driving module and the second pulse signal transmitted by the second driving module, and start the peristaltic mode according to the combined control signal. The traction PWM control device can be formed by using fewer electric devices, the starting control of the peristaltic mode is realized, the circuit structure of the traction PWM control device is simple, and the manufacturing cost is low.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of vehicles, in particular to a traction PWM control device based on a full-automatic unmanned peristalsis mode. BACKGROUND

[0002] With the rapid development of technology, the full-automatic unmanned system has rich experience in design, construction and equipment manufacturing, and is widely used in subway trains. However, when the full-automatic unmanned system fails to continue to operate in the full-automatic driving mode in extreme conditions, such as failure of the on-board communication equipment or network failure or system downtime, etc., since there is no train driver to intervene manually in time, it will cause the train to stop in place, and if the train can only be stopped in place to wait for the tow truck to tow away, it is easy to cause large-scale train delays.

[0003] In the prior art, the on-board system usually applies to the center to enter the peristalsis mode, and the subway train can slowly move forward in the peristalsis mode. In the prior art, the control method of the peristalsis mode usually has the following three kinds: traction / brake control through TCMS (Train Control and Management System) network, traction / brake control through single hard-wired code bit, and traction / brake control through current loop. However, the circuit structure of these control methods is relatively complex, and the implementation cost is high. SUMMARY

[0004] The present application overcomes the shortcomings of the prior art that the circuit structure for starting the peristalsis mode is relatively complex, and provides a traction PWM control device based on a full-automatic unmanned peristalsis mode. The traction PWM control device can be composed of fewer electrical devices, realizing the starting control of the peristalsis mode. The circuit connection mode of the traction PWM control device is simple, and fewer electrical devices are used, thereby reducing the manufacturing cost.

[0005] In order to solve the above technical problems, the technical scheme of the present application is as follows:

[0006] The present application provides a traction PWM control device based on a full-automatic unmanned peristalsis mode, comprising: a control module, a first output module, a second output module, a first drive module, a second drive module and a brake module.

[0007] The first output end of the control module is connected to the input end of the first output module, the output end of the first output module is connected to the input end of the first drive module, the output end of the first drive module is connected to the input end of the brake module, and the first pulse signal output by the first output end is transmitted to the brake module in sequence through the first output module and the first drive module.

[0008] The second output end of the control module is connected to the input end of the second output module, the output end of the second output module is connected to the input end of the second drive module, the output end of the second drive module is connected to the input end of the brake module, and the second pulse signal output by the second output end is transmitted to the brake module in sequence through the second output module and the second drive module.

[0009] The brake module is configured to receive and combine the first pulse signal transmitted by the first drive module and the second pulse signal transmitted by the second drive module, and start the peristaltic mode according to the combined control signal.

[0010] The connection mode of the circuit structure of the traction PWM control device provided by the scheme is simple, and the start and stop of the peristaltic mode can be realized by using fewer electrical devices. Moreover, the traction PWM control device has no output signal in the default state, and the default state is a safe state, which helps to protect the use safety of the traction PWM control device.

[0011] Preferably, the first drive module comprises:

[0012] The first end of the resistor R1 is connected to the first power device VDD1, the second end of the resistor R1 is connected to the negative electrode of the electronic switch tube Q13, the source electrode of the electronic switch tube Q13 is connected to the source electrode power voltage device VSS, the drain electrode of the electronic switch tube Q13 is connected to the second power device VDD2 through the resistor R3, the drain electrode of the electronic switch tube Q13 is also connected to the negative electrode of the electronic switch tube Q15, the source electrode of the electronic switch tube Q15 is connected to the source electrode power voltage device VSS, the drain electrode of the electronic switch tube Q15 is connected to the first end of the resistor R5, the second end of the resistor R5 is connected to the third power device VDD3 through the resistor R6, the second end of the resistor R5 is also connected to the negative electrode of the electronic switch tube Q14, the source electrode of the electronic switch tube Q14 is connected to the third power device VDD3, and the drain electrode of the electronic switch tube Q14 is connected to the brake module.

[0013] Preferably, the electronic switch tube Q13 is an N-channel mos tube, the electronic switch tube Q15 is an N-channel mos tube, and the electronic switch tube Q14 is a P-channel mos tube.

[0014] Preferably, the second drive module comprises:

[0015] The first end of the resistor R2 is connected with the fourth power supply device VDD4, the second end of the resistor R2 is connected with the negative electrode of the electronic switch tube Q16, the source electrode of the electronic switch tube Q16 is connected with the source electrode power supply voltage device VSS, the drain electrode of the electronic switch tube Q16 is connected with the fifth power supply device VDD5 through the resistor R4, and the drain electrode of the electronic switch tube Q16 is also connected with the negative electrode of the electronic switch tube Q17, the source electrode of the electronic switch tube Q17 is connected with the source electrode power supply voltage device VSS, and the drain electrode of the electronic switch tube Q17 is connected with the brake module.

[0016] Preferably, the electronic switch tube Q16 is an N-channel mos tube, and the electronic switch tube Q17 is an N-channel mos tube.

[0017] The control module outputs two signals respectively, and the first driving module and the second driving module perform heterogeneous processing on the two signals respectively, thereby effectively preventing the common cause failure and improving the reliability of the circuit.

[0018] Preferably, the brake module further comprises an RCD absorption circuit, the first end of the RCD absorption circuit is connected with the first driving module, and the second end of the RCD absorption circuit is connected with the second driving module.

[0019] Preferably, the RCD absorption circuit comprises a resistor R7, a diode D2 and a capacitor C1, and the resistor R7 and the diode D2 are connected in parallel and connected with the capacitor C1 in series.

[0020] Preferably, the brake module further comprises a fuse F1, the fuse F1 is installed at the input end of the brake module, and the fuse F1 is used for protecting the brake module.

[0021] Preferably, the first output module comprises an optical coupler U1.

[0022] Preferably, the second output module comprises an optical coupler U2.

[0023] Compared with the prior art, the above at least one technical scheme adopted by the present application can achieve at least the following beneficial effects:

[0024] The circuit structure of the present application is an original structure, the connection mode of the circuit structure is simple, convenient to manufacture, and the use of fewer electrical devices can achieve the start control of the peristaltic mode, thereby saving the manufacturing cost and improving the manufacturing efficiency.

[0025] The traction PWM control device in the scheme adopts the design concept of guiding the safe side, and the first output module and the second output module are started only when high level is received, that is, the traction PWM control device has no output signal in the default state, the default state is a safe state, and the use safety of the traction PWM control device is improved; moreover, the control module outputs two signals, the first driving module and the second driving module respectively perform heterogeneous processing on the two signals, the common cause failure problem is effectively prevented, and the reliability of the circuit is further improved.

[0026] The traction PWM control device further comprises an RCD absorption circuit and a fuse F1, when a large current appears in the circuit, the RCD absorption circuit absorbs the voltage spike generated in the circuit, effectively protecting the electronic switch tube Q14 and the electronic switch tube Q17 from being broken down by high voltage or being burned out. When the traction PWM control device appears a short circuit condition, the fuse F1 is melted by high voltage, protecting the brake module from being burned out. BRIEF DESCRIPTION OF DRAWINGS

[0027] Other features, objects, and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, read in conjunction with the accompanying drawings. The drawings are only for the purpose of illustrating preferred embodiments and are not to be considered as limiting the application. Throughout the drawings, like reference numerals are used to denote like parts.

[0028] Figure 1 A circuit flow schematic diagram of the traction PWM control device based on the full-automatic unmanned peristaltic mode provided by the application is shown in the figure.

[0029] Figure 2 A circuit structure schematic diagram of the traction PWM control device based on the full-automatic unmanned peristaltic mode provided by the application is shown in the figure. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the application more clear and obvious, the application is further described in detail below in combination with the drawings and examples. It should be understood that the specific embodiments described herein are only one of the best embodiments of the application, which are used to explain the application and do not limit the protection scope of the application, and all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0031] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations (or steps) can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but it may also have additional steps not included in the figures; the process may correspond to a method, function, procedure, subroutine, subroutine, etc.

[0032] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0033] Example: Figure 1 As shown in the embodiment of this specification, a traction PWM control device based on a fully automatic unmanned crawling mode is provided, including: a control module, a first output module, a second output module, a first drive module, a second drive module, and a braking module;

[0034] The first output terminal of the control module is connected to the input terminal of the first output module, the output terminal of the first output module is connected to the input terminal of the first drive module, the output terminal of the first drive module is connected to the input terminal of the braking module, and the first pulse signal output by the first output terminal is transmitted to the braking module in sequence through the first output module and the first drive module.

[0035] The second output terminal of the control module is connected to the input terminal of the second output module, the output terminal of the second output module is connected to the input terminal of the second drive module, the output terminal of the second drive module is connected to the input terminal of the braking module, and the second pulse signal output by the second output terminal is transmitted to the braking module in sequence through the second output module and the second drive module.

[0036] The braking module is configured to receive and merge the first pulse signal transmitted by the first drive module and the second pulse signal transmitted by the second drive module, and start the creep mode according to the merged control signal.

[0037] In practice, fully automated driverless systems are increasingly being used in subway trains. When a subway train experiences a system malfunction during automatic driving, the lack of a driver for manual control can cause the train to stop, leading to widespread delays. Therefore, fully automated driverless systems typically include a creep mode. When a subway train stops, the fully automated driverless system will issue a fault alarm. After confirmation and authorization by the dispatcher at the control center, the system will be controlled to activate the creep mode. The traction PWM control device based on the fully automated driverless creep mode provided in this specification is used to activate the creep mode.

[0038] Preferably, the control module is an FPGA (Field Programmable Gate Array) controller; the first pulse signal output by the first output end is a PWM_H signal, and the second pulse signal output by the second output end is a PWM_L signal.

[0039] In the implementation, when the full-automatic unmanned system is running normally, the peristaltic mode does not need to be started, and by default, neither the first output end of the control module nor the second output end of the control module outputs a signal, i.e., the default state is a safe state.

[0040] In the implementation, after the dispatcher of the control center confirms authorization to start the peristaltic mode, the control module outputs a control signal. Specifically, when the first output end of the control module outputs a high level, the first output module is in a conduction state, and the first pulse signal is output to the brake module through the first output module and the first drive module in sequence; when the second output end of the control module outputs a high level, the second output module is in a conduction state, and the second pulse signal is output to the brake module through the second output module and the second drive module in sequence.

[0041] The brake module receives and combines the first pulse signal transmitted by the first drive module and the second pulse signal transmitted by the second drive module, and starts the peristaltic mode according to the combined control signal. After the peristaltic mode is started, the first output end of the control module and the second output end of the control module output according to the control instruction.

[0042] In the implementation, the first drive module receives the PWM_H signal output by the first output end of the control module and outputs a PWM_ctl_h waveform with high-low variation; the second drive module receives the PWM_L signal output by the second output end of the control module and outputs a PWM_ctl_l waveform with high-low variation, and the two PWM waveforms are combined to form a PWM waveform. The PWM waveform is converted into a control instruction for starting the peristaltic mode, and the brake module receives the PWM waveform and outputs a control instruction with a preset duty ratio according to the PWM waveform to start the peristaltic mode.

[0043] In the implementation, the greater the pulse width of the PWM waveform, i.e., the greater the duty ratio, the greater the average voltage provided; conversely, the smaller the pulse width of the PWM waveform, i.e., the smaller the duty ratio, the smaller the average voltage provided. Preferably, when the peristaltic mode is started, the output range of the PWM waveform is 10% to 90%, and the precision is ±2%.

[0044] The circuit structure of the scheme is an original structure, the connection mode of the circuit structure is simple, convenient to manufacture, and uses fewer electrical devices to achieve the starting control of the peristaltic mode, thereby saving the manufacturing cost and improving the manufacturing efficiency.

[0045] Moreover, the traction PWM control device provided in this solution adopts a safety-oriented design concept. The first output module and the second output module will only start when they receive a high level. That is, the traction PWM control device has no output signal in the default state, which is a safe state and helps to protect the safety of the device.

[0046] The first output module and the second output module respectively acquire the two PWM signals sent by the control module, and then superimpose them and output them to the braking module for control, thereby improving the safety of control signal transmission.

[0047] In some implementations, the first driving module includes:

[0048] The first end of resistor R1 is connected to the first power supply device VDD1, and the second end of resistor R1 is connected to the negative terminal of electronic switch Q13. The source of electronic switch Q13 is connected to the source power supply voltage device VSS. The drain of electronic switch Q13 is connected to the second power supply device VDD2 through resistor R3. The drain of electronic switch Q13 is also connected to the negative terminal of electronic switch Q15. The source of electronic switch Q15 is connected to the source power supply voltage device VSS. The drain of electronic switch Q15 is connected to the first end of resistor R5. The second end of resistor R5 is connected to the third power supply device VDD3 through resistor R6. The second end of resistor R5 is also connected to the negative terminal of electronic switch Q14. The source of electronic switch Q14 is connected to the third power supply device VDD3. The drain of electronic switch Q14 is connected to the braking module.

[0049] In some implementations, electronic switch Q13 is an N-channel MOSFET, electronic switch Q15 is an N-channel MOSFET, and electronic switch Q14 is a P-channel MOSFET.

[0050] In some implementations, the resistance of resistor R1 is 10kΩ, the resistance of resistor R3 is 10kΩ, the resistance of resistor R5 is 10kΩ, and the resistance of resistor R6 is 10kΩ.

[0051] It should be noted that the conduction condition of an N-type MOSFET is that the voltage at the negative terminal of the N-type MOSFET is greater than the voltage at the source terminal of the N-type MOSFET; the conduction condition of a P-type MOSFET is that the voltage at the negative terminal of the P-type MOSFET is less than the voltage at the source terminal of the P-type MOSFET.

[0052] In practice, the first output module includes: optocoupler U1.

[0053] like Figure 2 As shown, the first pin of optocoupler U1 is connected to the first output terminal of the control module, the second pin of optocoupler U1 is grounded, the third pin of optocoupler U1 is connected to the second power supply device VDD2, the fourth pin of optocoupler U1 is connected to the negative terminal of MOSFET Q13, the fifth pin of optocoupler U1 is grounded, and optocoupler U1 is high-level and on.

[0054] In a specific embodiment, when the dispatcher of the control center confirms the authorization to start the peristaltic mode, the control module outputs a control signal, specifically, when the first pin of the optocoupler U1 receives an input signal of logic 1, the optocoupler U1 receives a high level, the optocoupler U1 is turned on; the negative electrode of the electronic switch tube Q13 is grounded through the fourth pin of the optocoupler U1 and the fifth pin of the optocoupler U1 in turn, the source electrode of the electronic switch tube Q13 is connected to the source power supply voltage device VSS, the voltage at the GS end of the electronic switch tube Q13 is 0, and the electronic switch tube Q13 is not turned on; the negative electrode of the electronic switch tube Q15 is connected to the second power supply device VDD2 through the resistor R3, the source electrode of the electronic switch tube Q15 is connected to the source power supply voltage device VSS, a voltage difference is formed at the GS end of the electronic switch tube Q15, and the voltage difference at the GS end of the electronic switch tube Q15 is equal to the voltage value of the second power supply device VDD2, the electronic switch tube Q15 is turned on; the negative electrode of the electronic switch tube Q14 is connected to the third power supply device VDD3 in parallel with the resistor R5 and then connected to the third power supply device VDD3 through the resistor R6, the source electrode of the electronic switch tube Q14 is directly connected to the third power supply device VDD3, the voltage value of the source electrode of the electronic switch tube Q14 is higher than the voltage value of the negative electrode of the electronic switch tube Q14, a voltage difference is formed at the GS end of the electronic switch tube Q14, the electronic switch tube Q14 is turned on, outputs the voltage output by the third power supply device VDD3, and the brake device is turned on.

[0055] Preferably, the voltage value output by the third power supply device VDD3 is greater than the voltage value output by the second power supply device VDD2.

[0056] Preferably, the first power supply device VDD1 outputs a voltage value of 5V, and the second power supply device VDD2 outputs a voltage value of 5V. The first power supply device VDD1 and the second power supply device VDD2 can be the same power supply device.

[0057] Preferably, the third power supply device VDD3 outputs a voltage value of 24V.

[0058] In a specific embodiment, the voltage value received by the negative electrode of the electronic switch tube Q14 is equal to: the resistance value of R6 / (the resistance value of R5+the resistance value of R6)*the voltage value output by the third power supply device VDD3. When the third power supply device VDD3 outputs a voltage of 24V, the resistance value of the resistor R5 is 10kΩ, and the resistance value of the resistor R6 is 10kΩ, the voltage value received by the negative electrode of the electronic switch tube Q14 is: (10 / (10+10)*24)V.

[0059] In a specific embodiment, when the input signal received by the first pin of the optocoupler U1 is a logic 0, the optocoupler U1 receives a low level, the optocoupler U1 is not turned on, the negative electrode of the electronic switch tube Q13 is connected to the first power supply device VDD1 through the resistor R1, the source electrode of the electronic switch tube Q13 is connected to the source power supply voltage device VSS, the voltage difference at the GS end of the electronic switch tube Q13 is formed, the electronic switch tube Q13 is turned on, the negative electrode of the electronic switch tube Q15 is connected to the source power supply voltage device VSS through the electronic switch tube Q13, the negative electrode of the electronic switch tube Q15 is connected to the source power supply voltage device VSS, the voltage difference at the GS end of the electronic switch tube Q15 is 0, the electronic switch tube Q15 is not turned on, the negative electrode of the electronic switch tube Q14 is connected to the third power supply device VDD3 through the resistor R6, the source electrode of the electronic switch tube Q14 is directly connected to the third power supply device VDD3, the voltage difference at the GS end of the electronic switch tube Q14 is 0, the electronic switch tube Q14 is not turned on, and there is no output signal.

[0060] Preferably, the first power supply device VDD1 outputs a voltage value of 5V.

[0061] In the implementation, through the interaction of the N-channel mos tube Q13, the N-channel mos tube Q15 and the P-channel mos tube Q14, a stable voltage is provided for the brake module, and the signal output of the first output end of the control module is controlled.

[0062] In some embodiments, the second driving module comprises:

[0063] The first end of the resistor R2 is connected to the fourth power supply device VDD4, the second end of the resistor R2 is connected to the negative electrode of the electronic switch tube Q16, the source electrode of the electronic switch tube Q16 is connected to the source power supply voltage device VSS, the drain electrode of the electronic switch tube Q16 is connected to the fifth power supply device VDD5 through the resistor R4, the drain electrode of the electronic switch tube Q16 is also connected to the negative electrode of the electronic switch tube Q17, the source electrode of the electronic switch tube Q17 is connected to the source power supply voltage device VSS, and the drain electrode of the electronic switch tube Q17 is connected to the brake module.

[0064] In some embodiments, the electronic switch tube Q16 is an N-channel mos tube, and the electronic switch tube Q17 is an N-channel mos tube.

[0065] In the implementation, the second output module comprises an optocoupler U2.

[0066] It should be noted that the conduction condition of the N-type mos tube is that the voltage value of the negative electrode of the N-type mos tube is greater than the voltage value of the source electrode of the N-type mos tube.

[0067] As Figure 2As shown, the first pin of the optocoupler U2 is connected to the second output end of the control module, the second pin of the optocoupler U2 is grounded, the third pin of the optocoupler U2 is connected to the fourth power supply device VDD4, the fourth pin of the optocoupler U2 is connected to the negative electrode of the electronic switch tube Q16, the fifth pin of the optocoupler U2 is grounded, and the optocoupler U2 is turned on at a high level.

[0068] Preferably, the fourth power supply device VDD4 outputs a voltage value of 5V.

[0069] In a specific embodiment, after the dispatcher of the control center confirms the authorization to start the peristalsis mode, the control module outputs a control signal. Specifically, when the first pin of the optocoupler U2 receives an input signal of logic 1, the optocoupler U2 receives a high level, and the optocoupler U2 is turned on. The negative electrode of the electronic switch tube Q16 is grounded through the fourth pin of the optocoupler U2 and the fifth pin of the optocoupler U2 in turn, the source electrode of the electronic switch tube Q16 is connected to the source power supply voltage device VSS, the voltage at the GS end of the electronic switch tube Q16 is 0, and the electronic switch tube Q16 is not turned on. The negative electrode of the electronic switch tube Q17 is connected to the fifth power supply device VDD5 through the resistor R4, the source electrode of the electronic switch tube Q17 is connected to the source power supply voltage device VSS, a voltage difference is formed at the GS end of the electronic switch tube Q17, and the voltage difference at the GS end of the electronic switch tube Q17 is equal to the voltage value of the fifth power supply device VDD5. The electronic switch tube Q17 is turned on and outputs the voltage value output by the source power supply voltage device VSS.

[0070] Preferably, the fifth power supply device VDD5 outputs a voltage value of 5V, and the resistance value of the resistor R4 is 10kΩ.

[0071] Preferably, when the fourth power supply device VDD4 and the fifth power supply device VDD5 both output a voltage value of 5V, the fourth power supply device VDD4 and the fifth power supply device VDD5 can be the same power supply device.

[0072] In a specific embodiment, when the first pin of the optocoupler U2 receives an input signal of logic 0, the optocoupler U2 receives a low level, and the optocoupler U2 is not turned on. The negative electrode of the electronic switch tube Q16 is connected to the fourth power supply device VDD4 through the resistor R2, the source electrode of the electronic switch tube Q16 is connected to the source power supply voltage device VSS, a voltage difference is formed at the GS end of the electronic switch tube Q16, and the electronic switch tube Q16 is turned on. The negative electrode of the electronic switch tube Q17 is connected to the source power supply voltage device VSS through the electronic switch tube Q16, the source electrode of the electronic switch tube Q17 is connected to the source power supply voltage device VSS, the voltage difference at the GS end of the electronic switch tube Q17 is 0, and the electronic switch tube Q17 is not turned on, without signal output.

[0073] In the implementation, the signal output of the second output end of the control module is controlled through the interaction of the two electronic switch tubes.

[0074] Preferably, the resistance value of the resistor R2 is 10kΩ.

[0075] In the implementation, the interaction of the N-channel mos tube Q16 and the N-channel mos tube Q17 provides a stable voltage for the braking module, and controls the signal output of the first output end of the control module.

[0076] The control module outputs two signals respectively, and the isomerization processing of the two signals effectively prevents the common cause failure problem and improves the reliability of the circuit.

[0077] In some embodiments, further comprising: an RCD absorption circuit, a first end of the RCD absorption circuit is connected to the first driving module, and a second end of the RCD absorption circuit is connected to the second driving module.

[0078] In some embodiments, the RCD absorption circuit comprises: a resistor R7, a diode D2 and a capacitor C1, the resistor R7 and the diode D2 are connected in parallel, and the capacitor C1 is connected in series.

[0079] In some embodiments, the resistance value of the resistor R7 is 10kΩ, and the capacitance value of the capacitor C1 is 2.2UF.

[0080] In the implementation, as shown in Figure 2 the first end of the resistor R7 is connected to the third power supply device VDD3, and the second end of the resistor R7 is connected to the source power supply voltage device VSS through the capacitor C1; the anode of the diode D2 is connected to the third power supply device VDD3, and the cathode of the diode D2 is connected to the source power supply voltage device VSS through the capacitor C1.

[0081] In the implementation, when the full-automatic unmanned driving system is in a short-circuit state, the RCD absorption circuit is used to absorb the large current of the electronic switch tube Q14 and the electronic switch tube Q17 at the opening and closing moment. The RCD absorption circuit effectively reduces the resistance power consumption and temperature rise, thereby avoiding the damage of the circuit and the dangerous results such as misfire caused by short circuit, protecting the safety of the circuit of the traction PWM control device, and protecting the safety of the whole full-automatic unmanned driving system.

[0082] In the implementation, the function of the RCD absorption circuit is to absorb the voltage peak on the electronic switch tube Q14 and the electronic switch tube Q17, so as to protect the electronic switch tube Q14 and the electronic switch tube Q17 from being broken down by high voltage or being burned out.

[0083] In the implementation, the capacitor C1 also has a filtering effect.

[0084] In some embodiments, further comprising: a fuse F1, the fuse F1 is installed at the input end of the braking module, and the fuse F1 is used to protect the braking module.

[0085] In the implementation, the fuse F1 uses a lead-antimony alloy wire with a low melting point.

[0086] In the implementation, when the first driving module outputs the voltage value output by the third power module and the second driving module outputs the voltage value output by the source power voltage device VSS, the full-automatic unmanned system is short-circuited, the fuse F1 plays a role of overcurrent protection, and the braking module is protected from being burnt out.

[0087] The above-described specific implementation is a preferred implementation of the full-automatic unmanned peristaltic mode traction PWM control device of the present application, and is not intended to limit the specific implementation range of the present application. The range of the present application includes but is not limited to the specific implementation, and equivalent changes made in accordance with the shape and structure of the present application are within the protection scope of the present application.

Claims

1. A traction PWM control device based on a full-automatic unmanned peristaltic mode, characterized by, The application relates to a control module, a first output module, a second output module, a first driving module, a second driving module and a braking module. A first output end of the control module is connected with an input end of the first output module, an output end of the first output module is connected with an input end of the first driving module, an output end of the first driving module is connected with an input end of the braking module, and a first pulse signal output by the first output end is transmitted to the braking module through the first output module and the first driving module in sequence. A second output end of the control module is connected with an input end of the second output module, an output end of the second output module is connected with an input end of the second driving module, an output end of the second driving module is connected with an input end of the braking module, and a second pulse signal output by the second output end is transmitted to the braking module through the second output module and the second driving module in sequence. The braking module is configured to receive and combine the first pulse signal transmitted by the first driving module and the second pulse signal transmitted by the second driving module, and start a peristaltic mode according to the combined control signal. The first driving module comprises a first end of a resistor R1 connected with a first power supply device VDD1, a second end of the resistor R1 connected with a negative electrode of an electronic switch tube Q13, a source electrode of the electronic switch tube Q13 connected with a source electrode power supply voltage device VSS, a drain electrode of the electronic switch tube Q13 connected with a second power supply device VDD2 through a resistor R3, the drain electrode of the electronic switch tube Q13 also connected with a negative electrode of an electronic switch tube Q15, a source electrode of the electronic switch tube Q15 connected with the source electrode power supply voltage device VSS, a drain electrode of the electronic switch tube Q15 connected with a first end of a resistor R5, a second end of the resistor R5 connected with a third power supply device VDD3 through a resistor R6, the second end of the resistor R5 also connected with a negative electrode of an electronic switch tube Q14, a source electrode of the electronic switch tube Q14 connected with the third power supply device VDD3, and a drain electrode of the electronic switch tube Q14 connected with the braking module. The electronic switch tube Q13 is an N-channel mos tube, the electronic switch tube Q15 is an N-channel mos tube, and the electronic switch tube Q14 is a P-channel mos tube.

2. The full-automatic and unmanned peristalsis mode based traction PWM control device according to claim 1, characterized in that, The second driving module comprises:

3. The full-automatic unmanned peristalsis mode-based traction PWM control device according to claim 1, wherein the full-automatic unmanned peristalsis mode-based traction PWM control mode is characterized by, A first end of a resistor R2 is connected with a fourth power supply device VDD4, a second end of the resistor R2 is connected with a negative electrode of an electronic switch tube Q16, a source electrode of the electronic switch tube Q16 is connected with a source electrode power supply voltage device VSS, a drain electrode of the electronic switch tube Q16 is connected with a fifth power supply device VDD5 through a resistor R4, the drain electrode of the electronic switch tube Q16 is also connected with a negative electrode of an electronic switch tube Q17, a source electrode of the electronic switch tube Q17 is connected with the source electrode power supply voltage device VSS, and a drain electrode of the electronic switch tube Q17 is connected with the braking module. The electronic switch tube Q16 is an N-channel mos tube, and the electronic switch tube Q17 is an N-channel mos tube.

4. The full-automatic and unmanned peristalsis mode based traction PWM control device according to claim 3, characterized in that, The application further relates to 5. The full-automatic and unmanned peristalsis mode based traction PWM control device according to claim 1, characterized in that, ​ A RCD absorption circuit, a first end of the RCD absorption circuit is connected with the first driving module, a second end of the RCD absorption circuit is connected with the second driving module.

6. The full-automatic and unmanned peristalsis mode based traction PWM control device according to claim 5, characterized in that, The RCD absorption circuit comprises a resistor R7, a diode D2 and a capacitor C1, the resistor R7 and the diode D2 are connected in parallel and connected with the capacitor C1 in series.

7. The full-automatic and unmanned peristalsis mode based traction PWM control device according to claim 1, characterized in that, Further comprising: A fuse F1, the fuse F1 is installed at the input end of the brake module, and the fuse F1 is used for protecting the brake module.

8. The full-automatic and unmanned peristalsis mode based traction PWM control device according to claim 1, characterized in that, The first output module comprises an optical coupler U1.

9. The full-automatic and unmanned peristalsis mode based traction PWM control device according to claim 1, characterized in that, The second output module comprises an optical coupler U2.

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