Motor drive control system based on agricultural wheeled robot

Abstract

The invention discloses a motor drive control system based on an agricultural wheeled robot, which relates to the technical field of agricultural robots and comprises a circuit control module, a power management module, a power temperature monitoring module and an overcurrent protection module. The key parameters of the brushless motor of the agricultural wheeled robot are monitored in real time and accurately controlled, and the running state can be adjusted in time, so that the safety of equipment is enhanced, the service life is prolonged, the maintenance cost is reduced, the overall production efficiency is improved, the usability of the equipment is improved, and the economic benefit is increased. Meanwhile, efficient motor control and real-time monitoring enable energy utilization to be more optimized, energy waste is reduced, the goal of sustainable development is met, through data acquisition and monitoring, intelligence of agricultural equipment can be promoted, remote monitoring and management are supported, the modernization level of agricultural production is improved, and the agricultural equipment can be widely applied to the field of agricultural production. Moreover, hardware overcurrent protection and temperature monitoring enhance the safety of the equipment, protect the safety of agricultural machinery and operators, and reduce the possibility of accidents.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural robots, and particularly to a motor drive control system based on an agricultural wheeled robot. Background Art

[0002] Agricultural production is an industry that utilizes the growth laws of animals and plants to obtain products through artificial cultivation, including farming, forestry, animal husbandry, fishery, and agricultural services. It relies on natural resources and has characteristics such as regionality, seasonality, and periodicity. It is a fundamental industry of the economy and plays an important role in ensuring food security, maintaining ecological balance, promoting economic development, and improving living standards.

[0003] Traditional agricultural production mainly relies on manual labor and has low efficiency. With the growth of the global population, the demand for food and other agricultural products is increasing continuously, which promotes the inevitable trend of agricultural mechanization and automation. Especially in the face of problems such as labor shortage, environmental change, and land degradation, agricultural robots can effectively improve production efficiency and accuracy.

[0004] An agricultural wheeled robot is a product of the combination of automation technology and agricultural applications. It is a wheeled robot applied to agricultural production and can perform tasks such as planting, spraying, harvesting, and monitoring in the field, reducing labor costs and errors. At the same time, it improves the sustainability and accuracy of agricultural production, reduces labor intensity and production costs.

[0005] In modern agriculture, the performance of the motor drive system directly affects production efficiency and equipment stability. Brushless motors, with their advantages of high speed and rapid torque response, have become an important part of agricultural wheeled robots. However, existing motor drive systems often face environmental factors such as temperature changes and electrical factors such as voltage fluctuations and overloads, resulting in easy occurrence of faults and damages. Therefore, the present invention proposes a motor drive control system based on an agricultural wheeled robot to solve the problems existing in the prior art. Summary of the Invention

[0006] Aiming at the above problems, the purpose of the present invention is to propose a motor drive control system based on an agricultural wheeled robot to solve the problems that existing motor drive systems often face environmental factors such as temperature changes and electrical factors such as voltage fluctuations and overloads, resulting in easy occurrence of faults and damages.

[0007] To achieve the object of the present invention, the present invention is implemented through the following technical solutions: A motor drive control system based on an agricultural wheeled robot, including a circuit control module, a power management module, a power temperature monitoring module, and an overcurrent protection module. The circuit control module includes six-way PWM control signals and six MOS power output transistors. The six-way PWM control signals and the six MOS power output transistors form a three-phase H-bridge circuit, and each H-bridge of the three-phase H-bridge circuit controls one-phase motor;

[0008] The power management module includes a power supply unit and an integrated power monitoring unit. The power supply unit uses two high-power Schottky diodes connected in parallel in the positive power supply path, where the anode is connected to Vin+, the cathode is connected to the output POWER, and after passing through an LC filter circuit, it supplies power to the DCDC chip U15 to obtain the VCC11 power supply. After filtering, it supplies power to the DCDC chip U14, and then outputs the 5V power supply VCC5 after passing through the filter circuit again. The integrated power monitoring unit monitors the power supply voltage of the drive board in real time;

[0009] The power temperature monitoring module is configured with a temperature sensor and uses an NTC thermistor to monitor the temperature of the motor and the drive circuit in real time;

[0010] The overcurrent protection module uses a hysteresis comparator, which has two different thresholds and outputs different levels according to the two different thresholds.

[0011] A further improvement lies in that: each H-bridge of the three-phase H-bridge circuit consists of two switches. By alternately turning on and off the two switches in each H-bridge, the direction of the current is controlled, and by changing the states of the two switches, the current flows in different windings to change the direction of the motor.

[0012] A further improvement lies in that: the three-phase H-bridge circuit uses a pulse width modulation signal to control the switching frequency of the two switches to adjust the output power and speed of the motor.

[0013] A further improvement lies in that: when the power temperature monitoring module monitors that the temperature of the motor and the drive circuit exceeds the safety threshold, the temperature detection circuit triggers a protection mechanism to automatically reduce the load, reduce the output power, or cut off the power supply to protect the motor and the drive circuit.

[0014] A further improvement lies in that: when the hysteresis comparator detects that the input signal gradually rises from below the low threshold and exceeds the high threshold, the output becomes high level.

[0015] A further improvement lies in that: when the hysteresis comparator detects that the input signal gradually decreases from above the high threshold and is lower than the low threshold, the output becomes low level.

[0016] A further improvement lies in: through the output OC_OUT of the hysteresis comparator, when the drive board has an overcurrent, the OC_OUT signal outputs a low level, the red overcurrent indicator light OC_LED lights up, the optocoupler is turned off, SD_IN outputs high, and the H-bridge turns off the output.

[0017] A further improvement lies in: the hysteresis comparator is powered by an LDO circuit, and the supply voltage is 3.3V.

[0018] The beneficial effects of the present invention are as follows: by real-time monitoring and precise control of the key parameters of the brushless motor of the agricultural wheeled robot, the operating state can be adjusted in a timely manner, thereby enhancing the safety of the equipment, extending the service life, reducing the maintenance cost, and improving the overall production efficiency and the usability of the equipment. At the same time, the efficient motor control and real-time monitoring can make the energy utilization more optimized, reduce energy waste, meet the goal of sustainable development. Through data collection and monitoring, it can promote the intelligentization of agricultural equipment, support remote monitoring and management, and improve the modernization level of agricultural production. Moreover, the hardware overcurrent protection and temperature monitoring enhance the safety of the equipment, protect the safety of agricultural machinery and operators, and reduce the possibility of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of a three-phase H-bridge circuit of the circuit control module of the present invention;

[0021] Figure 2 It is a schematic diagram of one-phase H-bridge circuit in the three-phase H-bridge circuit of the circuit control module of the present invention;

[0022] Figure 3 It is a schematic diagram of the VCC11 power supply of the power management module of the present invention;

[0023] Figure 4 It is a schematic diagram of the power supply VCC5 of the power management module of the present invention;

[0024] Figure 5 It is a schematic diagram of the integrated power supply monitoring unit of the present invention;

[0025] Figure 6 It is a schematic diagram of the power supply temperature monitoring module of the present invention;

[0026] Figure 7It is a schematic circuit diagram of the overcurrent protection module of the present invention;

[0027] Figure 8 It is a schematic circuit diagram when the drive board of the present invention has overcurrent;

[0028] Figure 9 It is a schematic circuit diagram of the LDO circuit of the present invention. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] Motor drive control is to convert the input signal of the controller into a control signal understandable by the motor through an electronic device (such as a driver), so as to achieve precise control of the motor speed, direction, and torque. It is a key technology for realizing precise motor control. For different motor types and application scenarios, appropriate control methods and drive schemes need to be selected to meet the actual requirements. With the development of technology, motor drive control is more and more widely used in various industries, providing powerful power support for modern production and life. By precisely driving and controlling the motors of agricultural wheeled robots, the high-precision and high-adaptability requirements of agricultural operations can be met.

[0031] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 , this embodiment provides a motor drive control system based on an agricultural wheeled robot, and this system is composed of a circuit control module, a power management module, a power temperature monitoring module, and an overcurrent protection module;

[0032] As Figure 1 and Figure 2 shown, the circuit control module includes six-way PWM control signals and six MOS power output transistors. The six-way PWM control signals and the six MOS power output transistors form a three-phase H-bridge circuit. Each H-bridge of the three-phase H-bridge circuit controls one phase of the motor, and its working principle is as follows:

[0033] Each H-bridge of the three-phase H-bridge circuit consists of two switches, and the flow direction of the current is controlled by alternately turning on and off the two switches in each H-bridge;

[0034] By changing the states of two switches, the current flows through different windings to change the motor's rotation direction;

[0035] The three-phase H-bridge circuit uses pulse-width modulation (PWM) signals to control the switching frequencies of two switches to regulate the output power and speed of the motor. The three-phase H-bridge circuit has high driving efficiency and strong flexibility, can efficiently control the speed and torque of the motor, and supports multiple control strategies such as forward and reverse rotation, braking, and speed control;

[0036] As Figure 3 and Figure 4 shown, the power management module includes a power supply unit and an integrated power monitoring unit. The power supply unit that supports wide-range power supply of VIN (12 - 60V) uses two high-power Schottky diodes (D17 and D18) connected in parallel in the positive power path, where the anode is connected to Vin+ and the cathode is connected to the output POWER. After passing through the LC filter circuit, it supplies power to the DCDC chip U15 to obtain the VCC11 power supply. After filtering, it supplies power to the DCDC chip U14, and then outputs the 5V power supply VCC5 through the filter circuit again, with a maximum current of 2A;

[0037] As Figure 5 shown, the integrated power monitoring unit monitors the power supply voltage of the drive board in real time to prevent damage caused by overvoltage and undervoltage. DIV_U passes through an RC low-pass filter and ESD electrostatic protection to obtain BEMF_U. The current signal enters the operational amplifier U5 in a differential manner through I-V_U, and then outputs AMP_IU through the RC filter circuit and ESD electrostatic protection for the current signal used in ADC acquisition;

[0038] As Figure 6 shown, the power temperature monitoring module is equipped with a temperature sensor and uses an NTC thermistor to monitor the temperature of the motor and drive circuit in real time. The motor and drive circuit of the agricultural wheeled robot generate heat during operation. Excessive temperature may cause component damage or performance degradation. The temperature detection circuit of the power temperature monitoring module can monitor the temperature in real time to prevent the device from overheating. When the temperature exceeds the safety threshold, the temperature detection circuit can trigger a protection mechanism such as automatic load reduction, reduction of output power, or power cut-off to protect the motor and drive circuit;

[0039] By effectively monitoring and managing the temperature, the impact of thermal stress on components can be reduced, the service life of the motor and drive board can be extended, and the temperature data can be used to adjust the control strategy. For example, under high-temperature conditions, the load or speed of the motor can be reduced to keep the system in the best working state. Temperature monitoring helps prevent potential fire risks and equipment failures, improving the safety of the entire system;

[0040] As Figure 7As shown, the overcurrent protection module uses a hysteresis comparator, which has a hysteresis phenomenon, that is, the state of the output signal will be delayed when the input signal passes through a specific threshold. The hysteresis comparator in this embodiment has two different thresholds. When the input signal gradually rises from below the low threshold and exceeds the high threshold, the output becomes high level. When the input signal gradually decreases from above the high threshold and is lower than the low threshold, the output becomes low level;

[0041] The hysteresis comparator can effectively resist noise interference and avoid frequent switching caused by small fluctuations in the input signal. When AMP_IU > 10.4A + 0.5A (hysteresis current), overcurrent detection will be triggered and OC_OUT (default pull-up on R72) outputs low;

[0042] As Figure 8 shown, through the output OC_OUT of the hysteresis comparator, when the drive board is overcurrent, the OC_OUT signal outputs low level, the red overcurrent indicator light OC_LED lights up, Q7 is turned off, the optocoupler is also turned off, SD_IN outputs high, and the H-bridge turns off the output;

[0043] As Figure 9 shown, the hysteresis comparator is powered by an LDO circuit, and the supply voltage is 3.3V;

[0044] In this embodiment, the control signal in the motor drive control system based on the agricultural wheeled robot is isolated by an optocoupler to ensure the safety of the microcontroller and the power part. The main function is to isolate the input and output parts. The optocoupler can effectively reduce the transmission of electrical noise, thereby improving the stability and anti-interference ability of the system. In case of faults such as overvoltage and overcurrent, the optocoupler can protect the microcontroller and other sensitive components from damage;

[0045] All the acquisition signals in the motor drive control system based on the agricultural wheeled robot in this embodiment are protected by ESD electrostatic protection, which is a protection measure against the possible damage of electrostatic discharge to electronic devices and circuits. Electrostatic discharge refers to the electrical energy suddenly released after electrostatic accumulation reaches a certain level. This discharge may damage sensitive electronic components, resulting in equipment failure or malfunction, and enhancing the anti-interference ability.

[0046] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A motor drive control system based on an agricultural wheeled robot, comprising a circuit control module, a power management module, a power temperature monitoring module and an overcurrent protection module, characterized in that: The circuit control module includes six PWM control signals and six MOS power output tubes, the six PWM control signals and the six MOS power output tubes form a three-phase H-bridge circuit, and each H bridge of the three-phase H-bridge circuit controls one phase of the motor; The power management module includes a power supply unit and an integrated power monitoring unit. The power supply unit uses two high-power Schottky diodes connected in parallel in the positive path of the power supply, wherein the anode is connected to Vin+ and the cathode is connected to the output POWER. The power is supplied to the DCDC chip U15 through the LC filter circuit, and the VCC11 power is filtered and then supplied to the DCDC chip U14. The 5V power supply VCC5 is output again through the filter circuit. The integrated power monitoring unit monitors the power supply voltage of the driver board in real time. The power supply temperature monitoring module is equipped with a temperature sensor and uses an NTC thermistor to monitor the temperature of the motor and the drive circuit in real time; The overcurrent protection module adopts a hysteresis comparator, which has two different thresholds and outputs different levels according to the two different thresholds.

2. The motor drive control system based on the agricultural wheeled robot according to claim 1, characterized in that: Each H-bridge of the three-phase H-bridge circuit is composed of two switches. The flow direction of the current is controlled by alternately opening and closing the two switches in each H-bridge. The current flows in different windings by changing the state of the two switches to change the direction of the motor.

3. The motor drive control system based on the agricultural wheeled robot according to claim 2, characterized in that: The three-phase H-bridge circuit uses a pulse width modulation signal to control the switching frequency of two switches to adjust the output power and speed of the motor.

4. The motor drive control system based on the agricultural wheeled robot according to claim 1, characterized in that: When the power supply temperature monitoring module detects that the temperature of the motor and the drive circuit exceeds the safety threshold, the temperature detection circuit triggers the protection mechanism to automatically reduce the load, reduce the output power or cut off the power supply to protect the motor and the drive circuit.

5. The motor drive control system based on the agricultural wheeled robot according to claim 1, characterized in that: When the hysteresis comparator detects that the input signal gradually rises from below the low threshold and exceeds the high threshold, the output becomes a high level.

6. The motor drive control system based on the agricultural wheeled robot according to claim 1, characterized in that: When the hysteresis comparator detects that the input signal gradually decreases from being higher than the high threshold and lower than the low threshold, the output of the hysteresis comparator changes to a low level.

7. The motor drive control system based on the agricultural wheeled robot according to claim 1, characterized in that: Through the output OC_OUT of the hysteresis comparator, when the driver board is overcurrent, the OC_OUT signal outputs a low level, the red overcurrent indicator OC_LED lights up, the optocoupler is turned off, the SD_IN output is high, and the H-bridge output is turned off.

8. The motor drive control system based on the agricultural wheeled robot according to claim 1, characterized in that: The hysteresis comparator is powered by an LDO circuit, and the power supply voltage is 3.3V.

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