Controller for engineering machinery

Abstract

The utility model relates to the field of engineering machinery, and provides a controller for engineering machinery, which comprises a central control unit. The motor driver is connected with the central control unit, receives the control signal sent by the central control unit and sends a motor driving signal; the motor is connected with the motor driver and is used for receiving a motor driving signal sent by the motor driver; the signal conditioning unit is connected with the motor and is used for receiving and conditioning a current signal of the motor; and the current sensor is connected with the signal conditioning unit and the central control unit, receives the conditioned current signal and outputs a current sampling signal to the central control unit. When the system is used, on the basis that the cost of an original system is not increased too much, the control accuracy and the real-time performance of the control system are optimized, and due to the fact that the number of sensors for collecting mechanical systems, hydraulic systems and the like is reduced, the technical complexity is reduced, and the fault rate of the control system can be remarkably reduced.

Description

Technical Field

[0001] The utility model relates to the field of engineering machinery, and more specifically, to a controller for engineering machinery. Background Art

[0002] Traditional engineering machinery VCU controllers collect various vehicle-mounted sensor signals, output control signals to actuators according to control objectives and control strategies, drive hydraulic valves, pneumatic valves or other actuators, and achieve vehicle control. The disadvantages of this method are that the entire control system is complex and has a high failure rate, and the production and maintenance costs are also high. The control current has no accurate feedback signal, and the control accuracy and real-time performance are low.

[0003] To this end, we propose a controller for engineering machinery to solve the above problems. Utility Model Content

[0004] Technical issues to be solved

[0005] In view of the problems existing in the prior art, the purpose of the utility model is to provide a controller for engineering machinery, which solves the problems of low control accuracy and low real-time performance.

[0006] Technical Solution

[0007] To solve the above problems, the utility model adopts the following technical solutions.

[0008] A controller for engineering machinery, comprising a central control unit;

[0009] A motor driver, connected to the central control unit, receives a control signal from the central control unit, and sends a motor drive signal;

[0010] A motor, connected to the motor driver, and receiving a motor driving signal sent by the motor driver;

[0011] A signal conditioning unit, connected to the motor, receives the current signal of the motor and performs conditioning;

[0012] The current sensor is connected to the signal conditioning unit and the central control unit, receives the conditioned current signal, and outputs a current sampling signal to the central control unit.

[0013] In a new embodiment, the motor comprises:

[0014] The motor sensor is used to measure the current signal of the motor in real time.

[0015] In a new embodiment, the signal conditioning unit includes:

[0016] An input terminal, used to receive a current signal measured in real time by the motor sensor;

[0017] A multi-stage filtering unit, connected to the input end, for filtering the current signal measured in real time;

[0018] A precision resistor network, connected to the multi-stage filtering unit, for ensuring the accuracy and stability of the voltage during the signal conditioning process;

[0019] A differential amplifier connected to the precision resistor network for amplifying differential signals to improve the signal-to-noise ratio of the signal;

[0020] an analog-to-digital conversion unit, connected to the differential amplifier, and configured to convert the conditioned analog signal into a digital signal;

[0021] The output terminal is connected to the analog-to-digital conversion unit and is used to output the converted digital signal.

[0022] In a new embodiment, it also includes:

[0023] The capacitor is connected to the output end of the current sensor and is grounded.

[0024] In a new embodiment, a voltage dividing unit is further included. The voltage dividing unit is connected to the current sensor and grounded. The voltage dividing unit includes a plurality of resistors. The resistors are used to limit the flow of current.

[0025] In a new embodiment, the resistors include R140 and R142.

[0026] In a new embodiment, the multi-stage filtering unit includes a plurality of RC filters connected in series.

[0027] In a new embodiment, the current sensor and the motor sensor respectively use any one of U19, U20, U21 or U22 when collecting current.

[0028] In a new embodiment, the 1 / 2 pin of U19 is connected to PMOS01-CURR, the 3 / 4 pin is connected to PMOS01, the 5 pin is connected to GND, the 6 pin is connected to C50 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R141, ADC1 IN14, R143 and VSSA, and the 8 pin uses VCC5V power supply;

[0029] The 1 / 2 pins of U20 are connected to PMOS03-CURR, the 3 / 4 pins are connected to PMOS03, the 5 pin is connected to GND, the 6 pin is connected to C51 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R140, ADC1 IN15, R142 and VSSA, and the 8 pin uses VCC5V power supply;

[0030] The 1 / 2 pins of U21 are connected to PMOS18-CURR, the 3 / 4 pins are connected to PMOS18, the 5 pin is connected to GND, the 6 pin is connected to C52 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R145, ADC1 IN14, R147 and VSSA, and the 8 pin uses VCC5V power supply;

[0031] The 1 / 2 pins of U22 are connected to PMOS19-CURR, the 3 / 4 pins are connected to PMOS19, the 5 pin is connected to GND, the 6 pin is connected to C53 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R144, ADC1 IN15, R145 and VSSA, and the 8 pin uses VCC5V power supply.

[0032] In a new embodiment, the circuit for power collection is that the power supply is connected to R19, AIV ADC1 CH9, R23 and GND in sequence.

[0033] Beneficial effects: Compared with the prior art, the advantages of the utility model are:

[0034] By adding optimized signal filtering and conditioning circuits and high-speed sampling circuits for motor current sensors to the motor drive circuit, the motor drive current signal can be accurately collected in a strong electromagnetic interference environment to accurately control the torque and speed of the motor output. The accuracy of this signal is the key to the stable and reliable operation of the entire system, and it has been processed by a special VCU control algorithm. Finally, the drive signal output by the VCU to the motor driver was compared with the simulation results based on the Simulink simulation model, achieving satisfactory results. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the process of the utility model;

[0036] Figure 2 This is a schematic diagram of U19;

[0037] Figure 3 It is a schematic diagram of U20;

[0038] Figure 4 is a schematic diagram of U21;

[0039] Figure 5 is a schematic diagram of U22;

[0040] Figure 6 Schematic diagram of the circuit for power collection;

[0041] Figure 7 Schematic diagram of the signal conditioning unit. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model; it is obvious that the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the utility model without making creative work are within the scope of protection of the utility model.

[0043] The embodiment of the present application solves the problems of low control accuracy and low real-time performance by providing a controller for engineering machinery. When in use, the current closed-loop feedback VCU (Vehicle Control Unit) controller for engineering machinery is an electronic control unit for controlling engineering machinery. It collects various sensor signals of the vehicle and controls the running state of the vehicle according to a preset control algorithm, thereby improving the stability and safety of the vehicle.

[0044] Current closed-loop feedback is an important function of the utility model. By real-time monitoring and adjusting the current output of the motor, the VCU controller can accurately control the position and posture of actuators such as the robotic arm and hydraulic system to ensure stable and reliable operation during the working process. In addition, the VCU controller also has functions such as fault diagnosis and safety protection to cope with various complex working environments and emergencies.

[0045] The utility model can optimize the control accuracy and real-time performance of the control system without increasing the cost of the original system too much. Since the number of sensors of the acquisition machinery and hydraulic systems is reduced and the technical complexity is reduced, the failure rate of the control system can be significantly reduced.

[0046] The technical solution in the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0047] Reference Figure 1 A controller for engineering machinery includes a central control unit; a motor driver connected to the central control unit, receiving a control signal from the central control unit and sending a motor drive signal; a motor connected to the motor driver, receiving a motor drive signal from the motor driver; a signal conditioning unit connected to the motor, receiving a current signal from the motor and conditioning it; a current sensor connected to the signal conditioning unit and the central control unit, receiving the conditioned current signal, and outputting a current sampling signal to the central control unit.

[0048] The central control unit controls the driving mode of the motor, and when the motor is working, the motor signals are collected in real time, such as voltage, current and other data. The collected signals pass through the signal conditioning unit, and the current sensor detects the current size of the signal conditioning unit, and the signal conditioning unit uses a signal conditioning circuit.

[0049] The motor includes: a motor sensor, which is used for measuring the current signal of the motor in real time.

[0050] Reference Figure 7 The signal conditioning unit includes: an input end, used to receive the current signal measured in real time by the motor sensor; a multi-stage filtering unit, connected to the input end, used to filter the current signal measured in real time; a precision resistor network, connected to the multi-stage filtering unit, used to ensure the accuracy and stability of the voltage during the signal conditioning process; a differential amplifier, connected to the precision resistor network, used to amplify the differential signal and improve the signal-to-noise ratio of the signal; an analog-to-digital conversion unit, connected to the differential amplifier, used to convert the conditioned analog signal into a digital signal; an output end, connected to the analog-to-digital conversion unit, used to output the converted digital signal.

[0051] The input terminal receives the input signal, which is input by the motor sensor. The output analog signal is transmitted to the input terminal of the signal conditioning circuit through the cable.

[0052] The multi-stage filter unit adopts a multi-stage filter circuit. By connecting multiple RC filters in series, the interference of high-frequency noise on the signal is significantly reduced, and the purity of the signal is improved. Precision resistor network: uses high-precision resistors to ensure the accuracy and stability of the voltage of each node during the signal conditioning process. Differential amplifier: used to amplify the differential signal output by the sensor and improve the signal-to-noise ratio. Analog-to-digital converter (ADC): converts the conditioned analog signal into a digital signal for subsequent digital signal processing.

[0053] It also includes: a capacitor connected to the output end of the current sensor and grounded.

[0054] It also includes a voltage dividing unit, which is connected to the current sensor and grounded. The voltage dividing unit includes a plurality of resistors, and the resistors are used to limit the flow of current.

[0055] The resistors include R140 and R142.

[0056] The multi-stage filtering unit includes a plurality of RC filters connected in series.

[0057] MT9221 CT-05BR5: Current sensor, responsible for converting the current in the circuit into a voltage signal.

[0058] C51: Capacitor, between the current sensor output and ground, it filters and smoothes the voltage and can reduce voltage noise.

[0059] R140 and R142: Resistors, whose function is to limit the flow of current; they form a voltage divider network between the current sensor output and ground to convert the current signal into a voltage signal for subsequent analog-to-digital conversion.

[0060] ADC1 IN15: Input pin of the Analog-to-Digital Converter (ADC), which converts the voltage signal into a digital value for current sensing by the VCU.

[0061] VCC5V: Power line, provides power for the circuit.

[0062] GND: Ground wire, providing reference potential for the circuit.

[0063] Reference Figure 2-Figure 5 When the current sensor and the motor sensor collect current, they can use any one of U19, U20, U21 or U22 respectively.

[0064] The 1 / 2 pins of U19 are connected to PMOS01-CURR, the 3 / 4 pins are connected to PMOS01, the 5 pin is connected to GND, the 6 pin is connected to C50 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R141, ADC1 IN14, R143 and VSSA, and the 8 pin uses VCC5V power supply;

[0065] The 1 / 2 pins of U20 are connected to PMOS03-CURR, the 3 / 4 pins are connected to PMOS03, the 5 pin is connected to GND, the 6 pin is connected to C51 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R140, ADC1 IN15, R142 and VSSA, and the 8 pin uses VCC5V power supply;

[0066] The 1 / 2 pins of U21 are connected to PMOS18-CURR, the 3 / 4 pins are connected to PMOS18, the 5 pin is connected to GND, the 6 pin is connected to C52 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R145, ADC1 IN14, R147 and VSSA, and the 8 pin uses VCC5V power supply;

[0067] The 1 / 2 pins of U22 are connected to PMOS19-CURR, the 3 / 4 pins are connected to PMOS19, the 5 pin is connected to GND, the 6 pin is connected to C53 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R144, ADC1 IN15, R145 and VSSA, and the 8 pin uses VCC5V power supply.

[0068] Reference Figure 6 The power collection circuit is that the power supply is connected to R19, AIV ADC1CH9, R23 and GND in sequence.

[0069] Compared with the prior art, the present invention achieves high-precision conditioning of input signals by introducing a multi-stage filtering circuit and a precision resistor network, significantly improving the performance of the circuit. In addition, the present invention further enhances the anti-interference ability and stability of the circuit by optimizing the circuit layout and component selection.

[0070] The above is only a preferred specific implementation of the utility model; however, the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and improved ideas of the utility model within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model.

[0071] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0072] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A controller for engineering machinery, characterized in that: include: Central control unit; A motor driver, connected to the central control unit, receives a control signal from the central control unit, and sends a motor drive signal; A motor, connected to the motor driver, and receiving a motor driving signal sent by the motor driver; A signal conditioning unit, connected to the motor, receives the current signal of the motor and performs conditioning; The current sensor is connected to the signal conditioning unit and the central control unit, receives the conditioned current signal, and outputs a current sampling signal to the central control unit.

2. The construction machinery controller according to claim 1, characterized in that: The motor comprises: The motor sensor is used to measure the current signal of the motor in real time.

3. The controller for construction machinery according to claim 2, characterized in that: The signal conditioning unit comprises: An input terminal, used to receive a current signal measured in real time by the motor sensor; A multi-stage filtering unit, connected to the input end, for filtering the current signal measured in real time; A precision resistor network, connected to the multi-stage filtering unit, for ensuring the accuracy and stability of the voltage during the signal conditioning process; A differential amplifier connected to the precision resistor network for amplifying differential signals to improve the signal-to-noise ratio of the signal; an analog-to-digital conversion unit, connected to the differential amplifier, and configured to convert the conditioned analog signal into a digital signal; The output terminal is connected to the analog-to-digital conversion unit and is used to output the converted digital signal.

4. The construction machinery controller according to claim 1, wherein: Also includes: The capacitor is connected to the output end of the current sensor and is grounded.

5. The controller for construction machinery according to claim 1, characterized in that: It also includes a voltage dividing unit, which is connected to the current sensor and grounded. The voltage dividing unit includes a plurality of resistors, and the resistors are used to limit the flow of current.

6. The controller for construction machinery according to claim 5, characterized in that: The resistors include R140 and R142.

7. The controller for construction machinery according to claim 3, characterized in that: The multi-stage filtering unit includes a plurality of RC filters connected in series.

8. The controller for construction machinery according to claim 2, characterized in that: When collecting current, the current sensor and the motor sensor respectively use any one of U19, U20, U21 or U22.

9. The controller for construction machinery according to claim 8, characterized in that: The 1 / 2 pins of U19 are connected to PMOS01-CURR, the 3 / 4 pins are connected to PMOS01, the 5 pin is connected to GND, the 6 pin is connected to C50 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R141, ADC1 IN14, R143 and VSSA, and the 8 pin uses VCC5V power supply; The 1 / 2 pins of U20 are connected to PMOS03-CURR, the 3 / 4 pins are connected to PMOS03, the 5 pin is connected to GND, the 6 pin is connected to C51 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R140, ADC1 IN15, R142 and VSSA, and the 8 pin uses VCC5V power supply; The 1 / 2 pins of U21 are connected to PMOS18-CURR, the 3 / 4 pins are connected to PMOS18, the 5 pin is connected to GND, the 6 pin is connected to C52 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R145, ADC1 IN14, R147 and VSSA, and the 8 pin uses VCC5V power supply; The 1 / 2 pins of U22 are connected to PMOS19-CURR, the 3 / 4 pins are connected to PMOS19, the 5 pin is connected to GND, the 6 pin is connected to C53 / 1nF and then connected to GND together with the 5 pin, the 7 pin is connected in series with R144, ADC1 IN15, R145 and VSSA, and the 8 pin uses VCC5V power supply.

10. The controller for construction machinery according to claim 9, characterized in that: The circuit for power collection is that the power supply is connected to R19, AIV ADC1 CH9, R23 and GND in sequence.

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