Motor control system and method

Abstract

The invention belongs to the technical field of medical instrument control, and particularly relates to a motor control system and method, and the system comprises a voltage monitoring module, a motor drive activation module, a motor drive and brake module, and a position monitoring module. The voltage monitoring module is used for monitoring the voltage of a motor power supply; the motor driving activation module is used for receiving a starting signal from the key; the motor driving and braking module is used for receiving a braking or driving signal from a key and transmitting the signal to the motor driving activation module to control braking and rotation of a motor; the motor driving and braking module is also used for receiving a braking signal of the position sensor and controlling the motor to stop at a specified position; and the position monitoring module is used for monitoring a position sensor signal of the motor. The method adopts the system. According to the invention, the safety, reliability and response speed of motor control are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical device control, and in particular relates to a control system and method for a motor. Background Art

[0002] In surgeries involving cutting or ablation of human or animal tissue, it is necessary to precisely control the movement of the cutting or ablation components of the medical device, such as precise control of the translation and rotation of the cutting or ablation components, to ensure the stability and safety of the medical device. Precise control of the movement of the cutting or ablation components is often achieved through motors, which are responsible for driving the translation, rotation and other fine movements of the cutting or ablation components.

[0003] However, in the currently known fields, the control of motors, the control of motor safety, and the position control of motors for moving parts mostly rely on software. However, methods relying on software will cause problems such as high product costs, slow response speeds, and low reliability. Summary of the invention

[0004] In order to solve the technical problem that "the reliability and accuracy of the moving parts in the position control of the motor still need to be improved".

[0005] The present invention provides the following technical solutions:

[0006] First,

[0007] The present invention provides a control system for a motor, comprising a voltage monitoring module, a motor drive activation module, a motor drive and braking module, and a position monitoring module;

[0008] The voltage monitoring module is used to monitor the motor power supply voltage. If the motor power supply voltage is not within a preset range, the motor is not powered; if the motor power supply voltage is within a preset range, the motor is powered;

[0009] The motor drive activation module is used to receive a start signal from a button to activate the rotation of the motor;

[0010] The motor drive and brake module is used to receive the brake or drive signal from the button, and transmit the brake or drive signal to the motor drive activation module to control the brake and rotation of the motor; the motor drive and brake module is also used to receive the position sensor brake signal to control the motor to stop at a specified position;

[0011] The position monitoring module is used to monitor the position sensor signal of the motor and transmit the position sensor signal to the motor drive activation module; if the position sensor signal is not detected within a set time, the motor drive activation module stops the motor from rotating.

[0012] Furthermore, the motor drive and brake module also includes a motor delayed stop function part to achieve delayed stop of the motor.

[0013] Furthermore, it also includes a state indication module, which is used to display three working states of the motor, namely, a standby state, a running state, and a fault state.

[0014] Further, the motor drive and brake module includes a position sensor RC filter unit, a button RC filter unit, and a trigger holding unit;

[0015] The output ends of the position sensor RC filter unit and the button RC filter unit are connected to the trigger holding unit; the input of the position sensor RC filter unit comes from the input signal of the position sensor that measures the position of the moving part, and the input of the button RC filter unit comes from the input signal of the button that manually controls the motor state. The output end of the trigger holding unit is connected to the main enable end MAIN_ENABLE of the motor to realize the control of the motor rotation and the delayed stop function of the motor.

[0016] Furthermore, the trigger holding unit includes a first-level Schmitt trigger U6 and a D trigger U5, the output end of the first-level Schmitt trigger U6 is connected to the D trigger U5; the first input end of the first-level Schmitt trigger U6 is connected to the output of the position sensor RC filter unit, and the second input end of the first-level Schmitt trigger U6 is connected to the output end of the key RC filter unit; the first output end of the first-level Schmitt trigger U6 is connected to the clock pin of the D trigger U5, the second output end is connected to the D pin of the D trigger U5, and the output end of the D trigger U5 is connected to the motor main enable terminal MAIN_ENABLE.

[0017] Further, the pin CLR_N of the D flip-flop U5 is connected to the resistor R51 via the resistor R49, the pin PRE_N of the D flip-flop U5 is connected to the resistor R51 via the resistor R50, and the pin PRE_N of the D flip-flop U5 is grounded via the capacitor C14;

[0018] The output terminal Q_N of the D flip-flop U5 is connected to one end of the resistor R25 , the other end of the resistor R25 is connected to the motor main enable terminal MAIN_ENABLE, and the end of the resistor R25 is grounded via the capacitor C11 .

[0019] Furthermore, the voltage monitoring module includes a reference voltage source unit, a window comparator unit and a switch unit, the input end of the window comparator unit is connected to the reference voltage source unit, and the output end of the window comparator unit is connected to the switch unit; the input voltage of the reference voltage source unit is the motor power supply voltage, and the output is a reference voltage, which is used as a reference voltage for the threshold voltage of the window comparator unit; the window comparator unit also receives the divided voltage of the motor power supply voltage; the output end of the window comparator unit controls the on and off of the switch unit;

[0020] When the motor power supply voltage is not within the preset range, the switch unit is closed and no power is supplied to the motor;

[0021] When the motor power supply voltage is within a preset range, the switch unit is turned on to supply power to the motor.

[0022] Further, the window comparator unit includes operational amplifiers U3 and U2, the operational amplifier U3 is used as an upper limit comparator, the operational amplifier U2 is used as a lower limit comparator, the non-inverting input terminal of the operational amplifier U3 and the inverting input terminal of the operational amplifier U2 are connected to the motor power supply voltage via a resistor R11, and the resistor R11 is grounded after being connected in series with resistors R12 and R15; the non-inverting input terminal of the operational amplifier U3 is grounded via a capacitor C7; the inverting input terminal of the operational amplifier U2 is grounded via a capacitor C4;

[0023] The inverting input terminal of the operational amplifier U3 is connected to the reference voltage output by the reference voltage source unit through the series resistors R13 and R14, and the resistor R14 is grounded after being connected to the series resistors R16 and R17, and the inverting input terminal of the operational amplifier U3 is grounded through the capacitor C6;

[0024] The non-inverting input terminal of the operational amplifier U2 is connected to the reference voltage via the resistor R3, and the resistor R3 is connected to the ground via the series resistors R6 and R8, and the inverting input terminal of the operational amplifier U3 is connected to the ground via the capacitor C3.

[0025] Further, the switch unit includes a P-MOS transistor Q2 and a P-MOS transistor Q1 connected in series, the gate of the P-MOS transistor Q2 is connected to the output end of the operational amplifier U3 through the resistor R10 and the source of the P-MOS transistor Q2 is connected to the output end of the operational amplifier U3 through the resistor R7;

[0026] The gate of the P-MOS tube Q1 is connected to the output end of the operational amplifier U2 through the resistor R5 and the source of the P-MOS tube Q1 is connected to the output end of the operational amplifier U2 through the resistor R4. The output of the P-MOS tube Q1 is the motor system voltage used to drive the motor to work normally.

[0027] Furthermore, the position monitoring module includes a delay reset unit and a latch unit, the input end of the delay reset unit is connected to the position sensor and the button, the output end of the delay reset unit is connected to the latch unit, and the output end of the latch unit is connected to the position sensor monitoring end HALL_MONITOR of the motor. Through the signal of the position sensor monitoring end HALL_MONITOR, the motor drive and brake module adjusts the running state of the motor and controls the motor to stop at a specified position;

[0028] The position sensor outputs a feeding signal to the delay reset unit. The delay reset unit monitors the position sensor status. If the delay reset unit does not detect the position sensor signal within the set time, the delay reset unit will trigger the reset operation and output a reset signal to the latch unit. The latch unit receives the reset signal and latches the fault information.

[0029] Furthermore, the delayed reset unit includes a reset chip U8 and an N-MOS tube Q12. The watchdog input terminal of the reset chip U8 is connected to the first output terminal of the first-level Schmitt trigger U6. The manual reset terminal of the reset chip U8 is connected to one end of the resistor R62 and the drain of the N-MOS tube Q12. The other end of the resistor R62 is connected to its working voltage. The source of the N-MOS tube Q12 is grounded. A resistor R63 is connected in parallel between the source and the gate of the N-MOS tube Q12, and the gate of the N-MOS tube Q12 is connected to the key MOTOR_KEY.

[0030] Further, the latch unit includes a latch U7, a logic gate chip U9, and an N-MOS tube Q5; the reset end of the reset chip U8 is connected to the input end of the logic gate chip U9, the output end of the logic gate chip U9 is connected to the clock pin of the latch U7, the pin CLR_N of the latch U7 is connected to the drain of the N-MOS tube Q5 and one end of the capacitor C22, the other end of the capacitor C22 is grounded, the drain of the N-MOS tube Q5 is connected to its working voltage via a resistor R34, the gate of the N-MOS tube Q5 is connected to the key MOTOR_KEY via a resistor R35, and a resistor R36 and a capacitor C23 are connected in parallel between the source and the gate of the N-MOS tube Q5;

[0031] The PRE_N pin of the latch U7 is connected to one end of the resistor R53, the D pin of the latch U7 is connected to one end of the resistor R52, and the other end of the resistor R53 and the other end of the resistor R52 are connected to the VCC pin of the latch U7.

[0032] Furthermore, the input end of the motor drive activation module receives the key signal, and after filtering, directly outputs it as a manual control signal for the motor;

[0033] The input end of the motor drive activation module is also connected to the motor main enable terminal MAIN_ENABLE, passes through two field effect transistors connected in series, and one of the field effect transistors receives the position sensor monitoring signal, and the final output is connected to the motor enable terminal MOTOR_ENABLE.

[0034] Further, the motor drive activation module includes a P-MOS tube Q6, a P-MOS tube Q7, and an N-MOS tube Q8. The gate of the P-MOS tube Q6 is connected in series with a resistor R41 and then connected to the drain of the N-MOS tube Q8. The drain of the P-MOS tube Q6 is connected to its working voltage and a resistor R39. The other end of the resistor R39 is connected to one end of the resistor R41. The other end of the resistor R41 is connected to the anode of the unidirectional diode D7. The cathode of the unidirectional diode D7 is connected to the cathode of the unidirectional diode D6, one end of the resistor R37, one end of the capacitor C24, and one end of the resistor R47. The anode of the unidirectional diode D6 is connected in series with a resistor R38 and then connected to its working voltage. The other end of the capacitor C24 is grounded. The other end of the resistor R47 is connected to one end of the bidirectional diode D8 and a button. The other end of the bidirectional diode D8 is grounded, and the other end of the resistor R37 is connected to the button MOTOR_KEY.

[0035] The drain of the P-MOS tube Q6 is connected to the source of the P-MOS tube Q7. A resistor R39 is connected in parallel between the source and gate of the P-MOS tube Q6. The gate of the P-MOS tube Q7 is connected in series with a resistor R42 and then connected to the position sensor monitoring terminal HALL_MONITOR. The drain of the P-MOS tube Q7 is connected to the motor enable terminal MOTOR_ENABLE.

[0036] The gate of the N-MOS tube Q8 is connected to the motor main enable terminal MAIN_ENABLE, a resistor R43 is connected in parallel between the gate and source of the N-MOS tube Q8, and the source of the N-MOS tube Q8 is grounded.

[0037] Second,

[0038] The present invention provides a method for controlling a motor, comprising the following steps:

[0039] S1, monitor the motor power supply voltage. If the motor power supply voltage is not within the preset range, the motor is not powered. If the motor power supply voltage is within the preset range, the motor is powered.

[0040] S2, receiving the start signal from the button and activating the rotation of the motor;

[0041] S3, receiving the braking or driving signal from the button to control the braking and rotation of the motor; receiving the braking signal from the position sensor to control the motor to stop at the specified position;

[0042] S4, monitor the position sensor signal of the motor. If the position sensor signal is not detected within the set time, the motor rotation is stopped.

[0043] Furthermore, the method further comprises the following steps:

[0044] S5, receiving the working status of the motor, and displaying three working statuses of the motor, namely, standby status, running status, and fault status.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. The voltage monitoring module, motor drive activation module, motor drive and braking module, and position monitoring module of the present invention work together. The voltage monitoring module ensures the safe power supply of the motor; the motor drive activation module is responsible for activating the rotation of the motor; the motor drive and braking module controls the braking and rotation of the motor according to the signals of the buttons and position sensors, and controls the motor to stop at a specified position; the position monitoring module ensures that the motor runs at the correct position.

[0047] The present invention realizes pure hardware control of the working state of the motor. Compared with the traditional software algorithm, the motor control system of the present invention improves the safety, reliability and response speed of the motor control.

[0048] At the same time, the product cost is reduced.

[0049] 2. When the position sensor does not reach the specified position, different extension times can be used. This can control the requirement that the moving parts can stop at the specified position even if the button is released at any time during the continuous movement, thus improving the accuracy, reliability and safety of the working of the moving parts.

[0050] 3. The present invention effectively performs motor drive, motor safety control and position control of motor-driven moving parts by purely relying on hardware circuits, which can significantly reduce product costs and shorten development time. It has low risks, is stable and reliable, and requires smaller dimensions.

[0051] 4. The hardware circuit of the present invention has higher stability and reliability, improves the stability and reliability of the motor's position control of the moving parts, and maintains precise control over the movement of the cutting or ablation parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural schematic diagram of a control system of a motor according to an embodiment of the present invention;

[0053] Figure 2 A circuit diagram of a reference voltage source unit of a voltage monitoring module according to an embodiment of the present invention;

[0054] Figure 3A circuit diagram of a window comparator unit of a voltage monitoring module according to an embodiment of the present invention;

[0055] Figure 4 is a circuit diagram of a switch unit of a voltage monitoring module according to an embodiment of the present invention;

[0056] Figure 5 The first part of the circuit diagram of the motor drive and brake module according to the embodiment of the present invention;

[0057] Figure 6 The second part of the circuit diagram of the motor drive and brake module according to the embodiment of the present invention;

[0058] Figure 7 A circuit diagram of a delayed reset unit of a position monitoring module according to an embodiment of the present invention;

[0059] Figure 8 A latch unit circuit diagram of a position monitoring module according to an embodiment of the present invention;

[0060] Fig. 9 The first part of the circuit diagram of the indication monitoring module according to the embodiment of the present invention;

[0061] Fig.10 The second part of the circuit diagram of the indicator monitoring module according to the embodiment of the present invention.

[0062] Fig.11 The first part of the circuit diagram of the motor drive activation module according to the embodiment of the present invention;

[0063] Fig.12 This is the second part of the circuit diagram of the motor drive activation module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0064] The technical solution of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the protection scope of the present invention.

[0065] For the motor used to drive the moving parts of the medical device (such as cutting or ablation parts), the motor has a motor drive board. The signal is input to the motor drive board to control the state of the motor. The motor drive board has a motor enable terminal MOTOR ENABLE, a motor main enable terminal MAIN ENABLE, and a position sensor monitoring terminal HALL_MONITOR. The motor drive board is also connected to a position sensor and a button.

[0066] The motor enable terminal MOTOR_ENABLE is used to control the start and stop of the motor. When a valid enable signal is input to the motor enable terminal MOTOR_ENABLE, the motor driver board will allow the motor to start working; conversely, when the enable signal is revoked, the motor will stop working.

[0067] The motor main enable terminal MAIN_ENABLE is used to control the start and stop of the entire motor drive system.

[0068] When the motor main enable terminal MAIN_ENABLE is activated, the operation of other enable terminals such as the motor enable terminal MOTOR_ENABLE can be allowed or prohibited.

[0069] The position sensor is used to monitor the position information of the moving parts in real time. The position sensor feeds back the position information to the position sensor monitoring terminal HALL_MONITOR. The motor driver board adjusts the running state of the motor according to this information to achieve precise position control of the moving parts.

[0070] The button is usually used to manually control the start, stop or adjust the running state of the motor. The input signal of the button will be transmitted to the corresponding interface on the motor driver board to realize the control of the motor. The following will introduce the control system of the hardware circuit involved in the motor in detail.

[0071] Example 1

[0072] like Figure 1 As shown, the present invention provides a control system for a motor, including a voltage monitoring module, a motor drive and braking module, a position monitoring module, a state indication module, and a motor drive activation module.

[0073] The input terminals of the motor drive and brake module and the position monitoring module are connected to the motor drive activation module;

[0074] The output ends of the motor drive activation module and the position monitoring module are connected to the status indication module;

[0075] The output end of the position monitoring module is connected to the motor drive activation module;

[0076] The output ends of the voltage monitoring module and the motor drive activation module are connected to the motor.

[0077] The voltage monitoring module is used to monitor the motor power supply voltage. If the motor power supply voltage is not within a preset range, the motor is not powered; if the motor power supply voltage is within a preset range, the motor is powered;

[0078] The motor drive activation module is used to receive a start signal from a button to activate the rotation of the motor;

[0079] The motor drive and brake module is used to receive the brake or drive signal from the button, and transmit the brake or drive signal to the motor drive activation module to control the brake and rotation of the motor; the motor drive and brake module is also used to receive the position sensor brake signal to control the motor to stop at a specified position;

[0080] The position monitoring module is used to monitor the position sensor signal of the motor and transmit the position sensor signal to the motor drive activation module; if the position sensor signal is not detected within a set time, the motor drive activation module stops the motor from rotating.

[0081] The voltage monitoring module is used to monitor the size of the motor power supply voltage to prevent the voltage from being too high or too low, causing the motor to rotate too fast or too slow, which in turn causes different cutting or injection accuracy and efficiency of the moving parts, resulting in product risks. The output end of the voltage monitoring module is connected to the motor driver board, and the voltage monitoring module outputs a motor system voltage for the normal operation of the motor; after the motor system voltage is converted and stepped down by the motor driver board, it outputs a stable 5V working voltage.

[0082] The motor drive and brake module is used to receive signals from the position sensor and the button to drive or brake the motor, as well as the delayed stop function of the motor, so as to control the requirement that the moving part can stop at the specified position even if the button is released at any time during the continuous movement; and when the position sensor distance does not reach the specified position, different extension times can be used.

[0083] The position monitoring module is used to monitor the working status of the position sensor. If the position sensor fails, the position sensor signal is reset and latched.

[0084] The status indication module is used to provide three indication states of the motor, namely, the green light is always on in the standby state, the green light is flashing in the running state, and the yellow light is always on in the fault state.

[0085] The motor drive activation module is used to start and stop the motor at any time when the position sensor is in any state.

[0086] Combination Figure 2-4 As shown, the voltage monitoring module mainly adopts a window comparator. Specifically, the voltage monitoring module includes a reference voltage source unit, a window comparator unit and a switch unit. The input end of the window comparator unit is connected to the reference voltage source unit, and the output end of the window comparator unit is connected to the switch unit. Specifically,

[0087] The input voltage of the reference voltage source unit is the motor power supply voltage, and the output is a reference voltage. The reference voltage is used as the reference voltage of the threshold voltage of the window comparator unit, and the upper threshold voltage and the lower threshold voltage are obtained by dividing the reference voltage.

[0088] The window comparator unit includes an upper limit comparator and a lower limit comparator. The input end of the upper limit comparator receives the motor power supply voltage and the upper limit threshold voltage, and the input end of the lower limit comparator receives the motor power supply voltage and the lower limit threshold voltage. The output ends of the upper limit comparator and the lower limit comparator are respectively connected to the switch unit.

[0089] When the motor power supply voltage is higher than its upper limit voltage value, the upper limit comparator outputs a high level, and the switch unit connected to it is turned off, preventing the motor from working;

[0090] When the motor power supply voltage is lower than its lower limit voltage value, the lower limit comparator outputs a high level, and the switch unit connected to it is turned off, preventing the motor from working;

[0091] When the motor power supply voltage is within the normal range, the upper limit comparator and the lower limit comparator both output low level, the switch unit is turned on, and the motor works normally.

[0092] In a specific embodiment,

[0093] like Figure 2 As shown, the reference voltage source unit includes a resistor R1 and a resistor R2 connected in parallel, one end of the resistor R1 and the resistor R2 is connected to the motor power supply voltage VCC_24V, and the other end of the resistor R1 and the resistor R2 is connected to one end of the capacitor C1, the terminal 1 of the reference voltage source U1, one end of the resistor R55, one end of the capacitor C2 and the output reference voltage 2V5_VREF;

[0094] In a specific embodiment, the reference voltage source U1 uses a voltage reference chip, model TL431AQDBZR;

[0095] The other end of capacitor C1 is grounded, the other end of resistor R55 is connected to one end of resistor R54, terminal 2 of reference voltage source U1 is connected to the connection node between resistor R55 and resistor R54, terminal 3 of reference voltage source U1 and the other end of resistor R54 are grounded, and the other end of capacitor C2 is grounded.

[0096] After the motor power supply voltage VCC_24V is divided by the parallel resistors R1 and R2, a suitable voltage is provided to the input end of the reference voltage source U1 operating with a wide input voltage. After the voltage passes through the reference voltage source U1, the output is a stable reference voltage 2V5_VREF. In this embodiment, the motor power supply voltage VCC_24V is 24V, and the reference voltage source U1 outputs a stable reference voltage of 2.5V.

[0097] In a specific embodiment,

[0098] like Figure 3As shown, the window comparator unit includes operational amplifiers U3 and U2, wherein the operational amplifier U3 is used as an upper limit comparator, and the operational amplifier U2 is used as a lower limit comparator. The non-inverting input terminal of the operational amplifier U3 and the inverting input terminal of the operational amplifier U2 are connected to the motor power supply voltage VCC_24V via a resistor R11, and the resistor R11 is connected to the ground via series resistors R12 and R15. The non-inverting input terminal of the operational amplifier U3 is grounded via a capacitor C7. The inverting input terminal of the operational amplifier U2 is grounded via a capacitor C4.

[0099] The inverting input terminal of the operational amplifier U3 is connected to the reference voltage 2V5_VREF via series resistors R13 and R14, and the resistor R14 is grounded via series resistors R16 and R17, and the inverting input terminal of the operational amplifier U3 is grounded via capacitor C6.

[0100] The non-inverting input terminal of the operational amplifier U2 is connected to the reference voltage 2V5_VREF via the resistor R3, and the resistor R3 is connected to the ground via the series resistors R6 and R8, and the inverting input terminal of the operational amplifier U3 is connected to the ground via the capacitor C3.

[0101] The voltage terminal VCC of the operational amplifier U3 is connected to the motor power supply voltage VCC_24V via the resistor R18; and the voltage terminal VCC of the operational amplifier U3 is grounded via the capacitor C8.

[0102] The voltage terminal VCC of the operational amplifier U2 is connected to the motor power supply voltage VCC_24V via the resistor R9; and the voltage terminal VCC of the operational amplifier U2 is grounded via the capacitor C5.

[0103] The output ends of the operational amplifiers U3 and U2 are connected to the switch unit to control whether the switch unit is turned on. When the motor power supply voltage VCC_24V is between the set upper and lower voltage limits, the outputs of the operational amplifiers U3 and U2 will control the switch unit to turn on. If the motor power supply voltage VCC_24V is higher than its upper voltage limit, U3 outputs a high level; if the motor power supply voltage VCC_24V is lower than its lower voltage limit, U2 outputs a high level and the switch unit is turned off.

[0104] like Figure 4 As shown, the switch unit includes a P-MOS tube Q2 and a P-MOS tube Q1 connected in series, the source of the P-MOS tube Q2 is connected to the drain of the P-MOS tube Q1; the gate of the P-MOS tube Q2 is connected to the output end of the operational amplifier U3 through the resistor R10 and the source of the P-MOS tube Q2 is connected to the output end of the operational amplifier U3 through the resistor R7;

[0105] The gate of the P-MOS tube Q1 is connected to the output end of the operational amplifier U2 through the resistor R5 and the source of the P-MOS tube Q1 is connected to the output end of the operational amplifier U2 through the resistor R4. The drain of the P-MOS tube Q2 outputs the motor system voltage VCC_24V_SYS, which is connected to the motor drive board so that the motor can maintain working within the normal voltage range.

[0106] If the motor power supply voltage VCC_24V is lower than its lower limit voltage value, the operational amplifier U2 outputs a high level, causing the P-MOS tube Q1 to be cut off, and the output of the motor system voltage VCC_24V_SYS is cut off. If the motor power supply voltage VCC_24V is higher than its upper limit voltage value, the operational amplifier U3 outputs a high level, causing the P-MOS tube Q2 to be cut off, and the output of the motor system voltage VCC_24V_SYS is cut off.

[0107] When the motor power supply voltage VCC_24V is between its upper and lower limit voltage values, operational amplifiers U3 and U2 both output low levels, so that operational amplifiers Q2 and Q1 are both turned on, and the motor system voltage VCC_24V_SYS is powered and converted into a 5V operating voltage through the motor driver board.

[0108] The switch unit controls the conduction state of the P-MOS tubes Q2 and Q1 through the output signals of the operational amplifiers U3 and U2, thereby realizing the detection and control of whether the motor power supply voltage VCC_24V is within a preset range.

[0109] The motor power supply voltage VCC_24V of the voltage monitoring module is input, and the reference voltage 2V5_VREF is obtained through a reference voltage source with a wide input voltage, and then two P-MOS tubes are driven through an upper limit comparator and a lower limit comparator. When the motor power supply voltage VCC_24V is too large or too small, the P-MOS tube is cut off and the motor cannot work. When the VCC_24V voltage is within the normal range, both P-MOS tubes are turned on and the motor works normally.

[0110] Operational amplifier U2 is used as a lower limit comparator, which detects whether the motor power supply voltage VCC_24V is lower than its lower limit voltage value and controls the P-MOS tube Q1. The lower limit voltage is calculated as follows:

[0111] VU2-=VCC_24V*((R15 / (R11+R12)); VU2- is the voltage of the reverse input terminal of the operational amplifier U2;

[0112] VU2+=(R6+R8) / (R3+R6+R8)*2V5_REF; VU2+ is the voltage at the same-direction input terminal of the operational amplifier U2;

[0113] The reference voltage 2V5_REF is a fixed value. When the motor power supply voltage VCC_24V is within the normal range of output, VU2 -> VU2+, the operational amplifier U2 outputs a low level, the P-MOS transistor Q1 is turned on, and the motor outputs normally; when VU2- < VU2+, that is, the motor power supply voltage VCC_24V is less than its lower limit voltage value at this time, the operational amplifier U2 outputs a high level, the P-MOS transistor Q1 is turned off, and the motor stops working.

[0114] The operational amplifier U3 acts as an upper limit comparator. The upper limit comparator detects whether the motor power supply voltage VCC_24V is higher than its upper limit voltage value and controls the P-MOS transistor Q2. The calculation method of the upper limit voltage is as follows:

[0115] VU3+ = VCC_24V * ((R15 / (R11 + R12)); VU3+ is the voltage at the non-inverting input terminal of the operational amplifier U3;

[0116] VU3- = (R16 + R17) / (R13 + R14 + R16 + R17) * 2V5_REF; VU3- is the voltage at the inverting input terminal of the operational amplifier U3;

[0117] The reference voltage 2V5_REF is a fixed value. When the motor power supply voltage VCC_24V is within the normal range of output, VU3- > VU3+, the operational amplifier U3 outputs a low level, the P-MOS transistor Q2 is turned on, and the motor outputs normally; when VU3- < VU3+, that is, the motor power supply voltage VCC_24V is greater than its upper limit voltage value at this time, the operational amplifier U3 outputs a high level, the P-MOS transistor Q2 is turned off, and the motor stops working.

[0118] Combined with Figure 5-6 As shown, the motor drive and brake module includes a position sensor RC filtering unit, a button RC filtering unit, and a trigger holding unit; the output terminals of the position sensor RC filtering unit and the button RC filtering unit are connected to the trigger holding unit; the input of the position sensor RC filtering unit comes from the input signal of the position sensor that measures the position of the moving part, the input of the button RC filtering unit comes from the input signal of the button, the button is used to manually start, stop, or change the operating state of the motor, and the output terminal of the trigger holding unit is connected to the motor main enable terminal MAIN_ENABLE.

[0119] The output signals of the position sensor and the button are filtered by RC to filter out the noise and interference in the output signals of the position sensor and the button. The filtered signal is output by the trigger holding unit as a signal to maintain the operating state of the motor, and the output is connected to the motor main enable terminal MAIN_ENABLE of the motor to achieve the functions of motor rotation and delayed stop of the motor.

[0120] The position sensor RC filter unit includes a resistor R29, a capacitor C15, and a capacitor C16. One end of the resistor R29 is connected to a 5V working voltage via a resistor R28, and the end of the resistor R29 is also connected to a position sensor input signal HALL_INPUT. The other end of the resistor R29 is connected to one end of the capacitor C15, one end of the capacitor C16, and the input end of the trigger holding unit. The other ends of the capacitors C15 and C16 are grounded. The position sensor can be a Hall sensor or a travel switch.

[0121] After the position sensor input signal HALL_INPUT passes through the resistor R29, the capacitors C15 and C16 filter out the high-frequency noise signal, while the low-frequency useful signal reaches the input end of the trigger holding unit.

[0122] The key RC filter unit includes a resistor R33, a capacitor C20, and a capacitor C21. One end of the resistor R33 is connected to the key MOTOR_KEY. When the key MOTOR_KEY is pressed, it is at a low level, and when it is released, it is at a high level. The other end of the resistor R33 is connected to one end of the capacitor C20, one end of the capacitor C21, and the input end of the trigger holding unit. The other ends of the capacitors C20 and C21 are grounded.

[0123] When the key MOTOR_KEY is pressed or released, the jitter signal is filtered out by the key RC filter unit, and the key pressing or releasing signal reaches the input end of the trigger holding unit.

[0124] The trigger holding unit includes a first-level Schmitt trigger U6 and a D trigger U5. In a specific embodiment, the model of the first-level Schmitt trigger U6 is SN74LVC2G17DBVR, and the model of the D trigger U5 is SN74LVC1G74DCUR.

[0125] The output end of the first-level Schmitt trigger U6 is connected to the D flip-flop U5; the first input end of the first-level Schmitt trigger U6 is connected to the capacitor C16, and the second input end of the first-level Schmitt trigger U6 is connected to the capacitor C21; the first output end of the first-level Schmitt trigger U6 is connected to the clock pin of the D flip-flop U5, and the second output end is connected to the D pin of the D flip-flop U5.

[0126] The power supply end of the D flip-flop U5 is connected to the 5V working voltage via the resistor R51, and the resistor R51 is grounded via the capacitor C38, the pin CLR_N of the D flip-flop U5 is connected to the resistor R51 via the resistor R49, the pin PRE_N of the D flip-flop U5 is connected to the resistor R51 via the resistor R50, and the pin PRE_N of the D flip-flop U5 is grounded after passing through the capacitor C14; the output end Q_N of the D flip-flop U5 is connected to one end of the resistor R25, the other end of the resistor R25 is connected to the motor main enable end MAIN_ENABLE, and this end of the resistor R25 is grounded via the capacitor C11.

[0127] The position sensor input signal HALL_INPUT and the signal of the button MOTOR_KEY are processed by RC filtering to increase the anti-interference ability. The processed signal is shaped by the first-level Schmitt trigger U6 to obtain a signal with relatively standard rising and falling edges, which is input to the D trigger U5. The D trigger U5 performs trigger and hold operations and outputs to the motor main enable terminal MAIN_ENABLE to control the motor state;

[0128] At the moment of power-on, the resistor R50 and the capacitor C14 are used to power on different pins of the D flip-flop U5 at different timings, thereby ensuring that in the initial state, the output terminal Q_N of the D flip-flop U5 outputs a low level.

[0129] The position sensor signal HALL_INPUT is obtained, and after the position sensor signal HALL_INPUT is subjected to RC filtering and shaping processing, it is input to the D flip-flop U5, so that the D flip-flop U5 in the initial state outputs a low level as the motor main enable signal MAIN_ENABLE, and the motor does not work;

[0130] If the motor continues to receive the key drive signal, after the key MOTOR_KEY is pressed, after detecting the rising edge of the position sensor input signal HALL_INPUT, the D flip-flop U5 output is high level, and the motor works;

[0131] If the motor continues to receive the key drive signal to stop, and the key MOTOR_KEY is released, the D flip-flop U5 will continue to output a high level, and will change to output a low level after the next rising edge of the position sensor input signal HALL_INPUT is transmitted. The moving part controlled by the motor is in the process of continuous movement, and the key MOTOR_KEY can be released at any time, but the moving part can stop at the specified position;

[0132] Moreover, when the position sensor distance does not reach the specified position, it is completed by increasing the combination of R25 and C11. By adjusting the sizes of resistor R25 and capacitor C11, different extension times can be achieved. After the button is released, the motor can still continue to rotate for a period of time. This time can determine the final position where the motor stops. When the output of the D trigger U5 is at a high level, the capacitor C11 is charged. When the output of the D trigger U5 is at a low level, the capacitor C11 is discharged to drive the motor drive activation module.

[0133] In order to prevent the position sensor from being falsely triggered by magnetic or optical detection, the MOTOR_KEY signal is connected to pin 2 of the D-type flip-flop U5. In this way, the triggering of the position sensor is effective only after the MOTOR_KEY button is pressed. Otherwise, the triggering of the position sensor in standby mode is invalid.

[0134] Combination Figure 7-8 As shown, the position monitoring module includes a delay reset unit and a latch unit. The input end of the delay reset unit is connected to the position sensor and the button, the output end of the delay reset unit is connected to the latch unit, and the output end of the latch unit is used as the position sensor monitoring signal HALL_MONITOR, through which the state of the motor is adjusted.

[0135] The position sensor continuously feeds back the position of the moving part and outputs the corresponding feeding signal to the delay reset unit, which monitors the status of the position sensor. If the delay reset unit does not detect the position sensor signal within the set time, the delay reset unit will trigger the reset operation and output the reset signal to the latch unit. The latch unit receives the reset signal and latches the fault information as needed.

[0136] like Figure 7As shown, the time-delay reset unit includes a reset chip U8 and an N-MOS tube Q12. In a specific embodiment, the reset chip U8 is of TPS3823-33DBVR type and has 5 pins, including VDD (power supply voltage), RESET (reset output), WDI (watchdog input), GND (ground) and MR (manual reset); the working voltage of the reset chip U8 is 5V, the watchdog input terminal of the reset chip U8 is connected to the first output terminal of the first-stage Schmitt trigger U6, and the manual reset terminal of the reset chip U8 is connected to the power supply. One end of the resistor R62 is connected to the drain of the N-MOS tube Q12, the other end of the resistor R62 is connected to the 5V working voltage, the source of the N-MOS tube Q12 is grounded, a resistor R63 is connected in parallel between the source and the gate of the N-MOS tube Q12, and the gate of the N-MOS tube Q12 is connected to one end of the resistor R33, thereby connecting to the key MOTOR_KEY; when the key MOTOR_KEY is pressed, the key MOTOR_KEY signal will be transmitted to the gate of the N-MOS tube through the resistor R33 to control the switching state of the N-MOS tube.

[0137] When the button MOTOR_KEY is not pressed, the N-MOS tube Q12 is in the off state, and the manual reset pin of the reset chip U8 is connected to the 5V operating voltage through the resistor R62 to maintain a high level; the reset chip U8 monitors the position sensor according to the internal logic and the state of the watchdog input signal (from the first output terminal of the first-level Schmitt trigger U6).

[0138] When the key MOTOR_KEY is pressed, the key signal is transmitted to the gate of the N-MOS tube Q12 through the resistor R33; when the N-MOS tube Q12 is turned on, the manual reset terminal of the reset chip U8 is pulled to a low level; after the reset chip U8 detects the low-level signal at the manual reset terminal, it triggers the reset operation and outputs the reset signal to the RESET pin to reset the position sensor;

[0139] like Figure 8 As shown, the latch unit includes a latch U7, a logic gate chip U9, and an N-MOS tube Q5. In a specific embodiment, the latch chip U7 is U7SN74LVC1G74DCUR, and the logic gate chip U9 is SN74LVC1G14QDCKRQ1.

[0140] The reset output end of the reset chip U8 is connected to the input end of the logic gate chip U9, the output end of the logic gate chip U9 is connected to the clock pin of the latch U7, the pin CLR_N of the latch U7 is connected to the drain of the N-MOS tube Q5 and one end of the capacitor C22, the other end of the capacitor C22 is grounded, the drain of the N-MOS tube Q5 is connected to the 5V working voltage via the resistor R34, the gate of the N-MOS tube Q5 is connected to the key MOTOR_KEY via the resistor R35, and the resistor R36 and the capacitor C23 are connected in parallel between the source and the gate of the N-MOS tube Q5.

[0141] The PRE_N pin of latch U7 is connected to one end of resistor R53, the D pin of latch U7 is connected to one end of resistor R52, the other end of resistor R53 and the other end of resistor R52 are connected to the VCC pin of latch U7, and the VCC pin of latch U7 is connected to the 5V operating voltage; the Q pin of latch U7 is connected to the motor position sensor monitoring signal HALL_MONITOR.

[0142] The output signal of the reset chip U8 is used to initialize the logic gate chip U9, and the output of the logic gate chip U9 is used as the clock signal of the D-type flip-flop U7. The Q pin of the D-type flip-flop U7 outputs the motor position sensor monitoring signal HALL_MONITOR.

[0143] The latch unit circuit stores and outputs the motor position sensor monitoring signal HALL_MONITOR through the D-type trigger U7, and can manually reset the position sensor through the reset chip U8 and the N-MOS tube Q5, so as to monitor the position sensor and reset its state when necessary.

[0144] The position sensor is used as a dog feeding signal. The position sensor will continuously send a signal, which is used as the input of the reset chip U8. When the position sensor works normally, it will periodically send a dog feeding signal to the reset chip U8, indicating that it is in a normal state.

[0145] Monitor the position sensor signal in real time. If the reset chip U8 does not detect the feeding signal from the position sensor within the set T time, it is considered that the position sensor may be faulty, and the reset output terminal of the reset chip U8 becomes low level, indicating that the position sensor may fail. The reset chip U8 will try to reset the position sensor signal every set T1 time to try to restore the normal operation of the position sensor.

[0146] If the position sensor signal fails to reset, the watchdog pulse output is latched, that is, when the reset output of the reset chip U8 becomes low, if the fault information needs to be maintained and no reset attempt is allowed, the latch U7 will latch the current fault information and use the key MOTOR_KEY drive signal as the reset signal of the latch U7 to reset the position sensor signal. The fault information is latched until the next new round of driving. The reliability of the position sensor is ensured by the delayed reset chip and fault latch mechanism.

[0147] Combination Figure 9-10 As shown, the indication monitoring module displays the working status of the motor in real time through the indicator light, and provides three indication states: the motor standby state is a green light that is always on, the running state is a green light that is flashing, and the fault state is a yellow light that is always on. The indication monitoring module includes a green light indication unit and a yellow light indication unit. The green light indication unit is used to indicate that the motor is in the standby state or the running state, and the yellow light indication unit is used to indicate that the motor is in the fault state.

[0148] The green light indicating unit includes a PWM signal generator U4, an N-MOS tube Q3, an N-MOS tube Q9, an N-MOS tube Q10, a bidirectional diode D2, and a green light-emitting diode LED1. The operating voltage of the PWM signal generator U4 is 5V. The pin CRT of the PWM signal generator U4 is grounded via a capacitor C10. A resistor R22 is provided between the pin CRT and the pin DISC of the PWM signal generator U4.

[0149] In a specific embodiment, the model of the PWM signal generator U4 is BD9555.

[0150] The gate of the N-MOS tube Q9 is connected to the motor enable terminal MOTOR_ENABLE via a resistor R58, a resistor R60 is connected in parallel between the gate and drain of the N-MOS tube Q9, the drain of the N-MOS tube Q9 is connected to the 5V working voltage via a resistor R59, and is connected to the gate of the N-MOS tube Q3, and the source of the N-MOS tube Q9 is grounded; the gate and drain of the N-MOS tube Q3 are connected in parallel with a resistor R23, the drain of the N-MOS tube Q3 is connected to the pin DCENB of the PWM signal generator U4, the pin DCENB of the PWM signal generator U4 is connected to the 5V working voltage via a resistor R21, and the source of the N-MOS tube Q3 is grounded;

[0151] The output end of the PWM signal generator U4 is connected to the gate of the N-MOS tube Q10, the drain of the N-MOS tube Q10 is connected to the motor system voltage VCC_24V_SYS through the resistor R65, and the source of the N-MOS tube Q10 is grounded; the drain of the N-MOS tube Q10 is connected to the cathode of the green light-emitting diode LED1 and the pin 2 of the bidirectional diode D2, the pin 1 of the bidirectional diode D2 is grounded, and the anode of the green light-emitting diode LED1 is connected to the motor system voltage VCC_24V_SYS through the parallel resistors R19 and R64. The bidirectional diode D2 is used to protect the circuit from overvoltage damage. The PWM signal output by the pin 4 of the PWM signal generator U4 is transmitted to the gate of the N-MOS tube Q10 to control the conduction and cutoff of Q10, thereby controlling the on and off of the green light-emitting diode LED1.

[0152] After the motor is turned on, when the motor enable terminal MOTOR_ENABLE sends a high-level signal, the N-MOS tube Q9 is turned on, and then Q3 is turned on; after Q3 is turned on, the pin DCENB of the PWM signal generator U4 is enabled, and the pin 4 of the PWM signal generator U4 outputs a PWM signal, which is transmitted to the gate of the N-MOS tube Q10 to control the conduction of Q10. When Q10 is turned on, the green light-emitting diode LED1 emits light, and the green light flashes, indicating that the motor is running;

[0153] After the motor is turned off, the level of the motor enable terminal MOTOR_ENABLE is low, the pin DCENB of the PWM signal generator U4 is low, the pin 4 of the PWM signal generator U4 outputs a PWM signal, and the green light is a constant light signal, indicating that the motor is turned off but the circuit is powered on;

[0154] The yellow light indicating unit includes an N-MOS tube Q4, a bidirectional diode D3, and a yellow light-emitting diode LED2. The gate of the N-MOS tube Q4 is connected to the position sensor monitoring signal HALL_MONITOR via a resistor R57, the gate and source of the N-MOS tube Q4 are connected in parallel with a resistor R24, and the source of the N-MOS tube Q4 is grounded; the drain of the N-MOS tube Q4 is connected to the motor system voltage VCC_24V_SYS via a resistor R56, the resistor R56 is connected in parallel with a resistor R66, the drain of the N-MOS tube Q4 is connected to the cathode of the yellow light-emitting diode LED2 and the pin 2 of the bidirectional diode D3, the pin 1 of the bidirectional diode D3 is grounded, the anode of the yellow light-emitting diode LED2 is connected to the anode of the green light-emitting diode LED1 and the pin 2 of the bidirectional diode D12, and the pin 1 of the bidirectional diode D12 is grounded.

[0155] When a fault is detected, that is, within the preset time, the reset chip U8 does not detect the pulse signal of the position sensor, and the position sensor monitoring signal HALL_MONITOR is high. When the position sensor monitoring signal HALL_MONITOR is high, the N-MOS tube Q4 is turned on and the yellow light-emitting diode LED2 works. At this time, the yellow light is always on, prompting the user that a fault has occurred.

[0156] Combination Figure 11-12 As shown, the motor drive activation module includes a P-MOS tube Q6, a P-MOS tube Q7, and an N-MOS tube Q8. The gate of the P-MOS tube Q6 is connected in series with a resistor R41 and then connected to the drain of the N-MOS tube Q8. The drain of the P-MOS tube Q6 is connected to a 5V working voltage and one end of a resistor R39. The other end of the resistor R39 is connected to one end of a resistor R41. The other end of the resistor R41 is connected to an anode of a unidirectional diode D7. The cathode of the unidirectional diode D7 is connected to the cathode of the unidirectional diode D6, one end of a resistor R37, one end of a capacitor C24, and one end of a resistor R47. The anode of the unidirectional diode D6 is connected in series with a resistor R38 and then connected to a 5V working voltage. The other end of the capacitor C24 is grounded. The other end of the resistor R47 is connected to one end of a bidirectional diode D8 and a key MOTOR_KEY. The other end of the bidirectional diode D8 is grounded. The other end of the resistor R37 outputs an output signal of the key MOTOR_KEY.

[0157] The drain of the P-MOS tube Q6 is connected to the source of the P-MOS tube Q7, and a resistor R39 is connected in parallel between the source and the gate of the P-MOS tube Q6.

[0158] And the gate of P-MOS tube Q7 is connected in series with resistor R42,

[0159] Connected to the position sensor monitoring terminal HALL_MONITOR; the drain of the P-MOS tube Q7 is connected to the motor enable terminal MOTOR_ENABLE;

[0160] The gate of the N-MOS tube Q8 is connected to the motor main enable terminal MAIN_ENABLE, a resistor R43 is connected in parallel between the gate and source of the N-MOS tube Q8, and the source of the N-MOS tube Q8 is grounded.

[0161] When the motor main enable terminal MAIN_ENABLE is at a high level, the N-MOS tube Q8 is turned on. When the position sensor monitoring signal HALL_MONITOR is at a low level, the P-MOS tube Q6 is turned on, and then the P-MOS tube Q7 is turned on, outputting a high level to the motor enable terminal MOTOR_ENABLE, and the motor starts.

[0162] If the motor main enable terminal MAIN_ENABLE is at a low level, and / or the position sensor monitoring signal HALL_MONITOR is at a high level, the N-MOS tube Q8 and the P-MOS tube Q6 will be turned off, causing the P-MOS tube Q7 to also be turned off, and the motor enable terminal MOTOR_ENABLE outputs a low level, and the motor stops running.

[0163] When the output of the D flip-flop U5 is at a high level, the capacitor C11 is charged and the N-MOS tube Q8 is driven. When the output of the D flip-flop U5 is at a low level, the capacitor C11 is discharged. At this time, the gate of the N-MOS tube Q8 can maintain a high level for a period of time. After the key is released, the motor can still continue to rotate for a period of time. This time can determine the final stop position of the motor.

[0164] Taking into account the changeable forms of the position sensor, when it is turned on, it is uncertain whether the position sensor outputs a high level or a low level, and the dog feeding signal requires the motor to rotate first before a dog feeding signal is generated. Therefore, the button MOTOR_KEY can be connected in series to the gate of the P-MOS tube Q6 and the drain of the N-MOS tube Q8 through the unidirectional diode D7 and the unidirectional diode D6. This ensures that when the button MOTOR_KEY is pressed, the motor can rotate. However, after the button MOTOR_KEY is released, the signal of the motor main enable terminal MAIN_ENABLE stops the motor at the specified position.

[0165] Example 2

[0166] The present invention provides a method for controlling a motor, comprising the following steps:

[0167] S1, monitor the motor power supply voltage. If the motor power supply voltage is not within the preset range, the motor will not be powered. If the motor power supply voltage is within the preset range, the motor will be powered.

[0168] S2, receiving the start signal from the button and activating the rotation of the motor;

[0169] S3, receiving the braking or driving signal from the button to control the braking and rotation of the motor; receiving the braking signal from the position sensor to control the motor to stop at the specified position;

[0170] S4, monitor the position sensor signal of the motor. If the position sensor signal is not detected within the set time, the motor rotation is stopped.

[0171] In a specific embodiment, the motor control method further includes the following steps:

[0172] S5, receiving the working status of the motor, and displaying three working statuses of the motor, namely, standby status, running status, and fault status.

[0173] Based on the control system of the motor in Example 1, the control method of the motor in this embodiment specifically includes the following steps:

[0174] Monitor the motor power supply voltage in real time, and compare the motor power supply voltage obtained by monitoring with its preset upper limit voltage VU3 and lower limit voltage VU2 in real time. If VU2≤motor power supply voltage≤VU3, the motor is powered and the motor works normally; if the motor power supply voltage is less than VU2 or the motor power supply voltage is greater than VU3, the motor is not powered and the motor stops working;

[0175] In the initial state, the trigger U5 outputs a low level and the motor does not work;

[0176] If the motor continues to receive the key drive signal and the key is pressed, the trigger U5 outputs a high level and the motor works;

[0177] If the motor continues to receive the key drive signal to stop and the key is released, the trigger U5 will continue to output a high level until the next rising edge of the position sensor is transmitted, and the trigger U5 will change to output a low level. The motor control moving part can stop at the specified position at any time during the continuous movement process;

[0178] If the position sensor does not reach the specified position, increase the combination of resistor R25 and capacitor C11, adjust the size of resistor R25 and capacitor C11, and complete the extension time of different motor operation. After the button is released, the motor can still continue to rotate for a period of time;

[0179] Obtain the position sensor signal HALL_INPUT, and after the position sensor signal HALL_INPUT is subjected to RC filtering and shaping processing, input to the trigger U5, and the output of the trigger U5 is used as the input signal of the motor main enable terminal MAIN_ENABLE;

[0180] Monitor the position sensor signal in real time. If the position sensor signal is not detected within the set T time, the reset signal outputs a low level and resets the position sensor signal every set T1 time.

[0181] If the position sensor signal reset fails, the watchdog pulse output is latched, and the key drive signal is used as a reset signal to reset the position sensor signal, and the fault information is latched until the next new round of drive.

[0182] In a specific embodiment, the motor control method further includes the following steps:

[0183] The indicator light shows the working status of the motor in real time. In standby mode, the green light is always on; in motion mode, the green light flashes; and in fault mode, the yellow light is always on.

[0184] The above technical features constitute the best embodiment of the present invention, which has strong adaptability and best implementation effect. Non-essential technical features can be added or reduced according to actual needs to meet the needs of different situations.

[0185] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A control system for a motor, characterized in that: Including voltage monitoring module, motor drive activation module, motor drive and braking module, position monitoring module; The voltage monitoring module is used to monitor the motor power supply voltage. If the motor power supply voltage is not within a preset range, the motor is not powered. If the motor power supply voltage is within the preset range, the motor is powered; The motor drive activation module is used to receive a start signal from a button to activate the rotation of the motor; The motor drive and brake module is used to receive the brake or drive signal from the button, and transmit the brake or drive signal to the motor drive activation module to control the brake and rotation of the motor; the motor drive and brake module is also used to receive the position sensor brake signal to control the motor to stop at a specified position; The position monitoring module is used to monitor the position sensor signal of the motor and transmit the position sensor signal to the motor drive activation module; if the position sensor signal is not detected within a set time, the motor drive activation module stops the motor from rotating.

2. The motor control system according to claim 1, characterized in that: The motor driving and braking module also includes a motor delayed stop function part to achieve delayed stop of the motor.

3. The control system of the motor according to claim 1 or 2, characterized in that: It also includes a state indicating module, which is used to display three working states of the motor, namely, a standby state, a running state, and a fault state.

4. The control system of the motor according to claim 2, characterized in that: Motor drive and brake module, including position sensor RC filter unit, button RC filter unit, trigger hold unit; The output ends of the position sensor RC filter unit and the button RC filter unit are connected to the trigger holding unit; the input of the position sensor RC filter unit comes from the input signal of the position sensor that measures the position of the moving part, and the input of the button RC filter unit comes from the input signal of the button that manually controls the motor state. The output end of the trigger holding unit is connected to the main enable end MAIN_ENABLE of the motor to realize the control of the motor rotation and the delayed stop function of the motor.

5. The control system of the motor according to claim 4, characterized in that: The trigger holding unit includes a first-level Schmitt trigger U6 and a D trigger U5, wherein the output end of the first-level Schmitt trigger U6 is connected to the D trigger U5; the first input end of the first-level Schmitt trigger U6 is connected to the output end of the position sensor RC filter unit, and the second input end of the first-level Schmitt trigger U6 is connected to the output end of the key RC filter unit; the first output end of the first-level Schmitt trigger U6 is connected to the clock pin of the D trigger U5, the second output end is connected to the D pin of the D trigger U5, and the output end of the D trigger U5 is connected to the motor main enable end MAIN_ENABLE.

6. The control system of the motor according to claim 5, characterized in that: The pin CLR_N of the D flip-flop U5 is connected to the resistor R51 via the resistor R49, the pin PRE_N of the D flip-flop U5 is connected to the resistor R51 via the resistor R50, and the pin PRE_N of the D flip-flop U5 is grounded via the capacitor C14; The output terminal Q_N of the D flip-flop U5 is connected to one end of the resistor R25 , the other end of the resistor R25 is connected to the motor main enable terminal MAIN_ENABLE, and the end of the resistor R25 is grounded via the capacitor C11 .

7. The control system of the motor according to claim 1, characterized in that: The voltage monitoring module includes a reference voltage source unit, a window comparator unit and a switch unit. The input end of the window comparator unit is connected to the reference voltage source unit, and the output end of the window comparator unit is connected to the switch unit. The input voltage of the reference voltage source unit is the motor power supply voltage, and the output is a reference voltage, which is used as a reference voltage for the threshold voltage of the window comparator unit. The window comparator unit also receives the divided voltage of the motor power supply voltage. The output end of the window comparator unit controls the on and off of the switch unit. When the motor power supply voltage is not within the preset range, the switch unit is closed and no power is supplied to the motor; When the motor power supply voltage is within a preset range, the switch unit is turned on to supply power to the motor.

8. The control system of the motor according to claim 7, characterized in that: The window comparator unit includes operational amplifiers U3 and U2. The operational amplifier U3 is used as an upper limit comparator, and the operational amplifier U2 is used as a lower limit comparator. The non-inverting input terminal of the operational amplifier U3 and the inverting input terminal of the operational amplifier U2 are connected to the motor power supply voltage via a resistor R11, and the resistor R11 is grounded after being connected to series resistors R12 and R15; the non-inverting input terminal of the operational amplifier U3 is grounded via a capacitor C7; and the inverting input terminal of the operational amplifier U2 is grounded via a capacitor C4; The inverting input terminal of the operational amplifier U3 is connected to the reference voltage output by the reference voltage source unit through the series resistors R13 and R14, and the resistor R14 is grounded after being connected to the series resistors R16 and R17, and the inverting input terminal of the operational amplifier U3 is grounded through the capacitor C6; The non-inverting input terminal of the operational amplifier U2 is connected to the reference voltage via the resistor R3, and the resistor R3 is connected to the ground via the series resistors R6 and R8, and the inverting input terminal of the operational amplifier U3 is connected to the ground via the capacitor C3.

9. The control system of the motor according to claim 8, characterized in that: The switch unit includes a P-MOS tube Q2 and a P-MOS tube Q1 connected in series, wherein the gate of the P-MOS tube Q2 is connected to the output end of the operational amplifier U3 through a resistor R10 and the source of the P-MOS tube Q2 is connected to the output end of the operational amplifier U3 through a resistor R7; The gate of the P-MOS tube Q1 is connected to the output end of the operational amplifier U2 through the resistor R5 and the source of the P-MOS tube Q1 is connected to the output end of the operational amplifier U2 through the resistor R4. The output of the P-MOS tube Q1 is the motor system voltage used to drive the motor to work normally.

10. The control system of the motor according to claim 1, characterized in that: The position monitoring module includes a delay reset unit and a latch unit. The input end of the delay reset unit is connected to the position sensor and the button. The output end of the delay reset unit is connected to the latch unit. The output end of the latch unit is connected to the position sensor monitoring end HALL_MONITOR of the motor. Through the signal of the position sensor monitoring end HALL_MONITOR, the motor drive and brake module adjusts the running state of the motor and controls the motor to stop at a specified position. The position sensor outputs a feeding signal to the delay reset unit. The delay reset unit monitors the position sensor status. If the delay reset unit does not detect the position sensor signal within the set time, the delay reset unit will trigger the reset operation and output a reset signal to the latch unit. The latch unit receives the reset signal and latches the fault information.

11. The control system of the motor according to claim 10, characterized in that: The delayed reset unit includes a reset chip U8 and an N-MOS tube Q12. The watchdog input terminal of the reset chip U8 is connected to the first output terminal of the first-level Schmitt trigger U6. The manual reset terminal of the reset chip U8 is connected to one end of the resistor R62 and the drain of the N-MOS tube Q12. The other end of the resistor R62 is connected to its working voltage. The source of the N-MOS tube Q12 is grounded. A resistor R63 is connected in parallel between the source and the gate of the N-MOS tube Q12, and the gate of the N-MOS tube Q12 is connected to the key MOTOR_KEY.

12. The control system of the motor according to claim 11, characterized in that: The latch unit includes a latch U7, a logic gate chip U9, and an N-MOS tube Q5; the reset end of the reset chip U8 is connected to the input end of the logic gate chip U9, the output end of the logic gate chip U9 is connected to the clock pin of the latch U7, the pin CLR_N of the latch U7 is connected to the drain of the N-MOS tube Q5 and one end of the capacitor C22, the other end of the capacitor C22 is grounded, the drain of the N-MOS tube Q5 is connected to its working voltage via a resistor R34, the gate of the N-MOS tube Q5 is connected to the key MOTOR_KEY via a resistor R35, and a resistor R36 and a capacitor C23 are connected in parallel between the source and the gate of the N-MOS tube Q5; The PRE_N pin of the latch U7 is connected to one end of the resistor R53, the D pin of the latch U7 is connected to one end of the resistor R52, and the other end of the resistor R53 and the other end of the resistor R52 are connected to the VCC pin of the latch U7.

13. The control system of the motor according to claim 4, characterized in that: The input end of the motor drive activation module receives the key signal, and after filtering, directly outputs it as the manual control signal of the motor; The input end of the motor drive activation module is also connected to the motor main enable terminal MAIN_ENABLE, passes through two field effect transistors connected in series, and one of the field effect transistors receives the position sensor monitoring signal, and the final output is connected to the motor enable terminal MOTOR_ENABLE.

14. The control system of the motor according to claim 13, characterized in that: The motor drive activation module includes a P-MOS tube Q6, a P-MOS tube Q7, and an N-MOS tube Q8. The gate of the P-MOS tube Q6 is connected in series with a resistor R41 and then connected to the drain of the N-MOS tube Q8. The drain of the P-MOS tube Q6 is connected to its working voltage and a resistor R39. The other end of the resistor R39 is connected to one end of the resistor R41. The other end of the resistor R41 is connected to the anode of the unidirectional diode D7. The cathode of the unidirectional diode D7 is connected to the cathode of the unidirectional diode D6, one end of the resistor R37, one end of the capacitor C24, and one end of the resistor R47. The anode of the unidirectional diode D6 is connected in series with a resistor R38 and then connected to its working voltage. The other end of the capacitor C24 is grounded. The other end of the resistor R47 is connected to one end of the bidirectional diode D8 and a button. The other end of the bidirectional diode D8 is grounded. The other end of the resistor R37 is connected to the button MOTOR_KEY. The drain of the P-MOS tube Q6 is connected to the source of the P-MOS tube Q7. A resistor R39 is connected in parallel between the source and gate of the P-MOS tube Q6. The gate of the P-MOS tube Q7 is connected in series with a resistor R42 and then connected to the position sensor monitoring terminal HALL_MONITOR. The drain of the P-MOS tube Q7 is connected to the motor enable terminal MOTOR_ENABLE. The gate of the N-MOS tube Q8 is connected to the motor main enable terminal MAIN_ENABLE, a resistor R43 is connected in parallel between the gate and source of the N-MOS tube Q8, and the source of the N-MOS tube Q8 is grounded.

15. A method for controlling a motor, characterized in that: The following steps are involved: S1, monitor the motor power supply voltage. If the motor power supply voltage is not within the preset range, the motor is not powered. If the motor power supply voltage is within the preset range, the motor is powered. S2, receiving the start signal from the button and activating the rotation of the motor; S3, receiving the braking or driving signal from the button to control the braking and rotation of the motor; receiving the braking signal from the position sensor to control the motor to stop at the specified position; S4, monitor the position sensor signal of the motor. If the position sensor signal is not detected within the set time, the motor rotation is stopped.

16. The motor control method according to claim 15, characterized in that: The following steps are also included: S5, receiving the working status of the motor, and displaying three working statuses of the motor, namely, standby status, running status, and fault status.

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