Dual-redundancy servo controller motor control circuit

Abstract

The invention provides a dual-redundancy servo controller motor control circuit, and relates to the technical field of servo control, and the circuit comprises a drive control sub-circuit which is used for driving the on-off control of a power supply; and the Hall control sub-circuit is connected with the driving control sub-circuit and is used for controlling on and off of a Hall power supply. The signal input end of the drive control sub-circuit and the signal input end of the Hall control sub-circuit are connected to a control chip at the same time. The circuit can effectively cut off the control power supply of the backup redundancy control channel and the power supply of the Hall device at the same time, and prevents the control channel in the backup redundancy from influencing the speed of the actuator.

Description

Technical Field

[0001] The invention relates to the technical field of servo control, and in particular provides a dual-redundancy servo controller motor control circuit. Background Art

[0002] When the dual-redundancy servo controller adopts the active-standby working mode, if the backup-redundancy motor winding or Hall device is still in the power supply state, the backup-redundancy motor winding will generate back electromotive force, affecting the speed of the actuator.

[0003] Therefore, it is necessary to provide a circuit to effectively cut off the control power supply and the Hall device power supply of the backup redundancy actuator at the same time to prevent the control channel in the backup redundancy from affecting the actuator speed. Summary of the invention

[0004] The purpose of the present application is to solve the problem in the prior art that a control channel in backup redundancy may affect an actuator, and to propose a circuit that can effectively cut off the control power supply of the backup redundancy control channel and the power supply of the Hall device.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: a dual-redundancy servo controller motor control circuit, the control circuit comprising:

[0006] A drive control subcircuit, used for driving power supply on and off control;

[0007] The Hall control subcircuit is connected to the drive control subcircuit and is used for on-off control of the Hall power supply.

[0008] The signal input end of the drive control subcircuit and the signal input end of the Hall control subcircuit are simultaneously connected to the control chip.

[0009] The dual-redundancy servo controller motor control circuit provided by the present invention also has the following technical features: the drive control subcircuit comprises: a third resistor having one end connected to the control chip, a first diode having a positive electrode connected to the other end of the third resistor, a first transistor having a base connected to the negative electrode of the first diode, a second resistor connected to the collector of the first transistor, a MOS transistor having a control electrode connected to the other end of the second resistor, a first capacitor connected between the source electrode and the control electrode of the MOS transistor, and a first resistor connected in parallel with the first capacitor and connected between the source electrode and the control electrode of the MOS transistor.

[0010] The source of the MOS tube is connected to the DR_PR power supply.

[0011] The emitter of the first transistor is connected to the power ground.

[0012] The dual-redundancy servo controller motor control circuit provided by the present invention also has the following technical features: the Hall control subcircuit comprises: a fourth resistor having one end connected to the control chip, a second diode having a positive electrode connected to the other end of the fourth resistor, a fifth resistor connected between the positive electrode of the second diode and the signal ground, a third capacitor connected between the positive electrode of the second diode and the signal ground, a second triode having a base connected to the negative electrode of the second diode, an emitter of the second triode connected to the signal ground, a sixth resistor having one end connected to the collector of the second triode, a third triode having a base connected to the other end of the sixth resistor, and a seventh resistor connected between the base of the third triode and the HL_PR power supply.

[0013] The emitter of the third transistor is connected to the HL_PR power supply.

[0014] The collector of the third transistor is connected to the anode of the third diode.

[0015] The dual-redundancy servo controller motor control circuit provided by the present invention also has the following technical features: when the control signal sent by the control chip is at a high level, the first transistor is turned on, the MOS transistor is turned on, and the DR_PR power supply outputs the DrivePR power supply after passing through the MOS transistor to supply power to the motor winding of the dual-redundancy servo controller control channel; at the same time, the second transistor is turned on, the third transistor is turned on, and the HL_PR power supply outputs the Hall PR power supply through the third transistor to supply power to the Hall element of the motor of the dual-redundancy servo controller control channel.

[0016] The dual-redundancy servo controller motor control circuit provided by the present invention also has the following technical features: when the control signal sent by the control chip is at a low level, the first transistor is cut off, the MOS tube is not turned on, and the motor control power supply output terminal DrivePR power supply has no output; at the same time, the second transistor is cut off, the third transistor is cut off, and the motor Hall element power supply output terminal Hall PR power supply has no output.

[0017] Beneficial Effects

[0018] The dual-redundancy servo controller motor control circuit proposed in the present invention can effectively cut off the control power supply of the backup redundancy control channel and the power supply of the Hall device at the same time, thereby preventing the control channel in the backup redundancy from affecting the actuator speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 The schematic diagram of the motor control circuit of the dual-redundancy servo controller provided by the present invention. DETAILED DESCRIPTION

[0021] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.

[0022] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the creation of the present application.

[0023] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0024] The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention of this application can be understood by specific circumstances.

[0025] like Figure 1 As shown, an embodiment of the present application provides a dual-redundancy servo controller motor control circuit, the control circuit comprising:

[0026] A drive control subcircuit, used for driving power supply on and off control;

[0027] The Hall control subcircuit is connected to the drive control subcircuit and is used for on-off control of the Hall power supply.

[0028] The signal input end of the drive control subcircuit and the signal input end of the Hall control subcircuit are simultaneously connected to the control chip.

[0029] In some embodiments, the drive control subcircuit includes: a third resistor R3 connected to the control chip at one end, a first diode D1 connected to the anode of the third resistor R3 at the other end, a first transistor Q1 connected to the cathode of the first diode D1 at the base, a second resistor R2 connected to the collector of the first transistor Q1, a MOS transistor connected to the control electrode at the other end of the second resistor R2, a first capacitor C1 connected between the source and the control electrode of the MOS transistor, and a first resistor R1 connected in parallel with the first capacitor C1 and connected between the source and the control electrode of the MOS transistor.

[0030] The source of the MOS tube is connected to the DR_PR power supply.

[0031] The emitter of the first transistor Q1 is connected to the power ground.

[0032] In some embodiments, the Hall control subcircuit includes: a fourth resistor R4 having one end connected to the control chip, a second diode D2 having a positive electrode connected to the other end of the fourth resistor R4, a fifth resistor R5 connected between the positive electrode of the second diode D2 and the signal ground, a third capacitor C3 connected between the positive electrode of the second diode D2 and the signal ground, a second transistor Q2 having a base connected to the negative electrode of the second diode D2, an emitter of the second transistor Q2 connected to the signal ground, a sixth resistor R6 having one end connected to the collector of the second transistor Q2, a third transistor Q3 having a base connected to the other end of the sixth resistor R6, and a seventh resistor R7 connected between the base of the third transistor Q3 and the HL_PR power supply.

[0033] The emitter of the third transistor Q3 is connected to the HL_PR power supply.

[0034] The collector of the third transistor Q3 is connected to the anode of the third diode D3.

[0035] In some embodiments, when the control signal emitted by the control chip is at a high level, the first transistor Q1 is turned on, the MOS tube is turned on, and the DR_PR power supply outputs the Dr ivePR power supply after passing through the MOS tube to supply power to the motor winding of the control channel of the dual-redundancy servo controller; at the same time, the second transistor Q2 is turned on, the third transistor is turned on, and the HL_PR power supply outputs the Hall PR power supply through the third transistor Q3 to supply power to the Hall element of the motor of the control channel of the dual-redundancy servo controller.

[0036] In some embodiments, when the control signal emitted by the control chip is at a low level, the first transistor Q1 is cut off, the MOS tube is not turned on, and the motor control power supply output terminal DrivePR power supply has no output; at the same time, the second transistor Q2 is cut off, the third transistor Q3 is cut off, and the motor Hall element power supply output terminal Hall PR power supply has no output.

[0037] In some embodiments, the driving sub-circuit: MOS pinch-off voltage = DR_PR*R1 / (R1+R2), taking the current of Q1 when it is turned on as 10 mA, calculate the resistance values ​​of the first resistor R1 and the second resistor R2;

[0038] Hall control subcircuit: Q3 turn-on voltage = HL_PR*R7 / (R7+R6), Q3 turn-on voltage is greater than or equal to 0.7V, the current is 6mA, and the resistance values ​​of the sixth resistor R6 and the seventh resistor R7 are calculated.

[0039] The working principle of the circuit provided in any of the above embodiments is as follows:

[0040] A motor control circuit of a redundant servo controller is designed in each of the main control channel and the standby control channel. When the motor winding of the main control channel is powered by the Hall element, the motor control power supply output terminal DrivePR power supply and the Hall power supply output terminal Hall PR power supply of the motor winding of the standby control channel have no output; when the motor winding of the standby control channel is powered by the Hall element, the motor control power supply output terminal DrivePR power supply and the Hall power supply output terminal Hall PR power supply of the main motor winding have no output; the phenomenon that the motor control power supply output terminal DrivePR power supply and the Hall power supply output terminal Hall PR power supply of the main and standby channels cannot have output at the same time, which will affect the output speed of the actuator of the servo controller control channel.

[0041] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A dual-redundancy servo controller motor control circuit, characterized in that: The control circuit comprises: A drive control subcircuit, used for driving power supply on and off control; The Hall control subcircuit is connected to the drive control subcircuit and is used for the Hall power supply on and off control. The signal input end of the drive control subcircuit and the signal input end of the Hall control subcircuit are simultaneously connected to the control chip.

2. The dual-redundancy servo controller motor control circuit according to claim 1, characterized in that: The drive control subcircuit comprises: a third resistor having one end connected to the control chip, a first diode having a positive electrode connected to the other end of the third resistor, a first transistor having a base connected to the cathode of the first diode, a second resistor connected to the collector of the first transistor, a MOS transistor having a control electrode connected to the other end of the second resistor, a first capacitor connected between the source electrode and the control electrode of the MOS transistor, and a first resistor connected in parallel with the first capacitor and connected between the source electrode and the control electrode of the MOS transistor. The source of the MOS tube is connected to the DR_PR power supply. The emitter of the first transistor is connected to the power ground.

3. The dual-redundancy servo controller motor control circuit according to claim 1, characterized in that: The Hall control subcircuit includes: a fourth resistor connected to the control chip at one end, a second diode connected to the anode of the fourth resistor at the other end, a fifth resistor connected between the anode of the second diode and the signal ground, a third capacitor connected between the anode of the second diode and the signal ground, a second transistor with a base connected to the cathode of the second diode, an emitter of the second transistor connected to the signal ground, a sixth resistor connected to the collector of the second transistor at one end, a third transistor connected to the base of the other end of the sixth resistor, and a seventh resistor connected between the base of the third transistor and the HL_PR power supply. The emitter of the third transistor is connected to the HL_PR power supply. The collector of the third transistor is connected to the anode of the third diode.

4. The dual-redundancy servo controller motor control circuit according to claim 1, characterized in that: When the control signal emitted by the control chip is at a high level, the first transistor is turned on, the MOS tube is turned on, and the DR_PR power supply outputs the DrivePR power supply after passing through the MOS tube to supply power to the motor winding of the control channel of the dual-redundancy servo controller; at the same time, the second transistor is turned on, the third transistor is turned on, and the HL_PR power supply outputs the HallPR power supply through the third transistor to supply power to the Hall element of the motor of the control channel of the dual-redundancy servo controller.

5. The dual-redundancy servo controller motor control circuit according to claim 1, characterized in that: When the control signal emitted by the control chip is at a low level, the first transistor is cut off, the MOS tube is not turned on, and the motor control power supply output terminal DrivePR power supply has no output; at the same time, the second transistor is cut off, the third transistor is cut off, and the motor Hall element power supply output terminal HallPR power supply has no output.

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