Steering engine control circuit and control method thereof

Abstract

The invention discloses a steering engine control circuit and a control method thereof. The steering engine control circuit comprises a plurality of field effect transistors, a plurality of resistors and a plurality of connectors. The grid electrode of the field effect transistor Q1 is connected with the grid electrode of the field effect transistor Q2 and the resistor R5, the source electrode is connected with the source electrode of the field effect transistor Q2 and the resistor R5, and the drain electrode is connected with the drain electrode of the field effect transistor Q4 and the P1 end of the connector; the drain electrode of the field effect transistor Q2 is connected with the drain electrode of the field effect transistor Q9; the grid electrode of the field effect transistor Q3 is connected with the grid electrode of the field effect transistor Q4 and the resistor R6, the source electrode is connected with the source electrode of the field effect transistor Q4 and the resistor R6, and the drain electrode is connected with the drain electrode of the field effect transistor Q8; the grid electrode of the field-effect tube Q7 is connected with the grid electrode of the field-effect tube Q8 and the resistor R13, the source electrode of the field-effect tube Q7 is connected with the source electrode of the field-effect tube Q8 and the resistor R13, and the drain electrode of the field-effect tube Q7 is connected with the drain electrode of the field-effect tube Q10 and the P2 end of the connector; the grid electrode of the field effect transistor Q9 is connected with the grid electrode of the field effect transistor Q10 and the resistor R16, and the source electrode of the field effect transistor Q9 is connected with the source electrode of the field effect transistor Q10 and the resistor R16.

Description

Technical Field

[0001] The present invention relates to the technical field of steering gear control, and in particular to a steering gear control circuit and a control method thereof. Background Art

[0002] After the servo is initially powered on, it will give priority to feedback a specific control signal to rotate the servo to a predetermined position, measure the actual response position of the servo, and then make compensation adjustments based on the error. However, after a long period of movement, the servo will accumulate errors due to mechanical factors or ambient temperature factors, resulting in inaccurate positioning. Therefore, a servo control circuit and control method are proposed, which can automatically isolate and replace the actual angle signal and the target angle signal based on the direction control signal, so that the lower-level circuit can perform compensation operations based on the two basic signals while preventing the two basic signals from affecting each other during the replacement period, so that after the servo completes the initial rotation to the target angle each time, the motor is compensated for during the period when the PWM signal is on the falling edge, and the error is eliminated before the second rotation. Summary of the invention

[0003] In view of the above technical problems, the object of the present invention is to provide a steering gear control circuit, comprising a plurality of field effect tubes, a plurality of resistors, a plurality of connectors, a plurality of operational amplifiers, and a plurality of triodes; The gate of the field effect tube Q1 in the plurality of field effect tubes is connected to the gate of the field effect tube Q2 and one end of the resistor R5, the source is connected to the source of the field effect tube Q2 and the other end of the resistor R5, and the drain is connected to the drain of the field effect tube Q4 and the end of the connector P1; the drain of the field effect tube Q2 is connected to the drain of the field effect tube Q9; the gate of the field effect tube Q3 is connected to the gate of the field effect tube Q4 and one end of the resistor R6, the source is connected to the source of the field effect tube Q4 and the other end of the resistor R6, and the drain is connected to the drain of the field effect tube Q8; the gate of the field effect tube Q7 is connected to the gate of the field effect tube Q8 and one end of the resistor R13, the source is connected to the source of the field effect tube Q8 and the other end of the resistor R13, and the drain is connected to the drain of the field effect tube Q10 and the end of the connector P2; the gate of the field effect tube Q9 is connected to the gate of the field effect tube Q10 and one end of the resistor R16, and the source is connected to the source of the field effect tube Q10 and the other end of the resistor R16; The in-phase end of the operational amplifier U3 among the plurality of operational amplifiers is connected to the end of the connector P1, the inverting end is connected to the end of the connector P2, the output end is connected to one end of the resistor R7 and one end of the resistor R15; the collector of the transistor Q5 is connected to one end of the resistor R5, and the base is connected to the other end of the resistor R7; the base of the transistor Q12 is connected to the other end of the resistor R15, and the collector is connected to one end of the resistor R13; the emitter of the transistor Q5, the emitter of the transistor Q12 and the ground end are connected.

[0004] Furthermore, the in-phase end of the operational amplifier U2 among the plurality of operational amplifiers is connected to one end of the resistor R9 and one end of the resistor R11, the inverting end is connected to one end of the resistor R7 and one end of the resistor R12, and the output end is connected to one end of the resistor R8 and one end of the resistor R14; the collector of the transistor Q6 is connected to one end of the resistor R6, and the base is connected to the other end of the resistor R8; the collector of the transistor Q11 is connected to one end of the resistor R16, and the base is connected to the other end of the resistor R14; the other end of the resistor R11 is connected to the power supply; the emitter of the transistor Q6, the emitter of the transistor Q11, the other end of the resistor R9, the other end of the resistor R12 are connected to the ground end.

[0005] Furthermore, the op amp U1 among the plurality of op amps has a common-phase end connected to one end of the resistor R1 and one end of the resistor R2, an inverting end connected to one end of the resistor R3 and one end of the resistor R4, and an output end connected to the other end of the resistor R3; the other end of the resistor R1 is connected to the drain of the field effect transistor Q2; the other end of the resistor R4 is connected to the drain of the field effect transistor Q3; and the other end of the resistor R2 is connected to the ground end.

[0006] Furthermore, the source of the field effect transistor Q13 among the plurality of field effect transistors is connected to the output end of the operational amplifier U1, the base is connected to the end of the connector P3, the drain is connected to one end of the resistor R18 and the end of the connector P4; the other end of the resistor R18 is connected to the ground end.

[0007] Furthermore, one end of the resistor R17 among the plurality of resistors is connected to the gate of the field effect transistor Q13, and the other end is connected to the ground.

[0008] Furthermore, a steering gear control method comprises the following steps: S1. Convert the two basic signals, the actual angle and the target angle, into pressure values; S2. Feedback the corresponding direction control signal based on the amplitude of the actual angle and the target angle, and automatically isolate and replace the two basic signals based on the direction control signal; S3. Perform compensation operation on the two replaced base signals and feed back the compensation signal; S4. Make the motor perform compensatory rotation based on the compensation signal.

[0009] The beneficial effects of the present invention compared with the prior art are: The present invention can automatically isolate and replace the actual angle signal and the target angle signal based on the direction control signal, so that the lower-level circuit can perform compensation calculations based on the two basic signals while preventing the two basic signals from influencing each other during the replacement period. After the servo completes the initial rotation to the target angle each time, the motor can be compensated for by the PWM signal when it is at the falling edge, thereby eliminating the error before the second rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the prior art and the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 This is a circuit structure diagram provided by the present invention.

[0012] Figure 2 A waveform diagram of the basic signal replacement period provided by the present invention. DETAILED DESCRIPTION

[0013] In order to make the objects and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific implementations of the present invention, and does not strictly limit the scope of protection specifically requested by the present invention.

[0014] The present invention discloses a steering gear control circuit, comprising a plurality of field effect tubes, a plurality of resistors, a plurality of connectors, a plurality of operational amplifiers, and a plurality of triodes; the plurality of field effect tubes include a field effect tube Q1, a field effect tube Q2, a field effect tube Q3, a field effect tube Q4, a field effect tube Q7, a field effect tube Q8, a field effect tube Q9, a field effect tube Q10, and a field effect tube Q12; the plurality of resistors include a resistor R5, a resistor R6, a resistor R7, a resistor R13, a resistor R15, and a resistor R16; the plurality of connectors include a connector P1 and a connector P2; the plurality of operational amplifiers include an operational amplifier U3; the plurality of triodes include a triode Q5; The gate of the field effect tube Q1 among the several field effect tubes is connected to the gate of the field effect tube Q2 and one end of the resistor R5, the source is connected to the source of the field effect tube Q2 and the other end of the resistor R5, and the drain is connected to the drain of the field effect tube Q4 and the end of the connector P1; the drain of the field effect tube Q2 is connected to the drain of the field effect tube Q9; the gate of the field effect tube Q3 is connected to the gate of the field effect tube Q4 and one end of the resistor R6, the source is connected to the source of the field effect tube Q4 and the other end of the resistor R6, and the drain is connected to the drain of the field effect tube Q8; the gate of the field effect tube Q7 is connected to the gate of the field effect tube Q8 and one end of the resistor R13, the source is connected to the source of the field effect tube Q8 and the other end of the resistor R13, and the drain is connected to the drain of the field effect tube Q10 and the end of the connector P2; the gate of the field effect tube Q9 is connected to the gate of the field effect tube Q10 and one end of the resistor R16, and the source is connected to the source of the field effect tube Q10 and the other end of the resistor R16.

[0015] The in-phase end of the operational amplifier U3 among the plurality of operational amplifiers is connected to the end of the connector P1, the inverting end is connected to the end of the connector P2, the output end is connected to one end of the resistor R7 and one end of the resistor R15; the collector of the transistor Q5 is connected to one end of the resistor R5, and the base is connected to the other end of the resistor R7; the base of the transistor Q12 is connected to the other end of the resistor R15, and the collector is connected to one end of the resistor R13; the emitter of the transistor Q5, the emitter of the transistor Q12 and the ground end are connected.

[0016] Specifically, the plurality of resistors further include resistor R8, resistor R9, resistor R11, resistor R12, and resistor R14; the plurality of operational amplifiers further include operational amplifier U2; the plurality of transistors further include transistor Q6 and transistor Q11; The operational amplifier U2 among the plurality of operational amplifiers has a common-phase end connected to one end of the resistor R9 and one end of the resistor R11, an inverting end connected to one end of the resistor R7 and one end of the resistor R12, and an output end connected to one end of the resistor R8 and one end of the resistor R14; the collector of the transistor Q6 is connected to one end of the resistor R6, and the base is connected to the other end of the resistor R8; the collector of the transistor Q11 is connected to one end of the resistor R16, and the base is connected to the other end of the resistor R14; the other end of the resistor R11 is connected to a power supply; the emitter of the transistor Q6, the emitter of the transistor Q11, the other end of the resistor R9, the other end of the resistor R12 are connected to the ground.

[0017] Specifically, the plurality of resistors further include resistor R1, resistor R2, resistor R3, and resistor R4; the plurality of operational amplifiers include operational amplifier U1; The operational amplifier U1 among the plurality of operational amplifiers has a non-inverting end connected to one end of the resistor R1 and one end of the resistor R2, an inverting end connected to one end of the resistor R3 and one end of the resistor R4, and an output end connected to the other end of the resistor R3; the other end of the resistor R1 is connected to the drain of the field effect transistor Q2; the other end of the resistor R4 is connected to the drain of the field effect transistor Q3; and the other end of the resistor R2 is connected to the ground end.

[0018] Specifically, the plurality of resistors further include a resistor R18; the plurality of field effect transistors further include a field effect transistor Q13; the plurality of connectors further include a connector P3 and a connector P4; The source of the field effect tube Q13 among the plurality of field effect tubes is connected to the output end of the operational amplifier U1, the base is connected to the end of the connector P3, the drain is connected to one end of the resistor R18 and the end of the connector P4; the other end of the resistor R18 is connected to the ground end.

[0019] Specifically, the plurality of resistors further include a resistor R17; one end of the resistor R17 among the plurality of resistors is connected to the gate of the field effect transistor Q13, and the other end is connected to the ground.

[0020] Specifically, a steering gear control method comprises the following steps: S1. Convert the two basic signals, the actual angle and the target angle, into pressure values; S2. Feedback the corresponding direction control signal based on the amplitude of the actual angle and the target angle, and automatically isolate and replace the two basic signals based on the direction control signal; S3. Perform compensation operation on the two replaced base signals and feed back the compensation signal; S4. Make the motor perform compensatory rotation based on the compensation signal.

[0021] See attached Figure 1 The circuit structure diagram includes three operational amplifiers, seventeen resistors, four connectors, four triodes, and nine field effect tubes. The servo is equipped with an encoder, a detection circuit, an H-bridge circuit, a compensation circuit, and a PWM signal generating circuit. One end of the connector P1 / connector P2 receives the actual angle signal of the servo, and the other end receives the target angle signal of the servo. The actual angle signal of the servo is detected by the magnetic encoder / photoelectric encoder and converted into a corresponding voltage value signal and fed back to the control circuit. The target angle signal of the servo is detected by the detection circuit. The PWM signal duty cycle output by the PWM signal generating circuit is converted into a corresponding voltage value signal and fed back to the control circuit. When the servo is running, the target angle signal is fed back to the PWM signal generating circuit manually or by the terminal. The PWM signal generating circuit feeds back a PWM signal of the corresponding duty cycle to the H-bridge circuit based on the signal amplitude. When the PWM When the signal is on the rising edge, the H-bridge circuit adjusts the current direction of the PWM signal based on the direction signal fed back by the control circuit to make the motor rotate accordingly. When the PWM signal is on the falling edge, the motor stops rotating, and the signal obtained by connector P1 is synchronously fed back to the in-phase terminal of op amp U3, and the signal obtained by connector P2 is synchronously fed back to the inverting terminal of op amp U3. When the angle signal amplitude is higher than the set signal amplitude, op amp U3 outputs, otherwise it is cut off. The signal at the output end of op amp U3 is the direction control signal. When the signal at the output end of op amp U3 is high / low, it corresponds to two control directions respectively. The direction control signal is synchronously fed back to the H-bridge circuit to control the forward / reverse rotation of the motor. The control direction (forward / reverse rotation) corresponding to the high / low level of the control signal can be adjusted by replacing the connection method of connector P1 and connector P2 or by adjusting the control method of the H-bridge circuit.

[0022] The signal obtained by connector P1 forms a voltage drop after passing through the body transistor of field effect transistor Q1, and the voltage drop value is the conduction voltage drop of the body transistor of field effect transistor Q1. The source extreme signal of field effect transistor Q1 is fed back to the gate of field effect transistor Q1 and the gate of field effect transistor Q2 through resistor R5, and field effect transistors Q1 and Q2 are cut off. At the same time, the signal obtained by connector P1 forms a voltage drop after passing through the body transistor of field effect transistor Q4, and the voltage drop value is the conduction voltage drop of the body transistor of field effect transistor Q4. The source extreme signal of field effect transistor Q4 is fed back to the gate of field effect transistor Q3 and the gate of field effect transistor Q4 through resistor R6, and field effect transistors Q3 and Q4 are cut off. The signal obtained by connector P2 forms a voltage drop after passing through the body transistor of field effect transistor Q7, and the voltage The drop value is the conduction voltage drop of the body transistor of field effect transistor Q7. The source terminal signal of field effect transistor Q7 is fed back to the gate of field effect transistor Q7 and the gate of field effect transistor Q8 through resistor R13. Field effect transistors Q7 and Q8 are cut off. At the same time, the signal obtained by connector P2 forms a voltage drop after passing through the body transistor of field effect transistor Q10. The voltage drop value is the conduction voltage drop of the body transistor of field effect transistor Q10. The source terminal signal of field effect transistor Q10 is fed back to the gate of field effect transistor Q9 and the gate of field effect transistor Q10 through resistor R16. Field effect transistors Q9 and Q10 are cut off. When operational amplifier U3 outputs, the output terminal signal of operational amplifier U3 passes through resistor R7, the base of transistor Q5, and the emitter of transistor Q5 to the ground terminal, and transistor Q5 is turned on. , the potential of the gate of field effect tube Q1 and the gate of field effect tube Q2 is pulled down, field effect tube Q1 and field effect tube Q2 are turned on, and at the same time, the signal at the output end of op amp U3 is connected to the ground through resistor R15, base of transistor Q12, and emitter of transistor Q12, transistor Q12 is turned on, the potential of the gate of field effect tube Q7 and the gate of field effect tube Q8 is pulled down, field effect tube Q7 and field effect tube Q8 are turned on, the power supply signal is connected to the ground through resistor R11 and resistor R9, the signal at resistor R9 is fed back to the in-phase end of op amp U2, resistor R12 is the pull-down resistor of the inverting end of op amp U2, when op amp U3 is cut off, op amp U2 outputs, and the signal at the output end of op amp U2 is connected to the ground through resistor R8, base of transistor Q6, and emitter of transistor Q6, Transistor Q6 is turned on, the potential of the gate terminal of field effect transistor Q3 and field effect transistor Q4 is pulled low, field effect transistor Q3 and field effect transistor Q4 are turned on, and at the same time, the output signal of operational amplifier U2 is connected to the ground terminal through resistor R14, base terminal of transistor Q11 and emitter terminal of transistor Q11, transistor Q11 is turned on, the potential of the gate terminal of field effect transistor Q9 and field effect transistor Q10 is pulled low, field effect transistor Q9 and field effect transistor Q10 are turned on, so that when the control circuit feeds back the direction control signal, the amplitudes of the two basic signals of connector P1 and connector P2 can be automatically isolated and replaced based on the direction control signal, so that the lower-level circuit can perform compensation operation based on the two basic signals while preventing the two basic signals from affecting each other during the replacement.

[0023] When the op amp U3 is outputting, the signal at the connector P1 end is fed to the ground end through the drain of the field effect tube Q1, the source of the field effect tube Q1, the source of the field effect tube Q2, the drain of the field effect tube Q2, the resistor R1, and the resistor R2. The signal at the resistor R2 end is fed back to the in-phase end of the op amp U1. The signal at the connector P2 end is fed back to the inverting end of the op amp U1 through the drain of the field effect tube Q7, the source of the field effect tube Q7, the source of the field effect tube Q8, the drain of the field effect tube Q8, and the resistor R4. When the op amp U3 is turned off, the signal at the connector P1 is fed back to the inverting end of the op amp U1 through the drain of the field effect tube Q4, the source of the field effect tube Q4, and the source of the field effect tube Q3. , field effect tube Q3 drain, resistor R4 and then feedback to the inverting terminal of op amp U1. The connector P2 signal passes through the field effect tube Q10 drain, field effect tube Q10 source, field effect tube Q9 source, field effect tube Q9 drain, resistor R1, resistor R2 to the ground terminal. The output of op amp U1 is negatively feedback connected to the inverting terminal of op amp U1 through resistor R3 and the inverting terminal of op amp U1, so that op amp U1 can output the difference signal between connector P1 and connector P2. This signal is also a compensation signal. The PWM signal is synchronously fed back to the control circuit connector P3. When the signal is at the rising edge of the current cycle, connector P3 The end signal is fed back to the gate of the field effect tube Q13. The resistor R17 is used to release the parasitic capacitance of the gate of the field effect tube Q13. The voltage difference between the gate of the field effect tube Q13 and the source of the field effect tube Q13 is higher than the conduction threshold, and the field effect tube Q13 is cut off. In this way, when the servo obtains the rising edge signal of the current cycle and rotates to the target angle, the feedback of the compensation signal is stopped. When the PWM signal is at the falling edge of the current cycle, the field effect tube Q13 is turned on, and the compensation signal is connected to the ground terminal through the source of the field effect tube Q13, the drain of the field effect tube Q13, and the resistor R18. The signal at the end of the resistor R18 is connected to the ground terminal through the connector P4 is fed back to the compensation unit, and the direction control signal is synchronously fed back to the compensation unit. When the compensation unit obtains the direction control signal and the compensation signal feedback, the motor is caused to perform compensatory rotation. When the motor compensation rotation makes the signal amplitudes of connectors P1 and P2 consistent, the difference between connectors P1 and P2 is zero, the op amp U1 has no signal output, the compensation unit loses the compensation signal feedback, and the motor stops rotating. In this way, after the servo completes the initial rotation to the target angle each time, the motor is compensated for during the period when the PWM signal is on the falling edge, thereby eliminating the error before the second rotation.

[0024] See attached Figure 1 , Attachment Figure 2At present, when eliminating errors, the servo will give priority to setting a predetermined detection point (detection angle) and an upper limit of the allowable error threshold. When the servo is initially powered on, the accumulated error during the last servo operation is eliminated. If the error accumulates to the upper limit of the allowable error threshold during this operation, the servo will rotate to the detection point and complete the compensation operation and error elimination. This error elimination method will increase the invalid operation rotation of the servo. The purpose of this application is to solve the invalid operation rotation of the servo due to error elimination. First, by setting the P2 end to receive the set angle signal (fed back by V1 simulation), the P1 end receives the actual angle signal (fed back by V2 simulation, and the signal amplitude obtained by the P1 end is changed by sliding R02). The waveforms from top to bottom correspond to the first detection end to the fourth detection end of the oscilloscope respectively. The first detection end of the oscilloscope detects the signal obtained by the P1 end, the second detection end of the oscilloscope detects the signal obtained by the P2 end, and the third detection end and the fourth detection end of the oscilloscope detect the replacement state of the two basic signals. When the signal amplitude of the actual angle changes below the signal amplitude of the set angle, the waveform of the fourth detection end is different from the waveform of the first detection end. Figure 1 The waveform of the second detection end is consistent with the waveform of the third detection end. Figure 1 That is, the signal of the fourth detection end follows the signal of the first detection end, and the signal of the third detection end follows the signal of the second detection end. When the signal amplitude of the actual angle is higher than the signal amplitude of the set angle and changes above it, the two basic signals are isolated and replaced. At this time, the waveform of the first detection end is different from the waveform of the third detection end. Figure 1 The waveform of the second detection end is similar to the waveform of the fourth detection end. Figure 1 That is, the signal of the third detection end follows the signal of the first detection end, and the signal of the fourth detection end follows the signal of the second detection end. The control direction of the compensation is determined by detecting the actual angle and the set angle, and based on this, the isolation and replacement of the basic signal is completed, so that when the servo is performing error elimination, there is no need to rotate to the detection point for compensation calculation first. At the same time, the operational amplifier U1 automatically performs compensation operation on the two replaced basic signals, so that the servo can perform a compensation operation (i.e. tracking compensation operation) every time it obtains the set angle signal and rotates towards it, and the PWM signal feedback is synchronously obtained by the connector P3. When the servo completes the rotation to the set angle, its PWM signal is on the falling edge, and the field effect tube Q13 is output, so that the compensation signal can be fed back to the compensation unit during the period when it is on the falling edge, thereby completing the error compensation before the servo rotates for the second time.

[0025] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and scope of the equivalent elements of the claims be included in the invention. Any marking in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A steering gear control circuit, characterized in that: Including several field effect tubes, several resistors, several connectors, several operational amplifiers, and several triodes; The gate of the field effect tube Q1 among the several field effect tubes is connected to the gate of the field effect tube Q2 and one end of the resistor R5, the source is connected to the source of the field effect tube Q2 and the other end of the resistor R5, and the drain is connected to the drain of the field effect tube Q4 and the end of the connector P1; the drain of the field effect tube Q2 is connected to the drain of the field effect tube Q9; the gate of the field effect tube Q3 is connected to the gate of the field effect tube Q4 and one end of the resistor R6, the source is connected to the source of the field effect tube Q4 and the other end of the resistor R6, and the drain is connected to the drain of the field effect tube Q8; the gate of the field effect tube Q7 is connected to the gate of the field effect tube Q8 and one end of the resistor R13, the source is connected to the source of the field effect tube Q8 and the other end of the resistor R13, and the drain is connected to the drain of the field effect tube Q10 and the end of the connector P2; The gate of the field effect transistor Q9 is connected to the gate of the field effect transistor Q10 and one end of the resistor R16, and the source is connected to the source of the field effect transistor Q10 and the other end of the resistor R16; The in-phase end of the operational amplifier U3 among the plurality of operational amplifiers is connected to the end of the connector P1, the inverting end is connected to the end of the connector P2, the output end is connected to one end of the resistor R7 and one end of the resistor R15; the collector of the transistor Q5 is connected to one end of the resistor R5, and the base is connected to the other end of the resistor R7; the base of the transistor Q12 is connected to the other end of the resistor R15, and the collector is connected to one end of the resistor R13; the emitter of the transistor Q5, the emitter of the transistor Q12 and the ground end are connected.

2. The steering gear control circuit according to claim 1, characterized in that: The operational amplifier U2 among the plurality of operational amplifiers has a common-phase end connected to one end of the resistor R9 and one end of the resistor R11, an inverting end connected to one end of the resistor R7 and one end of the resistor R12, and an output end connected to one end of the resistor R8 and one end of the resistor R14; the collector of the transistor Q6 is connected to one end of the resistor R6, and the base is connected to the other end of the resistor R8; the collector of the transistor Q11 is connected to one end of the resistor R16, and the base is connected to the other end of the resistor R14; the other end of the resistor R11 is connected to a power supply; the emitter of the transistor Q6, the emitter of the transistor Q11, the other end of the resistor R9, the other end of the resistor R12 are connected to the ground.

3. The steering gear control circuit according to claim 1, characterized in that: The operational amplifier U1 among the plurality of operational amplifiers has a non-inverting end connected to one end of the resistor R1 and one end of the resistor R2, an inverting end connected to one end of the resistor R3 and one end of the resistor R4, and an output end connected to the other end of the resistor R3; the other end of the resistor R1 is connected to the drain of the field effect transistor Q2; the other end of the resistor R4 is connected to the drain of the field effect transistor Q3; and the other end of the resistor R2 is connected to the ground end.

4. The steering gear control circuit according to claim 3, characterized in that: The source of the field effect tube Q13 among the plurality of field effect tubes is connected to the output end of the operational amplifier U1, the base is connected to the end of the connector P3, the drain is connected to one end of the resistor R18 and the end of the connector P4; the other end of the resistor R18 is connected to the ground end.

5. The steering gear control circuit according to claim 4, characterized in that: One end of the resistor R17 among the plurality of resistors is connected to the gate of the field effect transistor Q13, and the other end is connected to the ground.

6. A steering gear control method, characterized in that: The steps include: S1. Convert the two basic signals, the actual angle and the target angle, into pressure values; S2. Feedback the corresponding direction control signal based on the amplitude of the actual angle and the target angle, and automatically isolate and replace the two basic signals based on the direction control signal; S3. Perform compensation operation on the two replaced base signals and feed back the compensation signal; S4. Make the motor perform compensatory rotation based on the compensation signal.

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