Stepping motor control circuit and deploy and control ball
By designing a stepper motor control circuit in the ball control system, using a gyroscope to detect vibration and adjust the driving current of the stepper motor, the problem of position deviation caused by vibration of the ball control system is solved, achieving a more stable imaging effect and lower power consumption.
Patent Information
- Application Number
- CN202421521331.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-28
- Publication Date
- 2025-05-06
- Estimated Expiration
- 2034-06-28
AI Technical Summary
During use, the position shifts due to vibrations, which affects the imaging effect and application experience.
A stepper motor control circuit is designed to detect vibration of the device using a gyroscope to suppress position deviation by increasing the driving current of the stepper motor. When the device does not vibrate, the drive current is reduced to achieve low power consumption.
It effectively suppresses position deviation due to equipment vibration, improves the imaging stability and application effect of the cloth ball control, and reduces power consumption when stationary.
Smart Images
Figure CN222839581U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of control balls, in particular to a stepping motor control circuit and a control ball. Background Art
[0002] The wireless emergency control ball is a comprehensive and portable wireless video emergency command integrated product, which provides users with high-definition, smooth and stable video effects, and can realize positioning, emergency, video, PTZ operation, two-way intercom and other functions. It is a complete set of emergency command equipment for sudden emergencies, providing technical support for the realization of "smooth communication, timely on-site, complete data, and in-place command" of emergency command, and can be widely used in emergency command, public security, criminal investigation, traffic police, fire protection, civil air defense emergency, border defense, urban management, electricity, road administration and other fields.
[0003] During the imaging process of the surveillance ball, in addition to the influence of the lens parameters on the imaging quality, the mechanical stability of the surveillance ball camera during use is also the key to imaging. Therefore, when the surveillance ball is installed on the detection rod, the detection rod will inevitably shake, or other factors will cause the surveillance ball to vibrate or shake, which will cause the position of the surveillance ball to shift and fail to accurately capture the imaging of the target object, affecting people's experience of watching the surveillance ball imaging video and weakening the application of the surveillance ball in various industries. Utility Model Content
[0004] In view of this, the utility model provides a stepper motor control circuit and a control ball to solve the problem of position deviation of the control ball due to vibration.
[0005] In the first aspect, the utility model provides a stepper motor control circuit, comprising: a gyroscope, a microprocessor, a single-chip microcomputer circuit and a motor control chip, wherein the gyroscope is arranged inside the device, its power supply pin inputs a power supply voltage, and its first output pin is connected to the first input pin of the microprocessor; the microprocessor, its first output pin is serially communicated with the input pin of the single-chip microcomputer circuit; the single-chip microcomputer circuit, its first output pin is connected to the first input pin of the motor control chip; the motor control chip, its output pin is connected to the control end of the stepper motor; the stepper motor is arranged inside the device, the gyroscope outputs a high-level interrupt signal to the first input pin of the microprocessor through its first output pin according to the vibration information of the device, the output pin of the microprocessor outputs a first level signal to the input pin of the single-chip microcomputer circuit, the first output pin of the single-chip microcomputer circuit outputs a first driving voltage to the first input pin of the motor control chip, and the output pin of the motor control chip outputs a first driving current to the stepper motor, and the first driving current is greater than the current driving current of the stepper motor.
[0006] The present invention arranges a gyroscope inside the device. When the gyroscope detects that the device is vibrating or shaking, the gyroscope will enter an interrupt and send an interrupt signal to a microprocessor. After the microprocessor receives the interrupt signal, the microprocessor sends a first level signal to a single-chip microcomputer circuit, wherein the first level signal carries information indicating "increasing the driving current". After the single-chip microcomputer circuit recognizes the first level signal, it increases the driving voltage of the stepper motor and sends a first driving voltage that is greater than the current driving voltage of the stepper motor to a motor control chip. After the motor control chip converts the voltage into current, it outputs the first driving current to the stepper motor. As the driving voltage of the stepper motor increases, its driving current will also increase. The increase in driving current increases the torque of the stepper motor, and the increase in torque can suppress the position offset caused by the vibration of the device.
[0007] In an optional implementation, the stepper motor control circuit is characterized in that it further includes: the second output pin of the gyroscope is connected to the first input pin of the microprocessor; the first output pin of the gyroscope and its second output pin are redundant to each other.
[0008] In an optional embodiment, the stepper motor control circuit also includes: the input pin of the gyroscope communicates with the second output pin of the microprocessor via I2C through a first anti-interference resistor, and the microprocessor outputs configuration parameters to the input pin of the gyroscope via its second output pin; the third output pin of the gyroscope communicates with the second input pin of the microprocessor via I2C through a second anti-interference resistor, and the gyroscope feeds back a status level signal to the second input pin of the microprocessor via its third output pin.
[0009] In an optional implementation, the stepper motor control circuit further includes: a first output pin of the microprocessor is connected to an input pin of the single-chip microcomputer circuit via a third anti-interference resistor.
[0010] In an optional implementation, the stepper motor control circuit further includes: a third input pin of the microprocessor communicates serially with a second output pin of the single-chip microcomputer circuit; and the single-chip microcomputer circuit responds to the microprocessor through its second output pin.
[0011] In an optional embodiment, the stepper motor control circuit also includes: a timer is set in the microprocessor for timing the duration of the non-interrupt signal received by the first input pin of the microprocessor; when the timing duration of the timer reaches a preset time, the first output pin of the microprocessor outputs a second level signal to the input pin of the single-chip microcomputer circuit, the first output pin of the single-chip microcomputer circuit outputs a second drive voltage to the first input pin of the motor control chip, and the output pin of the motor control chip outputs a second drive current to the stepper motor, and the second drive current is less than the current drive current of the stepper motor.
[0012] When the device is not vibrating, in order to achieve low power consumption, within a preset time, when the microprocessor does not receive an interrupt signal, the microprocessor outputs a second level signal to the single-chip microcomputer circuit, wherein the second level signal carries the information of "reducing driving current". After the single-chip microcomputer circuit recognizes the second level signal, it reduces the stepper motor driving voltage and sends a second driving voltage that is smaller than the current stepper motor driving voltage to the motor control chip. After the motor control chip converts the voltage into current, it outputs the second driving current to the stepper motor. Since the driving voltage of the stepper motor is reduced, its driving current will also be reduced. The reduction in driving current can achieve low power consumption when the device is not vibrating.
[0013] In an optional embodiment, the single-chip microcomputer circuit includes: a single-chip microcomputer and multiple second-order filtering circuits, the single-chip microcomputer has multiple first output pins, and the motor control chip has multiple first input pins, wherein the single-chip microcomputer, its input pin communicates serially with the first output pin of the microprocessor through a third anti-interference resistor, each of its first output pins is connected to the input end of a second-order filtering circuit, and its second output pin communicates serially with the third input pin of the microprocessor through a fourth anti-interference resistor, and the second-order filtering circuit, its output end is connected to a first input pin of the motor control chip; the output pin of the microprocessor outputs a first level signal to the input pin of the single-chip microcomputer circuit, the first output pin of the single-chip microcomputer outputs a first PWM drive signal to the second-order filtering circuit, and the second-order filtering circuit filters the first PWM drive signal and converts it into a first drive voltage; the first output pin of the microprocessor outputs a second level signal to the input pin of the single-chip microcomputer, the first output pin of the single-chip microcomputer outputs a second PWM drive signal to the second-order filtering circuit, and the second-order filtering circuit filters the second PWM drive signal and converts it into a second drive voltage.
[0014] In an optional embodiment, each second-order filter circuit includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor and a second capacitor, wherein the first resistor, a first end of which is connected to the first end of the second resistor and a first output pin of the single-chip microcomputer; the second resistor, a second end of which is connected to the first end of the first capacitor and the first end of the third resistor; the second capacitor, a first end of which is connected to the second end of the third resistor, the first end of the fourth resistor, the first end of the fifth resistor, and the first input pin of the motor control chip, and a second end of which is connected to the second end of the first resistor, the second end of the first capacitor, and the second end of the fourth resistor, and a second end of which is also grounded; the fifth resistor, a second end of which is input with a supply voltage.
[0015] In an optional embodiment, the third output pin of the microcontroller is connected to the second input pin of the motor control chip; the third output pin of the microcontroller outputs a forward level signal or a reverse level signal to the motor control chip, and the motor control chip controls the stepper motor to rotate forward or reverse.
[0016] In the second aspect, the utility model provides a control ball, including: the stepper motor control circuit, stepper motor and control ball body of the first aspect and any optional implementation manner thereof, the stepper motor control circuit and the stepper motor are arranged inside the control ball body, wherein a gyroscope, whose power supply pin inputs a power supply voltage, and whose first output pin is connected to the first input pin of a microprocessor; a microprocessor, whose first output pin communicates serially with the input pin of a single-chip circuit; a single-chip circuit, whose first output pin is connected to the first input pin of a motor control chip; a motor control chip, whose output pin is connected to the control end of the stepper motor; the gyroscope outputs a high-level interrupt signal to the first input pin of the microprocessor through its first output pin according to the vibration information of the device, the output pin of the microprocessor outputs a first level signal to the input pin of the single-chip circuit, the first output pin of the single-chip circuit outputs a first driving voltage to the first input pin of the motor control chip, and the output pin of the motor control chip outputs a first driving current to the stepper motor, and the first driving current is greater than the current driving current of the stepper motor. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0018] Figure 1 is a structural diagram of a stepper motor control circuit according to an embodiment of the utility model;
[0019] Figure 2 is a structural diagram of another stepping motor control circuit according to an embodiment of the utility model;
[0020] Figure 3 is a specific circuit structure diagram of a gyroscope according to an embodiment of the utility model;
[0021] Figure 4 is a specific circuit structure diagram of a microprocessor according to an embodiment of the utility model;
[0022] Figure 5 is a structural diagram of another stepping motor control circuit according to an embodiment of the utility model;
[0023] Figure 6 It is a specific circuit structure diagram of a single chip microcomputer according to an embodiment of the utility model;
[0024] Figure 7is a specific circuit structure diagram of a second-order filter circuit according to an embodiment of the utility model;
[0025] Figure 8 is a specific circuit structure diagram of a motor control chip according to an embodiment of the utility model;
[0026] Fig. 9 It is a structural diagram of a control ball according to an embodiment of the utility model. DETAILED DESCRIPTION
[0027] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.
[0028] In this embodiment, a stepper motor control circuit is provided. Figure 1 As shown, it includes: a gyroscope, a microprocessor, a single-chip circuit and a motor control chip.
[0029] like Figure 1 As shown, the gyroscope is arranged inside the device, the power supply pin VCC pin of the gyroscope inputs the power supply voltage, the first output pin OUT11 of the gyroscope is connected to the first input pin IN21 of the microprocessor; the first output pin OUT21 of the microprocessor is serially communicated with the input pin IN31 of the single-chip circuit; the first output pin OUT31 of the single-chip circuit is connected to the first input pin IN41 of the motor control chip; the output pin OUT41 of the motor control chip is connected to the control end IN51 of the stepper motor.
[0030] Specifically, the gyroscope is a device for detecting the angular motion of a high-speed rotating body relative to the inertial space around one or two axes orthogonal to the rotation axis using the momentum of the sensitive housing. When the device vibrates, the gyroscope will enter an interruption, wherein the device may be a control ball, wherein a stepper motor is arranged inside the control ball. Optionally, the gyroscope may be a six-axis gyroscope, but this is only an example and is not intended to be limiting.
[0031] When the control ball vibrates, in order to suppress the deviation of the camera position of the control ball, the suppression mechanism of this embodiment is: the gyroscope outputs a high-level interrupt signal to the first input pin IN21 of the microprocessor through its first output pin OUT11 according to the device vibration information, the output pin OUT21 of the microprocessor outputs a first level signal to the input pin IN31 of the single-chip circuit, the first output pin OUT31 of the single-chip circuit outputs a first driving voltage to the first input pin IN41 of the motor control chip, the output pin OUT41 of the motor control chip outputs a first driving current to the stepper motor, the first driving current is greater than the current driving current of the stepper motor, that is, the driving current of the stepper motor increases, so that after the torque of the stepper motor increases, the position deviation caused by the vibration of the device can be suppressed.
[0032] Specifically, when the control ball is not vibrating, the first output pin OUT11 of the gyroscope will output a low-level signal to the first input pin IN21 of the microprocessor. Only when the device vibrates, the first output pin OUT11 of the gyroscope will output an interrupt signal to the first input pin IN21 of the microprocessor. The interrupt signal is high level for the microprocessor to recognize.
[0033] Specifically, when the control ball vibrates, the microprocessor outputs a first level signal to the single-chip microcomputer circuit, and when the microprocessor does not receive a high-level interrupt signal from the gyroscope for a long time, the microprocessor outputs a second level signal to the single-chip microcomputer, wherein the first level signal can be a high level signal, and the second level signal can be a low level signal; or, the first level signal can be a low level signal, and the second level signal can be a high level signal; or, the first level signal and the second level signal are high-low level interactive signals, for example: the first level signal is "001", that is, a periodic signal of low level-low level-high level, and the second level signal is "011", that is, a periodic signal of low level-high level-high level, but this is only an example and is not intended to be limiting.
[0034] In some optional embodiments, such as Figure 1 As shown, the stepper motor control circuit further includes: the second output pin OUT12 of the gyroscope is connected to the first input pin IN21 of the microprocessor; the first output pin OUT11 of the gyroscope and the second output pin OUT12 of the gyroscope are redundant.
[0035] Specifically, when the first output pin OUT11 of the gyroscope fails and the device vibrates, the second output pin OUT12 of the gyroscope outputs a high-level interrupt signal to the first input pin IN21 of the microprocessor; similarly, when the second output pin OUT12 of the gyroscope fails and the device vibrates, the first output pin OUT11 of the gyroscope outputs a high-level interrupt signal to the first input pin IN21 of the microprocessor.
[0036] Optionally, the main pin and the spare pin of the first output pin OUT11 of the gyroscope and the second output pin OUT12 of the gyroscope may be determined by a microprocessor.
[0037] In some optional embodiments, such as Figure 2 As shown, the stepper motor control circuit also includes:
[0038] (1) The input pin IN1 of the gyroscope performs I2C communication with the second output pin OUT22 of the microprocessor through the first anti-interference resistor R1, and the second output pin OUT22 of the microprocessor outputs the configuration parameters to the input pin IN1 of the gyroscope.
[0039] (2) The third output pin OUT13 of the gyroscope performs I2C communication with the second input pin IN22 of the microprocessor through the second anti-interference resistor R2, and the third output pin OUT13 of the gyroscope feeds back a state level signal to the second input pin IN22 of the microprocessor.
[0040] Specifically, the first anti-interference resistor and the second anti-interference resistor can suppress signal interference. It can be understood that an anti-interference resistor can be set on each communication line.
[0041] Specifically, the microprocessor can receive control from the single-chip microcomputer circuit, configure the parameters of the gyroscope, and select the first output pin OUT11 of the gyroscope or the second output pin OUT12 of the gyroscope as the current communication pin.
[0042] Optionally, the circuit structure of the gyroscope is as follows Figure 3 As shown, Figure 3 In the figure, VCC_3V3 is the power supply voltage, U5 is the gyroscope chip, the 13th and 14th pins of U5 are the input pin IN11 and the second output pin OUT12 of the gyroscope respectively, the 4th and 9th pins of U5 are the first output pin OUT11 and the second output pin OUT12 of the gyroscope respectively, and the 4th and 9th pins of U5 are connected to the microprocessor for communication through a 33 ohm anti-interference resistor.
[0043] Optionally, the power supply part of the gyroscope can also be provided with a filter inductor, such as Figure 3 The L1 and L2 in the circuit can avoid the interference of external power supply.
[0044] In some optional embodiments, such as Figure 2 As shown, the stepper motor control circuit further includes: a first output pin OUT21 of the microprocessor is connected to an input pin IN31 of the single-chip computer circuit through a third anti-interference resistor R3, and the third anti-interference resistor R3 can suppress signal interference.
[0045] In some optional embodiments, such as Figure 2 As shown, the stepper motor control circuit further includes: a third input pin IN23 of the microprocessor performs serial communication with a second output pin OUT32 of the single-chip circuit; and the single-chip circuit responds to the microprocessor through its second output pin OUT32.
[0046] Specifically, the first output pin OUT21 of the microprocessor and the third input pin IN23 of the microprocessor perform serial communication with the input pin IN31 of the microcontroller and the second output pin OUT32 of the microcontroller respectively. These two communication channels can realize the transmission of control signals and feedback signals.
[0047] Optionally, the circuit structure of the gyroscope is as follows Figure 4 As shown, Figure 4 In the example, U1D is a microprocessor chip. The AA18 pin and the Y19 pin of U1D are respectively the second output pin OUT22 and the second input pin IN22 of the microprocessor. The microprocessor communicates with the chip through the AA18 pin and the Y19 pin. Figure 3 The 13th and 14th pins of U5 are used for I2C communication, where: Figure 4 In the figure, R89 is the first anti-interference resistor R1, and R90 is the second anti-interference resistor R2.
[0048] Figure 4 In the figure, the AA15 pin and the Y16 pin of U1D are respectively the first output pin OUT21 of the microprocessor and the third input pin IN23 of the microprocessor. The AA15 pin and the Y16 pin of U1D communicate with the single-chip microcomputer circuit via serial port. The AA15 pin can send the first level signal and the second level signal to the single-chip microcomputer. The AA15 pin can also feedback the status signal to the single-chip microcomputer. The Y16 pin receives the control signal from the single-chip microcomputer. Among them, R85 is the third anti-interference resistor R3.
[0049] In some optional implementations, taking the control ball as an example, in order to meet the portability requirement, the built-in battery working time of the control ball is relatively short, generally around 5 to 10 hours. Some control balls that use external batteries will not work for more than 3 days at most. In some application scenarios of the control ball, the short battery working time will bring some inconvenience in use. In order to solve the problem of long-term work, the method now is to increase the battery, but there are problems such as the portability and the time cannot be too long. For example, if it works continuously for a month, a 750Ah 12V battery is required. Such a large battery will be very large in size, so if Figure 1As shown, a timer is provided in the microprocessor for timing the duration of a non-interrupt signal received by a first input pin of the microprocessor; when the timing duration of the timer reaches a preset time, the first output pin OUT21 of the microprocessor outputs a second level signal to the input pin IN31 of the single-chip circuit, the first output pin OUT31 of the single-chip circuit outputs a second driving voltage to the first input pin IN41 of the motor control chip, and the output pin OUT41 of the motor control chip outputs a second driving current to the stepper motor, and the second driving current is less than the current driving current of the stepper motor.
[0050] Specifically, when the control ball vibrates, it is necessary to increase the torque of the stepper motor by increasing the driving current to suppress the deviation of the control ball camera. When the control ball does not vibrate for a long time, in order to achieve low power consumption and extend the battery life, the microprocessor of this embodiment sets a timer. When the first input pin IN21 of the microprocessor does not receive a high-level interrupt signal, the timer starts timing. When the timing time exceeds the preset time, the first output pin OUT21 of the microprocessor outputs a second level signal to the input pin IN31 of the single-chip microcomputer circuit.
[0051] Specifically, the form of the second level signal has been described in detail in the above embodiments and will not be repeated here.
[0052] In some optional embodiments, such as Figure 5 As shown, the single-chip circuit includes: a single-chip 31 and a plurality of second-order filter circuits 32, the single-chip has a plurality of first output pins, and the motor control chip has a plurality of first input pins. Figure 5 In the figure, the motor control chip driving the horizontal stepper motor and the vertical stepper motor is taken as an example.
[0053] like Figure 5 As shown, the input pin IN311 of the single-chip microcomputer communicates serially with the first output pin OUT21 of the microprocessor through the third anti-interference resistor R3, each first output pin OUT311 of the single-chip microcomputer is connected to the input terminal IN321 of a second-order filter circuit, and the second output pin OUT312 of the single-chip microcomputer communicates serially with the third input pin IN23 of the microprocessor through the fourth anti-interference resistor R4; the output terminal OUT321 of the second-order filter circuit is connected to a first input pin IN41 of the motor control chip.
[0054] Specifically, when the device vibrates, the output pin of the microprocessor outputs a first level signal to the input pin of the single-chip microcomputer circuit, the first output pin of the single-chip microcomputer outputs a first PWM drive signal to the second-order filter circuit, and the second-order filter circuit filters the first PWM drive signal and converts the analog-to-digital signal into a first drive voltage; the first output pin of the microprocessor outputs a second level signal to the input pin of the single-chip microcomputer, the first output pin of the single-chip microcomputer outputs a second PWM drive signal to the second-order filter circuit, and the second-order filter circuit filters the second PWM drive signal and converts the analog-to-digital signal into a second drive voltage, wherein the second-order filter circuit not only has the function of filtering out clutter, but also can convert the PWM digital signal into a DC voltage.
[0055] Specifically, Figure 5 The two second-order filter circuits are used to drive a motor. When the control ball vibrates, the single-chip microcomputer outputs a first PWM drive signal. When the control ball does not vibrate for a long time, the single-chip microcomputer outputs a second PWM drive signal, wherein the duty cycle of the first PWM drive signal is greater than the duty cycle of the second PWM drive signal. Thus, when the control ball vibrates, the driving current of the stepper motor is increased, so that the torque of the stepper motor is increased. When the control ball does not vibrate for a long time, the driving current of the stepper motor is reduced, so as to achieve low power consumption while suppressing the position deviation of the camera of the control ball.
[0056] In some optional embodiments, such as Figure 5 As shown, the stepper motor control circuit also includes: the third output pin OUT313 of the single-chip microcomputer is connected to the second input pin IN42 of the motor control chip; the third output pin OUT313 of the single-chip microcomputer outputs a forward level signal or a reverse level signal to the motor control chip, and the motor control chip controls the stepper motor to rotate forward or reverse.
[0057] Optionally, the specific structure of the microcontroller is as follows Figure 6 As shown, the Figure 6 U4 is a single-chip microcomputer. The PA9 and PA10 pins of U4 are the first output pin OUT311 and the input pin IN311 of the single-chip microcomputer, respectively, and communicate with the microprocessor through the serial port. U4's PA0, PA1, PA4, and PA5 can control the forward and reverse rotation of the vertical and horizontal motors respectively. U4's PA6, PA7, PB0, and PB1 are connected to the motor control chip, which can control the motor subdivision and current. More subdivisions can improve the accuracy of the pan / tilt and the smoothness of the movement.
[0058] In some optional embodiments, each second-order filter circuit includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor and a second capacitor, wherein the first resistor, a first end of which is connected to the first end of the second resistor and a first output pin of the single-chip microcomputer; the second resistor, a second end of which is connected to the first end of the first capacitor and the first end of the third resistor; the second capacitor, a first end of which is connected to the second end of the third resistor, the first end of the fourth resistor, the first end of the fifth resistor, and the first input pin of the motor control chip, and a second end of which is connected to the second end of the first resistor, the second end of the first capacitor, and the second end of the fourth resistor, and a second end of which is also grounded; the fifth resistor, a second end of which is input with a supply voltage.
[0059] Specifically, the filter subcircuit structure is as follows: Figure 7 As shown, Figure 7 There are 4 filtering sub-circuits, the first resistors are R3, R8, R149, R152, the second resistors are R1, R6, R148, R151, the third resistors are R2, R7, R147, R150, the fourth resistors are R68, R72, R70, R74, the fifth resistors are R155, R71, R69, R73, the first capacitors are C170, C168, C173, C172, and the second capacitors are C167, C169, C161, C171.
[0060] In some optional implementations, the structure of the motor control chip is as follows: Figure 8 As shown, the motor control chip has a built-in H-bridge circuit, which can convert direct current into alternating current. The voltage conversion is not limited to frequency and amplitude, and is set according to the actual needs of the motor.
[0061] Specifically, Figure 8 In the figure, U6 is a motor control chip, the 27th, 29th, 32nd and 34th pins of U6 are connected to the vertical motor, and the 3rd, 5th, 8th and 10th pins of U6 are connected to the horizontal straight motor.
[0062] In this embodiment, a control ball is provided, such as Fig. 9 As shown, it includes: the stepper motor control circuit, stepper motor and control ball body of the above embodiment and any optional implementation manner thereof, the stepper motor control circuit and the stepper motor are arranged inside the control ball body, wherein,
[0063] A gyroscope, a power supply pin of which inputs a power supply voltage, and a first output pin of which is connected to a first input pin of a microprocessor;
[0064] A microprocessor having a first output pin in serial communication with an input pin of the single-chip microcomputer circuit;
[0065] A single-chip microcomputer circuit, wherein a first output pin thereof is connected to a first input pin of a motor control chip;
[0066] A motor control chip, whose output pin is connected to the control end of the stepper motor;
[0067] The gyroscope outputs a high-level interrupt signal to the first input pin of the microprocessor through its first output pin according to the vibration information of the device. The output pin of the microprocessor outputs a first level signal to the input pin of the single-chip microcomputer circuit. The first output pin of the single-chip microcomputer circuit outputs a first drive voltage to the first input pin of the motor control chip. The output pin of the motor control chip outputs a first drive current to the stepper motor. The first drive current is greater than the current drive current of the stepper motor to increase the torque of the stepper motor, thereby suppressing the position deviation caused by the vibration of the device.
[0068] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.
Claims
1. A stepper motor control circuit, characterized in that: include: Gyroscope, microprocessor, single-chip circuit and motor control chip, among which, A gyroscope is disposed inside the device, a power supply pin of the gyroscope inputs a power supply voltage, and a first output pin of the gyroscope is connected to a first input pin of the microprocessor; a microprocessor, wherein a first output pin thereof is in serial communication with an input pin of the single-chip microcomputer circuit; A single-chip microcomputer circuit, wherein a first output pin thereof is connected to a first input pin of the motor control chip; A motor control chip, whose output pin is connected to the control end of the stepper motor; The stepper motor is arranged inside the device, and the gyroscope outputs a high-level interrupt signal to the first input pin of the microprocessor through its first output pin according to the vibration information of the device, the output pin of the microprocessor outputs a first level signal to the input pin of the single-chip circuit, the first output pin of the single-chip circuit outputs a first driving voltage to the first input pin of the motor control chip, and the output pin of the motor control chip outputs a first driving current to the stepper motor, and the first driving current is greater than the current driving current of the stepper motor.
2. The stepper motor control circuit according to claim 1, characterized in that: Also includes: The second output pin of the gyroscope is connected to the first input pin of the microprocessor; The first output pin and the second output pin of the gyroscope are redundant with each other.
3. The stepper motor control circuit according to claim 1, characterized in that: Also includes: The input pin of the gyroscope performs I2C communication with the second output pin of the microprocessor through the first anti-interference resistor, and the microprocessor outputs the configuration parameters to the input pin of the gyroscope through its second output pin; The third output pin of the gyroscope communicates with the second input pin of the microprocessor via I2C through a second anti-interference resistor, and the gyroscope feeds back a state level signal to the second input pin of the microprocessor via its third output pin.
4. The stepper motor control circuit according to claim 1, characterized in that: Also includes: The first output pin of the microprocessor is connected to the input pin of the single-chip computer circuit through a third anti-interference resistor.
5. The stepper motor control circuit according to claim 4, characterized in that: Also includes: The third input pin of the microprocessor performs serial communication with the second output pin of the single-chip circuit; The single chip circuit responds to the microprocessor through its second output pin.
6. The stepper motor control circuit according to claim 5, characterized in that: Also includes: A timer is provided in the microprocessor for timing the duration of the non-interrupt signal received by the first input pin of the microprocessor; When the timing length of the timer reaches a preset time, the first output pin of the microprocessor outputs a second level signal to the input pin of the single-chip microcomputer circuit, the first output pin of the single-chip microcomputer circuit outputs a second drive voltage to the first input pin of the motor control chip, and the output pin of the motor control chip outputs a second drive current to the stepper motor, and the second drive current is less than the current drive current of the stepper motor.
7. The stepper motor control circuit according to claim 6, characterized in that: The single-chip circuit includes: a single-chip and a plurality of second-order filter circuits, the single-chip has a plurality of first output pins, and the motor control chip has a plurality of first input pins, wherein: A single-chip microcomputer, whose input pin communicates with the first output pin of the microprocessor via the third anti-interference resistor, each of whose first output pins is connected to an input end of the second-order filter circuit, and whose second output pin communicates with the third input pin of the microprocessor via the fourth anti-interference resistor. A second-order filter circuit, an output end of which is connected to a first input pin of the motor control chip; The output pin of the microprocessor outputs a first level signal to the input pin of the single-chip circuit, the first output pin of the single-chip circuit outputs a first PWM drive signal to the second-order filter circuit, and the second-order filter circuit filters the first PWM drive signal and converts it into a first drive voltage; The first output pin of the microprocessor outputs a second level signal to the input pin of the single-chip microcomputer, and the first output pin of the single-chip microcomputer outputs a second PWM drive signal to the second-order filter circuit, and the second-order filter circuit filters the second PWM drive signal and converts it into a second drive voltage.
8. The stepper motor control circuit according to claim 7, characterized in that: Each of the second-order filter circuits comprises: a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor and a second capacitor, wherein: A first resistor, a first end of which is connected to a first end of the second resistor and a first output pin of the single chip computer; a second resistor, a second end of which is connected to the first end of the first capacitor and the first end of the third resistor; A second capacitor, a first end of which is connected to the second end of the third resistor, the first end of the fourth resistor, the first end of the fifth resistor, and the first input pin of the motor control chip, a second end of which is connected to the second end of the first resistor, the second end of the first capacitor, and the second end of the fourth resistor, and a second end of which is also grounded; A fifth resistor has a second terminal input with a supply voltage.
9. The stepper motor control circuit according to claim 7, characterized in that: The third output pin of the single chip microcomputer is connected to the second input pin of the motor control chip; The third output pin of the single chip microcomputer outputs a forward level signal or a reverse level signal to the motor control chip, and the motor control chip controls the stepper motor to rotate forward or reverse.
10. A control ball, characterized in that: include: The stepper motor control circuit, stepper motor and control ball body according to any one of claims 1 to 9, wherein the stepper motor control circuit and the stepper motor are arranged inside the control ball body, wherein: A gyroscope, a power supply pin of which inputs a power supply voltage, and a first output pin of which is connected to a first input pin of a microprocessor; A microprocessor having a first output pin in serial communication with an input pin of the single-chip microcomputer circuit; A single-chip microcomputer circuit, wherein a first output pin thereof is connected to a first input pin of a motor control chip; A motor control chip, whose output pin is connected to the control end of the stepper motor; The gyroscope outputs a high-level interrupt signal to the first input pin of the microprocessor through its first output pin according to the vibration information of the device. The output pin of the microprocessor outputs a first-level signal to the input pin of the single-chip circuit. The first output pin of the single-chip circuit outputs a first driving voltage to the first input pin of the motor control chip. The output pin of the motor control chip outputs a first driving current to the stepper motor, and the first driving current is greater than the current driving current of the stepper motor.