A servo control circuit and its control method

Abstract

The present invention discloses a servo control circuit and its control method, including several field effect transistors, several resistors, and several connectors; the gate of field effect transistor Q1, the gate of field effect transistor Q2, and resistor R5 are connected, the source is connected to the source of field effect transistor Q2 and resistor R5, and the drain is connected to the drain of field effect transistor Q4 and the P1 terminal of the connector; the drain of field effect transistor Q2 is connected to the drain of field effect transistor Q9; the gate of field effect transistor Q3, the gate of field effect transistor Q4, and resistor R6 are connected, the source is connected to the source of field effect transistor Q4 and resistor R6, and the drain is connected to the drain of field effect transistor Q8; the gate of field effect transistor Q7, the gate of field effect transistor Q8, and resistor R13 are connected, the source is connected to the source of field effect transistor Q8 and resistor R13, and the drain is connected to the drain of field effect transistor Q10 and the P2 terminal of the connector; the gate of field effect transistor Q9, the gate of field effect transistor Q10, and resistor R16 are connected, the source is connected to the source of field effect transistor Q10 and resistor R16.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and particularly relates to a servo control circuit and a control method thereof. Background Art

[0002] After the servo is initially powered on, it will preferentially feedback a specific control signal to rotate the servo to a predetermined position, measure the actual response position of the servo, and then perform compensation adjustment according to the error. However, after the servo has been in motion for a long time, due to mechanical factors or environmental temperature factors, it will accumulate errors, resulting in inaccurate positioning. Therefore, a servo control circuit and a 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. After each time the servo completes the initial rotation to the target angle, during the falling edge of the PWM signal, the motor is compensated and rotated to eliminate the error 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 servo control circuit, including a plurality of field effect transistors, a plurality of resistors, a plurality of connectors, a plurality of operational amplifiers, and a plurality of triodes;

[0004] The gates of the field effect transistors Q1 and Q2 among the plurality of field effect transistors are connected to one end of the resistor R5, the sources are connected to the source of the field effect transistor Q2 and the other end of the resistor R5, and the drains are connected to the drain of the field effect transistor Q4 and the terminal P1 of the connector; the drain of the field effect transistor Q2 is connected to the drain of the field effect transistor Q9; the gates of the field effect transistors Q3 and Q4 are connected to one end of the resistor R6, the sources are connected to the source of the field effect transistor Q4 and the other end of the resistor R6, and the drains are connected to the drain of the field effect transistor Q8; the gates of the field effect transistors Q7 and Q8 are connected to one end of the resistor R13, the sources are connected to the source of the field effect transistor Q8 and the other end of the resistor R13, and the drains are connected to the drain of the field effect transistor Q10 and the terminal P2 of the connector; the gates of the field effect transistors Q9 and Q10 are connected to one end of the resistor R16, and the sources are connected to the source of the field effect transistor Q10 and the other end of the resistor R16;

[0005] The non-inverting input terminal of the operational amplifier U3 among the plurality of operational amplifiers is connected to the terminal P1 of the connector, the inverting input terminal is connected to the terminal P2 of the connector, and the output terminal is connected to one end of the resistor R7 and one end of the resistor R15; the collector of the triode Q5 is connected to one end of the resistor R5, the base is connected to the other end of the resistor R7; the base of the triode Q12 is connected to the other end of the resistor R15, and the collector is connected to one end of the resistor R13; the emitters of the triodes Q5 and Q12 are connected to the ground terminal.

[0006] Further, the non-inverting input terminal of operational amplifier U2 among the several operational amplifiers is connected to one end of resistor R9 and one end of resistor R11, the inverting input terminal is connected to one end of resistor R7 and one end of resistor R12, and the output terminal is connected to one end of resistor R8 and one end of resistor R14; the collector of triode Q6 is connected to one end of resistor R6, and the base is connected to the other end of resistor R8; the collector of triode Q11 is connected to one end of resistor R16, and the base is connected to the other end of resistor R14; the other end of resistor R11 is connected to the power supply; the emitters of triode Q6 and triode Q11, the other end of resistor R9, and the other end of resistor R12 are connected to the ground terminal.

[0007] Further, the non-inverting input terminal of operational amplifier U1 among the several operational amplifiers is connected to one end of resistor R1 and one end of resistor R2, the inverting input terminal is connected to one end of resistor R3 and one end of resistor R4, and the output terminal is connected to the other end of resistor R3; the other end of resistor R1 is connected to the drain of field effect transistor Q2; the other end of resistor R4 is connected to the drain of field effect transistor Q3; the other end of resistor R2 is connected to the ground terminal.

[0008] Further, the source of field effect transistor Q13 among the several field effect transistors is connected to the output terminal of operational amplifier U1, the base is connected to terminal P3 of the connector, and the drain is connected to one end of resistor R18 and terminal P4 of the connector; the other end of resistor R18 is connected to the ground terminal.

[0009] Further, one end of resistor R17 among the several resistors is connected to the gate of field effect transistor Q13, and the other end is connected to the ground terminal.

[0010] Further, a steering gear control method includes the following steps:

[0011] S1. Perform voltage value conversion on the two basic signals of the actual angle and the target angle;

[0012] S2. Feed back the corresponding direction control signal based on the amplitudes of the actual angle and the target angle, and automatically perform isolation replacement on the two basic signals based on the direction control signal;

[0013] S3. Perform compensation operation on the two replaced basic signals and feed back the compensation signal;

[0014] S4. Make the motor perform compensated rotation based on the compensation signal.

[0015] The beneficial effects of the present invention compared with the prior art are:

[0016] The present invention can automatically isolate and replace the actual angle signal and the target angle signal based on the direction control signal, enabling the lower-level circuit to perform compensation operations based on the two basic signals while preventing the two basic signals from influencing each other during the replacement. It can make the servo motor perform a compensation rotation on the motor during the falling edge of the PWM signal every time after the initial rotation to the target angle, eliminating the error before the second rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the prior art and the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is the circuit structure diagram provided by the present invention.

[0019] Figure 2 It is the waveform schematic diagram during the replacement of the basic signals provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In order to make the purpose and advantages of the present invention clearer, the following specifically describes the present invention in combination with embodiments. It should be understood that the following text is only used to describe one or several specific implementation manners of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0021] The present invention discloses a servo control circuit, including a plurality of field effect transistors, a plurality of resistors, a plurality of connectors, a plurality of operational amplifiers, and a plurality of triodes; the plurality of field effect transistors include field effect transistor Q1, field effect transistor Q2, field effect transistor Q3, field effect transistor Q4, field effect transistor Q7, field effect transistor Q8, field effect transistor Q9, field effect transistor Q10, and field effect transistor Q12; the plurality of resistors include resistor R5, resistor R6, resistor R7, resistor R13, resistor R15, and resistor R16; the plurality of connectors include connector P1 and connector P2; the plurality of operational amplifiers include operational amplifier U3; the plurality of triodes include triode Q5.

[0022] The gate of the field effect transistor Q1, the gate of the field effect transistor Q2, and one end of the resistor R5 in the several field effect transistors are connected. The source is connected to the source of the field effect transistor Q2 and the other end of the resistor R5. The drain is connected to the drain of the field effect transistor Q4 and the terminal of the connector P1. The drain of the field effect transistor Q2 is connected to the drain of the field effect transistor Q9. The gate of the field effect transistor Q3, the gate of the field effect transistor Q4, and one end of the resistor R6 are connected. The source is connected to the source of the field effect transistor Q4 and the other end of the resistor R6. The drain is connected to the drain of the field effect transistor Q8. The gate of the field effect transistor Q7, the gate of the field effect transistor Q8, and one end of the resistor R13 are connected. The source is connected to the source of the field effect transistor Q8 and the other end of the resistor R13. The drain is connected to the drain of the field effect transistor Q10 and the terminal of the connector P2. The gate of the field effect transistor Q9, the gate of the field effect transistor Q10, and one end of the resistor R16 are connected. The source is connected to the source of the field effect transistor Q10 and the other end of the resistor R16.

[0023] The non-inverting input terminal of the operational amplifier U3 in the several operational amplifiers is connected to the terminal of the connector P1, the inverting input terminal is connected to the terminal of the connector P2, and the output terminal is connected to one end of the resistor R7 and one end of the resistor R15. The collector of the triode 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 triode Q12 is connected to the other end of the resistor R15, and the collector is connected to one end of the resistor R13. The emitters of the triode Q5 and the triode Q12 are connected to the ground terminal.

[0024] Specifically, the several resistors further include the resistor R8, the resistor R9, the resistor R11, the resistor R12, and the resistor R14. The several operational amplifiers further include the operational amplifier U2. The several triodes further include the triode Q6 and the triode Q11.

[0025] The non-inverting input terminal of the operational amplifier U2 in the several operational amplifiers is connected to one end of the resistor R9 and one end of the resistor R11. The inverting input terminal is connected to one end of the resistor R7 and one end of the resistor R12. The output terminal is connected to one end of the resistor R8 and one end of the resistor R14. The collector of the triode 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 triode 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 emitters of the triode Q6, the triode Q11, the other end of the resistor R9, and the other end of the resistor R12 are connected to the ground terminal.

[0026] Specifically, the several resistors further include the resistor R1, the resistor R2, the resistor R3, and the resistor R4. The several operational amplifiers include the operational amplifier U1.

[0027] The non-inverting input terminal of operational amplifier U1 among the several operational amplifiers is connected to one end of resistor R1 and one end of resistor R2, the inverting input terminal is connected to one end of resistor R3 and one end of resistor R4, and the output terminal is connected to the other end of resistor R3; the other end of resistor R1 is connected to the drain of field effect transistor Q2; the other end of resistor R4 is connected to the drain of field effect transistor Q3; the other end of resistor R2 is connected to the ground terminal.

[0028] Specifically, the several resistors further include resistor R18; the several field effect transistors further include field effect transistor Q13; the several connectors further include connectors P3 and P4;

[0029] The source of field effect transistor Q13 among the several field effect transistors is connected to the output terminal of operational amplifier U1, the base is connected to the terminal of connector P3, and the drain is connected to one end of resistor R18 and the terminal of connector P4; the other end of resistor R18 is connected to the ground terminal.

[0030] Specifically, the several resistors further include resistor R17; one end of resistor R17 among the several resistors is connected to the gate of field effect transistor Q13, and the other end is connected to the ground terminal.

[0031] Specifically, a servo control method includes the following steps:

[0032] S1. Perform voltage value conversion on the two basic signals of the actual angle and the target angle;

[0033] S2. Feed back the corresponding direction control signal based on the amplitudes of the actual angle and the target angle, and automatically perform isolation replacement on the two basic signals based on the direction control signal;

[0034] S3. Perform compensation operation on the two replaced basic signals and feed back the compensation signal;

[0035] S4. Make the motor perform compensated rotation based on the compensation signal.

[0036] Refer to the appendix Figure 1, the circuit structure diagram includes a total of three operational amplifiers, seventeen resistors, four connectors, four triodes, and nine field effect transistors. An encoder, a detection circuit, an H-bridge circuit, a compensation circuit, and a PWM signal generation circuit are provided inside the servo. Either end of 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 a magnetic encoder / optical encoder and converted into a corresponding voltage signal and fed back to the control circuit. The target angle signal of the servo is detected by the detection circuit for the duty cycle of the PWM signal output by the PWM signal generation circuit and converted into a corresponding voltage signal and fed back to the control circuit. When the servo is running, the target angle signal is fed back to the PWM signal generation circuit manually or by a terminal. The PWM signal generation circuit feeds back a PWM signal with a corresponding duty cycle to the H-bridge circuit based on the signal amplitude. When the PWM signal is at the rising edge, the H-bridge circuit adjusts the current flow 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 at the falling edge, the motor stops rotating. The signal obtained by connector P1 is synchronously fed back to the non-inverting terminal of operational amplifier U3, and the signal obtained by connector P2 is synchronously fed back to the inverting terminal of operational amplifier U3. When the amplitude of the angle signal is higher than the set signal amplitude, operational amplifier U3 outputs; otherwise, it is cut off. The signal at the output terminal of operational amplifier U3 is the direction control signal. When the signal at the output terminal of operational amplifier U3 is high level / low level, 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) corresponding to the high level / 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.

[0037] The signal obtained by connector P1 forms a voltage drop after passing through the body triode of field effect transistor Q1, and the voltage drop value is the on-voltage drop of the body triode of field effect transistor Q1. The signal at the source terminal of field effect transistor Q1 is fed back to the gates of field effect transistor Q1 and 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 triode of field effect transistor Q4, and the voltage drop value is the on-voltage drop of the body triode of field effect transistor Q4. The signal at the source terminal of field effect transistor Q4 is fed back to the gates of field effect transistor Q3 and 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 triode of field effect transistor Q7, and the voltage drop value is the on-voltage drop of the body triode of field effect transistor Q7. The signal at the source terminal of field effect transistor Q7 is fed back to the gates of field effect transistor Q7 and field effect transistor Q8 through resistor R13, and 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 triode of field effect transistor Q10, and the voltage drop value is the on-voltage drop of the body triode of field effect transistor Q10. The signal at the source terminal of field effect transistor Q10 is fed back to the gates of field effect transistor Q9 and field effect transistor Q10 through resistor R16, and field effect transistors Q9 and Q10 are cut off. When operational amplifier U3 outputs, the signal at the output terminal of operational amplifier U3 passes through resistor R7, the base of transistor Q5, the emitter of transistor Q5 to the ground terminal, and transistor Q5 conducts. The gate potentials of field effect transistor Q1 and field effect transistor Q2 are pulled down, and field effect transistors Q1 and Q2 conduct. At the same time, the signal at the output terminal of operational amplifier U3 passes through resistor R15, the base of transistor Q12, the emitter of transistor Q12 to the ground terminal, and transistor Q12 conducts. The gate potentials of field effect transistor Q7 and field effect transistor Q8 are pulled down, and field effect transistors Q7 and Q8 conduct. The power supply signal passes through resistor R11 and resistor R9 to the ground terminal, and the signal at the resistor R9 terminal is fed back to the non-inverting input terminal of operational amplifier U2. Resistor R12 is the pull-down resistor for the inverting input terminal of operational amplifier U2. When operational amplifier U3 is cut off, operational amplifier U2 outputs. The signal at the output terminal of operational amplifier U2 passes through resistor R8, the base of transistor Q6, the emitter of transistor Q6 to the ground terminal, and transistor Q6 conducts. The gate potentials of field effect transistor Q3 and field effect transistor Q4 are pulled down, and field effect transistors Q3 and Q4 conduct. At the same time, the signal at the output terminal of operational amplifier U2 passes through resistor R14, the base of transistor Q11, the emitter of transistor Q11 to the ground terminal, and transistor Q11 conducts. The gate potentials of field effect transistor Q9 and field effect transistor Q10 are pulled down, and field effect transistors Q9 and Q10 conduct. In this way, while controlling the feedback direction of the control signal in the control circuit, 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 downstream circuit can perform compensation operations based on the two basic signals while preventing the two basic signals from affecting each other during the replacement process.

[0038] When the operational amplifier U3 outputs, the signal at the P1 end of the connector passes through the drain of the field effect transistor Q1, the source of the field effect transistor Q1, the source of the field effect transistor Q2, the drain of the field effect transistor Q2, the resistor R1, the resistor R2 to the ground terminal, and the signal at the R2 terminal is fed back to the non-inverting terminal of the operational amplifier U1. The signal at the P2 end of the connector passes through the drain of the field effect transistor Q7, the source of the field effect transistor Q7, the source of the field effect transistor Q8, the drain of the field effect transistor Q8, and the resistor R4 and is then fed back to the inverting terminal of the operational amplifier U1. When the operational amplifier U3 is cut off, the P1 signal of the connector passes through the drain of the field effect transistor Q4, the source of the field effect transistor Q4, the source of the field effect transistor Q3, the drain of the field effect transistor Q3, and the resistor R4 and is then fed back to the inverting terminal of the operational amplifier U1. The P2 signal of the connector passes through the drain of the field effect transistor Q10, the source of the field effect transistor Q10, the source of the field effect transistor Q9, the drain of the field effect transistor Q9, the resistor R1, the resistor R2 to the ground terminal. The output terminal of the operational amplifier U1 is connected in negative feedback with the inverting terminal of the operational amplifier U1 through the resistor R3, enabling the operational amplifier U1 to output the difference signal between the P1 and P2 connectors. This signal is also the compensation signal, and the PWM signal is synchronously fed back to the connector P3 of the control circuit. When this signal is at the rising edge of the current cycle, the signal at the P3 end of the connector is fed back to the gate of the field effect transistor Q13. The resistor R17 is used to discharge the parasitic capacitance of the gate of the field effect transistor Q13. The voltage difference between the gate and the source of the field effect transistor Q13 is higher than the conduction threshold, and the field effect transistor Q13 is cut off. In this way, when the servo obtains the rising edge signal of the current cycle and rotates towards 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 transistor Q13 conducts, and the compensation signal passes through the source of the field effect transistor Q13, the drain of the field effect transistor Q13, and the resistor R18 to the ground terminal. The signal at the R18 terminal is fed back to the compensation unit through the connector P4, and the direction control signal is synchronously fed back to the compensation unit. When the compensation unit obtains the direction control signal and the feedback of the compensation signal, the motor performs a compensation rotation. When the motor compensation rotation makes the amplitudes of the P1 and P2 signals of the connector consistent, the difference value between the P1 and P2 connectors is zero, the operational amplifier U1 has no signal output, the compensation unit loses the feedback of the compensation signal, and the motor stops rotating. In this way, each time the servo completes the initial rotation towards the target angle, the motor is compensated and rotated during the falling edge of the PWM signal, and the error is eliminated before the second rotation.

[0039] See attached Figure 1 and attached Figure 2, currently when the servo eliminates errors, it will first set a predetermined detection point (detection angle) and the upper limit of the allowable error threshold. When the servo is initially powered on, it eliminates the cumulative error during the previous operation of the servo. If during this operation of the servo, when the error accumulates to the upper limit of the allowable error threshold, the servo rotates to the detection point and completes the compensation operation and error elimination. However, this way of error elimination will increase the ineffective operation rotation of the servo. The purpose of this application is to solve the ineffective operation rotation of the servo caused by error elimination. First, by setting the P2 terminal to receive the set angle signal (simulated feedback by V1), and the P1 terminal to receive the actual angle signal (simulated feedback by V2, and changing the signal amplitude obtained at the P1 terminal by sliding R02). The waveform diagrams from top to bottom correspond to the first detection terminal to the fourth detection terminal of the oscilloscope respectively. The first detection terminal of the oscilloscope detects the signal obtained at the P1 terminal, the second detection terminal of the oscilloscope detects the signal obtained at the P2 terminal, and the third and fourth detection terminals 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 diagram of the fourth detection terminal is Figure 1 consistent with that of the first detection terminal, and the waveform diagram of the second detection terminal is Figure 1 consistent with that of the third detection terminal, that is, the signal of the fourth detection terminal follows the signal of the first detection terminal, and the signal of the third detection terminal follows the signal of the second detection terminal. 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 diagram of the first detection terminal is Figure 1 consistent with that of the third detection terminal, and the waveform diagram of the second detection terminal is Figure 1 consistent with that of the fourth detection terminal, that is, the signal of the third detection terminal follows the signal of the first detection terminal, and the signal of the fourth detection terminal follows the signal of the second detection terminal. By detecting the actual angle and the set angle, the control direction of compensation is determined, and based on this, the isolation and replacement of the basic signals are completed, so that when the servo eliminates errors, it does not need to first rotate to the detection point for compensation calculation. At the same time, the operational amplifier U1 automatically performs a compensation operation on the two replaced basic signals, so that after the servo obtains the set angle signal and rotates towards it each time, it can perform a compensation operation (i.e., tracking compensation operation). The signal feedback of this PWM is synchronously obtained by the connector P3. When the rotation of the servo towards the set angle is completed, its PWM signal is at the falling edge, and the field effect transistor Q13 outputs, so that the compensation signal can be fed back to the compensation unit during its falling edge, and the error compensation before the second rotation of the servo is completed.

[0040] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims concerned.

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 is connected to the end of the connector P1, the inverting end is connected to the end of the connector P2, and 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 in-phase end of the operational amplifier U2 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 in-phase end of the operational amplifier U1 is connected to one end of the resistor R1 and one end of the resistor R2, the inverting end is connected to one end of the resistor R3 and one end of the resistor R4, and the output end is 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; The source of field effect transistor Q13 is connected to the output end of operational amplifier U1, the base is connected to the end of connector P3, and the drain is connected to one end of resistor R18 and the end of connector P4; the emitters of transistors Q5, Q12, Q6, and Q11 and the other ends of resistors R9, R12, R2, and R18 are grounded; the P1 end receives the actual angle signal; the P2 end receives the set angle signal; the PWM signal feedback is obtained synchronously by P3; the signal is fed back to the compensation unit via P4; the direction control signal is synchronously fed back to the compensation unit, and the compensation unit makes the motor perform compensatory rotation when obtaining the direction control signal and the compensation signal feedback.

2. The steering gear control circuit according to claim 1, 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 grounded.

3. The steering gear control circuit according to claim 1, characterized in that: The control method is as follows: 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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