Anti-electromagnetic interference driving control circuit of electromechanical actuator

Abstract

The invention discloses a driving control circuit of an anti-electromagnetic interference electromechanical actuator. The driving control circuit comprises a power supply module, a motor driving module, a circuit protection module, a control module, an external interface module, a wireless transmission module, a communication module and an anti-electromagnetic interference module, a multi-protection mechanism circuit design is adopted, and current, temperature and voltage protection is carried out from a hardware circuit. And when overcurrent occurs, the fuse FB1 is recovered to be disconnected, so that the current is prevented from damaging a rear circuit, and an overcurrent protection effect is achieved. The wireless WIFI module is adopted to upload data in the EMA operation process, networking control is carried out, and the function of the Internet of Things is achieved. A magnetic encoder AS5600 is used for detecting the magnetic field intensity change of a permanent magnet on a rotor to obtain position information, and the position information is internally converted into angle information. In actual work, a motor, a rotating shaft and other components can generate an interference magnetic field, and the detection result of the magnetic encoder is influenced. The magnetic coding chip is installed in the center of the annular magnet, and the effect of shielding magnetic field interference is achieved.

Description

Technical Field

[0001] The present invention relates to an electromechanical actuator driving and control circuit, in particular to a circuit which is convenient for realizing an Internet of Things control function, storing historical data during the operation of an EMA, and remotely controlling and driving the movement of the EMA. Background Art

[0002] Electromechanical actuator (Electro-Mechanical Actuator) is an integrated unit consisting of a motor, a precision reducer, a drive control circuit, etc. It is mainly used in navigation systems, aerospace, precision machine tools, robots and other fields. Robot joint drivers require compact structure, light weight, precise positioning, and large output torque. EMA has these characteristics and is widely used in joint drives of service robots and humanoid robots. EMA's operating data can directly reflect the performance status. By obtaining EMA's operating history data, fault diagnosis can be performed and the health status of robot joints can be predicted in advance, thereby improving the safety of the entire robot.

[0003] The invention proposes improvements to the traditional EMA circuit and targeted designs for each circuit module. The invention adopts a drive-control integrated design, integrating the drive circuit and the control circuit, and uses an Internet of Things communication module to transmit EMA's operating data to the background, which performs fault diagnosis and health monitoring by analyzing EMA's historical data. Summary of the invention

[0004] The purpose of the present invention is to solve the problems of low integration, insufficient safety, low digitization, etc. of EMA drive control circuit, and finally realize the Internet of Things function, transmit EMA operation data to the background, and finally realize remote control of EMA, remote monitoring of EMA health status, and extraction and prediction of EMA faults.

[0005] The technical solution adopted by the present invention is an efficient EMA monitoring, driving and controlling circuit. It comprises a power module (1), a motor drive module (2), a circuit protection module (3), a control module (4), an encoder interface module (5), a wireless transmission module (6), a communication module (7) and an anti-electromagnetic interference module (8). The input of the power module (1) is connected to a 12-60V wide voltage, and the output of the power module is respectively connected to the motor drive module (2), the circuit protection module (3) and the control module (4). The input of the motor drive module (2) is connected to the control module (4), and the output of the motor drive module (2) is connected to the permanent magnet synchronous motor in the EMA; the circuit protection module (3) is respectively connected to the power module (1) and the control module (4); and the control module (4) is connected to other modules. The input of the encoder interface module (5) is connected to the control module (4); the input and output of the wireless transmission module (6) are connected to the control module (4); and the input and output of the communication module are connected to the control module (4).

[0006] The input of the power module (1) is connected to a 12-60V DC voltage, and after conversion by an internal circuit, it can output 12V, 5V, and 3.3V voltages for use by subsequent modules. The motor drive module (2) mainly includes a three-phase full-bridge inverter circuit composed of a power drive chip and MOSFET, and a current sampling circuit. The circuit protection module (3) mainly includes a voltage protection circuit and a temperature protection circuit. The control module (4) mainly includes a minimum system circuit controlled by an MCU and a peripheral interface circuit. The encoder interface circuit (5) mainly includes a circuit for receiving the rotor position of a permanent magnet synchronous motor. The wireless transmission module (6) includes a minimum system circuit and a peripheral interface circuit of an Internet of Things chip. The communication module (7) includes an external CAN receiving control circuit and a 485 receiving control circuit. The anti-electromagnetic interference module (8) mainly includes a magnetic encoder chip.

[0007] The power module (1) includes a power supply circuit for converting into VCC12V, VCC5V, and VCC3.3V. The power module (1) can input a wide voltage of 12-60V. The external power supply outputs a DC12V voltage after passing through U2. The negative pole of the external power supply is connected to the second pin of the first socket P1, the positive pole is connected to the first pin of P1 and one end of the first fuse self-recovery device FB1, the other end of FB1 is connected to the second pin of the first temperature protector TP1, the first pin of TP1 is connected to the first pin of the second chip U2, the first pin of U2 is connected to one end of the first capacitor C1, the other end of C1 is connected to GND, and the third and fifth pins of U2 are connected to GND. One end of the first inductor L1 is connected to the first diode D1 and then connected to the second pin of U2, and the other end of D1 is connected to GND. The other end of L1 is connected to the fourth pin of U2 and then connected to one end of the second inductor C2, and the other end of C2 is connected to GND. The fourth pin of U2 outputs a VCC12V voltage. The fourth pin of U2 is connected to the third pin of the third chip U3. The third capacitor and the fourth capacitor are connected in parallel, one end is connected to the third pin of the third chip U3, and the other end is connected to the first pin of U3, and the first pin of U3 is connected to GND. The second and fourth pins of U3 are short-circuited to one end of the fifth capacitor C5, and the other end of C5 is grounded, and the second pin of U3 outputs VCC5V voltage. The second pin of U3 is connected to the third pin of the fourth chip U4, the sixth capacitor C6 and the seventh capacitor C7 are connected in parallel, one end is connected to the third pin of U4, and the other end is connected to the first pin of U4, and the first pin of U4 is connected to GND. The second and fourth pins of U4 are short-circuited and connected to one end of the eighth capacitor C8, and the other end of C8 is connected to GND. The ninth resistor R9 is connected in series with the second light-emitting diode D2, one end of R9 is connected to the second pin of U4, and one end of D2 is connected to GND. The second pin of U4 outputs VCC3.3V voltage.

[0008] The circuit protection module (3) mainly includes a temperature protection unit and an overcurrent protection unit. The sixty-third resistor R63, the sixty-ninth resistor R69 and the seventy-second resistor R72 are connected in series, one end of R63 is connected to the input power supply VCCIN, and the sixty-eighth capacitor C68 and R72 are connected in parallel to stabilize the voltage, making the collected voltage signal more stable. One end of C68 is connected to the PC0 pin of the first control chip U1, which has an AD conversion function. By setting a threshold, it is determined whether the external voltage is too high, which plays an overvoltage protection role. The sixty-eighth resistor R68 and the seventy-third resistor R73 are connected in series, one end of R68 is connected to the VCC3.3V voltage, and the other end is connected to the PC3 pin of U1, which has an AD conversion function. One end of R73 is connected to GND. The sixty-ninth capacitor C69 and R73 are connected in parallel to stabilize the voltage. R68 is a positive temperature thermistor, and its resistance increases with the increase of temperature. The winding is the main heat source inside the permanent magnet synchronous motor. When the temperature changes, the voltage of R73 read by U1 will also change. When it is less than the set threshold, it means that the temperature inside the motor is too high.

[0009] The wireless transmission module (6) is mainly composed of a wireless communication chip U10 and its peripheral circuits. In the reset circuit, the seventy-fifth resistor R75 is connected in series with the seventy-second capacitor C72, the third key KEY3 is connected in parallel with C72, and the series node of R75 and C72 is connected to the first pin of U10. When KEY3 is pressed, the first pin of U10 detects a low level, and the U10 chip is reset. The seventy-sixth resistor R76 is connected in series with the ninth light-emitting diode D9, one end of R76 is connected to VCC3.3V, and one end of D9 is connected to the 19th pin of U10. The second key KEY2 is connected to GND at one end and the 18th pin of U10 at the other end. The 18th pin of U10 is connected to the sixty-second resistor R62, and the other end of R62 is connected to the VCC3.3V power supply. The seventeenth pin of U10 is connected to the sixty-fifth resistor R65, and the other end of R65 is connected to the VCC3.3V power supply. The sixteenth pin of U10 is connected to the sixty-seventh resistor R67, and the other end of R67 is connected to GND. Download the program by changing the states of the 16th, 17th, and 18th pins of U10. The 67th capacitor C67 has one end connected to the 8th pin of U10 and then to the VCC3.3V power supply, and the other end of C67 is connected to GND. The 60th resistor R60 has one end connected to the VCC3.3V power supply and the other end connected to the 3rd pin of U10. The 22nd and 23rd pins of U10 are connected to the 2nd and 3rd pins of the 5th socket respectively.

[0010] The control module (4) includes the minimum system circuit of the main control chip MCU and its peripheral circuits. The 21st capacitor C21 to the 37th capacitor C37 are connected in parallel, one end is connected to VCC3.3V, and the other end is connected to GND. C38 and C39 are connected in parallel, one end is connected to the second inductor L2, the other end is connected to GND, and the other end of L2 is connected to C37. C38 outputs a precise 3.3V voltage for the internal analog circuit of the chip to work, and VDDA is connected to the 39th pin of U1. The 38th pin of U1 is connected to one end of the 20th capacitor C20, the other end of C20 is connected to GND, and the 38th pin of U1 is connected to VCC3.3V. The 17th capacitor C17 is connected to GND at one end, and the other end is connected to the 81st pin of U1. The 18th capacitor C18 is connected to GND at one end, and the other end is connected to the 125th pin of U1. The 48th pin of U1 is connected to GND. The 19th capacitor C19 is connected to the 6th pin of U1 at one end, and the other end is GND, and the 6th pin of U1 is connected to VCC3.3V. One end of the tenth resistor R10 is connected to the 171st pin of U1, and the other end is connected to VCC3.3V. The fortieth capacitor C40 and the eleventh resistor R11 are connected in series, and the series node is connected to the 31st pin of U1. One end of C40 is connected to GND. The first key KEY1 is connected in parallel with C40, and one end of R11 is connected to VCC3.3V. When KEY1 is pressed, the 31st pin of U1 is at a low level, and the chip is reset. One end of the first crystal oscillator Y1 is connected to the eleventh capacitor C11, and the other end of Y1 is connected to the twelfth capacitor C12. Both ends of Y1 are respectively connected to the 29th and 30th pins of U1, and the other ends of C11 and C12 are short-circuited and connected to GND. One end of the second crystal oscillator Y2 is connected to the thirteenth capacitor C13, and the other end of Y2 is connected to the sixteenth capacitor C16. Both ends of Y2 are respectively connected to the 9th and 10th pins of U1, and the other ends of C13 and C16 are short-circuited and connected to GND. One end of the 8th resistor R8 is connected to GND, and the other end is connected to the 166th pin of U1. One end of the 7th resistor R7 is connected to GND, and the other end is connected to the 57th pin of U1. All VSS pins and VSSA pins of U1 are short-circuited and then connected to GND. All VDD pins of U1 are short-circuited and then connected to VCC3.3V.

[0011] The motor drive module (2) mainly includes a drive circuit and a current sampling circuit. The 44th capacitor and the 43rd capacitor are connected in parallel, one end of C44 is connected to VCC12V, and the other end is connected to GND. One end of C43 is connected to the first pin of U6, and the other end is connected to the fourth pin of U6. One end of the 20th resistor R20 is connected to the second pin of U6, and the other end is connected to the PI5 pin of U1. One end of the 21st resistor R21 is connected to the third pin of U6, and the other end is connected to the PH13 pin of U1. The 16th resistor R16 and the third diode D3 are connected in series, and the other end of R16 is connected to the first pin of U6, and the other end of D3 is connected to the eighth pin of U6. The 46th capacitor C46 and the 45th capacitor C45 are connected in parallel, and one end of C46 is connected to the eighth pin of U6, and the other end is connected to the sixth pin of U6. One end of the 17th resistor R17 is connected to the seventh pin of U6, and the other end is connected to the gate G of the first MOSFET power device Q1. One end of the 28th resistor R28 is connected to the sixth pin of U6, and the other end is connected to the source S of Q1. One end of the thirty-second resistor R32 is connected to the fifth pin of U6, and the other end is connected to the gate G of the second MOSFET power device Q2. The drain D of Q2 is connected to the source S of D1, and the fifty-second capacitor C52 is connected in parallel with the thirty-seventh resistor R37, one end of R37 is connected to the source S of Q2, and the other end is connected to AGND. The thirty-first resistor R31 is connected in parallel with the fifty-first capacitor C51, one end of R31 is connected to the drain D of Q2, and the other end is connected to AGND.

[0012] The fifty-ninth capacitor C59 has one end connected to VCC12V and the other end connected to AGND. The forty-ninth resistor R49 has one end connected to the second pin of U9 and the other end connected to the PI6 pin of U1. The fifty-first resistor R51 has one end connected to the third pin of U9 and the other end connected to the PH14 pin of U1. The first pin of U9 is connected to VCC12V, the forty-fourth resistor R44 and the fourth diode are connected in series, the other end of R44 is connected to the first pin of U9, and the other end of D4 is connected to the eighth pin of U9. The sixtieth capacitor C60 and the sixty-first capacitor C61 are connected in parallel, one end of C60 is connected to the eighth pin of U9 and the other end is connected to the fifth pin of U9. The fifty-second resistor R52 has one end connected to the sixth pin of U9 and the other end connected to the source S of the third MOSFET power device Q3. The forty-eighth resistor R48 has one end connected to the seventh pin of U9 and the other end connected to the gate G of Q3. The fifty-third resistor R53 has one end connected to the fifth pin of U9 and the other end connected to the gate of the power device Q4. The sixty-third capacitor C63 is connected in parallel with the fifty-fifth resistor R55, one end of R55 is connected to AGND, and the other end is connected to the source S of Q4. The drain D of Q4 is connected to the source S of Q3. The sixty-second capacitor C62 is connected to AGND, and the other end is connected to the drain of Q4.

[0013] The sixty-fourth capacitor C64 has one end connected to VCC12V and the other end connected to AGND. The sixty-fourth resistor R64 has one end connected to the second pin of U11 and the other end connected to the PI6 pin of U1. The sixty-sixth resistor R66 has one end connected to the third pin of U11 and the other end connected to the PH15 pin of U1. The first pin of U11 is connected to VCC12V, the fifty-ninth resistor R59 and the eighth diode are connected in series, the other end of R59 is connected to the first pin of U9, and the other end of D8 is connected to the eighth pin of U11. The sixty-sixth capacitor C66 and the sixty-fifth capacitor C65 are connected in parallel, one end of C66 is connected to the eighth pin of U11 and the other end is connected to the fifth pin of U11. The seventieth resistor R70 has one end connected to the sixth pin of U11 and the other end connected to the source S of the fifth MOSFET power device Q5. The sixty-first resistor R61 has one end connected to the seventh pin of U11 and the other end connected to the gate G of Q5. The seventy-first resistor R71 has one end connected to the fifth pin of U11 and the other end connected to the gate of the power device Q6. The seventy-first capacitor C71 and the seventy-fourth resistor R74 are connected in parallel, one end of R74 is connected to AGND, and the other end is connected to the source S of Q6. The drain D of Q6 is connected to the source S of Q5. The seventieth capacitor C70 is connected to AGND, and the other end is connected to the drain of Q6.

[0014] The twenty-second resistor R22 and the twenty-third resistor R23 are connected in series, one end of R22 is connected to the source of Q1, and one end of R23 is connected to the third pin of the seventh chip U7. The twenty-ninth resistor R29 and the thirtieth resistor R30 are connected in series, one end of R29 is connected to AGND, and one end of R30 is connected to the second pin of U7. The nineteenth resistor R19 is connected to the VCC1.65V voltage at one end and the third pin of U7 at the other end. The thirty-fifth resistor R35 is connected to the second pin of U7 at one end and the first pin of U7 at the other end. The forty-second capacitor C42 is connected to VCC5V at one end and AGND at the other end. The twenty-fourth resistor R24 ​​is connected to the first pin of U7 at one end and the PA6 pin of U1 at the other end. The forty-eighth capacitor C48 is connected to the PA6 pin of U1 at one end and AGND at the other end.

[0015] The 41st resistor R41 and the 42nd resistor R42 are connected in series, one end of R41 is connected to the source of Q3, and one end of R42 is connected to the fifth pin of the seventh chip U7. The 38th resistor R38 is connected to the VCC1.65V voltage at one end and the fifth pin of U7 at the other end. The 46th resistor R46 and the 47th resistor R47 are connected in series, one end of R46 is connected to AGND, and one end of R47 is connected to the sixth pin of U7. The 50th resistor R50 is connected to the sixth pin of U7 at one end and the seventh pin of U7 at the other end. The 43rd resistor R43 is connected to the seventh pin of U7 at one end and the PB0 pin of U1 at the other end. The 53rd capacitor C53 is connected to the PB0 pin of U1 at one end and the AGND at the other end.

[0016] The twenty-fifth resistor R25 and the twenty-sixth resistor R26 are connected in series, one end of R25 is connected to the source of Q5, and one end of R26 is connected to the tenth pin of the seventh chip U7. The eighteenth resistor R18 is connected to the VCC1.65V voltage at one end, and the other end is connected to the tenth pin of U7. The thirty-third resistor R33 and the thirty-fourth resistor R34 are connected in series, one end of R33 is connected to AGND, and one end of R34 is connected to the ninth pin of U7. The thirty-sixth resistor R36 is connected to the ninth pin of U7 at one end, and the other end is connected to the eighth pin of U7. The twenty-seventh resistor R27 is connected to the eighth pin of U7 at one end, and the other end is connected to the PB1 pin of U1. The forty-ninth capacitor C49 is connected to the PB1 pin of U1 at one end, and the other end is connected to AGND.

[0017] The thirty-ninth resistor R39 and the forty-fifth resistor R45 are connected in series, and the series node is connected to the twelfth pin of U7. The fifty-eighth capacitor C58 and R45 are connected in parallel. The thirteenth and fourteenth pins of U7 are short-circuited. The fifty-sixth capacitor C56 and the fifty-seventh capacitor C57 are connected in parallel, and one end of C56 is connected to the twelfth pin of U7, and the other end is connected to AGND. The fourteenth pin of U7 outputs the VCC 1.65V voltage.

[0018] One end of the third inductor L3 is connected to GND, and the other end is connected to AGND. One end of the fifty-eighth resistor R58 is connected to GND, and the other end is connected to AGND.

[0019] The communication module (7) mainly includes a 485 communication module and a CAN communication module. The first pin of the fifth chip U5 is connected to the PB11 pin of U1, the second and third pins of U5 are short-circuited and then connected to the PH8 pin of U1, and the fourth pin of U5 is connected to the PB10 pin of U1. One end of the thirteenth resistor R13 is connected to the eighth pin of U5, and the other end is connected to the first pin of U5. The eighth pin of U5 is connected to VCC3.3V, and the fifth pin of U5 is connected to GND. The twelfth, fourteenth, and fifteenth resistors are connected in series, one end of R12 is connected to GND, one end of R15 is connected to VCC3.3V, the series node of R14 and R12 is connected to the seventh pin of U5, and the series node of R14 and R15 is connected to the sixth pin of U5. The seventh pin of U5 is connected to the first pin of the eighth socket. The sixth pin of U5 is connected to the second pin of the eighth socket.

[0020] The first pin of the eighth chip U8 is connected to the PB9 pin of U1, the fourth pin of U8 is connected to the PI9 pin of U1, the second pin and the eighth pin of U8 are connected to GND, and the third pin of U8 is connected to VCC3.3V. One end of the fifty-fifth capacitor is connected to the third pin of U8, and the other end is connected to the second pin of U8. One end of the fortieth resistor is connected to the seventh pin of U8, and the other end is connected to the sixth pin of U8. The first pin of the seventh socket P7 is connected to the seventh pin of U8, and the second pin of P7 is connected to the sixth pin of U8.

[0021] One end of the first resistor R1 is connected to the first pin of the second socket P2, and the other end is connected to the PA15 pin of U1. One end of the second resistor R2 is connected to the second pin of P2, and the other end is connected to the PB3 pin of U1. One end of the third resistor R3 is connected to the third pin of P2, and the other end is connected to the PE6 pin of U1. One end of the fourth resistor R4 is connected to the first pin of P2, and the other end is connected to GND. One end of the fifth resistor R5 is connected to the second pin of P2, and the other end is connected to GND. One end of the sixth resistor R6 is connected to the third pin of P2, and the other end is connected to GND.

[0022] The anti-electromagnetic interference module (8) includes a magnetic encoding chip AS5600 and a ring magnet. The first pin of the twelfth chip U12 is connected to VDD, the second pin of U12 is connected to VDD3V3, the third pin of U12 is output, the fourth and fifth pins of U12 are connected to GND, the sixth pin of U12 is connected to the PB7 pin of U1, and the seventh pin of U12 is connected to the PB6 pin of U1. The magnetic encoding chip is installed in the center of the ring magnet to play a role in shielding magnetic field interference.

[0023] The beneficial effects of the present invention are:

[0024] (1) The invention adopts a multi-protection mechanism circuit design to provide current, temperature, and voltage protection from the hardware circuit. When overcurrent occurs, the fuse FB1 is disconnected to prevent the current from being too large and causing harm to the subsequent circuit, thus playing an overcurrent protection role. The temperature protector TP1 is placed near the stator winding. When the motor is overloaded or stalled for a long time, the winding temperature rises, and the temperature protector TP1 disconnects the power circuit to protect the safety of the subsequent circuit. The bimetallic strip and heating wire combination inside TP1 has a fast tripping property to prevent excessive temperature rise, and can provide the most reliable and safest protection when the motor is stalled. The MCU operation controller collects the voltage of the bus circuit. When the external bus voltage is too high or too low and is not within the set voltage operating range, the MCU shuts down the relevant vector control program and stops driving the three-phase full-bridge inverter circuit. The MCU operation controller collects the resistance value of the thermistor, records the current temperature condition, and shuts down the relevant vector control program when the internal winding temperature of the EMA is too high.

[0025] (2) The circuit of the invention uses a wireless WIFI module to upload the data during the operation of EMA, perform networking control, and realize the Internet of Things function. The uploaded data mainly include speed, torque current, temperature, voltage, bus current and other data related to the vector control process. The historical data during the operation of EMA can be analyzed in the host computer, and the accumulated data can be analyzed to judge the performance of EMA, perform diagnosis, and predict EMA failure in advance.

[0026] (3) The invention is designed with multiple communication modes, including CAN communication, 485 communication, and serial communication, which can meet different communication requirements.

[0027] (4) The invention utilizes the characteristics of IR2101S to design a MOSFET drive circuit, so that the controller STM32F407IGT6 can easily perform vector control.

[0028] (5) The invention uses the magnetic encoder AS5600 to obtain position information by detecting the change in magnetic field strength of the permanent magnet on the rotor, and converts it into angle information internally. In actual work, the motor, shaft and other components will generate interference magnetic fields, affecting the detection results of the magnetic encoder. The magnetic encoding chip is installed in the center of the ring magnet to shield the magnetic field interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a module circuit connection block diagram of the present invention;

[0030] Figure 2 is a circuit diagram of a power module of the present invention;

[0031] Figure 3 is a circuit diagram of a motor drive module of the present invention;

[0032] Figure 4 is a circuit diagram of a protection module of the present invention;

[0033] Figure 5 is a circuit diagram of a control module of the present invention;

[0034] Figure 6 It is the circuit diagram of the external interface module;

[0035] Figure 7 It is the circuit diagram of wireless transmission module;

[0036] Figure 8 It is the circuit diagram of the communication control module;

[0037] Fig. 9 It is the circuit diagram of the anti-electromagnetic interference module; DETAILED DESCRIPTION

[0038] The present invention is further described below in conjunction with the accompanying drawings.

[0039] like Figure 1As shown, a drive control system for an electromechanical actuator comprises a power module (1), a motor drive module (2), a circuit protection module (3), a control module (4), an encoder interface module (5), a wireless transmission module (6), and a communication module (7). The power module (1) is connected to a 12-60V wide voltage input and outputs 12V, 5V, and 3.3V voltages for subsequent circuits. The power module has over-temperature and over-current protection functions, which can prevent stalling and damage to the circuit caused by long-term overload operation. The motor drive module (2) is mainly composed of a three-phase full-bridge inverter circuit and a sampling circuit. The protection module (3) mainly collects bus voltage and the temperature inside the EMA. The control module (4) performs calculation control and data transmission, mainly including vector control, monitoring, collecting temperature, speed, receiving instructions, sending data, etc. The external interface module (5) is used to collect and receive rotor position information. The wireless transmission module (6) can send the data sent by the control module (4) to the host computer through the Internet of Things, and the host computer judges the health status of the EMA in advance by analyzing the historical data of the EMA operation. In addition, the host computer can also control the EMA operation through the wireless transmission module (6). The communication control module (7) mainly includes the interface circuits of CAN communication, 485 communication and serial communication.

[0040] like Figure 2As shown, the power module (1) includes a second chip U2, the specification is LM2576HV, and the chip can accept a wide voltage input of 12-60V. The third chip U3, the specification is ASM117-5V and the fourth chip U4, the specification is ASM117-3.3V. The negative pole of the external power supply is connected to the second pin of the first socket P1, and the positive pole is connected to the first pin of P1 and one end of the first fuse self-recovery device FB1. When the bus current is too large, FB1 automatically blows, and FB1 automatically recovers after a period of time. The other end of FB1 is connected to the second pin of the first temperature protector TP1, and the first pin of TP1 is connected to the first pin of the second chip U2. TP1 is placed close to the stator winding. When the EMA is blocked or under heavy load for a long time, the temperature protector TP1 automatically cuts off the power. When the temperature drops to a certain value, TP1 automatically closes again. TP1 can provide the most reliable and safest protection when the motor is blocked. The first pin of U2 is connected to one end of the first capacitor C1, and the other end of C1 is connected to GND. C1 plays a filtering role. The third and fifth pins of U2 are connected to GND. One end of the first inductor L1 is connected to the first diode D1 and then connected to the second pin of U2, and the other end of D1 is connected to GND. The other end of L1 is connected to the fourth pin of U2 and then connected to one end of the second inductor C2, and the other end of C2 is connected to GND. The fourth pin of U2 outputs a VCC12V voltage. The fourth pin of U2 is connected to the third pin of the third chip U3. The third capacitor C3 and the fourth capacitor C4 are connected in parallel, one end is connected to the third pin of the third chip U3, and the other end is connected to the first pin of U3, and the first pin of U3 is connected to GND. The second and fourth pins of U3 are short-circuited and connected to one end of the fifth capacitor C5, and the other end of C5 is grounded, and the second pin of U3 outputs a VCC5V voltage. The second pin of U3 is connected to the third pin of the fourth chip U4, and the sixth capacitor C6 and the seventh capacitor C7 are connected in parallel, one end is connected to the third pin of U4, and the other end is connected to the first pin of U4, and the first pin of U4 is connected to GND. The second and fourth pins of U4 are short-circuited and connected to one end of the eighth capacitor C8, and the other end of C8 is connected to GND. The ninth resistor R9 is connected in series with the second light emitting diode D2, one end of R9 is connected to the second pin of U4, and one end of D2 is connected to GND. The second pin of U4 outputs a VCC voltage of 3.3V. When the power module (1) can work normally, the LED light D2 is on.

[0041] like Figure 3As shown, it is a motor drive module. The motor drive module (2) mainly includes a drive circuit and a current sampling circuit. The power device MOSFET specification used is STP75NF75. The power drive chip used is IR2101S. The chip has fast response, high integration, internal dead zone protection, and the upper bridge arm uses a bootstrap capacitor to power on, which can simplify the circuit. Take the U phase drive circuit as an example for explanation, the V phase and W phase circuits are exactly the same as the U phase. The forty-fourth capacitor and the forty-third capacitor are connected in parallel, one end of C44 is connected to VCC12V, and the other end is connected to GND. One end of C43 is connected to the first pin of U6, and the other end is connected to the fourth pin of U6. One end of the twentieth resistor R20 is connected to the second pin of U6 and the other end is connected to the PI5 pin of U1. One end of the twenty-first resistor R21 is connected to the third pin of U6 and the other end is connected to the PH13 pin of U1. The sixteenth resistor R16 and the third diode D3 are connected in series, the other end of R16 is connected to the first pin of U6, and the other end of D3 is connected to the eighth pin of U6. The forty-sixth capacitor C46 and the forty-fifth capacitor C45 are connected in parallel, and one end of C46 is connected to the eighth pin of U6, and the other end is connected to the sixth pin of U6. The seventeenth resistor R17 is connected to the seventh pin of U6, and the other end is connected to the gate G of the first MOSFET power device Q1. The twenty-eighth resistor R28 is connected to the sixth pin of U6 at one end, and the other end is connected to the source S of Q1. The thirty-second resistor R32 is connected to the fifth pin of U6 at one end, and the other end is connected to the gate G of the second MOSFET power device Q2. The drain D of Q2 is connected to the source S of D1, the fifty-second capacitor C52 is connected in parallel with the thirty-seventh resistor R37, and one end of R37 is connected to the source S of Q2, and the other end is connected to AGND. The thirty-first resistor R31 and the fifty-first capacitor C51 are connected in parallel, and one end of R31 is connected to the drain D of Q2, and the other end is connected to AGND. When the fifth pin of U6 outputs a high level, the gate of Q2 is 12V, the source of Q2 is 0V, and V in Q2 is GS When the conduction condition is met, the lower bridge arm is turned on. R10, D3, and C46 are respectively the bootstrap resistor, bootstrap diode, and bootstrap capacitor. If the lower bridge arm of a V phase or a W phase is turned on, if the seventh pin of U6 outputs a high level, then the V GS Once the conduction condition is reached, Q1 is turned on, and the source voltage of Q1 becomes VCCIN. Due to the existence of the bootstrap capacitor, the voltage of the eighth pin of U6 rises to VCCIN+15V. Due to the existence of the bootstrap diode D3, it does not cause current backflow. Through the bootstrap circuit, the V GS When the conduction condition is met, the upper bridge arm is turned on.

[0042] The circuit part mainly collects the current of the three-phase bridge arm of U, V, and W, and participates in the vector control calculation. The operational amplifier used is MCP6024, which has 4 amplifiers inside the chip, with high integration, making the peripheral circuit simpler. The 22nd resistor R22 and the 23rd resistor R23 are connected in series, one end of R22 is connected to the source of Q1, and one end of R23 is connected to the third pin of the seventh chip U7. The 29th resistor R29 and the 30th resistor R30 are connected in series, one end of R29 is connected to AGND, and one end of R30 is connected to the second pin of U7. The 19th resistor R19 is connected to the VCC1.65V voltage at one end and the third pin of U7 at the other end. The 35th resistor R35 is connected to the second pin of U7 at one end and the first pin of U7 at the other end. One end of the forty-second capacitor C42 is connected to VCC5V, and the other end is connected to AGND, one end of the twenty-fourth resistor R24 ​​is connected to the first pin of U7, and the other end is connected to the PA6 pin of U1, and one end of the forty-eighth capacitor C48 is connected to the PA6 pin of U1, and the other end is connected to AGND. C48 plays a filtering role.

[0043] The 41st resistor R41 and the 42nd resistor R42 are connected in series, one end of R41 is connected to the source of Q3, and one end of R42 is connected to the fifth pin of the seventh chip U7. The 38th resistor R38 is connected to the VCC1.65V voltage at one end and the fifth pin of U7 at the other end. The 46th resistor R46 and the 47th resistor R47 are connected in series, one end of R46 is connected to AGND, and one end of R47 is connected to the sixth pin of U7. The 50th resistor R50 is connected to the sixth pin of U7 at one end and the seventh pin of U7 at the other end. The 43rd resistor R43 is connected to the seventh pin of U7 at one end and the PB0 pin of U1 at the other end. The 53rd capacitor C53 is connected to the PB0 pin of U1 at one end and the AGND at the other end. C53 plays a filtering role.

[0044] The twenty-fifth resistor R25 and the twenty-sixth resistor R26 are connected in series, one end of R25 is connected to the source of Q5, and one end of R26 is connected to the tenth pin of the seventh chip U7. The eighteenth resistor R18 is connected to the VCC1.65V voltage at one end, and the other end is connected to the tenth pin of U7. The thirty-third resistor R33 and the thirty-fourth resistor R34 are connected in series, one end of R33 is connected to AGND, and one end of R34 is connected to the ninth pin of U7. The thirty-sixth resistor R36 is connected to the ninth pin of U7 at one end, and the other end is connected to the eighth pin of U7. The twenty-seventh resistor R27 is connected to the eighth pin of U7 at one end, and the other end is connected to the PB1 pin of U1. The forty-ninth capacitor C49 is connected to the PB1 pin of U1 at one end, and the other end is connected to AGND. C49 plays a filtering role.

[0045] The thirty-ninth resistor R39 and the forty-fifth resistor R45 are connected in series, and the series node is connected to the twelfth pin of U7. The fifty-eighth capacitor C58 and R45 are connected in parallel. The thirteenth and fourteenth pins of U7 are short-circuited. The fifty-sixth capacitor C56 and the fifty-seventh capacitor C57 are connected in parallel, and one end of C56 is connected to the twelfth pin of U7, and the other end is connected to AGND. The fourteenth pin of U7 outputs the VCC 1.65V voltage. This part forms a voltage follower, which can output a stable 1.65V voltage.

[0046] One end of the third inductor L3 is connected to GND, and the other end is connected to AGND. One end of the fifty-eighth resistor R58 is connected to GND, and the other end is connected to AGND. R58 is a 0 ohm resistor that can effectively suppress loop current and noise.

[0047] like Figure 4 The protection module (3) of the present invention is shown. The protection of the present invention mainly includes over-temperature protection, over-current protection, and over-voltage protection. The power module part has a self-recovering fuse protector for over-current protection and a temperature protector for over-temperature disconnection and self-recovery. The circuit protection module (3) mainly has over-voltage protection and over-temperature protection. The sixty-third resistor R63, the sixty-ninth R69 and the seventy-second resistor R72 are connected in series, one end of R63 is connected to the input power supply VCCIN, and the sixty-eighth capacitor C68 and R72 are connected in parallel to play a voltage stabilizing role, making the collected voltage signal more stable. One end of C68 outputs the PC0 pin of the first control chip U1, which has an AD conversion function. By setting a threshold, it is determined whether the external voltage is too high, which plays an over-voltage protection role. The sixty-eighth resistor R68 and the seventy-third resistor R73 are connected in series, one end of R68 is connected to the VCC3.3V voltage, and the other end is connected to the PC3 pin of U1, which has an AD conversion function. One end of R73 is connected to GND. The sixty-ninth capacitor C69 and R73 are connected in parallel to play a voltage stabilizing role. R68 is a positive temperature thermistor, and its resistance increases with the increase of temperature. The winding is the main heat source inside the permanent magnet synchronous motor. When the temperature changes, the voltage read by U1 to R73 will also change. U1 transmits the temperature data to the host computer to analyze the temperature changes during the operation of EMA.

[0048] like Figure 5The control module (4) of the present invention is shown, and the main control chip used in the present invention is STM32F407IGT6. The control module (4) includes the main control chip MCU minimum system circuit and its peripheral circuit. The 21st capacitor C21 to the 37th capacitor C37 are connected in parallel, one end is connected to VCC3.3V, and the other end is connected to GND. C38 and C39 are connected in parallel, one end is connected to the second inductor L2, the other end is connected to GND, and the other end of L2 is connected to C37. C38 outputs a precise 3.3V voltage for the internal analog circuit of the chip to work, and VDDA is connected to the 39th pin of U1. The 38th pin of U1 is connected to one end of the 20th capacitor C20, the other end of C20 is connected to GND, and the 38th pin of U1 is connected to VCC3.3V. The 17th capacitor C17 is connected to GND at one end, and the other end is connected to the 81st pin of U1. The 18th capacitor C18 is connected to GND at one end, and the other end is connected to the 125th pin of U1. The 48th pin of U1 is connected to GND. One end of the nineteenth capacitor C19 is connected to the sixth pin of U1, and the other end is connected to GND, and the sixth pin of U1 is connected to VCC3.3V. One end of the tenth resistor R10 is connected to the 171st pin of U1, and the other end is connected to VCC3.3V. The fortieth capacitor C40 and the eleventh resistor R11 are connected in series, and the series node is connected to the 31st pin of U1. One end of C40 is connected to GND, and the first key KEY1 is connected in parallel with C40, and one end of R11 is connected to VCC3.3V. When KEY1 is pressed, the 31st pin of U1 is at a low level, and the chip is reset. One end of the first crystal oscillator Y1 is connected to the eleventh capacitor C11, and the other end of Y1 is connected to the twelfth capacitor C12. The two ends of Y1 are respectively connected to the 29th and 30th pins of U1, and the other ends of C11 and C12 are short-circuited and connected to GND. One end of the second crystal oscillator Y2 is connected to the thirteenth capacitor C13, and the other end of Y2 is connected to the sixteenth capacitor C16. Both ends of Y2 are connected to the 9th and 10th pins of U1 respectively. The other ends of C13 and C16 are short-circuited and then connected to GND. One end of the eighth resistor R8 is connected to GND, and the other end is connected to the 166th pin of U1. One end of the seventh resistor R7 is connected to GND, and the other end is connected to the 57th pin of U1. All VSS pins and VSSA pins of U1 are short-circuited and then connected to GND. All VDD pins of U1 are short-circuited and then connected to VCC3.3V.

[0049] like Figure 5The external interface module (5) of the present invention is shown. The external interface module (5) mainly includes a communication interface and an encoder interface. The third socket P3 is a program download interface, and one end of the ninth capacitor C9 is connected to the first pin of P3, and the other end is connected to the fourth pin of P3. The first pin of P3 is connected to VCC3.3V, the fourth pin is connected to GND, the second pin of P3 is connected to the PA13 pin of U1, and the third pin of P3 is connected to the PA14 pin of U1. The tenth capacitor C10 is connected to the first pin of the fourth socket P4 at one end, and the other end is connected to the fourth pin of P4. The first pin of P4 is connected to VCC5V, and the fourth pin of P4 is connected to GND. The second pin of P4 is connected to the PB6 pin of U1, and the third pin of P4 is connected to the PB7 pin of U1. The fifteenth capacitor C15 is connected to the first pin of the fifth socket P5 at one end, and the other end is connected to the fourth pin of P5. The first pin of P5 is connected to VCC5V, and the fourth pin of P5 is connected to GND. The second pin of P5 is connected to the 22nd pin of U10, and the third pin of P5 is connected to the 21st pin of U10. One end of the fourteenth capacitor C14 is connected to the eighth pin of the fifth socket P5, and the other end is connected to the fifth pin of P5. The eighth pin of P5 is connected to VCC5V, and the fifth pin of P5 is connected to GND. The seventh pin of P5 is connected to the PD6 pin of U1, and the sixth pin of P5 is connected to the PD5 pin of U1. The encoder interface mainly includes a first resistor R1, one end of which is connected to the first pin of the second socket P2, and the other end is connected to the PA15 pin of U1. The second resistor R2 is connected to the second pin of P2, and the other end is connected to the PB3 pin of U1. The third resistor R3 is connected to the third pin of P2, and the other end is connected to the PE6 pin of U1. The fourth resistor R4 is connected to the first pin of P2, and the other end is connected to GND. The fifth resistor R5 is connected to the second pin of P2, and the other end is connected to GND. The sixth resistor R6 is connected to the third pin of P2, and the other end is connected to GND.

[0050] like Figure 7The wireless transmission module (6) of the present invention is shown. In the reset circuit, the seventy-fifth resistor R75 is connected in series with the seventy-second capacitor C72, the third button KEY3 is connected in parallel with C72, and the series node of R75 and C72 is connected to the first pin of U10. When KEY3 is pressed, the first pin of U10 detects a low level, and the U10 chip is reset. The seventy-sixth resistor R76 is connected in series with the ninth light-emitting diode D9, one end of R76 is connected to VCC3.3V, and one end of D9 is connected to the 19th pin of U10. The second button KEY2 is connected to GND at one end and the 18th pin of U10 at the other end. The 18th pin of U10 is connected to the sixty-second resistor R62, and the other end of R62 is connected to the VCC3.3V power supply. The seventeenth pin of U10 is connected to the sixty-fifth resistor R65, and the other end of R65 is connected to the VCC3.3V power supply. The sixteenth pin of U10 is connected to the sixty-seventh resistor R67, and the other end of R67 is connected to GND. The program is downloaded by changing the states of the 16th, 17th, and 18th pins of U10. The sixty-seventh capacitor C67 has one end connected to the 8th pin of U10 and then connected to the VCC3.3V power supply, and the other end of C67 is connected to GND. The sixtieth resistor R60 has one end connected to the VCC3.3V power supply and the other end connected to the 3rd pin of U10. The 22nd and 23rd pins of U10 are connected to the second and third pins of the fifth socket respectively. The wireless communication module is ESP8266.

[0051] like Figure 8 The communication control module (7) of the present invention is shown. The communication module (7) mainly includes a 485 communication module and a CAN communication module. The first pin of the fifth chip U5 is connected to the PB11 pin of U1, the second and third pins of U5 are short-circuited and then connected to the PH8 pin of U1, and the fourth pin of U5 is connected to the PB10 pin of U1. One end of the thirteenth resistor R13 is connected to the eighth pin of U5, and the other end is connected to the first pin of U5. The eighth pin of U5 is connected to VCC3.3V, and the fifth pin of U5 is connected to GND. The twelfth, fourteenth, and fifteenth resistors are connected in series, one end of R12 is connected to GND, one end of R15 is connected to VCC3.3V, the series node of R14 and R12 is connected to the seventh pin of U5, and the series node of R14 and R15 is connected to the sixth pin of U5. The seventh pin of U5 is connected to the first pin of the eighth socket. The sixth pin of U5 is connected to the second pin of the eighth socket.

[0052] The first pin of the eighth chip U8 is connected to the PB9 pin of U1, the fourth pin of U8 is connected to the PI9 pin of U1, the second pin and the eighth pin of U8 are connected to GND, and the third pin of U8 is connected to VCC3.3V. One end of the fifty-fifth capacitor is connected to the third pin of U8, and the other end is connected to the second pin of U8. One end of the fortieth resistor is connected to the seventh pin of U8, and the other end is connected to the sixth pin of U8. The first pin of the seventh socket P7 is connected to the seventh pin of U8, and the second pin of P7 is connected to the sixth pin of U8.

[0053] like Fig. 9The anti-electromagnetic interference module (8) of the present invention is shown. The first pin of the twelfth chip U12 is connected to VDD, the second pin of U12 is connected to VDD3V3, the third pin of U12 is output, the fourth and fifth pins of U12 are connected to GND, the sixth pin of U12 is connected to the PB7 pin of U1, and the seventh pin of U12 is connected to the PB6 pin of U1. The magnetic encoder obtains position information by detecting the change in the magnetic field strength of the permanent magnet on the rotor, and converts it into angle information internally. The ideal state of the magnetic encoder is that the centers of the rotating shaft, the permanent magnet and the magnetic encoding chip are on the same straight line. This method is called shaft end installation. Under the shaft end installation, if the Hall element is installed in an area with uniform lateral magnetic field, then even if there is shaft eccentricity, the input magnetic field strength will not change much. In actual work, the motor, the rotating shaft and other components will generate interfering magnetic fields, affecting the detection results of the magnetic encoder. The magnetic encoding chip is installed in the center of the ring magnet to play the effect of shielding magnetic field interference. During use, the size, material and magnetization strength of the ring magnet need to be selected to ensure that it can provide sufficient shielding effect and will not generate excessive magnetic interference to the magnetic encoding chip.

Claims

1. A driving control circuit for an electromechanical actuator resistant to electromagnetic interference, characterized in that: It comprises a power module (1), a motor drive module (2), a circuit protection module (3), a control module (4), an external interface module (5), a wireless transmission module (6), a communication module (7) and an anti-electromagnetic interference module (8); The power module (1) has an input connected to a 12-60V wide voltage, and the output of the power module is respectively connected to a motor drive module (2), a circuit protection module (3), and a control module (4); the input of the motor drive module (2) is connected to the control module (4), and the output of the motor drive module (2) is connected to the permanent magnet synchronous motor in the EMA; the circuit protection module (3) is respectively connected to the power module (1) and the control module (4); the control module (4) is connected to all other modules; the input of the external interface module (5) is connected to the control module (4); the input and output of the wireless transmission module (6) are connected to the control module (4); the input and output of the communication module (7) are connected to the control module (4); the input of the anti-electromagnetic interference module (8) is connected to the control module (4); The power module (1) not only provides power for the circuit, but also has over-temperature protection and over-current protection to prevent EMA faults from causing damage to the circuit; the control module (4) samples the current of the EMA motor through the motor drive module (2), collects the position information of the motor rotor through the external interface module (5) to perform vector control operation, and the control module (4) outputs six complementary symmetrical PWM waves to control the rotation of the EMA through the motor drive module (2), and controls the torque, speed and position of the EMA through a closed loop; the wireless transmission module (6) transmits the speed, torque, current and temperature data during the operation of the EMA to the host computer, providing a data source for the host computer to perform health analysis and fault diagnosis; the host computer controls the operation of the EMA through the wireless transmission module (6); the protection circuit includes over-voltage protection and over-temperature protection, and collects the temperature data inside the EMA; the communication module includes CAN communication, 485 communication and serial communication, and the external controller controls the operation of the EMA through the communication module.

2. The driving control circuit of an electromechanical actuator resistant to electromagnetic interference according to claim 1, characterized in that: The negative pole of the external power supply is connected to the second pin of the first socket P1, and the positive pole is connected to the first pin of P1 and one end of the first fuse self-recovery device FB1; when the bus current is too large, FB1 will automatically fuse, and FB1 will automatically recover after a period of time; the other end of FB1 is connected to the second pin of the first temperature protector TP1, and the first pin of TP1 is connected to the first pin of the second chip U2; TP1 can provide the most reliable and safest protection when the motor is in a stalled state; the first pin of U2 is connected to one end of the first capacitor C1, and the other end of C1 is connected to GND, and C1 plays a filtering role; the third and fifth pins of U2 are connected to GND; one end of the first inductor L1 is connected to the first diode D1 and then connected to the second pin of U2, and the other end of D1 is connected to GND; the other end of L1 is connected to the fourth pin of U2 and then connected to one end of the second inductor C2, and the other end of C2 is connected to GND; the fourth pin of U2 is connected to the third pin of the third chip U3 The third capacitor C3 and the fourth capacitor C4 are connected in parallel, one end of which is connected to the third pin of the third chip U3, and the other end of which is connected to the first pin of U3, and the first pin of U3 is connected to GND; the second and fourth pins of U3 are short-circuited and connected to one end of the fifth capacitor C5, and the other end of C5 is grounded, and the second pin of U3 outputs a VCC5V voltage; the second pin of U3 is connected to the third pin of the fourth chip U4, the sixth capacitor C6 and the seventh capacitor C7 are connected in parallel, one end of which is connected to the third pin of U4, and the other end of which is connected to the first pin of U4, and the first pin of U4 is connected to GND; the second and fourth pins of U4 are short-circuited and connected to one end of the eighth capacitor C8, and the other end of C8 is connected to GND; the ninth resistor R9 is connected in series with the second light-emitting diode D2, one end of R9 is connected to the second pin of U4, and one end of D2 is connected to GND; the second pin of U4 outputs a VCC3.3V voltage; when the power module (1) can work normally, the LED lamp D2 is on.

3. The driving control circuit of an electromechanical actuator resistant to electromagnetic interference according to claim 1, characterized in that: The power device MOSFET used in the motor drive module (2) has a specification of STP75NF75; the power drive chip used is IR2101S; the forty-fourth capacitor and the forty-third capacitor are connected in parallel, one end of C44 is connected to VCC12V, and the other end is connected to GND; one end of C43 is connected to the first pin of U6, and the other end is connected to the fourth pin of U6; one end of the twentieth resistor R20 is connected to the second pin of U6, and the other end is connected to the PI5 pin of U1; one end of the twenty-first resistor R21 is connected to the third pin of U6, and the other end is connected to the PH13 pin of U1; the sixteenth resistor R16 and the third diode D3 are connected in series, and the other end of R16 is connected to the first pin of U6, and the other end of D3 is connected to the eighth pin of U6; the forty-sixth capacitor C46 and the forty-fifth capacitor C45 are connected in parallel, one end of C46 is connected to the eighth pin of U6, and the other end is connected to U6 pin 6; the seventeenth resistor R17 has one end connected to U6 pin 7, and the other end connected to the gate G of the first MOSFET power device Q1; the twenty-eighth resistor R28 has one end connected to U6 pin 6 and the other end connected to the source S of Q1; the thirty-second resistor R32 has one end connected to U6 pin 5 and the other end connected to the gate G of the second MOSFET power device Q2; the drain D of Q2 is connected to the source S of D1, the fifty-second capacitor C52 and the thirty-seventh resistor R37 are connected in parallel, one end of R37 is connected to the source S of Q2, and the other end is connected to AGND; the thirty-first resistor R31 and the fifty-first capacitor C51 are connected in parallel, one end of R31 is connected to the drain D of Q2, and the other end is connected to AGND; when the fifth pin of U6 outputs a high level, the gate of Q2 is 12V, the source of Q2 is 0V, and V in Q2 is GS When the conduction condition is met, the lower bridge arm is turned on; R10, D3, and C46 are respectively the bootstrap resistor, bootstrap diode, and bootstrap capacitor; if the lower bridge arm of a V phase or a W phase is turned on, if the seventh pin of U6 outputs a high level, then the V GS Once the conduction condition is reached, Q1 is turned on, and the source voltage of Q1 becomes VCCIN. Due to the existence of the bootstrap capacitor, the voltage of the eighth pin of U6 rises to VCCIN+15V. Due to the existence of the bootstrap diode D3, it does not cause current backflow. Through the bootstrap circuit, V GS The conduction condition is reached, and the upper bridge arm is turned on; the V-phase and W-phase drive control circuits are completely consistent with the U-phase; the circuit part mainly collects the current of the U, V, and W three-phase bridge arms to participate in the vector control calculation; the operational amplifier used is MCP6024, which has 4 amplifiers inside the chip with high integration, making the peripheral circuit simpler; the 22nd resistor R22 and the 23rd resistor R23 are connected in series, one end of R22 is connected to the source of Q1, and one end of R23 is connected to the third pin of the seventh chip U7; the 29th resistor R29 and the 30th resistor R30 are connected in series, R29 One end is connected to AGND, and one end of R30 is connected to the second pin of U7; one end of the nineteenth resistor R19 is connected to the VCC1.65V voltage and the other end is connected to the third pin of U7; one end of the thirty-fifth resistor R35 is connected to the second pin of U7 and the other end is connected to the first pin of U7; one end of the forty-second capacitor C42 is connected to VCC5V and the other end is connected to AGND; one end of the twenty-fourth resistor R24 ​​is connected to the first pin of U7 and the other end is connected to the PA6 pin of U1; one end of the forty-eighth capacitor C48 is connected to the PA6 pin of U1 and the other end is connected to AGND, and C48 plays a filtering role; The forty-first resistor R41 and the forty-second resistor R42 are connected in series, one end of R41 is connected to the source of Q3, and one end of R42 is connected to the fifth pin of the seventh chip U7; one end of the thirty-eighth resistor R38 is connected to the VCC1.65V voltage and the other end is connected to the fifth pin of U7; the forty-sixth resistor R46 and the forty-seventh resistor R47 are connected in series, one end of R46 is connected to AGND, and one end of R47 is connected to the sixth pin of U7; one end of the fiftieth resistor R50 is connected to the sixth pin of U7 and the other end is connected to the seventh pin of U7; one end of the forty-third resistor R43 is connected to the seventh pin of U7 and the other end is connected to the PB0 pin of U1; one end of the fifty-third capacitor C53 is connected to the PB0 pin of U1 and the other end is connected to AGND, and C53 plays a filtering role; The twenty-fifth resistor R25 and the twenty-sixth resistor R26 are connected in series, one end of R25 is connected to the source of Q5, and one end of R26 is connected to the tenth pin of the seventh chip U7; one end of the eighteenth resistor R18 is connected to the VCC1.65V voltage, and the other end is connected to the tenth pin of U7; the thirty-third resistor R33 and the thirty-fourth resistor R34 are connected in series, one end of R33 is connected to AGND, and one end of R34 is connected to the ninth pin of U7; one end of the thirty-sixth resistor R36 is connected to the ninth pin of U7, and the other end is connected to the eighth pin of U7; one end of the twenty-seventh resistor R27 is connected to the eighth pin of U7, and the other end is connected to the PB1 pin of U1; one end of the forty-ninth capacitor C49 is connected to the PB1 pin of U1, and the other end is connected to AGND, and C49 plays a filtering role; The thirty-ninth resistor R39 and the forty-fifth resistor R45 are connected in series, and the series node is connected to the twelfth pin of U7; the fifty-eighth capacitor C58 and R45 are connected in parallel; the thirteenth and fourteenth pins of U7 are short-circuited; the fifty-sixth capacitor C56 and the fifty-seventh capacitor C57 are connected in parallel, one end of C56 is connected to the twelfth pin of U7, and the other end is connected to AGND; the fourteenth pin of U7 outputs a VCC 1.65V voltage; this part forms a voltage follower, which can output a stable 1.65V voltage; One end of the third inductor L3 is connected to GND, and the other end is connected to AGND; one end of the fifty-eighth resistor R58 is connected to GND, and the other end is connected to AGND.

4. The driving control circuit of an electromechanical actuator resistant to electromagnetic interference according to claim 1, characterized in that: The control chip U1 is STM32F407IGT6.

5. The driving control circuit of an electromechanical actuator resistant to electromagnetic interference according to claim 1, characterized in that: In the reset circuit of the wireless transmission module (6), the seventy-fifth resistor R75 is connected in series with the seventy-second capacitor C72, the third key KEY3 is connected in parallel with C72, the series node of R75 and C72 is connected to the first pin of U10; when KEY3 is pressed, the first pin of U10 detects a low level, and the U10 chip is reset; the seventy-sixth resistor R76 is connected in series with the ninth light-emitting diode D9, one end of R76 is connected to VCC3.3V, and one end of D9 is connected to the 19th pin of U10; one end of the second key KEY2 is connected to GND, and the other end is connected to the 18th pin of U10, the 18th pin of U10 is connected to the sixty-second resistor R62, and the other end of R62 is connected to VCC3.3 V power supply; the seventeenth pin of U10 is connected to the sixty-fifth resistor R65, and the other end of R65 is connected to the VCC3.3V power supply; the sixteenth pin of U10 is connected to the sixty-seventh resistor R67, and the other end of R67 is connected to GND; the program is downloaded by changing the states of the sixteenth, seventeenth and eighteenth pins of U10; one end of the sixty-seventh capacitor C67 is connected to the eighth pin of U10 and then to the VCC3.3V power supply, and the other end of C67 is connected to GND; one end of the sixtieth resistor R60 is connected to the VCC3.3V power supply, and the other end is connected to the third pin of U10; the 22nd and 23rd pins of U10 are respectively connected to the second and third pins of the fifth socket; the wireless communication module is ESP8266.

6. The driving control circuit of an electromechanical actuator resistant to electromagnetic interference according to claim 1, characterized in that: The communication module (7) mainly comprises a 485 communication module and a CAN communication module; the first pin of the fifth chip U5 is connected to the PB11 pin of U1, the second and third pins of U5 are short-circuited and then connected to the PH8 pin of U1, and the fourth pin of U5 is connected to the PB10 pin of U1; one end of the thirteenth resistor R13 is connected to the eighth pin of U5, and the other end is connected to the first pin of U5; the eighth pin of U5 is connected to VCC3.3V, and the fifth pin of U5 is connected to GND; the twelfth, fourteenth and fifteenth resistors are connected in series, one end of R12 is connected to GND, one end of R15 is connected to VCC3.3V, the series node of R14 and R12 is connected to the seventh pin of U5, and the series node of R14 and R15 is connected to the sixth pin of U5; the seventh pin of U5 is connected to the first pin of the eighth socket; the sixth pin of U5 is connected to the second pin of the eighth socket; The first pin of the eighth chip U8 is connected to the PB9 pin of U1, the fourth pin of U8 is connected to the PI9 pin of U1, the second pin and the eighth pin of U8 are connected to GND, and the third pin of U8 is connected to VCC3.3V; one end of the fifty-fifth capacitor is connected to the third pin of U8, and the other end is connected to the second pin of U8; one end of the fortieth resistor is connected to the seventh pin of U8, and the other end is connected to the sixth pin of U8; the first pin of the seventh socket P7 is connected to the seventh pin of U8, and the second pin of P7 is connected to the sixth pin of U8.

7. The driving control circuit of an electromechanical actuator resistant to electromagnetic interference according to claim 1, characterized in that: The anti-electromagnetic interference module includes an AS5600 magnetic encoder and a ring magnet; the first pin of the twelfth chip U12 is connected to VDD, the second pin of U12 is connected to VDD3V3, the third pin of U12 is output, the fourth and fifth pins of U12 are connected to GND, the sixth pin of U12 is connected to the PB7 pin of U1, and the seventh pin of U12 is connected to the PB6 pin of U1; the magnetic encoder obtains position information by detecting the change in magnetic field strength of the permanent magnet on the rotor, and converts it into angle information internally; The fifth chip U5 is SP3485, the eighth chip U8 is SN65HVD230, and the twelfth chip U12 is AS5600.

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