Motor control circuit, motor control chip and motor control system

Abstract

The present application discloses a motor control circuit, a motor control chip, and a motor control system. The motor control circuit includes a boost-buck controller, a motor gate driver, a first switch, a second switch, and a third switch. Upon detecting the insertion of a charging device and receiving a request to enter a drive mode, the boost-buck controller controls the second and third switches to charge the battery and distribute supply current to the motor. Furthermore, upon detecting the insertion of a charging device and receiving a charging instruction signal, the boost-buck controller controls the second and third switches to step down the voltage at a system voltage node to a target step-down voltage. Furthermore, upon not detecting the insertion of a charging device and receiving a request to enter a drive mode, the boost-buck controller turns off the first switch and controls the second and third switches to step up the voltage at the system voltage node to a target step-up voltage.

Description

Technical Field

[0001] The present application relates to the technical field of motor control circuits, and in particular to motor control circuits, motor control chips, and motor control systems for charging and driving operations. Background Art

[0002] At present, there are many devices powered by single lithium batteries, including daily furniture, small appliances, toys, etc. In the application scenarios of single lithium battery power supply, there is a problem, that is, the battery voltage becomes unstable as the working time increases and the power consumption increases, which affects the performance of analog devices, including the reference voltage being set too low. If an external switching tube needs to be driven, when the battery voltage decreases, the on-state internal resistance of the NMOS tube used to control the operation of the motor is relatively large, and the driving ability is reduced.

[0003] Existing technologies use a step-down conversion circuit (Buck circuit) to charge the battery, but it introduces AC power for rectification and conversion between AC and DC, or is only applicable to charging scenarios and cannot take into account the driving working mode. Summary of the Invention

[0004] This application discloses a motor control circuit, a motor control chip, and a motor control chip, and the technical solutions involved are as follows:

[0005] A motor control circuit includes a boost-buck controller, a motor gate driver, a first switch tube, a second switch tube, and a third switch tube; the first switch tube, the second switch tube, and the third switch tube are all connected to the boost-buck controller, the first switch tube is connected to the second switch tube, and the second switch tube is connected to the third switch tube; the first switch tube and the second switch tube are connected to a system voltage node; the boost-buck controller is used to turn on the first switch tube and input a voltage to the system voltage node when a charging device is detected and a charging instruction signal is received; or the boost-buck controller is used to turn on the first switch tube and input a voltage to the system voltage node when a charging device is detected and a request to enter a driving working mode is received; the boost-buck controller is used to turn on the first switch tube and input a voltage to the system voltage node when a charging device is detected When a charging device is detected and a request to enter the driving working mode is received, the battery is charged and the power supply current is distributed to the motor by controlling the second switch tube and the third switch tube; the boost-buck controller is used to, when it detects that a charging device is inserted and a charging instruction signal is received, step down the voltage at the system voltage node to a target step-down voltage by controlling the second switch tube and the third switch tube, and convert the target step-down voltage into the charging voltage of the battery; the boost-buck controller is used to, when no charging device is detected and a request to enter the driving working mode is received, turn off the first switch tube, and step up the voltage at the system voltage node to a target step-up voltage by controlling the second switch tube and the third switch tube, so that the motor gate driver indirectly controls the operation of the motor according to the target step-up voltage.

[0006] Compared to existing technologies, the boost-buck controller disclosed in this application regulates the voltage at the system voltage node using two switching transistors and an inductor, without introducing AC power for AC / DC rectification. This achieves voltage reduction for battery charging without affecting the operation of the drive motor. It also achieves voltage regulation by boosting the system voltage node to maintain stability and suitability for driving the motor without requiring battery charging. This solves the problem of low and unstable supply voltages caused by long-term battery life, addresses battery charging issues, and avoids the inability to drive the motor due to the high on-resistance of the switching transistor.

[0007] A motor control chip includes the motor control circuit, wherein the motor control chip is provided with a system voltage pin; and a system voltage node is connected to the system voltage pin of the motor control chip.

[0008] A motor control system includes the motor control chip, the exterior of the motor control chip including an inductor, a motor, a battery, and a fourth switch tube; the fourth switch tube, the motor, the battery, the inductor, and the motor control chip are sequentially connected to form a loop; the second switch tube, the third switch tube, the inductor, and the battery are sequentially connected to form a battery charge and discharge loop; the motor control chip also includes a linear regulator and a diode, the linear regulator being connected to the battery via the second switch tube and the diode, respectively, so that the battery supply voltage is input into the linear regulator via the second switch tube or the diode, wherein the linear regulator is used to stabilize the voltage input thereto to provide an internal supply voltage for the motor control chip.

[0009] In summary, the inductor connected externally to the motor control chip, the two internal switching transistors, and the boost-buck controller regulate the voltage at the system voltage pin. This allows the motor to be driven while the voltage is stepped down to charge the battery without affecting the operation of the drive motor. Furthermore, boost regulation maintains the voltage at the system voltage pin stable and suitable for driving the motor without charging the battery. This solves the problem of low and unstable supply voltage due to long-term battery use, addresses battery charging issues, and avoids the inability to drive the external motor due to the on-resistance of the chip's internal switching transistor.

[0010] A motor control system includes a fourth switching tube, an inductor, a motor, a battery, and the motor control circuit; or, alternatively, the motor control system includes a fourth switching tube, an inductor, a motor, a battery, and the motor control chip. The motor control system utilizes the aforementioned boost-buck controller to charge the battery and distribute supply current to the motor by controlling the second and third switching tubes upon detecting the insertion of a charging device and receiving a request to enter a drive mode. The motor control system can also step down or step up the voltage at a system voltage node by controlling the second and third switching tubes upon detecting the insertion of a charging device and receiving a charging instruction signal, or upon not detecting the insertion of a charging device and receiving a request to enter a drive mode. This includes utilizing an internal switching logic circuit in conjunction with the inductor to control the duty cycle of parameters such as the voltage generated at the system voltage pin. Therefore, the motor control circuit or the motor control chip, in conjunction with the inductor, solves the problems of switch charging and boosting. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A connection diagram of a motor control circuit is disclosed for one embodiment of the present application.

[0012] Figure 2 A connection diagram of a motor control chip is disclosed for another embodiment of the present application. DETAILED DESCRIPTION

[0013] In the following description, specific details are given to provide a thorough understanding of the embodiments. However, those skilled in the art will appreciate that the embodiments can be practiced without these specific details. For example, circuits may be shown in block diagrams so as not to obscure the embodiments with unnecessary detail. In other cases, well-known circuits, structures, and techniques may not be shown in detail so as not to obscure the embodiments.

[0014] Devices powered by a single lithium battery, including small household appliances, toys, etc., are generally motor devices driven by a DC power supply, and the control circuit of the motor device is generally equipped with analog devices, including operational amplifiers, analog-to-digital converters, etc.; as the battery working time increases, the power supply voltage provided by the battery changes, and the power supply voltage received by the analog device is no longer a constant voltage. At this time, the reference voltage required for the input of the operational amplifier or analog-to-digital converter is more difficult to make. For example, if the reference voltage required inside the analog device is 4.2V, then when the power supply voltage provided by the battery is 5V, the reference voltage generated by the voltage divider inside the analog device can reach 4.2V, which does not affect the performance of the analog device. However, if the power supply voltage provided by the battery is reduced to If the voltage is 3.0V, the analog device cannot generate a 4.2V reference voltage internally, but instead divides down to a reference voltage lower than 3.0V. This low reference voltage degrades the performance of the analog device, causing the operating voltage of the chip inside the analog device to become low or unstable, and the battery continues to drain. When using an NMOS transistor to drive a motor, as the battery voltage decreases, the on-resistance of the NMOS transistor is negatively correlated with the gate voltage. Therefore, the lower the battery voltage, the higher the on-resistance of the NMOS transistor, resulting in a decrease in the driving capability of the NMOS transistor. This can affect the normal operation of a single lithium battery-powered device (such as a motor device) and may even cause some driving branches to fail due to excessive on-resistance. Existing technologies use a step-down converter circuit (Buck circuit) to charge the battery, but this involves the introduction of AC power for AC / DC rectification and conversion, or is only suitable for charging and cannot accommodate both driving and charging modes. This inability to accommodate both driving and charging modes means that it is not yet possible to charge a battery while also powering a motor at low power consumption.

[0015] As an embodiment, in order to solve at least one of the aforementioned technical problems, this embodiment discloses a motor control circuit. The motor control circuit may be a circuit that integrates a switch charging function and a boost working function to solve problems such as too low and unstable power supply voltage. The motor control circuit includes a boost-buck controller, a motor gate driver, a first switch tube, a second switch tube, and a third switch tube. The outside of the motor control circuit includes a fourth switch tube, an inductor, a motor, and a battery. The boost-buck controller and the motor gate driver can be combined into one controller; or the motor control circuit also includes a main controller, and the motor gate driver is a functional module divided inside the main controller according to the motor drive function. The first switch tube, the second switch tube, and the third switch tube are all connected to the boost-buck controller, the first switch tube is connected to the second switch tube, and the second switch tube is connected to the third switch tube, see Figure 1 It can be seen that the second switch tube Q2 is connected between the first switch tube Q1 and the third switch tube Q3 , and the boost-buck controller can also be regarded as being connected between the first switch tube Q1 and the third switch tube Q3 .

[0016] In this embodiment, the first switch tube and the second switch tube are connected to the system voltage node, that is, the connection node between the first switch tube and the second switch tube is the system voltage node; the system voltage node can be connected to the battery through the second switch tube and the inductor outside the motor control circuit; wherein the battery is used to power the motor; schematically, as shown Figure 1 As shown, the connection node (system voltage node) between the first switching tube Q1 and the second switching tube Q2 can be considered a power supply terminal, which can be optionally connected to ground via capacitor C2. The second switching tube Q2 and inductor L1 are connected in sequence between the system voltage node and the positive electrode of battery B0. The second switching tube Q2 can adjust the current conduction time to affect the charge and discharge amount of battery B0, and the inductor L1 has an energy storage effect to affect the charge and discharge amount of battery B0. When the boost-buck controller dynamically adjusts the voltage at the system voltage node, the battery supply voltage and the motor supply voltage can be kept stable.

[0017] In this embodiment, the motor gate driver can be connected to the motor through a fourth switch tube outside the motor control circuit; Figure 1 As shown, the output end of the motor gate driver is connected to the motor M through the fourth switch tube Q4. In the driving working mode, the duty cycle signal PWM output by the motor gate driver is used to control the on-time and off-time of the fourth switch tube Q4 to form the speed of the motor. In order to provide the motor M with a power supply voltage or current, the fourth switch tube Q4, the motor M and the battery B0 are connected in sequence to form a motor drive circuit. Therefore, the charging current allocated to the battery can be further divided into a portion of the current for the motor to take into account both battery charging and motor operation.

[0018] The boost-buck controller is configured to, upon detecting the insertion of a charging device and receiving a charging command signal, turn on the first switch, input a voltage to the system voltage node, and transmit a reference charging voltage from the charging device to the motor control circuit. This control controls the first switch to transmit the reference charging voltage provided by the charging device. Alternatively, the boost-buck controller is configured to, upon detecting the insertion of a charging device and receiving a request to enter a drive mode, turn on the first switch, input a voltage to the system voltage node, and transmit the reference charging voltage from the charging device to the motor control circuit. This allows for both motor operation and battery charging to be balanced, controlling the first switch to transmit the reference charging voltage provided by the charging device to provide a supply voltage.

[0019] Schematically, Figure 1 The first switch Q1 in the circuit is connected to Charger_IN, indicating that a charging device, specifically the circuit containing the boost-buck controller, is plugged in. The first switch Q1 is then turned on upon receiving a charging command signal. The charging device may be a charging power supply. For example, when the charging power supply is plugged in, if the boost-buck controller detects a 5V charging request signal, the first switch Q1 is turned on and the 5V voltage provided by the charging device is transmitted through the first switch Q1. Thus, while taking into account both charging and motor driving operations, the boost-buck controller controls the reference charging voltage input through the first switch Q1. Preferably, a main controller is provided in the motor control circuit. When the main controller detects that the motor control circuit is physically connected to the charging device, it determines that the charging device is inserted. Then, when the main controller receives a charging instruction signal, it enables the boost-buck controller to turn on the first switch tube to form an internal power supply path for the motor control circuit. Then, the motor control circuit or the boost-buck controller enters the charging mode, and the boost-buck controller is enabled to select the Buck drive circuit for battery charging. When the battery charging and the motor driving are carried out simultaneously, part of the current for battery charging may be supplied to the motor.

[0020] The boost-buck controller is used to charge the battery and distribute supply current to the motor by controlling the second and third switches upon detecting the insertion of a charging device and receiving a request to enter drive mode. In this case, it can be considered to enter either charging mode or drive mode. The reference charging voltage transmitted through the input of the first switch causes a voltage drop at the system voltage node during the on- and off-state processes of the second and third switches. The battery is then charged by the inductor, providing charging current. The battery can still provide supply current to the motor, which can also be derived from the charging current. Since the actual power consumption of the motor is always at the battery node, the motor either consumes power from the battery or has a portion generated by the boost-buck controller. This ensures that the operation of the motor is not affected when the charging device is inserted.

[0021] In some embodiments, the energy stored in the inductor can be converted into electrical energy at the node where the inductor is connected to the battery. This electrical energy is superimposed on the positive electrode of the battery and passed through the system voltage node to increase the voltage at the system voltage node to form a higher voltage. When the fourth switch tube is an NMOS tube, feedback is fed back to the gate of the fourth switch tube to reduce the on-state internal resistance of the fourth switch tube, and the fourth switch tube is turned on according to a certain duty cycle to drive the motor to operate normally. The boost-buck controller determines that it will support charging of the battery after the charging device is inserted. When the normal state of the fourth switch tube is not off, the normal operation of the motor requires the battery to allocate part of the power supply current, so the charging current reserved for the battery is reduced, thereby reducing the power consumption of charging the battery.

[0022] The boost-buck controller is used to, when detecting that a charging device is inserted and receiving a charging instruction signal, control the second switch tube and the third switch tube to step down the voltage at the system voltage node to a target step-down voltage, and convert the target step-down voltage into a charging voltage for the battery, which can then support the motor to operate or the battery to power the motor; at this time, the main controller enters the charging mode and adjusts the voltage at the system voltage node using the step-down logic of the buck converter by controlling the second switch tube and the third switch tube, for example, in combination with Figure 1It can be seen that the boost-buck controller applies one duty cycle control to the second switch Q2 and another duty cycle control to the third switch Q3. The current input to the second switch Q2 is intermittent, while the current output at the connection node between the second and third switches Q2 and Q3 is continuous. The voltage generated at the system voltage node when the first switch begins transmitting the reference charging voltage is reduced to a target buck voltage. The boost-buck controller then adjusts the output voltage at the connection node between the second and third switches Q2 and Q3 to be less than or equal to the reference charging voltage (schematically represented by Charger_IN) input to the input of the first switch Q1, thereby adjusting the initial voltage at the system voltage node to the target buck voltage according to the buck circuit's buck logic. The target buck voltage is lower than the reference charging voltage or the maximum supply voltage of the battery (e.g., the positive voltage of the battery when fully charged). Furthermore, the output voltage at the connection node between the second and third switches Q2 and Q3 corresponds to the battery's charging voltage, meaning the target buck voltage is converted to the battery's charging voltage. Figure 1 The junction between the second and third switching transistors Q2 and Q3 is connected to the positive electrode of battery B0 via inductor L1. Therefore, the current output from this junction passes through inductor L1. The battery's charging voltage is then divided by inductor L1 and converted into magnetic energy for storage. This energy is then stored in a capacitor connected in parallel with battery B0 to maintain a constant voltage. This allows the battery to provide a stable supply voltage for the motor. This allows the buck-boost controller to regulate the step-down charging voltage, meeting the battery's charging requirements.

[0023] The boost-buck controller is used to turn off the first switch tube when no charging device is detected and there is a request to enter the drive working mode. At this time, it is understood that the main controller starts the motor gate driver to control the operation of the motor; in order to drive the motor to operate according to a stable duty cycle and reduce the impact of changes in the battery supply voltage, the voltage at the system voltage pin is boosted to a target boost voltage by controlling the second and third switch tubes, so that the motor gate driver indirectly controls the operation of the motor according to the target boost voltage, that is, the motor gate driver outputs the target boost voltage to the fourth switch tube, and the fourth switch tube controls the operation of the motor. At this time, the corresponding duty cycle signal output by the motor gate driver controls the speed of the motor. The voltage in the corresponding duty cycle signal includes the target boost voltage. The target boost voltage is applied to the gate of the fourth switch tube, reducing the on-state internal resistance of the fourth switch tube, turning on the fourth switch tube, and preventing the on-state internal resistance of the switch tube from being too large to drive the motor.

[0024] Schematically, in the driving working mode, the boost-buck controller increases the voltage at the system voltage pin to DC 5V and maintains stable power supply to the motor. The target boost voltage is preferably 5V. Before the voltage at the system voltage pin is increased, it is a relatively low voltage provided by the battery (the battery supply voltage drops after a long period of operation, resulting in a relatively low voltage). Therefore, in the driving working mode, boosting the voltage at the system voltage pin to the target boost voltage can also be understood as a battery boosting process.

[0025] It should be noted that the driving working mode means that when a certain power supply current or power supply voltage is obtained, the motor operates according to the established driving capability. In this application, it is controlled by the motor gate driver and is also affected by the control of the battery charging and discharging by the boost-buck controller. The power supply of the motor includes a battery; the motor adopts a DC motor and has no complex algorithm. Its driving technical means include controlling the motor through the duty cycle, and the duty cycle size corresponds to the motor speed; the established driving capability includes configuring the motor's bus voltage, bus current, motor rotor position, motor speed, motor winding phase current and other data.

[0026] Specifically, if no charging device is detected, the main controller can start to enter the driving mode. This is equivalent to the main controller initiating a request to the boost-buck controller to enter the driving mode. If no charging device is detected and the boost-buck controller receives the request to enter the driving mode, the boost-buck controller turns off the first switch and, by controlling the second and third switches, boosts the voltage at the system voltage node to a target boost voltage. After the boost-buck controller enters the driving mode or an equivalent operating mode for driving the motor, the impact on normal motor operation can be reduced, avoiding the situation where the boost-buck controller is only suitable for charging and cannot also meet the driving mode requirements. The boost-buck controller regulates the voltage at the system voltage node using a boost converter by controlling the second and third switches. The voltage generated at the system voltage node when the first switch stops transmitting the external voltage dynamically increases to the target boost voltage. Furthermore, to support the boost, the energy stored in the inductor L1 is converted into electrical energy, which can be combined with the battery energy to provide energy to the motor. This allows the voltage required by the motor gate driver to drive the motor to be greater than the positive voltage of the battery. Thus, the inductor, the second switch tube and the third switch tube are combined to realize the logic function of boosting.

[0027] In summary, compared to the prior art, the boost-buck controller disclosed in this application regulates the voltage at the system voltage node using two switching tubes and an inductor, without introducing AC power for AC / DC rectification. This achieves voltage reduction for battery charging without affecting the operation of the drive motor. It also achieves voltage regulation by boosting the system voltage node to maintain stability and suitability for driving the motor without requiring battery charging. This solves the problem of low and unstable supply voltages caused by long battery life, addresses battery charging issues, and avoids the inability to drive the motor due to the high on-state resistance of the switching tube.

[0028] Based on the above embodiment, the boost-buck controller is used to charge the battery using the converted charging voltage when detecting that a charging device is inserted and receiving a charging instruction signal, wherein the converted charging voltage is schematically represented as Figure 1 When the input terminal of the first switch Q1 is connected to Charger_IN, Figure 1 The output voltage at the connection node between the second switch Q2 and the third switch Q3 is the result of voltage division when the switches are on. When the battery is fully charged, a stable supply voltage is maintained. The second and third switches are turned off to stop charging the battery. Upon determining that charging is complete, the built-in buck converter or buck logic of the boost-buck controller is turned off. At this point, preferably, the first switch remains on to power the motor control circuit. The system can then enter a standby state or continue driving the motor. If the main controller chooses to enter a standby state, triggering the boost-buck controller to turn off both the second and third switches, no charging management is performed, no voltage boost is performed, and the motor is stopped. The battery can then power the boost-buck controller and the motor via the inductor, switching the motor control circuit's supply voltage to the battery's supply voltage or a stable voltage (processed by a linear regulator or provided by another reference source) that is less than the battery's supply voltage, thereby directing the motor control circuit into a low-power standby state.

[0029] As an embodiment, the connection node of the second switching tube and the third switching tube is connected to the battery through an inductor. Specifically, the connection node of the second switching tube and the third switching tube is connected to one end of the inductor, the other end of the inductor can be connected to one end of the first capacitor, the other end of the first capacitor is grounded, the connection node of the inductor and the first capacitor is connected to the positive electrode of the battery, and the negative electrode of the battery is grounded, so that a charge and discharge path is formed between the connection node of the second switching tube and the third switching tube and the battery; schematically, the inductor L1 is connected between the connection node of the second switching tube Q2 and the third switching tube Q3 and the positive electrode of the battery B0, the first capacitor C1 and the battery B0 are considered to be connected in parallel, the first capacitor C1 and the negative electrode of the battery B0 are both grounded, and the first capacitor C1 is connected to the second switching tube Q2 and the third switching tube Q3 by the boost-buck controller. During the duty cycle control process of the line, it can filter the charging current and discharge to the connection node of the second switch tube Q2 and the third switch tube Q3; the connection node between the first capacitor C1 and the positive electrode of the battery B0 can be connected to the boost-buck controller through the inductor L1, or directly connected to the boost-buck controller to form two power supply paths, which are regarded as including the charge and discharge path formed between the connection node of the second switch tube and the third switch tube and the battery, and can store energy in the process of stepping down the voltage at the system voltage node; in addition, the boost-buck controller can adjust the charging voltage of the battery or the voltage at the system voltage node based on the voltage feedback at the connection node of the second switch tube and the third switch tube. For example, when an overcurrent is detected, the boost-buck controller stops working.

[0030] In one embodiment, a buck-boost controller includes a drive enable terminal, a first switch drive terminal, a second switch drive terminal, and a drive output terminal. The first transmission terminal of the first switch is configured to receive a reference charging voltage. The control terminal of the first switch is connected to the drive enable terminal to control the on / off state of the first switch via the drive enable terminal. The second transmission terminal of the first switch and the first transmission terminal of the second switch are connected to the system voltage node, and the reference charging voltage is input to the system voltage node when the first switch is on. The control terminal of the second switch is connected to the first switch drive terminal, and the second transmission terminal of the second switch and the first transmission terminal of the third switch are connected to one end of the inductor, the other end of the inductor being connected to the positive electrode of the battery. The control terminal of the third switch is connected to the second switch drive terminal, and the second transmission terminal of the third switch is grounded. The duty cycle signal output by the first switch drive terminal controls the second switch, and the duty cycle signal output by the second switch drive terminal controls the third switch, thereby meeting the battery charging requirements and / or the motor driving requirements.

[0031] Specifically, when the first switch is on, the system enters charging mode, inputs the reference charging voltage to the system voltage node, and starts charging the battery by controlling the duty cycle of the second and third switches. The battery also supports allocating supply current to the motor, and after charging is complete, the system enters standby mode. When no charging device is plugged in, the first switch is off, enabling the motor control circuit to enter drive mode. However, the system does not support charging the battery by controlling the reference charging voltage to step down. The system voltage node can be boosted by controlling the duty cycle of the second and third switches, and the motor can be driven by controlling the fourth switch. Therefore, this embodiment uses the first switch to facilitate detection of whether the voltage at the system voltage node is provided by the plugged-in charging device or is boosted in the absence of the plugged-in charging device. Therefore, this embodiment controls the second switch tube and the third switch tube respectively through the duty cycle output by the first switch driving end and the duty cycle output by the second switch driving end to meet the battery charging demand and / or the motor operation driving demand. When the main controller detects that the battery power is too low and there is a charging demand, and the motor control circuit is plugged into a charging device, the main controller will send a charging instruction signal to the boost-buck controller and just plug in the charging device to start buck charging of the battery; when the main controller detects that the battery power is large enough (for example, the positive electrode voltage of the battery reaches about 4V) and there is a motor operation driving demand, the main controller will send a request to the boost-buck controller to enter the driving working mode and start boosting the voltage at the system voltage node.

[0032] In addition, the connection node between the second transmission end of the second switch tube and the first transmission end of the third switch tube is connected to the driving output end. Figure 1 and Figure 2 As can be seen, the drain of the second switch Q2 (PMOS transistor) and the drain of the third switch Q3 (NMOS transistor) are commonly connected to the drive output terminal of the boost-buck controller, forming a circuit for measuring the internal resistance of the second switch Q2 and a circuit for measuring the internal resistance of the third switch Q3, respectively. The boost-buck controller measures the on-state internal resistance of the second switch based on the voltage between the drive output terminal and the control terminal of the second switch (the first switch drive terminal of the boost-buck controller) and the current flowing through the second switch. The boost-buck controller also measures the on-state internal resistance of the third switch based on the voltage between the drive output terminal and the control terminal of the third switch (the second switch drive terminal of the boost-buck controller) and the current flowing through the third switch. The on-state internal resistance of the second switch varies with changes in the voltage at the control terminal of the second switch, and the on-state internal resistance of the third switch also varies with changes in the voltage at the control terminal of the third switch. The source of the third switch is grounded to provide a reference ground for the motor control circuit.

[0033] It should be noted that the first switch tube is a PMOS tube or an NMOS tube, the second switch tube is a PMOS tube or an NMOS tube, and the third switch tube is an NMOS tube. Specific implementations include the following:

[0034] When both the first switching tube and the second switching tube are PMOS tubes, and the third switching tube is an NMOS tube, the first transmission end of the first switching tube is the source of the first switching tube, the second transmission end of the first switching tube is the drain of the first switching tube, the first transmission end of the second switching tube is the source of the second switching tube, the second transmission end of the second switching tube is the drain of the second switching tube, the first transmission end of the third switching tube is the drain of the third switching tube, and the second transmission end of the third switching tube is the source of the third switching tube; the control end of the first switching tube is the gate of the first switching tube, the control end of the second switching tube is the gate of the second switching tube, and the control end of the third switching tube is the gate of the third switching tube.

[0035] When both the first switching tube and the second switching tube are NMOS tubes, and the third switching tube is an NMOS tube, the first transmission end of the first switching tube is the drain of the first switching tube, the second transmission end of the first switching tube is the source of the first switching tube, the first transmission end of the second switching tube is the drain of the second switching tube, the second transmission end of the second switching tube is the source of the second switching tube, the first transmission end of the third switching tube is the drain of the third switching tube, and the second transmission end of the third switching tube is the source of the third switching tube; the control end of the first switching tube is the gate of the first switching tube, the control end of the second switching tube is the gate of the second switching tube, and the control end of the third switching tube is the gate of the third switching tube.

[0036] When the first switching tube is a PMOS tube, the second switching tube is an NMOS tube, and the third switching tube is an NMOS tube, the first transmission end of the first switching tube is the drain of the first switching tube, the second transmission end of the first switching tube is the source of the first switching tube, the first transmission end of the second switching tube is the drain of the second switching tube, the second transmission end of the second switching tube is the source of the second switching tube, the first transmission end of the third switching tube is the drain of the third switching tube, and the second transmission end of the third switching tube is the source of the third switching tube; the control end of the first switching tube is the gate of the first switching tube, the control end of the second switching tube is the gate of the second switching tube, and the control end of the third switching tube is the gate of the third switching tube.

[0037] Schematically, as Figure 1 As shown, the first switch tube and the second switch tube are respectively represented as Figure 1 The PMOS tube Q1 and PMOS tube Q2; the third switch tube is represented by Figure 1The gates of the NMOS transistor Q3 and the PMOS transistor Q1 are connected to the drive enable terminal of the boost-buck controller. The PMOS transistor Q2 and the NMOS transistor Q3 are connected to form a complementary push-pull circuit. The two input terminals of the complementary push-pull circuit are represented by the gate of the PMOS transistor Q2 and the gate of the NMOS transistor Q3, respectively. The output terminal of the complementary push-pull circuit is represented by the connection node of the drain of the PMOS transistor Q2 and the drain of the NMOS transistor Q3. The output terminal of the complementary push-pull circuit is connected to the battery B0 through the inductor L1. The battery B0 is connected in parallel with the first capacitor C1. The first capacitor C1 is also connected to the inductor L1 to perform a voltage stabilization and filtering function. In the charging mode, the inductor L1 can also perform a voltage reduction and filtering function.

[0038] In summary, the step-up / step-down controller controls the on / off states of the second and third switches Q2 and Q3, respectively, through the duty cycles output by the first and second switch drive terminals. This control is actually adjusting the duty cycles of each switch, thereby controlling the voltage at the connection node between the second and third switches Q2 and Q3. This voltage is then fed back to the connection node between the first and second switches Q1 and Q2, effectively regulating the voltage at the connection node between the first and second switches Q1 and Q2. This can be understood as adjusting the voltage at the system voltage node based on the voltage feedback at the connection node between the second and third switches Q2 and Q3. The duty cycle signal is then used to control the magnitude of the charging current flowing through the inductor and / or the magnitude of the power supply current flowing through the motor. This stabilizes the battery charging voltage or the voltage required to drive the motor, thereby meeting the battery charging requirements and / or the motor driving requirements.

[0039] In one embodiment, a boost-buck controller is configured to, upon detecting the insertion of a charging device and receiving a request to enter a drive operating mode (indicating a need to enter the drive operating mode), control the second and third switches to adjust the voltage at the system voltage node, thereby distributing charging current to the battery and supply current to the motor simultaneously. Because the charging device is inserted and to maintain battery charging stability, the first switch is turned on to input an external charging voltage. Therefore, the initial voltage at the system voltage node may be the reference charging voltage or lower (because no charging command signal is received). If the battery supply voltage is currently 4.2V and the reference charging voltage is 5V, the reference charging voltage may be between 4.2V and 5V. If the initial voltage at the system voltage node shows a decreasing trend during the step-up-buck controller's duty cycle control of the second and third switches, the target step-down voltage obtained will be lower than 4.2V.

[0040] In this embodiment, the step-up / step-down controller adjusts the voltage at the system voltage node by controlling the duty cycle at the gate of the second switch tube and the duty cycle at the gate of the third switch tube to achieve the goal of allocating charging current to the battery in the charging mode while the battery allocates power supply current to the motor driven by the motor gate driver. At this time, it can be regarded as entering the driving working mode. Figure 1 As shown, the output end of the motor gate driver is connected to the motor through the fourth switch tube Q4. In the driving working mode, the duty cycle signal PWM output by the motor gate driver is used to control the conduction and shutdown of the fourth switch tube Q4. In order to provide the power supply voltage or power supply current to the motor M, the fourth switch tube Q4, the motor M and the battery B0 are connected in sequence to form a motor drive circuit. Therefore, the charging current allocated to the battery can be further divided into a portion of the current to the motor to take into account both battery charging and motor operation. In some embodiments, when the fourth switch tube is turned on, the power supply current provided by the battery will pass through the fourth switch tube and the motor to form a current loop. The battery can receive the charging voltage for charging, or the battery can discharge to the outside. At the same time, the energy stored in the inductor can be converted into electrical energy at the node where the inductor and the battery are connected. This electrical energy is superimposed on the positive electrode of the battery, increasing the voltage at the system voltage node and feeding back to the gate of the fourth switch tube to drive the motor to operate through the fourth switch tube. When the normal state of the fourth switch tube is not off, and the boost-buck controller determines that the charging device is inserted, it can support charging of the battery. However, the normal operation of the motor requires the battery to allocate part of the power supply current, so the charging current reserved for the battery becomes smaller, thereby reducing the power consumption of charging the battery.

[0041] In one embodiment, the boost-buck controller is configured to enable the Buck drive circuit upon detecting the insertion of a charging device and receiving a charging command signal, thereby switching the entire boost-buck controller to the Buck drive circuit. The boost-buck controller comprises a Buck drive circuit, a switching circuit (composed of a multi-way switch, such as a toggle switch or a multiplexer), and a Boost drive circuit. When the switching circuit enables the Buck drive circuit and connects it to the motor control circuit, the Buck drive circuit sequentially connects to the first switch transistor, the second switch transistor, and the third switch transistor via the drive enable terminal, the first switch drive terminal, the second switch drive terminal, and the drive output terminal, respectively, thereby determining that the boost-buck controller has switched to the Buck drive circuit.

[0042] The external connection inductor of the motor control circuit; the Buck drive circuit, together with the second switch tube, the third switch tube and the inductor, constitutes a buck circuit for battery charging. When entering the charging mode, the equivalent circuit of the boost-buck controller is switched to the Buck drive circuit (which can be understood as the Buck buck circuit or the side of the Buck buck circuit without load (i.e. Figure 1Therefore, the boost-buck controller, the second switch tube Q2, the third switch tube Q3, the inductor L1 and the first capacitor C1 are sequentially connected to form a Buck closed loop (or Buck buck circuit), which can step down the voltage at the system voltage node and output it to both ends of the first capacitor C1 for charging the battery.

[0043] Under the control of the duty cycle output by the first switch driving terminal and the duty cycle output by the second switch driving terminal, the second switch tube Q2 and the third switch tube Q3 charge the inductor L1 when both are turned on. Inductor L1 can also serve as an energy storage device. The second switch tube Q2 and the third switch tube Q3 thus form a buck switch for controlling the on and off of the Buck drive circuit portion of the boost-buck controller, thereby achieving switch charging.

[0044] The Buck drive circuit is used to adjust the voltage at the system voltage node to the target step-down voltage during the process of stepping down the voltage at the system voltage node. In fact, the voltage at the system voltage node is feedback-regulated (the system voltage node is configured as a feedback terminal for the real-time output voltage / charging voltage to ensure normal charging of the battery), and then divided to the connection node between the second transmission terminal of the second switching tube and the first transmission terminal of the third switching tube to obtain the aforementioned converted charging voltage. Schematically, as shown in FIG. Figure 1 As shown, the connection node between the drain of the second switch tube Q2 and the drain of the third switch tube Q3 obtains the converted charging voltage, which is then stepped down by the inductor and output to the battery. If necessary, the voltage is stepped down by the inductor and the first capacitor to output to the battery, achieving a filtering effect.

[0045] If the voltage at the system voltage node is higher than the current supply voltage of the battery, the Buck drive circuit is switched in to perform step-down voltage operation. By controlling the duty cycle of the second and third switching tubes, the battery is stepped down and charged. The reference charging voltage can be converted into a charging voltage suitable for the battery, automatically adjusting to a more stable charging voltage, thereby being compatible with the higher charging voltage transmitted by the first switching tube (which also means being compatible with the higher charging current transmitted by the first switching tube).

[0046] In one embodiment, a boost-buck controller is configured to enable the boost drive circuit upon detecting that no charging device is plugged in and receiving a request to enter a driving mode (indicating a need to enter driving mode), thereby switching the entire boost-buck controller to the boost drive circuit. Since no charging device is plugged in, the boost-buck controller is prevented from entering charging mode, i.e., receiving a charging command signal. In this embodiment, the boost-buck controller includes a buck drive circuit, a switching circuit (composed of a multi-way switch, such as a toggle switch or a multiplexer), and a boost drive circuit. When the switching circuit enables the boost drive circuit to connect to the motor control circuit, the boost drive circuit connects to the second and third switching transistors via the first and second switch driving terminals, respectively, thereby determining that the boost-buck controller has switched to the boost drive circuit. The boost drive circuit, together with the second and third switching transistors and an inductor, forms a boost circuit, thereby entering driving mode.

[0047] The motor control circuit is externally connected to a fourth switch tube; the regulation operation performed by the Boost drive circuit on the input voltage is boost control, and the target boost voltage obtained by the boost is used to control the on and off of the fourth switch tube. The output end of the motor gate driver is connected to the control end of the fourth switch tube, the first transmission end of the fourth switch tube is connected to the motor, and the second transmission end of the fourth switch tube is grounded, and the fourth switch tube is connected to the low-side control end of the motor (understood as the ground end of the motor); the positive pole of the battery is connected to the power supply end of the motor to receive the power supply voltage provided by the battery, the negative pole of the battery is grounded, and the battery is used to provide power supply current to the motor; schematically, as shown Figure 1 As shown, the fourth switch Q4 is an NMOS transistor. The first transmission terminal of the fourth switch Q4 is the drain of the fourth switch Q4, the second transmission terminal of the fourth switch Q4 is the source of the fourth switch Q4, and the control terminal of the fourth switch Q4 is the gate of the fourth switch Q4. Because the NMOS transistor has a large on-state internal resistance before being turned on, the Boost drive circuit increases the voltage at the gate of the fourth switch Q4 (corresponding to the voltage at the system voltage node) to reduce the on-state internal resistance of the fourth switch Q4 and improve the drive capability of the fourth switch Q4.

[0048] In some embodiments, the second switch tube and the third switch tube are both turned on. Since the charging device is not inserted, the first switch tube is controlled to be normally off, and the equivalent circuit of the boost-buck controller is switched to the Boost drive circuit (which can be understood as the Boost boost circuit or the side of the Boost boost circuit without load (i.e. Figure 1Therefore, the boost-buck controller, the second switch tube Q2, the third switch tube Q3, the inductor L1 and the first capacitor C1 are sequentially connected to form a Boost closed loop (or a Boost boost circuit), which can boost the voltage at the system voltage node and feed it back to the gate of the fourth switch tube to drive the motor to operate normally, thereby solving the problem of a single switch tube having a large on-resistance and affecting the driving capability.

[0049] Under the control of the duty cycle of the first switch driving terminal output and the duty cycle of the second switch driving terminal output, combined with Figure 1 It can be seen that when both the second switch Q2 and the third switch Q3 are turned on, the first capacitor C1 can be charged and the inductor L1 can store energy. When the second switch Q2 is turned off, the inductor L1 and the first capacitor C1 can discharge to the connection node between the drain of the second switch Q2 and the drain of the third switch Q3, thereby raising the voltage at the system voltage node. Preferably, the energy stored in the inductor can be converted into electrical energy at the node where the second switch Q2 and the third switch Q3 are connected, and then fed back to the gate of the fourth switch Q4 via the system voltage node. During the voltage boosting process at the system voltage node, the energy stored in the inductor L1 and the battery energy can be combined to provide energy to the motor. This can make the voltage required by the motor gate driver to drive the motor greater than the positive voltage of the battery, completing the boost function, reducing the on-state internal resistance of the fourth switch, and improving the motor's driving capability.

[0050] The Boost drive circuit is used to adjust the voltage at the system voltage node to a target boost voltage by performing feedback regulation on the voltage at the system voltage node during the process of boosting the voltage at the system voltage node and feeding it back to the motor gate driver; the motor gate driver is used to output the target boost voltage to the fourth switch tube and form a duty cycle signal for controlling the motor speed. That is, after receiving the target boost voltage, the motor gate driver outputs the target boost voltage to the fourth switch tube, and can output a stable and accurate target boost voltage to the gate of the fourth switch tube, and form a duty cycle signal for controlling the motor speed, so that the motor gate driver outputs a duty cycle signal to the fourth switch tube, and the fourth switch tube controls the motor operation based on the duty cycle signal. The duty cycle signal output by the motor gate driver is schematically represented as follows: Figure 1 The PWM signal in the circuit adjusts the on-time of the fourth switch tube Q4 to control the operation of the motor and configures the driving state of the motor, including the bus voltage, bus current, motor rotor position, motor speed, phase current of the motor winding and other data to form the corresponding driving capability of the motor.

[0051] The voltage at the system voltage node is used to represent the voltage feedback signal generated by the Boost driving circuit for controlling the duty cycle of the second switch tube and the duty cycle of the third switch tube, thereby improving the stability and accuracy of the voltage boost at the system voltage node.

[0052] In some embodiments, the Boost drive circuit continuously cycles by controlling the on and off processes of the second switch tube and the third switch tube, and controls the duty cycle of the on and off of the second switch tube and the third switch tube through voltage feedback of the system voltage node to control the motor gate driver to output a corresponding duty cycle signal to the gate of the fourth switch tube. Finally, the voltage of the system voltage node remains equal to the target boost voltage, such as a 5V DC voltage, and the battery supply voltage is between 3.0V and 4.2V. Therefore, the Boost drive circuit realizes boost regulation, which is equivalent to boosting the positive voltage of the battery, and controls the motor gate driver to output a stable duty cycle signal by maintaining the voltage of the system voltage node at 5V, and controls the duty cycle of the fourth switch tube to realize the operation of the motor at a relatively fixed driving capacity.

[0053] As an embodiment, the motor control circuit includes a linear regulator and a diode; the linear regulator is connected to the system voltage node; the linear regulator is connected to the battery through a second switch tube and a diode, wherein the linear regulator is connected to the battery through the second switch tube and the inductor to form a power supply path, and the linear regulator is directly connected to the battery through the diode to form another power supply path; in this embodiment, the linear regulator is used to stabilize the voltage input thereto. Schematically, as shown in FIG. Figure 1 As shown, the positive electrode of the battery B0 is connected to the power supply terminal of the linear regulator and the positive electrode of the diode D1 respectively, so that the battery supplies power to the step-up / step-down controller. The cathode of the diode D1 is connected to the linear regulator and the system voltage node respectively, so that the battery B0 provides the linear regulator with an electrical signal to be regulated and prevents current backflow. The supply voltage provided by the battery B0 is input to the linear regulator through the second switch Q2 or the diode D1.

[0054] The linear regulator is configured to receive the voltage transmitted by the first switch tube when the boost-buck controller detects that a charging device is inserted and receives a charging instruction signal, that is, the first switch tube that has been turned on inputs the reference charging voltage into the linear regulator, specifically inputting the reference charging voltage through the system voltage node, such as Figure 1As shown, the linear regulator is indirectly connected to the external charging device through the first switch tube Q1 to receive the reference charging voltage, forming a power supply path; Charger_IN, which is used to represent the reference charging voltage, is input to the connection node of the first switch tube Q1 and the second switch tube Q2 through the conductive first switch tube Q1, and then transmitted to the linear regulator for voltage stabilization, thereby obtaining a relatively stable internal power supply voltage in the charging mode.

[0055] A linear voltage regulator is configured to input the voltage at the system voltage node when the boost-buck controller detects the insertion of a charging device and receives a request to enter a drive operating mode. The voltage at the system voltage node includes a reference charging voltage input via the turned-on first switch, a voltage transmitted via the turned-on second switch (substantially including the voltage regulated by the boost-buck controller and the battery voltage transmitted to the system voltage node via the inductor and the second switch), or a battery voltage received via a diode (which may be the battery positive voltage transmitted via the diode when both the second and third switches are turned off). Preferably, when the first switch is turned on, the linear regulator can be partially powered via the power supply path between the diode and the battery to reduce battery power consumption. When the drive operating mode is entered, the voltage transmitted via the second switch is either the voltage boosted by the boost-buck controller or the battery voltage transmitted via the inductor and the second switch, and may also be used as part of the power supply.

[0056] The linear voltage regulator is used to receive the voltage transmitted from the second switch tube when the boost-buck controller does not detect the insertion of the charging device and receives a request to enter the driving working mode. In fact, it receives the voltage output by the boost-buck controller at the connection node of the second switch tube and the third switch tube through the system voltage node (as the voltage obtained by the boost driving circuit, that is, the voltage obtained by the boost-buck controller controlling the boost), or it can be understood as the voltage transmitted to the system voltage node by the battery through the inductor and the second switch tube. It should be noted that when the boost-buck controller does not detect the insertion of the charging device and receives a request to enter the driving working mode, the first switch tube is turned off, and the power supply cannot be input through the first switch tube. Therefore, the power supply path between the second switch tube and the battery, or the voltage output by the boost-buck controller at the connection node of the second switch tube and the third switch tube is used for power supply. As Figure 1 As shown, the system voltage node serves as a connection node between the first switch tube Q1 and the second switch tube Q2. According to the aforementioned related embodiments, the voltage at the system voltage node can be fed back as a target boost voltage obtained by the Boost drive circuit, or can be understood as the voltage transmitted from the battery B0 through the inductor L1 and the second switch tube Q2 that has been turned on.

[0057] In summary, this embodiment provides a linear regulator with multiple power supply sources, including a battery connected through a diode, the reference charging voltage input through the first switch tube, and the voltage transmitted through the second switch tube; thereby providing a sufficiently large internal power supply voltage for the motor control circuit in the driving working mode, and is also suitable for the power supply requirements in the charging mode, achieving a compatible state in which the motor gate driver maintains the state of driving the motor to operate and the boost-buck controller controls the battery charging.

[0058] The present application discloses a motor control chip, comprising the motor control circuit disclosed in the aforementioned embodiments. The motor control chip includes a system voltage pin; a system voltage node is connected to the system voltage pin of the motor control chip, and the system voltage node is disposed within the motor control chip. A boost-buck controller, a motor gate driver, a first switching transistor, a second switching transistor, and a third switching transistor are integrated within the motor control chip. The connection nodes between the aforementioned components and modules integrated within the motor control chip are all disposed within the motor control chip and can be connected to relevant pins of the motor control chip.

[0059] Schematically, as Figure 2 As shown, there is a connection relationship between the first capacitor C1, the inductor L1, the motor M and the battery B0. The battery B0 is connected to the motor control chip through the inductor L1, and the motor control chip is connected to the motor M through the fourth switch tube Q4. Figure 2 As shown, from top to bottom, the motor control chip may include a duty cycle output pin PWM_OUT, a charging voltage input pin 5V_in, a system voltage pin Vsys, a load output pin OUT, a ground pin PGND, and a battery power pin VBAT. Taking the motor drive and battery charging applications as an example, the connection structure and function of each pin of the motor control chip and the relevant parts of the motor control chip in which they are located are described. Please refer to the embodiment of the motor control circuit mentioned above. The duty cycle output pin PWM_OUT is connected between the gate of the fourth switch tube Q4 and the motor gate driver, and the charging voltage input pin 5V_in is connected to the input end of the first switch tube (which can be recorded as Figure 2 The source of the first switch tube is connected to the input reference charging voltage (using Figure 2 (represented by Charger_IN in the figure), the connection node of the first switch tube Q1 and the second switch tube Q2 is connected to the system voltage pin Vsys, the connection node of the second switch tube Q2 and the third switch tube Q3 is connected to the load output pin OUT, the source of the third switch tube Q3 is connected to the ground pin PGND, and the battery power pin VBAT can be directly connected to the battery B0. It should be noted that although Figure 2The 7 pins of the motor control chip are named, but the motor control chip may include more than 7 pins. For example, a motor gate driver may lead out multiple pins for multi-phase driving a motor in the package of the motor control chip.

[0060] Based on the above embodiments, Figure 2 As shown, the motor control chip includes a boost-buck controller, a motor gate driver, a first switch tube Q1, a second switch tube Q2 and a third switch tube Q3; the first switch tube Q1, the second switch tube Q2 and the third switch tube Q3 are all connected to the boost-buck controller, the drain of the first switch tube Q1 is connected to the drain of the second switch tube Q2, and the source of the second switch tube Q2 is connected to the drain of the third switch tube Q3; the boost-buck controller is used to turn on the first switch tube Q1 to input a reference charging voltage outside the motor control chip when detecting that a charging device is inserted and receiving a charging instruction signal; or the boost-buck controller is used to turn on the first switch tube Q1 to input a reference charging voltage outside the motor control chip when detecting that a charging device is inserted and receiving a request to enter a driving working mode.

[0061] The motor control chip includes a system voltage pin Vsys, to which a first switch tube Q1 and a second switch tube Q2 are both connected. The system voltage pin Vsys is also connected to a battery B0 external to the motor control chip via the second switch tube Q2 and an inductor L1. A boost-buck controller is configured to charge the battery and distribute supply current to the motor by controlling the second switch tube Q2 and the third switch tube Q3 upon detecting the insertion of a charging device and receiving a request to enter a drive operating mode. In this case, the second switch tube Q2 and the third switch tube Q3 can be simultaneously turned on to output a small charging current to the battery for charging, while the motor operates according to the established drive capability (for example, maintaining a 5V power supply level).

[0062] The step-up / down controller is used to, when detecting that a charging device is inserted and receiving a charging instruction signal, control the second switch tube Q2 and the third switch tube Q3 to step down the voltage at the system voltage pin Vsys to a target step-down voltage, and convert the target step-down voltage into a charging voltage of the battery B0 outside the motor control chip, which is output from the load output pin OUT to charge the battery B0 outside the motor control chip in combination with the inductor, wherein the battery B0 outside the motor control chip is connected to the motor control chip through the inductor L1; the step-up / down controller is used to, when no charging device is detected and When a request to enter the drive operating mode is received, the first switch tube Q1 is turned off, and the voltage at the system voltage pin Vsys is boosted to a target boost voltage by controlling the second switch tube Q2 and the third switch tube Q3, so that the motor gate driver outputs the target boost voltage to the fourth switch tube Q4, and the fourth switch tube Q4 controls the operation of the motor. At this time, the corresponding duty cycle signal output by the motor gate driver controls the speed of the motor. The voltage in the corresponding duty cycle signal includes the target boost voltage. The target boost voltage is applied to the gate of the fourth switch tube, reducing the on-state internal resistance of the fourth switch tube, and turning on the fourth switch tube.

[0063] like Figure 2 As shown, within the motor control chip, the connection node between the first switch Q1 and the second switch Q2 (corresponding to the aforementioned system voltage node) is connected to the system voltage pin Vsys. The system voltage pin Vsys is grounded via a capacitor C2. The second switch Q2 and the inductor L1 are sequentially connected between the system voltage pin Vsys and the positive electrode of the battery B0. The second switch Q2 can adjust the current conduction time to affect the charge and discharge amount of the battery B0. In addition, the inductor L1 has an energy storage effect to affect the charge and discharge amount of the battery B0. When the boost-buck controller dynamically adjusts the voltage at the system voltage pin, the battery supply voltage and the motor supply voltage can both tend to a stable state. This does not affect the operation of the motor when a charging device is not plugged in, and does not affect the operation of the motor when a charging device is plugged in.

[0064] The present application discloses a motor control system, which includes the motor control chip disclosed in the aforementioned embodiments, wherein the exterior of the motor control chip includes an inductor, a motor, a battery, and a fourth switch tube; the fourth switch tube, the motor, the battery, the inductor, and the motor control chip are sequentially connected to form a loop; the second switch tube, the third switch tube, the inductor, and the battery are sequentially connected to form a battery charge and discharge loop; the motor control chip also includes a linear regulator and a diode, wherein the linear regulator is connected to the battery through the second switch tube and the diode, respectively, so that the battery supply voltage is input into the linear regulator through the second switch tube or the diode, wherein the linear regulator is used to stabilize the voltage input thereto to provide an internal supply voltage for the motor control chip.

[0065] In summary, the inductor connected externally to the motor control chip, the two internal switching transistors, and the boost-buck controller regulate the voltage at the system voltage pin. This allows the motor to be driven while the voltage is stepped down to charge the battery without affecting the operation of the drive motor. Furthermore, boost regulation maintains the voltage at the system voltage pin stable and suitable for driving the motor without charging the battery. This solves the problem of low and unstable supply voltage due to long-term battery use, addresses battery charging issues, and avoids the inability to drive the external motor due to the on-resistance of the chip's internal switching transistor.

[0066] Specifically, when the inductor, motor, battery, and fourth switch tube are all arranged outside the motor control chip, there are: the fourth switch tube, motor, battery, inductor, and the motor control chip are sequentially connected to form a loop; the second switch tube, the third switch tube, the inductor, and the battery are sequentially connected to form a battery charge and discharge loop. Figure 2 As shown, the fourth switch tube Q4, the motor M, the battery B0, the inductor L1 and the motor control chip are sequentially connected to form a loop; outside the motor control chip, the fourth switch tube Q4, the motor M and the battery B0 are sequentially connected to form a motor drive loop. In some embodiments, as Figure 2 It can be seen that the second switch tube Q2, the third switch tube Q3, the inductor L1, the first capacitor C1 and the battery B0 are connected in sequence to form a battery charge and discharge loop, wherein a charge and discharge path is formed starting from the system voltage pin Vsys and passing through the second switch tube Q2, the inductor L1, the first capacitor C1 and the battery B0 in sequence. After being connected in parallel, battery B0 and first capacitor C1 are both connected to the load output pin OUT of the motor control chip via inductor L1. The voltage output from the load output pin OUT of the motor control chip passes through inductor L1 and is then connected to the positive electrode of battery B0 and motor M. In this embodiment, the switch responsible for turning on and off within the motor control chip is considered to be formed by the connection of the second switch Q2 and the third switch Q3. The positive electrode of battery B0 and motor M are connected to the switch responsible for turning on and off within the motor control chip. Because the boost-buck controller can switch between a boost drive circuit (responsible for boosting) and a buck drive circuit (responsible for bucking), and inductor L1 acts as an energy storage device, the duty cycles output by the boost-buck controller to the second switch Q2 and the third switch Q3 can adjust the on and off times of the second switch Q2 and the third switch Q3. Combined with the electrical energy released by the inductor, this duty cycle can be used to step down and charge the battery when the buck drive circuit forms the corresponding buck logic, or to step up and drive the motor when the boost drive circuit forms the corresponding boost logic.

[0067] The motor control chip also includes a linear regulator and a diode. The linear regulator is connected to the system voltage pin. The linear regulator is connected to the battery through the second switch tube and the diode respectively, so that the battery supply voltage is input to the linear regulator through the second switch tube or the diode; the linear regulator is used to stabilize the voltage input to it and provide an internal power supply voltage for the motor control chip. The linear regulator is connected to the battery through the second switch tube and the inductor to form a power supply path. The linear regulator is directly connected to the battery through the diode to form another power supply path. Regardless of which power supply path is used, it can be connected to the system voltage pin Vsys, and then the voltage at the system voltage pin Vsys is input to the linear regulator. Schematically, as shown Figure 2 As shown, the load output pin OUT of the motor control chip and the ground pin PGND of the motor control chip, the load output pin OUT is connected to one end of the inductor L1, the other end of the inductor L1 is connected to one end of the first capacitor C1, the other end of the first capacitor C1 and the ground pin PGND are both grounded, the connection node of the inductor L1 and the first capacitor C1 is connected to the positive electrode of the battery B0, and the negative electrode of the battery B0 is grounded, so that a power supply path is formed between the battery B0 and the load output pin OUT, which corresponds to a power supply path formed by the linear regulator connecting the battery through the second switch tube and the inductor, and can also form a charging path between the load output pin OUT and the battery B0 in the charging mode; the battery power pin VBAT of the motor control chip is connected to the positive electrode of the battery B0, the battery power pin VBAT is connected to the positive electrode of the diode D1, and the negative electrode of the diode D1 is connected to the system voltage pin Vsys, so that a power supply path is formed between the battery B0 and the battery power pin VBAT, which corresponds to another power supply path formed by the linear regulator connecting the battery through the diode.

[0068] Combine Figure 2 It can be seen that the boost-buck controller is used to turn on the first switch Q1 when it detects that a charging device is inserted and receives a charging command signal, and input the reference charging voltage outside the motor control chip into the linear regulator through the system voltage pin Vsys. Figure 2 As shown, the linear regulator is indirectly connected to the external charging device through the first switch tube Q1 to receive the reference charging voltage, forming a charging path; Charger_IN, which is used to represent the reference charging voltage, is input to the connection node of the first switch tube Q1 and the second switch tube Q2 through the turned-on first switch tube Q1, and then transmitted to the linear regulator for voltage stabilization, thereby obtaining a relatively stable internal power supply voltage in the charging mode.

[0069] The boost-buck controller is configured to, upon detecting that a charging device is inserted and receiving a request to enter a driving operating mode, turn on the first switch Q1, and input a reference charging voltage provided by a charging device external to the motor control chip into the linear regulator via the system voltage pin Vsys, or input the voltage transmitted via the turned-on second switch (substantially including the voltage regulated and output by the boost-buck controller and the voltage transmitted from the battery to the system voltage node via the inductor and the second switch), or input the voltage provided by the battery received via the diode when both the second and third switches are turned off.

[0070] The motor control chip includes a battery power pin VBAT, and the boost-buck controller also includes a power supply terminal. The positive electrode of a battery B0 external to the motor control chip is connected to the battery power pin VBAT. The battery power pin VBAT is respectively connected to the power supply terminal and the positive electrode of a diode D1. The negative electrode of diode D1 is respectively connected to a linear regulator and the system voltage pin Vsys. This allows the battery B0 external to the motor control chip to also power the linear regulator and the boost-buck controller. The linear regulator's charging path, connected to an external charging device via a first switch tube Q1, and the power supply path, formed by the linear regulator connecting to the battery via a second switch tube and an inductor, are connected to the system voltage pin Vsys.

[0071] The linear regulator is configured to receive the voltage transmitted from the second switch when the boost-buck controller does not detect the insertion of a charging device and receives a request to enter a driving mode. This linear regulator receives the voltage output by the boost-buck controller at the connection node between the second and third switches (the voltage boosted by the boost drive circuit, i.e., the voltage boosted by the boost-buck controller) via the system voltage pin Vsys. In some embodiments, the linear regulator may also receive the voltage transmitted to the system voltage pin Vsys from the battery via the inductor L1 and the second switch Q2. It should be noted that if the boost-buck controller does not detect the insertion of a charging device and receives a request to enter a driving mode, it turns off the first switch, preventing the first switch from receiving power. Consequently, power is supplied via the power path between the second switch and the battery, or via the voltage output by the boost-buck controller at the connection node between the second and third switches.

[0072] As an embodiment, the motor control chip includes a duty cycle output pin, which is connected to the output end of the motor gate driver inside the motor control chip. The duty cycle output pin is connected to the control end of the fourth switch tube outside the motor control chip. The output end of the motor gate driver is connected to the motor through the fourth switch tube, so that the fourth switch tube, the motor and the motor are connected in sequence to form a motor drive circuit; schematically, as shown Figure 2 As shown, the fourth switch tube Q4 is an NMOS tube, the duty cycle output pin PWM_OUT is connected to the gate of the fourth switch tube Q4, the source of the fourth switch tube Q4 is grounded, the drain of the fourth switch tube Q4 is connected to the motor M, and the motor M is also connected to the battery B0.

[0073] The motor gate driver is used to output a corresponding duty cycle signal to the control end of the fourth switch tube based on feedback of the voltage at the system voltage pin, so as to control the operation of the motor by adjusting the on time and off time of the fourth switch tube, including controlling the speed of the motor; wherein the voltage in the corresponding duty cycle signal includes a target boost voltage to reduce the on-state internal resistance of the fourth switch tube.

[0074] Specifically, the boost-buck controller is used to enable the Boost drive circuit when it detects that no charging device is inserted and receives a request to enter the driving working mode. Figure 2 In the embodiment of the present invention, a boost-buck controller, a second switching transistor Q2, a third switching transistor Q3, and an inductor L1 form a boost circuit. Within the motor control chip, a boost drive circuit is configured to, during the process of boosting the voltage at a system voltage node, adjust the voltage at the system voltage node to a target boosted voltage by performing feedback regulation on the voltage at the system voltage node. The target boosted voltage is feedback-regulated by the boost-buck controller to a voltage value that is higher than the initial voltage or reference input voltage at the system voltage node, such as 5V, which may be higher than the maximum voltage provided by a single lithium battery powering a small appliance or toy. When the initial voltage at the system voltage node is considered the input voltage of the boost circuit, the target boosted voltage is considered the output voltage of the boost circuit and fed back to the motor gate driver. The motor gate driver configures the target boosted voltage as the gate voltage of the fourth switching transistor, thereby at least reducing the on-state internal resistance of the fourth switching transistor. Based on this, the motor gate driver outputs a duty cycle signal to the fourth switching transistor, and the fourth switching transistor controls the operation of the motor based on the duty cycle signal.

[0075] In some embodiments, a boost-buck controller is configured to adjust the voltage at the system voltage pin Vsys by controlling a second switch tube and a third switch tube upon detecting that a charging device is inserted and receiving a request to enter a drive operating mode (indicating a need to enter the drive operating mode). Since the charging device is inserted and the stability of the battery charging state is taken into consideration, the first switch tube is turned on to input an external charging voltage. Therefore, the initial voltage at the system voltage pin Vsys can be the reference charging voltage or a lower voltage (because no charging command signal is received). The boost-buck controller adjusts the voltage at the system voltage pin Vsys by controlling the duty cycle of the second switch tube Q2 and the duty cycle of the third switch tube Q3 to achieve simultaneous distribution of charging current to the battery and supply current to the motor required to be driven by the motor gate driver. After the voltage at the system voltage pin Vsys is fed back to the motor gate driver, when the fourth switch Q4 is turned on, the battery-generated current flows through the fourth switch Q4 and the motor M, forming a current loop. It should be noted that the energy stored in the inductor L1 can be converted into electrical energy at the node where the inductor connects to the battery B0. This electrical energy is superimposed on the positive electrode of the battery B0 and fed back to the gate of the fourth switch Q4 via the system voltage pin Vsys to drive the motor M. Because the motor control chip can be configured to enter a drive mode in this embodiment, the fourth switch Q4 is not turned off. Alternatively, to drive the motor to operate normally, this embodiment increases the voltage at the system voltage pin Vsys to turn on the fourth switch Q4 at a certain duty cycle. If battery B0 is simultaneously allowed to charge, and the normal operation of the motor M requires the battery to allocate some of the supply current, the charging current reserved for battery B0 is reduced, thereby reducing the power consumption of charging battery B0.

[0076] As an embodiment, the motor control chip includes a boost-buck controller; the boost-buck controller is used to charge the battery using the converted charging voltage when detecting that a charging device is inserted and receiving a charging instruction signal, until the battery is fully charged, and then turn off the second switch tube and the third switch tube respectively, and then trigger the motor control chip to enter a standby state or a sleep state, so that the internal power supply voltage of the motor control chip comes from the battery. Ideally, the power supply voltage of the motor control chip can be set to the power supply voltage of the battery. Specifically, combined with Figure 2It can be seen that when the boost-buck controller detects that a charging device is inserted and receives a charging command signal, it converts the voltage at the system voltage pin Vsys into a voltage output by the load output pin OUT during the process of stepping down the voltage at the system voltage pin Vsys, and transmits it to the battery B0 outside the motor control chip through the inductor L1; wherein, when the voltage at the system voltage pin Vsys is stepped down to the target step-down voltage, the voltage at the load output pin OUT is the charging voltage of the battery B0 outside the motor control chip, which may be lower than the rated supply voltage provided when the battery B0 is fully charged; the system voltage pin Vsys is used to connect to the second capacitor C2 to play the role of filtering and voltage stabilization. When the target step-down voltage is a fully charged battery, the second switch tube Q2 and the third switch tube Q3 are respectively turned off to stop charging the battery. The buck converter built into the boost-buck controller is determined to be turned off, and the boost converter built into the boost-buck controller is also turned off. At this time, the motor control chip is in a standby state. If no charging device is inserted, the first switch tube Q1 is turned off. In the standby state, the motor gate driver controls the fourth switch tube to turn off to stop driving the motor M. Therefore, after the motor control chip enters the standby state, the boost-buck controller is triggered to control the second switch tube and the third switch tube to be turned off, no charging management is performed, no voltage is boosted, and the driving motor stops. At this time, the battery can power the boost-buck controller and the motor through the inductor, or can further input the linear regulator through the diode for voltage stabilization, and then output the corresponding voltage as the internal power supply voltage of the motor control chip in the standby state, so that the internal power supply voltage of the motor control chip is configured to be the battery power supply voltage or a stable voltage lower than the battery power supply voltage (processed by the linear regulator or provided by other reference sources), guiding the motor control chip to enter a low-power standby state.

[0077] As an embodiment, the motor control chip includes a charging voltage input pin. When the charging voltage input pin of the motor control chip is physically connected to the charging device, it is detected that the charging device is inserted. When the charging voltage input pin of the motor control chip inputs a reference charging voltage, it is determined that a charging instruction signal is received, thereby forming a charging path between the charging device and the motor control chip. If associated with a linear regulator, combined with Figure 2It can be seen that the linear regulator is connected to an external charging device through the first switch tube Q1 to receive a reference charging voltage, forming a charging path between the charging device and the motor control chip. Among them, Charger_IN, which is used to represent the reference charging voltage, passes through the charging voltage input pin 5V_in and the turned-on first switch tube Q1 in sequence, inputs the connection node between the first switch tube Q1 and the second switch tube Q2, and is then transmitted to the linear regulator for voltage stabilization, thereby providing the motor control chip with an internal power supply voltage in charging mode through the linear regulator.

[0078] Based on the aforementioned embodiments, this application further discloses a motor control system, comprising an inductor, a motor, a battery, a fourth switch, and the motor control circuit disclosed in the aforementioned embodiments. Alternatively, the motor control system comprises an inductor, a motor, a battery, a fourth switch, and the motor control chip disclosed in the aforementioned embodiments. Regardless of whether the present application configures the motor control system to include the motor control chip, the inductor, the motor, and the battery and sets relevant pins for connecting components inside and outside the motor control chip relative to the aforementioned embodiments, or whether the motor control system is configured to include a fourth switch, an inductor, a motor, a battery, and the motor control circuit disclosed in the aforementioned embodiments, the motor control system can utilize the aforementioned boost-buck controller to charge the battery and distribute supply current to the motor by controlling the second and third switches upon detecting the insertion of a charging device and receiving a request to enter a drive operating mode. The motor control system can also control the second and third switches to step down or step up the voltage at the system voltage node upon detecting the insertion of a charging device and receiving a charging instruction signal, or upon not detecting the insertion of a charging device and receiving a request to enter a drive operating mode, including utilizing an internal switching logic circuit in conjunction with the inductor to control the duty cycle of parameters such as the voltage generated at the system voltage pin. Therefore, the motor control circuit or the motor control chip, in conjunction with the inductor, solves the problems of switch charging and boosting.

[0079] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents. The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, various changes and variations may be made to the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A motor control circuit, characterized in that: The motor control circuit includes a step-up / step-down controller, a motor gate driver, a first switch tube, a second switch tube, and a third switch tube; The first switch tube, the second switch tube and the third switch tube are all connected to the boost-buck controller, the first switch tube is connected to the second switch tube, and the second switch tube is connected to the third switch tube; The first switch tube and the second switch tube are connected to the system voltage node; a step-up / step-down controller, configured to, upon detecting that a charging device is plugged in and receiving a charging instruction signal, turn on the first switch to input a voltage to the system voltage node; or a step-up / step-down controller, configured to, upon detecting that a charging device is plugged in and receiving a request to enter a driving operating mode, turn on the first switch to input a voltage to the system voltage node; A step-up / step-down controller, configured to charge the battery and distribute the supply current to the motor by controlling the second and third switching transistors upon detecting that a charging device is inserted and receiving a request to enter a driving mode; a step-up / step-down controller, configured to, upon detecting that a charging device is plugged in and receiving a charging instruction signal, step down the voltage at the system voltage node to a target step-down voltage by controlling the second and third switching transistors, and then convert the target step-down voltage into a charging voltage for the battery; A boost-buck controller is configured to, when no charging device is detected and a request to enter a driving operating mode is received, turn off the first switch tube and, by controlling the second and third switches, boost the voltage at the system voltage node to a target boost voltage, thereby enabling the motor gate driver to indirectly control the operation of the motor according to the target boost voltage; The connection node between the second switching tube and the third switching tube is connected to the battery via an inductor, so that a charge and discharge path is formed between the connection node between the second switching tube and the third switching tube and the battery; The boost-buck controller includes a drive enable terminal, a first switch drive terminal, a second switch drive terminal and a drive output terminal; The first transmission end of the first switching tube is used to receive a reference charging voltage; The control terminal of the first switch tube is connected to the drive enable terminal, so as to control the conduction or disconnection of the first switch tube through the drive enable terminal; The second transmission end of the first switching tube and the first transmission end of the second switching tube are connected to the system voltage node, the control end of the second switching tube is connected to the first switch driving end, the second transmission end of the second switching tube and the first transmission end of the third switching tube are connected to one end of the inductor, the other end of the inductor is connected to the positive electrode of the battery, the control end of the third switching tube is connected to the second switch driving end, the connection node between the second transmission end of the second switching tube and the first transmission end of the third switching tube is connected to the driving output end, and the second transmission end of the third switching tube is grounded, so that the second switching tube is controlled by the duty cycle signal output by the first switch driving end, and the third switching tube is controlled by the duty cycle signal output by the second switch driving end.

2. The motor control circuit according to claim 1, characterized in that: The step-up / step-down controller is used to charge the battery using the converted charging voltage when detecting that a charging device is inserted and receiving a charging instruction signal. When the battery is fully charged, the second switch tube and the third switch tube are turned off to stop charging the battery.

3. The motor control circuit according to claim 1, characterized in that: a step-up / step-down controller configured to enable the Buck drive circuit upon detecting that a charging device is inserted and receiving a charging command signal, wherein the step-up / step-down controller includes a Buck drive circuit, which, together with the second switch tube, the third switch tube, and the inductor, forms a step-down circuit for battery charging; and an externally connected inductor for the motor control circuit. The Buck drive circuit is used to adjust the voltage at the system voltage node to a target step-down voltage during the process of stepping down the voltage at the system voltage node, and then divide the voltage to the connection node between the second transmission terminal of the second switching tube and the first transmission terminal of the third switching tube, so as to output the voltage to the battery through inductor step-down. The voltage at the connection node between the second transmission terminal of the second switching tube and the first transmission terminal of the third switching tube is used to charge the battery through the inductor.

4. The motor control circuit according to claim 3, characterized in that: a boost-buck controller, configured to enable a boost drive circuit when detecting that no charging device is inserted and receiving a request to enter a driving operating mode, wherein the boost-buck controller includes a boost drive circuit, wherein the boost drive circuit, together with the second switch tube, the third switch tube, and the inductor, respectively, forms a boost circuit; and the motor control circuit is externally connected to the fourth switch tube; The output end of the motor gate driver is connected to the control end of the fourth switch tube, the first transmission end of the fourth switch tube is connected to the motor, the second transmission end of the fourth switch tube is grounded, the positive electrode of the battery is connected to the power supply end of the motor, and the negative electrode of the battery is grounded; The boost drive circuit is used to adjust the voltage at the system voltage node to a target boost voltage by performing feedback regulation on the voltage at the system voltage node during the process of boosting the voltage at the system voltage node, and feed the voltage back to the motor gate driver; The motor gate driver is used to output a target boost voltage to the fourth switch tube and form a duty cycle signal for controlling the motor speed.

5. The motor control circuit according to claim 3, characterized in that: The motor control circuit further includes a linear regulator and a diode; wherein the linear regulator is connected to the system voltage node; the linear regulator is connected to the battery via a second switch tube and a diode respectively; the linear regulator is used to stabilize the voltage input thereto; a linear voltage regulator, configured to receive the voltage transmitted from the first switching tube when the boost-buck controller detects that a charging device is inserted and receives a charging instruction signal; a linear regulator for inputting a voltage at the system voltage node when the buck-boost controller detects that a charging device is inserted and receives a request to enter a driving operation mode; The linear voltage regulator is used to receive the voltage transmitted by the second switch tube when the boost-buck controller does not detect that a charging device is inserted and receives a request to enter a driving operation mode.

6. A motor control chip, characterized in that: The motor control chip comprises the motor control circuit according to any one of claims 1 to 5, wherein the motor control chip is provided with a system voltage pin; and the system voltage node is connected to the system voltage pin of the motor control chip.

7. A motor control system, characterized in that: The motor control system comprises the motor control chip according to claim 6, wherein the exterior of the motor control chip comprises an inductor, a motor, a battery, and a fourth switch tube; The fourth switch tube, the motor, the battery, the inductor and the motor control chip are sequentially connected to form a loop; The second switch tube, the third switch tube, the inductor and the battery are connected in sequence to form a battery charge and discharge loop; The motor control chip also includes a linear regulator and a diode. The linear regulator is connected to the battery through a second switch tube and a diode, respectively, so that the battery supply voltage is input into the linear regulator through the second switch tube or the diode. The linear regulator is used to stabilize the voltage input thereto to provide an internal power supply voltage for the motor control chip.

8. The motor control system according to claim 7, characterized in that: The motor control chip includes a duty cycle output pin, which is connected to the output end of the motor gate driver inside the motor control chip. The duty cycle output pin is connected to the control end of the fourth switch tube outside the motor control chip. The output end of the motor gate driver is connected to the motor through the fourth switch tube, so that the fourth switch tube and the motor are connected in sequence to form a motor drive loop; The motor gate driver is used to output a corresponding duty cycle signal to the control end of the fourth switch tube based on feedback of the voltage at the system voltage pin, so as to control the operation of the motor by adjusting the on time and off time of the fourth switch tube, wherein the voltage in the corresponding duty cycle signal includes the target boost voltage.

9. The motor control system according to claim 7, characterized in that: The boost-buck controller is used to charge the battery using the converted charging voltage when detecting that a charging device is inserted and receiving a charging command signal. When the battery is fully charged, the second switch tube and the third switch tube are turned off respectively, and then the motor control chip is triggered to enter a standby state or a sleep state, so that the internal power supply voltage of the motor control chip is derived from the battery.

10. The motor control system according to claim 9, characterized in that: The motor control chip includes a charging voltage input pin. When the charging voltage input pin of the motor control chip is physically connected to the charging device, it detects that the charging device is inserted; when the charging voltage input pin of the motor control chip inputs a reference charging voltage, it determines that a charging command signal is received, thereby forming a charging path between the charging device and the motor control chip.

11. A motor control system, characterized in that: The motor control system includes a fourth switch tube, an inductor, a motor, a battery, and the motor control circuit described in any one of claims 1 to 5; or, the motor control system includes a fourth switch tube, an inductor, a motor, a battery, and the motor control chip described in claim 6.

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