Pull-type photovoltaic cleaning robot controller for elastic load environment

Abstract

The invention provides a traction type photovoltaic cleaning robot controller for an elastic load environment. An overcurrent clamp circuit, a secondary protection circuit and a high-voltage grid feedback protection circuit are integrated in the controller. The overcurrent clamp circuit is used for absorbing and releasing power bus overvoltage and surge overcurrent caused by motor stalling and reverse rotation, and protecting the power supply and other equipment sharing the power supply; the secondary protection circuit provides overcurrent protection, protects the power supply circuit and the post-stage circuit, and provides overvoltage clamping; and the high-voltage grid feedback protection circuit realizes bus safety voltage expansion and provides overvoltage feedback for the overcurrent clamp circuit. The photovoltaic cleaning robot can continuously cope with motor stalling and motor reverse rotation, long-term reliable operation of the photovoltaic cleaning robot in the elastic load environment is achieved, the use scene of the photovoltaic cleaning robot is expanded, the special use requirements for a power system and a mechanical system in the elastic load environment are met, the blank of industrial reliability application is solved, and the photovoltaic cleaning robot is worthy of popularization and application. The method can be widely applied to stepping or non-stepping systems.

Description

Technical Field

[0001] The invention belongs to the technical field of controllers, and in particular relates to a traction-type photovoltaic cleaning robot controller for elastic load environments. Background Art

[0002] In the application scenario of traction photovoltaic cleaning robots, steel cables are mainly used as power transmission media. Due to the complex actual use environment, the design of the controller needs to comprehensively consider design constraints such as power consumption, power configuration, cleaning stroke, steel cable deformation and load. At present, conventional controllers are prone to damage when encountering continuous slipping, stalling, short or continuous overload, or even motor reversal during walking under elastic load. In view of the above problems, the industry is in urgent need of a controller design solution specifically for traction photovoltaic cleaning robots. Summary of the invention

[0003] The present invention aims to provide a traction-type photovoltaic cleaning robot controller for an elastic load environment, with the purpose of sustainably coping with motor stalling and motor reversal, and achieving long-term reliable operation of the traction-type photovoltaic cleaning robot under an elastic load environment.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A traction photovoltaic cleaning robot controller for elastic load environment, in which an overcurrent clamp circuit, a secondary protection circuit and a high-voltage grid feedback protection circuit are included; the overcurrent clamp circuit is used to absorb and release power bus overvoltage and surge overcurrent caused by motor stalling and reversing, and protect the power supply and other equipment sharing the power supply; the overcurrent clamp circuit is composed of an absorption circuit, a collection circuit, a control circuit, a discharge circuit and an anti-reverse circuit, the overcurrent clamp circuit absorbs part of the high-energy electric energy through the absorption circuit, and the high-voltage protection mechanism of the collection circuit is triggered after the absorption circuit is saturated, and the excess electric energy is released through the discharge circuit through the control circuit, and the anti-reverse circuit is used to ensure that no external equipment is affected; the secondary protection circuit is connected to the rear stage of the overcurrent clamp circuit, provides overcurrent protection, protects the power circuit and the rear stage circuit, and provides overvoltage clamping; the high-voltage grid feedback protection circuit realizes bus safety voltage expansion and provides overvoltage feedback for the overcurrent clamp circuit.

[0006] Its further technical solution is:

[0007] In the overcurrent clamp circuit and the secondary protection circuit, the diode D1 and the diode D2 constitute an anti-reverse circuit; the diode D1 and the diode D2 are connected in parallel in the same direction, the positive electrodes of the diode D1 and the diode D2 are connected to PR+, and the negative electrodes of the diode D1 and the diode D2 are connected to VM;

[0008] In the overcurrent clamp circuit and the secondary protection circuit, the resistor R3, the diode D3, the resistor R1, the diode D4, the resistor R2 and the light-emitting diode LE1 constitute a discharge circuit, the resistor R3 is a high-power discharge resistor, and the diode D3, the resistor R1, the diode D4, the resistor R2 and the light-emitting diode LE1 constitute a discharge action indication circuit; the resistor R3 is connected between VM and the drain of the MOS tube Q1, the positive electrode of the diode D3 is connected to PR+, the negative electrode of the diode D3 is connected in series with the resistor R1 and the resistor R2 in sequence, and then connected to the positive electrode of the light-emitting diode LE1, the negative electrode of the light-emitting diode LE1 is connected to the drain of the MOS tube Q1, the negative electrode of the diode D4 is connected to the common end of the resistor R1 and the resistor R2, and the positive electrode of the diode D4 is connected to the drain of the MOS tube Q1; when the MOS tube Q1 is turned on, the diode D3, the resistor R1 and the diode D4 constitute a basic voltage stabilizing circuit to supply power to the resistor R2 and the light-emitting diode LE1, and the light-emitting diode LE1 is forward-conducted and emits light;

[0009] In the overcurrent clamp circuit and the secondary protection circuit, capacitor C4, capacitor C5 and capacitor C6 constitute an absorption circuit for initially absorbing excess charge generated by the motor reversal; capacitor C4, capacitor C5 and capacitor C6 are connected between VM and PR-;

[0010] In the overcurrent clamp circuit and the secondary protection circuit, resistor R4, diode D6, resistor R5, capacitor C2, diode D7, resistor R6, transistor Q2 and resistor R10 constitute an overcurrent collection circuit; the emitter of transistor Q2 is connected to VM, the collector of transistor Q2 is connected in series with resistor R10 and then connected to PR-, diode D7 and resistor R6 are connected in parallel between the emitter and base of transistor Q2, resistor R4 and resistor R5 are connected in series between the emitter and base of transistor Q2, and diode D6 is connected in series with the emitter and base of transistor Q2. The positive electrode is connected to PR-, the negative electrode of the diode D6 is connected to the common end of the resistor R4 and the resistor R5, and the capacitor C2 is connected between the base of the transistor Q2 and PR-; the specification of the diode D6 determines the threshold of the acquisition circuit action. When the diode D6 is over-voltage and breaks down, the emitter and base of the transistor Q2 form a voltage difference to make it turn on, and the bus voltage falls on the resistor R10 through the transistor Q2. The resistor R5 and the capacitor C2 form a base protection and RC filtering circuit. The diode D7 is a breakdown protection diode for the transistor Q2.

[0011] In the overcurrent clamp circuit and the secondary protection circuit, the resistor R9, the capacitor C3, the diode D8, the resistor R8, the resistor R7, the capacitor C1 and the MOS tube Q1 constitute a control circuit; the source of the MOS tube Q1 is connected to PR-, the gate of the MOS tube Q1 is connected in series with the resistor R7 and the resistor R9 in sequence and then connected to the collector of the triode Q2, the capacitor C1 is connected between the gate of the MOS tube Q1 and PR-, the resistor R8 and the diode D8 are connected in parallel between the common end of the resistor R7 and the resistor R9 and PR-, the capacitor C3 is connected in parallel with the resistor R9, and the common end of the resistor R7 and the resistor R9 is connected to the DISCHG_CTR signal of the high-voltage gate feedback control circuit; the resistor R8 and the resistor R9 constitute a voltage divider circuit to control the switch of the MOS tube Q1, the diode D8 is the base control overvoltage protection, the capacitor C1 and the resistor R7 constitute an RC filter, and when the MOS tube Q1 is activated, the resistor R3 will convert the excess abnormal electric energy into heat energy for consumption;

[0012] In the overcurrent clamp circuit and the secondary protection circuit, the fuse F1, the voltage stabilizing diode TVS1, the resistor R12, the diode D9, the transistor Q3, the resistor R14, the resistor R15, the MOS tube Q4, the capacitor C8 and the capacitor C9 constitute a secondary protection circuit; the fuse F1 is connected between VM and the source of the MOS tube Q4, the positive electrode of the voltage stabilizing diode TVS1 is connected to GND, the negative electrode of the voltage stabilizing diode TVS1 is connected to the source of the MOS tube Q4, the emitter of the transistor Q3 is connected to the source of the MOS tube Q4, the collector of the transistor Q3 is connected to the gate of the MOS tube Q4, the resistor R12 is connected Connected between the base of transistor Q3 and the source of MOS tube Q4, the positive electrode of diode D9 is connected to GND, the negative electrode of diode D9 is connected to the base of transistor Q3, the drain of MOS tube Q4 is connected to VCC, the resistor R14 is connected between the source and the gate of MOS tube Q4, the resistor R15 is connected between the gate of MOS tube Q4 and GND, the capacitor C8 and the capacitor C9 are connected in parallel between VCC and GND; the fuse F1 and the voltage stabilizing diode TVS1 constitute a basic overcurrent and instantaneous overvoltage protection circuit, and the other parts are overvoltage clamping circuits, and their clamping voltage is determined by the diode D9;

[0013] In the overcurrent clamp circuit and the secondary protection circuit, resistor R11, resistor R16, resistor R17, resistor R18, resistor R19, operational amplifier U1A, capacitor C10, and capacitor C11 constitute a bus overcurrent collection circuit; the positive input terminal of the operational amplifier U1A is connected in series with resistor R17 and resistor R11 in sequence and then connected to PR-, the negative input terminal of the operational amplifier U1A is connected in series with resistor R16 and then connected to PR-, the common end of resistor R17 and resistor R11 is connected to GND, and resistor R18 is connected to the positive input terminal of the operational amplifier U1A Between and Vref, the positive power supply terminal of the operational amplifier U1A is connected to +5V, the capacitor C10 is connected between the positive power supply terminal of the operational amplifier U1A and GND, the negative power supply terminal of the operational amplifier U1A is connected to GND, the resistor R19 is connected between the reverse input terminal and the output terminal of the operational amplifier U1A, the capacitor C11 is connected between the output terminal of the operational amplifier U1A and GND, and the output terminal of the operational amplifier U1A outputs the BUS_CURRENT signal; the voltage across the resistor R11 is collected by the operational amplifier U1A, and the current passing through is estimated and fed back to the control loop.

[0014] Its further technical solution is:

[0015] In the high-voltage gate feedback protection circuit, a half-bridge gate drive circuit is provided between the stepper drive chip and the power MOSFET, wherein the half-bridge gate drive circuit includes one or more branches, and the diode D15, the gate drive chip U13, the diode D16, the diode D17, the capacitor C55, the resistor R76 and the capacitor C52 constitute a branch of the half-bridge gate drive circuit; the VDO end of the gate drive chip U13 is connected to the VS end of the stepper drive chip U12, the VSS end of the gate drive chip U13 is connected to GND, the HI end and the LI end of the gate drive chip U13 are respectively connected to the HB1 end and the LB1 end of the stepper drive chip U12, the HO and LO ends of the gate drive chip U13 are respectively connected to the gates of the two power MOSFETs of the subsequent stage, and the HS end of the gate drive chip U13 is connected to the connection terminal C of the motor. N2; resistor R76 and capacitor C52 are connected in series, one end of the resistor R76 is connected to the CPO end of the stepper driver chip U12, one end of the capacitor C52 is connected to the cathode of the diode D17, the anode of the diode D17 is connected to the HS end of the gate driver chip U13 and connected to the power MOSFET, the anode of the diode D15 is connected to the VS end of the stepper driver chip U12, the cathode of the diode D15 is connected to the HB end of the gate driver chip U13, the anode of the diode D16 is connected to the cathode of the diode D17, the cathode of the diode D16 is connected to the HB end of the gate driver chip U13, and the capacitor C55 is connected between the HB end and the HS end of the gate driver chip U13; the resistor R76 and the capacitor C52 constitute a charge pump circuit to provide support for driving a high duty cycle, and the diode D15, the capacitor C55, the diode D17, and the diode D16 constitute a bootstrap power supply circuit;

[0016] In the high-voltage gate feedback protection circuit, resistor R14, resistor R18, resistor R19, resistor R22, operational amplifier U5A, capacitor C21, and capacitor C23 constitute a current detection circuit; resistor R18 is connected between the stepper drive chip and the reverse input terminal of the operational amplifier U5A, resistor R19 is connected between the stepper drive chip and the positive input terminal of the operational amplifier U5A, resistor R14 is connected between the reverse input terminal and the output terminal of the operational amplifier U5A, resistor R22 is connected between the positive input terminal of the operational amplifier U5A and Vref2, the positive power supply terminal of the operational amplifier U5A is connected to +5V, capacitor C21 is connected between the positive power supply terminal of the operational amplifier U5A and GND, the negative power supply terminal of the operational amplifier U5A is connected to GND, capacitor C23 is connected between the output terminal of the operational amplifier U5A and GND, and the output terminal of the operational amplifier U5A outputs a DRV_CURRENT signal, which is fed back to the control loop;

[0017] In the high-voltage gate feedback protection circuit, resistor R15, resistor R20, resistor R17, diode D4 and capacitor C22 constitute a bus voltage detection circuit. The threshold set by the bus voltage detection circuit is greater than the overcurrent clamp protection threshold and less than the maximum withstand voltage of the high-voltage gate to prevent components from being damaged by overvoltage; resistor R15 and resistor R20 are connected in series between VM and GND, one end of resistor R17 is connected to the common end of resistor R15 and resistor R20, the other end of resistor R17 is connected to the positive electrode of diode D4, the negative electrode of diode D4 is connected to +3V3, capacitor C22 is connected between the positive electrode of diode D4 and GND, and the positive electrode of diode D4 outputs the feedback control signal DISCHG_CTR.

[0018] Due to the adoption of the above scheme, the beneficial effects of the present invention are:

[0019] The present invention discloses a traction-type photovoltaic cleaning robot controller for elastic load environments, which introduces overcurrent clamps and high-voltage grid feedback protection technology, and can continuously cope with motor stalling and motor reversal. Through the integrated protection design of "absorption-discharge-clamping-feedback", the photovoltaic cleaning robot can achieve long-term reliable operation in an elastic load environment, expand the use scenarios of the photovoltaic cleaning robot, overcome the special use requirements for the power supply system and mechanical system in an elastic load environment, solve the gap in industry reliability application, and achieve good results. The present invention can be widely used in stepping or non-stepping systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a hardware design block diagram of the traction-type photovoltaic cleaning robot controller provided by the present invention.

[0021] Figure 2 It is a principle diagram of the overcurrent clamp circuit and the secondary protection circuit provided by the present invention.

[0022] Figure 3 It is a simplified principle block diagram of the overcurrent clamp circuit and the secondary protection circuit provided by the present invention.

[0023] Figure 4 It is a schematic diagram of the high-voltage grid feedback protection circuit provided by the present invention.

[0024] Figure 5 It is a control principle block diagram of the high voltage grid feedback protection circuit provided by the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Figure 1 The hardware design block diagram of the controller provided by the present invention is shown.

[0027] like Figure 1 As shown, the controller of the present invention integrates an overcurrent clamp circuit, a secondary protection circuit, a power supply circuit, a control loop, an IO acquisition control circuit, a communication circuit, a display circuit, a stepping drive circuit and a high-voltage gate feedback protection circuit.

[0028] The functions of each circuit module are briefly described below:

[0029] Overcurrent clamp circuit: used to absorb and release power bus overvoltage and surge overcurrent caused by motor stall and reversal, protecting the power supply and other equipment sharing the power supply;

[0030] Secondary protection circuit: over-current protection and over-voltage clamping, used to protect the power circuit and subsequent circuits;

[0031] Control loop: minimum system of controller;

[0032] IO acquisition control circuit: digital input, digital output and analog input circuit;

[0033] Communication circuit: Onboard RS232 / 485 circuit for local debugging and local parameter configuration; LTE CAT1 circuit for communication with the cloud platform to achieve remote monitoring, remote parameter / task configuration and remote control;

[0034] Display circuit: local digital tube displays bus voltage and sensor detection display and other information;

[0035] Stepper drive circuit: load-adaptive stepper motor control circuit that achieves silent operation;

[0036] High-voltage gate feedback protection circuit: A gate drive circuit that extends the busbar safety voltage to 100V and integrates an overvoltage feedback circuit.

[0037] Among the above-mentioned circuit modules, the power supply circuit, control loop, IO acquisition control circuit, communication circuit, display circuit, and stepper drive circuit are conventional circuit modules in the prior art and are not described in detail here. The overcurrent clamp circuit, secondary protection circuit, and high-voltage gate feedback protection circuit are designed and added by the present invention and are the parts to be protected by the present invention. Their circuit embodiments are provided below.

[0038] Embodiment 1:

[0039] Figure 2 A schematic diagram of an embodiment of an overcurrent clamp circuit and a secondary protection circuit provided by the present invention is shown.

[0040] See also Figure 2 , diode D1 and diode D2 are parallel ultra-low voltage drop Schottky diodes with a reverse withstand voltage of 100V and a maximum rectified current of 40A, forming an anti-reverse circuit. The component connection method is that the positive electrodes of diode D1 and diode D2 are connected to PR+, and the negative electrodes of diode D1 and diode D2 are connected to VM.

[0041] See also Figure 2 , resistor R3, diode D3, resistor R1, diode D4, resistor R2 and light emitting diode LE1 form a discharge circuit. Resistor R3 is a high-power discharge resistor, and diode D3, resistor R1, diode D4, resistor R2 and light emitting diode LE1 are a discharge action indication circuit (overvoltage indication). When NMOS tube Q1 is turned on, diode D3, resistor R1 and diode D4 form a basic voltage stabilizing circuit to supply power to resistor R2 and light emitting diode LE1, and light emitting diode LE1 is forward-conducted and emits light. The component connection method is that resistor R3 is connected between VM and the drain of NMOS tube Q1, the positive electrode of diode D3 is connected to PR+, the negative electrode of diode D3 is connected in series with resistor R1 and resistor R2 in sequence, and then connected to the positive electrode of light emitting diode LE1, the negative electrode of light emitting diode LE1 is connected to the drain of NMOS tube Q1, the negative electrode of diode D4 is connected to the common end of resistor R1 and resistor R2, and the positive electrode of diode D4 is connected to the drain of MOS tube Q1.

[0042] See also Figure 2 , capacitor C4, capacitor C5 and capacitor C6 are absorption circuits, which are used to initially absorb the excess charge generated by the motor reversal. The component connection method is that capacitor C4, capacitor C5 and capacitor C6 are polarized capacitors, and the positive electrodes of capacitor C4, capacitor C5 and capacitor C6 are commonly connected to VM, and the negative electrodes are commonly connected to PR-.

[0043] See also Figure 2 , resistor R4, diode D6, resistor R5, capacitor C2, diode D7, resistor R6, PNP transistor Q2 and resistor R10 constitute an over-collection circuit. The specification of diode D6 determines the threshold value of the action of the acquisition circuit. When diode D6 is over-voltage and breaks down, the emitter, collector and base of PNP transistor Q2 form a voltage difference to make it conductive, and the bus voltage falls on resistor R10 through PNP transistor Q2. Resistor R5 and capacitor C2 form a base protection and RC filtering circuit. Diode D7 is a breakdown protection diode of PNP transistor Q2. The component connection method is that the emitter of PNP transistor Q2 is connected to VM, the collector of PNP transistor Q2 is connected to PR- after being connected in series with resistor R10, diode D7 and resistor R6 are connected in parallel between the emitter and base of PNP transistor Q2, resistor R4 and resistor R5 are connected in series between the emitter and base of PNP transistor Q2, the positive electrode of diode D6 is connected to PR-, the negative electrode of diode D6 is connected to the common end of resistor R4 and resistor R5, and capacitor C2 is connected between the base of PNP transistor Q2 and PR-.

[0044] See also Figure 2 , resistor R9, capacitor C3, diode D8, resistor R8, resistor R7, capacitor C1 and NMOS tube Q1 constitute a control circuit. Resistors R8 and R9 constitute a voltage divider circuit to control the switch of NMOS tube Q1, diode D8 is the base control overvoltage protection, capacitor C1 and resistor R7 constitute RC filtering, and when NMOS tube Q1 is activated, high-power discharge resistor R3 will convert the excess abnormal electric energy into heat energy for consumption. The connection mode of the components is that the source of NMOS tube Q1 is connected to PR-, the gate of NMOS tube Q1 is connected in series with resistor R7 and resistor R9 in sequence and then connected to the collector of PNP type transistor Q2, capacitor C1 is connected between the gate of NMOS tube Q1 and PR-, resistor R8 and diode D8 are connected in parallel between the common end of resistor R7 and resistor R9 and PR-, capacitor C3 is connected in parallel with resistor R9, and the common end of resistor R7 and resistor R9 is connected to the feedback control signal DISCHG_CTR of the high-voltage gate feedback protection circuit.

[0045] See also Figure 2Fuse F1, voltage zener diode TVS1, resistor R12, diode D9, PNP transistor Q3, resistor R14, resistor R15, PMOS tube Q4, capacitor C8 and capacitor C9 constitute a secondary protection circuit. Fuse F1 and voltage zener diode TVS1 constitute a basic overcurrent and instantaneous overvoltage protection circuit. The other parts are overvoltage clamping circuits, and their clamping voltage is determined by diode D9. The component connection method is as follows: the fuse F1 is connected between VM and the source of the PMOS tube Q4, the positive electrode of the voltage stabilizing diode TVS1 is connected to GND, the negative electrode of the voltage stabilizing diode TVS1 is connected to the source of the PMOS tube Q4, the emitter of the PNP type transistor Q3 is connected to the source of the PMOS tube Q4, the collector of the PNP type transistor Q3 is connected to the gate of the PMOS tube Q4, the resistor R12 is connected between the base of the PNP type transistor Q3 and the source of the PMOS tube Q4, the positive electrode of the diode D9 is connected to GND, the negative electrode of the diode D9 is connected to the base of the PNP type transistor Q3, the drain of the PMOS tube Q4 is connected to VCC, the resistor R14 is connected between the source and the gate of the PMOS tube Q4, the resistor R15 is connected between the gate of the PMOS tube Q4 and GND, and the capacitor C8 and the capacitor C9 are connected in parallel between VCC and GND.

[0046] See also Figure 2 Resistor R11, resistor R16, resistor R17, resistor R18, resistor R19, operational amplifier U1A, capacitor C10, and capacitor C11 are a bus overcurrent collection circuit, which collects the voltage across the resistor R11 through the differential operational amplifier U1A and estimates the current passing through and feeds it back to the control loop. The components are connected in such a way that the positive input terminal of the operational amplifier U1A is connected in series with resistors R17 and R11 and then connected to PR-; the negative input terminal of the operational amplifier U1A is connected in series with resistor R16 and then connected to PR-; the common terminal of resistors R17 and R11 is connected to GND; resistor R18 is connected between the positive input terminal of the operational amplifier U1A and Vref; the positive power supply terminal of the operational amplifier U1A is connected to +5V; capacitor C10 is connected between the positive power supply terminal of the operational amplifier U1A and GND; the negative power supply terminal of the operational amplifier U1A is connected to GND; resistor R19 is connected between the negative input terminal and the output terminal of the operational amplifier U1A; capacitor C11 is connected between the output terminal of the operational amplifier U1A and GND; and the output terminal of the operational amplifier U1A outputs the BUS_CURRENT signal.

[0047] Figure 3 FIG. 1 shows a simplified principle block diagram of an overcurrent clamp circuit and a secondary protection circuit provided by the present invention. Figure 3As shown, after the motor reverses, its working principle is similar to that of a "generator", which will raise the voltage on the power bus; stalling will cause instantaneous or continuous excessive current on the power bus; at this time, part of the high-energy electrical energy is first absorbed by the absorption circuit, and after the absorption circuit is saturated, the high-voltage protection mechanism of the acquisition circuit will be triggered, and the excess electrical energy will be released through the high-power resistor of the discharge circuit through the control circuit. The anti-reverse circuit is used to ensure that it does not affect external equipment.

[0048] Embodiment 2:

[0049] Figure 4 A schematic diagram of an embodiment of a high-voltage gate feedback protection circuit provided by the present invention is shown.

[0050] See also Figure 4 The stepper driver chip U12 is a commercially available product and is part of the stepper driver circuit. The control loop controls the stepper driver chip U12 through the SPI bus (pins 13 to 16) and the control pins DRV_ENN, SD_MODE and SPI_MODE to achieve forward, reverse, brake and standby operations. It also achieves operating curve control, mute control and dynamic load adjustment; it integrates a MOSFET pre-drive circuit; in order to prevent the actual test situation where the stepper driver chip U12 is easily damaged under elastic load, the present invention adds a high-voltage gate feedback protection circuit.

[0051] See also Figure 4 The high-voltage gate feedback protection circuit of the present invention includes a 100V / 2A half-bridge gate drive circuit added between the stepper drive chip U12 and the power MOSFET. In this embodiment, there are four half-bridge gate drive circuits with the same structure. Figure 4Taking the first half-bridge gate drive circuit in the example, the first half-bridge gate drive circuit is composed of a diode D15, a gate drive chip U13, a diode D16, a diode D17, a capacitor C55, a resistor R76 and a capacitor C52, wherein the resistor R76 and the capacitor C52 constitute a charge pump circuit to provide support for driving a high duty cycle, the diode D15, the capacitor C55, the diode D17 and the diode D16 constitute a bootstrap power supply circuit, and the gate drive chip U13 is a commercially available product. The component connection method is that the VDO end of the gate drive chip U13 is connected to the VS end of the stepper drive chip U12, the VSS end of the gate drive chip U13 is connected to GND, the HI end and the LI end of the gate drive chip U13 are respectively connected to the HB1 end and the LB1 end of the stepper drive chip U12, the HO and LO ends of the gate drive chip U13 are respectively connected to the gates of the two power MOSFETs of the subsequent stage, and the HS end of the gate drive chip U13 is connected to the connection terminal CN2 of the motor; the resistor R76 and the capacitor C52 are connected in series, and one end of the resistor R76 is connected to the stepper drive chip U12. The CPO terminal of chip U12, one end of capacitor C52 is connected to the cathode of diode D17, the anode of diode D17 is connected to the HS terminal of gate driver chip U13 and connected to power MOSFET, the anode of diode D15 is connected to the VS terminal of stepper driver chip U12, the cathode of diode D15 is connected to the HB terminal of gate driver chip U13, the anode of diode D16 is connected to the cathode of diode D17, the cathode of diode D16 is connected to the HB terminal of gate driver chip U13, and capacitor C55 is connected between the HB terminal and the HS terminal of gate driver chip U13. The principles of the other three paths are the same and will not be repeated.

[0052] See also Figure 4 , resistor R14, resistor R18, resistor R19, resistor R22, operational amplifier U5A, capacitor C21, and capacitor C23 constitute a current detection circuit, which is fed back to the control loop for control. The component connection method is that resistor R18 is connected between the SRAL terminal of the stepper driver chip U12 and the reverse input terminal of the operational amplifier U5A, resistor R19 is connected between the SRAH terminal of the stepper driver chip U12 and the positive input terminal of the operational amplifier U5A, resistor R14 is connected between the reverse input terminal and the output terminal of the operational amplifier U5A, resistor R22 is connected between the positive input terminal of the operational amplifier U5A and Vref2, the positive power supply terminal of the operational amplifier U5A is connected to +5V, capacitor C21 is connected between the positive power supply terminal of the operational amplifier U5A and GND, the negative power supply terminal of the operational amplifier U5A is connected to GND, capacitor C23 is connected between the output terminal of the operational amplifier U5A and GND, and the output terminal of the operational amplifier U5A outputs the DRV_CURRENT signal.

[0053] See also Figure 4, resistor R15, resistor R20, resistor R17, diode D4 and capacitor C22 constitute a bus voltage detection circuit, the set threshold is greater than the overcurrent clamp protection threshold, less than the highest withstand voltage of the high-voltage gate, to prevent components from being damaged by overvoltage. The component connection method is that resistor R15 and resistor R20 are connected in series between VM and GND, one end of resistor R17 is connected to the common end of resistor R15 and resistor R20, the other end of resistor R17 is connected to the positive electrode of diode D4, the negative electrode of diode D4 is connected to +3V3, capacitor C22 is connected between the positive electrode of diode D4 and GND, and the positive electrode of diode D4 outputs the feedback control signal DISCHG_CTR.

[0054] Figure 5 The control principle block diagram of the high voltage gate feedback protection circuit is shown in FIG. Figure 5 As shown, the high-voltage gate feedback protection circuit provides high-voltage feedback and over-current feedback. The control loop monitors the feedback signal of the high-voltage gate feedback protection circuit and the power supply circuit in real time to determine whether to enable the over-current clamp discharge circuit and whether to change the operating state of the stepper drive.

[0055] The above description of the embodiments is to facilitate the understanding and application of the present invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the embodiments herein, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A traction photovoltaic cleaning robot controller for elastic load environment, characterized in that: The controller includes an overcurrent clamp circuit, a secondary protection circuit and a high-voltage grid feedback protection circuit; the overcurrent clamp circuit is used to absorb and release power bus overvoltage and surge overcurrent caused by motor stalling and reversing, and protect the power supply and other equipment sharing the power supply; the overcurrent clamp circuit includes an absorption circuit, a collection circuit, a control circuit, a discharge circuit and an anti-reverse circuit, the overcurrent clamp circuit absorbs part of the high-energy electric energy through the absorption circuit, and triggers the high-voltage protection mechanism of the collection circuit after the absorption circuit is saturated, and the excess electric energy is released through the discharge circuit through the control circuit, and the anti-reverse circuit is used to ensure that it does not affect external equipment; the secondary protection circuit is connected to the rear stage of the overcurrent clamp circuit, provides overcurrent protection, protects the power circuit and the rear stage circuit, and provides overvoltage clamping; the high-voltage grid feedback protection circuit realizes bus safety voltage expansion and provides overvoltage feedback for the overcurrent clamp circuit.

2. According to claim 1, a traction-type photovoltaic cleaning robot controller for elastic load environment is characterized in that: In the overcurrent clamp circuit and the secondary protection circuit, the diode D1 and the diode D2 constitute an anti-reverse circuit; the diode D1 and the diode D2 are connected in parallel in the same direction, the positive electrodes of the diode D1 and the diode D2 are connected to PR+, and the negative electrodes of the diode D1 and the diode D2 are connected to VM; In the overcurrent clamp circuit and the secondary protection circuit, the resistor R3, the diode D3, the resistor R1, the diode D4, the resistor R2 and the light-emitting diode LE1 constitute a discharge circuit, the resistor R3 is a high-power discharge resistor, and the diode D3, the resistor R1, the diode D4, the resistor R2 and the light-emitting diode LE1 constitute a discharge action indication circuit; the resistor R3 is connected between VM and the drain of the MOS tube Q1, the positive electrode of the diode D3 is connected to PR+, the negative electrode of the diode D3 is connected in series with the resistor R1 and the resistor R2 in sequence, and then connected to the positive electrode of the light-emitting diode LE1, the negative electrode of the light-emitting diode LE1 is connected to the drain of the MOS tube Q1, the negative electrode of the diode D4 is connected to the common end of the resistor R1 and the resistor R2, and the positive electrode of the diode D4 is connected to the drain of the MOS tube Q1; when the MOS tube Q1 is turned on, the diode D3, the resistor R1 and the diode D4 constitute a basic voltage stabilizing circuit to supply power to the resistor R2 and the light-emitting diode LE1, and the light-emitting diode LE1 is forward-conducted and emits light; In the overcurrent clamp circuit and the secondary protection circuit, capacitor C4, capacitor C5 and capacitor C6 constitute an absorption circuit for initially absorbing excess charge generated by the motor reversal; capacitor C4, capacitor C5 and capacitor C6 are connected between VM and PR-; In the overcurrent clamp circuit and the secondary protection circuit, resistor R4, diode D6, resistor R5, capacitor C2, diode D7, resistor R6, transistor Q2 and resistor R10 constitute an overcurrent collection circuit; the emitter of transistor Q2 is connected to VM, the collector of transistor Q2 is connected in series with resistor R10 and then connected to PR-, diode D7 and resistor R6 are connected in parallel between the emitter and base of transistor Q2, resistor R4 and resistor R5 are connected in series between the emitter and base of transistor Q2, and diode D6 is connected in series with the emitter and base of transistor Q2. The positive electrode is connected to PR-, the negative electrode of the diode D6 is connected to the common end of the resistor R4 and the resistor R5, and the capacitor C2 is connected between the base of the transistor Q2 and PR-; the specification of the diode D6 determines the threshold of the acquisition circuit action. When the diode D6 is over-voltage and breaks down, the emitter and base of the transistor Q2 form a voltage difference to make it turn on, and the bus voltage falls on the resistor R10 through the transistor Q2. The resistor R5 and the capacitor C2 form a base protection and RC filtering circuit. The diode D7 is a breakdown protection diode for the transistor Q2. In the overcurrent clamp circuit and the secondary protection circuit, the resistor R9, the capacitor C3, the diode D8, the resistor R8, the resistor R7, the capacitor C1 and the MOS tube Q1 constitute a control circuit; the source of the MOS tube Q1 is connected to PR-, the gate of the MOS tube Q1 is connected in series with the resistor R7 and the resistor R9 in sequence and then connected to the collector of the triode Q2, the capacitor C1 is connected between the gate of the MOS tube Q1 and PR-, the resistor R8 and the diode D8 are connected in parallel between the common end of the resistor R7 and the resistor R9 and PR-, the capacitor C3 is connected in parallel with the resistor R9, and the common end of the resistor R7 and the resistor R9 is connected to the DISCHG_CTR signal of the high-voltage gate feedback control circuit; the resistor R8 and the resistor R9 constitute a voltage divider circuit to control the switch of the MOS tube Q1, the diode D8 is the base control overvoltage protection, the capacitor C1 and the resistor R7 constitute an RC filter, and when the MOS tube Q1 is activated, the resistor R3 will convert the excess abnormal electric energy into heat energy for consumption; In the overcurrent clamp circuit and the secondary protection circuit, the fuse F1, the voltage stabilizing diode TVS1, the resistor R12, the diode D9, the transistor Q3, the resistor R14, the resistor R15, the MOS tube Q4, the capacitor C8 and the capacitor C9 constitute a secondary protection circuit; the fuse F1 is connected between VM and the source of the MOS tube Q4, the positive electrode of the voltage stabilizing diode TVS1 is connected to GND, the negative electrode of the voltage stabilizing diode TVS1 is connected to the source of the MOS tube Q4, the emitter of the transistor Q3 is connected to the source of the MOS tube Q4, the collector of the transistor Q3 is connected to the gate of the MOS tube Q4, the resistor R12 is connected Connected between the base of transistor Q3 and the source of MOS tube Q4, the positive electrode of diode D9 is connected to GND, the negative electrode of diode D9 is connected to the base of transistor Q3, the drain of MOS tube Q4 is connected to VCC, the resistor R14 is connected between the source and the gate of MOS tube Q4, the resistor R15 is connected between the gate of MOS tube Q4 and GND, the capacitor C8 and the capacitor C9 are connected in parallel between VCC and GND; the fuse F1 and the voltage stabilizing diode TVS1 constitute a basic overcurrent and instantaneous overvoltage protection circuit, and the other parts are overvoltage clamping circuits, and their clamping voltage is determined by the diode D9; In the overcurrent clamp circuit and the secondary protection circuit, resistor R11, resistor R16, resistor R17, resistor R18, resistor R19, operational amplifier U1A, capacitor C10, and capacitor C11 constitute a bus overcurrent collection circuit; the positive input terminal of the operational amplifier U1A is connected in series with resistor R17 and resistor R11 in sequence and then connected to PR-, the negative input terminal of the operational amplifier U1A is connected in series with resistor R16 and then connected to PR-, the common end of resistor R17 and resistor R11 is connected to GND, and resistor R18 is connected to the positive input terminal of the operational amplifier U1A Between and Vref, the positive power supply terminal of the operational amplifier U1A is connected to +5V, the capacitor C10 is connected between the positive power supply terminal of the operational amplifier U1A and GND, the negative power supply terminal of the operational amplifier U1A is connected to GND, the resistor R19 is connected between the reverse input terminal and the output terminal of the operational amplifier U1A, the capacitor C11 is connected between the output terminal of the operational amplifier U1A and GND, and the output terminal of the operational amplifier U1A outputs the BUS_CURRENT signal; the voltage across the resistor R11 is collected by the operational amplifier U1A, and the current passing through is estimated and fed back to the control loop.

3. According to claim 1, a traction-type photovoltaic cleaning robot controller for elastic load environment is characterized in that: In the high-voltage gate feedback protection circuit, a half-bridge gate drive circuit is provided between the stepper drive chip and the power MOSFET, wherein the half-bridge gate drive circuit includes one or more branches, and the diode D15, the gate drive chip U13, the diode D16, the diode D17, the capacitor C55, the resistor R76 and the capacitor C52 constitute a branch of the half-bridge gate drive circuit; the VDO end of the gate drive chip U13 is connected to the VS end of the stepper drive chip U12, the VSS end of the gate drive chip U13 is connected to GND, the HI end and the LI end of the gate drive chip U13 are respectively connected to the HB1 end and the LB1 end of the stepper drive chip U12, the HO and LO ends of the gate drive chip U13 are respectively connected to the gates of the two power MOSFETs of the subsequent stage, and the HS end of the gate drive chip U13 is connected to the connection terminal C of the motor. N2; resistor R76 and capacitor C52 are connected in series, one end of the resistor R76 is connected to the CPO end of the stepper driver chip U12, one end of the capacitor C52 is connected to the cathode of the diode D17, the anode of the diode D17 is connected to the HS end of the gate driver chip U13 and connected to the power MOSFET, the anode of the diode D15 is connected to the VS end of the stepper driver chip U12, the cathode of the diode D15 is connected to the HB end of the gate driver chip U13, the anode of the diode D16 is connected to the cathode of the diode D17, the cathode of the diode D16 is connected to the HB end of the gate driver chip U13, and the capacitor C55 is connected between the HB end and the HS end of the gate driver chip U13; the resistor R76 and the capacitor C52 constitute a charge pump circuit to provide support for driving a high duty cycle, and the diode D15, the capacitor C55, the diode D17, and the diode D16 constitute a bootstrap power supply circuit; In the high-voltage gate feedback protection circuit, resistor R14, resistor R18, resistor R19, resistor R22, operational amplifier U5A, capacitor C21, and capacitor C23 constitute a current detection circuit; resistor R18 is connected between the stepper drive chip and the reverse input terminal of the operational amplifier U5A, resistor R19 is connected between the stepper drive chip and the positive input terminal of the operational amplifier U5A, resistor R14 is connected between the reverse input terminal and the output terminal of the operational amplifier U5A, resistor R22 is connected between the positive input terminal of the operational amplifier U5A and Vref2, the positive power supply terminal of the operational amplifier U5A is connected to +5V, capacitor C21 is connected between the positive power supply terminal of the operational amplifier U5A and GND, the negative power supply terminal of the operational amplifier U5A is connected to GND, capacitor C23 is connected between the output terminal of the operational amplifier U5A and GND, and the output terminal of the operational amplifier U5A outputs a DRV_CURRENT signal, which is fed back to the control loop; In the high-voltage grid feedback protection circuit, resistor R15, resistor R20, resistor R17, diode D4 and capacitor C22 constitute a bus voltage detection circuit. The threshold value set by the bus voltage detection circuit is greater than the overcurrent clamp protection threshold value and less than the maximum withstand voltage of the high-voltage grid to prevent components from being damaged by overvoltage; resistor R15 and resistor R20 are connected in series between VM and GND, one end of resistor R17 is connected to the common end of resistor R15 and resistor R20, and the other end of resistor R17 is connected to the positive electrode of diode D4. The cathode of diode D4 is connected to +3V3, and capacitor C22 is connected between the anode of diode D4 and GND. The anode of the diode D4 outputs the feedback control signal DISCHG_CTR.

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