Four-channel brush direct current brush steering engine driving circuit

Abstract

The utility model relates to the technical field of electrical engineering, in particular to a four-channel brush direct-current brush steering engine driving circuit, which comprises a control module, a direct-current driving module and a brush steering engine driving module, the acquisition module is used for acquiring a voltage signal of the circuit; the communication module is used for performing information interaction with external equipment; and the protection module is used for protecting over-current and over-voltage of the circuit. The four-channel brush direct-current brush steering engine drive circuit can control four direct-current brush steering engines at the same time, so that the system integration level and efficiency are improved, meanwhile, the Hall sampling circuit and the ADC are used, the current and voltage of a motor can be accurately monitored, accurate motor control can be achieved, and the service life of the motor is prolonged. And through the circulation of the feedback signal and the control instruction, the closed-loop control of the motor is realized, and the control precision is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of electrical engineering, and particularly relates to a 4-channel brushed DC servo drive circuit. Background Art

[0002] With the rapid development of robot technology, drone technology and model aircraft applications, higher requirements are put forward for servo drive circuits. Traditional brushed DC servo drive circuits can no longer meet the needs of modern equipment in some aspects, mainly reflected in the following aspects:

[0003] 1. Limited number of channels.

[0004] Limited by circuit board space, signal processing capabilities and electromagnetic compatibility, the multi-channel integration is low, resulting in the inability to accurately control multiple servos simultaneously. That is, traditional drive circuit designs usually only support a limited number of servo channels (such as single or dual), which limits the ability of multiple servos to work together, especially in applications that require fine control and high-dimensional degrees of freedom.

[0005] 2. Insufficient control accuracy.

[0006] Current detection methods, such as resistive or shunt, have low accuracy and poor stability; voltage signal acquisition is vulnerable to noise interference and has a low sampling rate. Under the combined action of these factors, it is difficult for the control accuracy of the servo to meet high-demand tasks. That is, traditional drive circuits have shortcomings in control accuracy, directly affecting the performance of the equipment.

[0007] 3. Slow response speed.

[0008] Signal processing delay, feedback loop lag and inherent delays in circuit design jointly limit the real-time performance and dynamic response ability of the system. That is, the response time of existing drive circuits is long and cannot adapt to rapidly changing control requirements.

[0009] 4. Safety and performance risks.

[0010] During high-power operation, the non-isolated circuit is vulnerable to transient effects, such as voltage spikes, which not only affect the integrity of the control signal, but may also cause equipment failures, reducing the overall performance and reliability. That is, in traditional circuit designs, there is a lack of effective isolation between the control power and the power supply, increasing the safety risk of the system.

[0011] In view of the above problems, modern robot, drone and model aircraft systems are urgently in need of a 4-channel brushed DC servo drive circuit that can solve the above problems. Summary of the Utility Model

[0012] The purpose of the present utility model is to provide a 4-channel brushed DC servo driver circuit to solve the problems raised in the above-mentioned background technology.

[0013] The technical solution of the present utility model is: a 4-channel brushed DC servo driver circuit, including:

[0014] A control module for processing the operation signals of the circuit;

[0015] An acquisition module for obtaining the voltage signals of the circuit;

[0016] A communication module for information interaction with external devices;

[0017] A protection module for protecting the circuit against overcurrent and overvoltage.

[0018] Furthermore, the control module includes:

[0019] A control unit for receiving the control instructions of the circuit and also for processing the feedback signals of the circuit;

[0020] A drive unit electrically connected to the control unit and for data transmission with the control unit through a serial interface.

[0021] Furthermore, the control module also includes an isolation unit arranged between the control unit and the drive unit, and the isolation unit is used to supply power separately to the control unit and the drive unit.

[0022] Furthermore, the drive unit includes at least four groups of drive circuits, and each group of drive circuits is electrically connected to a brushed DC servo through an H-bridge structure.

[0023] Furthermore, the drive unit also includes a plurality of Hall sampling circuits, and the Hall sampling circuits are used to detect the current flowing through the brushed DC servo. At the same time, the Hall sampling circuits and the drive circuits are arranged in one-to-one correspondence, and the Hall sampling circuits and the drive circuits are electrically connected.

[0024] Furthermore, the drive circuit includes transistors Q1, Q2, Q5 and Q6. The collector of transistor Q1 is electrically connected to the collector of transistor Q2 and a parallel capacitor group. The emitter of transistor Q1 is electrically connected to the collector of transistor Q5. The emitter of transistor Q2 is electrically connected to the collector of transistor Q6. The emitter of transistor Q5 is electrically connected to the emitter of transistor Q6 and the parallel capacitor group;

[0025] The base of the transistor Q1 is electrically connected to the resistor R5, the resistor R9, and the cathode of the diode D1. At the same time, the resistor R5 is electrically connected to the anode of the diode D1. The resistor R9 is electrically connected to the collector of the transistor Q5. At the same time, the collector of the transistor Q1 is electrically connected to the emitter of the transistor Q1 through the diode D7;

[0026] The base of the transistor Q2 is electrically connected to the resistor R6, the resistor R10, and the cathode of the diode D2. At the same time, the resistor R6 is electrically connected to the anode of the diode D2. The resistor R10 is electrically connected to the collector of the transistor Q5. At the same time, the collector of the transistor Q2 is electrically connected to the emitter of the transistor Q2 through the diode D8. And the emitter of the transistor Q2 and the resistor R10 are both electrically connected to the port 2 of the microcontroller DR1;

[0027] The base of the transistor Q5 is electrically connected to the resistor R13, the resistor R10, and the cathode of the diode D13. At the same time, the resistor R13 is electrically connected to the anode of the diode D13. The resistor R10 is electrically connected to the collector of the transistor Q5. At the same time, the collector of the transistor Q5 is electrically connected to the emitter of the transistor Q5 through the diode D17;

[0028] The base of the transistor Q6 is electrically connected to the resistor R14, the resistor R18, and the cathode of the diode D14. At the same time, the resistor R14 is electrically connected to the anode of the diode D14. The resistor R18 is electrically connected to the collector of the transistor Q6. At the same time, the collector of the transistor Q6 is electrically connected to the emitter of the transistor Q6 through the diode D18. And the emitter of the transistor Q6 and the resistor R16 are both electrically connected to the port 2 of the microcontroller DR1;

[0029] The parallel capacitor group includes capacitors CP5, CP6, and CP7 that are connected in parallel with each other.

[0030] Furthermore, the drive circuit further includes a chip DV1 and a chip DV3. The port 4 of the chip DV1 is electrically connected to the anode of the resistor R13 and the diode D13. The port 5 of the chip DV1 is electrically connected to the capacitor C39. The port 6 of the chip DV1 is electrically connected to the cathode of the diode D5 through the capacitors C35 and C36. And the port 6 of the chip DV1 is electrically connected to the VSA1 port. The port 7 of the chip DV1 is electrically connected to the anode of the resistor R5 and the diode D1. The port 8 of the chip DV1 is electrically connected to the cathode of the diode D5. The anode of the diode D5 is electrically connected to the capacitor C39. At the same time, the capacitor C39 is electrically connected to the port 3 of the chip DV1, the capacitor C45, the port 5 of the chip DV3, the port 8 of the chip DV3, and the anode of the diode D11;

[0031] Port 3 of the chip DV3 is electrically connected to capacitor C45. Port 4 of the chip DV3 is electrically connected to resistor R14 and the positive electrode of diode D14. Port 6 of the chip DV3 is electrically connected to the negative electrode of diode D11 through capacitors C41 and C42. Port 6 of the chip DV3 is electrically connected to port 2 of the microcontroller DR1. Port 7 of the chip DV3 is electrically connected to resistor R6 and the positive electrode of diode D2. Port 8 of the chip DV3 is electrically connected to the negative electrode of diode D11.

[0032] Furthermore, the Hall sampling circuit includes a chip UA3. Port 1 and port 2 of the chip UA3 are both electrically connected to the emitter of transistor Q1 and the collector of transistor Q5. Port 5 of the chip UA3 is electrically connected to capacitor C59, capacitor C61 and resistor RG7. Capacitor C59 is electrically connected to port 6 of the chip UA3. Capacitor C61 and resistor RG7 are both electrically connected to resistor RG3. Resistor RG3 is electrically connected to port 7 of the chip UA3. Port 8 of the chip UA3 is electrically connected to capacitor C49 and capacitor C53.

[0033] Furthermore, the acquisition module includes a chip UAD3. Port 49 of the chip UAD3 is electrically connected to resistor RA49. Port 50 of the chip UAD3 is electrically connected to resistor RA50. Capacitor C95 is electrically connected between resistor RA49 and resistor RA50;

[0034] Port 51 of the chip UAD3 is electrically connected to resistor RA51. Port 52 of the chip UAD3 is electrically connected to resistor RA52. Capacitor C100 is electrically connected between resistor RA51 and resistor RA52;

[0035] Port 53 of the chip UAD3 is electrically connected to resistor RA53. Port 54 of the chip UAD3 is electrically connected to resistor RA54. Capacitor C101 is electrically connected between resistor RA53 and resistor RA54;

[0036] Port 55 of the chip UAD3 is electrically connected to resistor RA55. Port 56 of the chip UAD3 is electrically connected to resistor RA56. Capacitor C102 is electrically connected between resistor RA55 and resistor RA56;

[0037] Port 57 of the chip UAD3 is electrically connected to resistor RA57. Port 58 of the chip UAD3 is electrically connected to resistor RA58. Capacitor C103 is electrically connected between resistor RA57 and resistor RA58;

[0038] The 59th port of the chip UAD3 is electrically connected to the resistor RA59, the 60th port of the chip UAD3 is electrically connected to the resistor RA60, and the resistor RA59 and the resistor RA60 are electrically connected through the capacitor C105;

[0039] The 61st port of the chip UAD3 is electrically connected to the resistor RA61, the 62nd port of the chip UAD3 is electrically connected to the resistor RA62, and the resistor RA61 and the resistor RA62 are electrically connected through the capacitor C106;

[0040] The 63rd port of the chip UAD3 is electrically connected to the resistor RA63, the 64th port of the chip UAD3 is electrically connected to the resistor RA64, and the resistor RA63 and the resistor RA64 are electrically connected through the capacitor C107;

[0041] The 36th port of the chip UAD3 is electrically connected to the capacitor CA9, the 39th port of the chip UAD3 is electrically connected to the capacitor CA12, the 42nd port of the chip UAD3 is electrically connected to the capacitor CA10, the 44th port of the chip UAD3 is electrically connected to the capacitor CA11. The capacitor CA11 is electrically connected to the 43rd port and the 45th port of the chip UAD3. At the same time, the capacitors CA9, CA10, CA11 and CA12 are all grounded.

[0042] The present utility model provides a 4-channel brushed DC servo drive circuit through improvement. Compared with the prior art, it has the following improvements and advantages:

[0043] First: The 4-channel brushed DC servo drive circuit of the present utility model can control four DC brushed servo motors simultaneously, thereby improving the system integration and efficiency. At the same time, by using a Hall sampling circuit and an ADC, the motor current and voltage can be accurately monitored, and then precise motor control can be achieved. And through the cycle of feedback signals and control instructions, closed-loop control of the motor is realized, improving the control accuracy;

[0044] Second: The existence of the isolation unit in the present utility model enhances the stability and safety of the system, reduces the interference between different modules. At the same time, the protection module can respond to overcurrent and overvoltage situations in a timely manner, preventing damage to the circuit or the motor, and supports multiple communication protocols, facilitating data exchange with other devices, increasing the flexibility and compatibility of the system;

[0045] Third: The present utility model can add more motor channels by adding corresponding drive circuits without significantly modifying the existing design. At the same time, the modular design makes fault troubleshooting and maintenance easier, reducing the maintenance cost. And through reasonable layout and design, the influence of electromagnetic interference is reduced, improving the overall stability of the system. Brief Description of the Drawings

[0046] The present utility model will be further explained below in conjunction with the accompanying drawings and embodiments:

[0047] Figure 1 is the system block diagram of the 4-channel brushed DC brushed servo drive circuit of the present utility model;

[0048] Figure 2 is the circuit diagram of the drive circuit of the present utility model;

[0049] Figure 3 is the circuit diagram of the Hall sampling circuit of the present utility model;

[0050] Figure 4 is the circuit diagram of the acquisition module of the present utility model. Specific embodiments

[0051] The technical solutions in the embodiments of the present invention will be clearly and completely described below 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 making creative efforts shall fall within the protection scope of the present invention.

[0052] It should be noted that in the description of the present invention, the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0053] In addition, it should be understood that for the convenience of description, the sizes of the various components shown in the accompanying drawings are not drawn according to the actual proportional relationship. For example, the thickness or width of some layers may be exaggerated relative to other layers.

[0054] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined or described in one drawing, it will not be necessary to further discuss and describe it specifically in the description of the subsequent drawings.

[0055] Refer to Figures 1 - 4, this embodiment provides a 4-channel brushed DC servo driver circuit. The 4-channel brushed DC servo driver circuit includes a control module, a sampling module, a communication module, and a protection module. Among them, the control module is used to process the operation signals of the circuit, the sampling module is used to obtain the voltage signals of the circuit, the communication module is used to interact with external devices, and the protection module is used to protect the circuit against overcurrent and overvoltage. In this embodiment, the control module includes a control unit, a driving unit, and an isolation unit. Among them, the control unit is used to receive the control instructions of the circuit and also to process the feedback signals of the circuit. The driving unit is electrically connected to the control unit, and data transmission is carried out between the driving unit and the control unit through a serial interface. The isolation unit is arranged between the control unit and the driving unit, and at the same time, the isolation unit is used to supply power separately to the control unit and the driving unit. Further, the driving unit includes at least four groups of driving circuits, and each group of driving circuits is electrically connected to a brushed DC servo motor through an H-bridge structure. At the same time, the driving unit also includes a plurality of Hall sampling circuits. The Hall sampling circuits are used to detect the current flowing through the brushed DC servo motor. At the same time, the Hall sampling circuits and the driving circuits are arranged in one-to-one correspondence, and the Hall sampling circuits and the driving circuits are electrically connected.

[0056] Specifically, the control unit and the driving unit perform data transmission through a serial interface, usually SPI (Serial Peripheral Interface), I 2 C (Inter-Integrated Circuit) or UART (Universal Asynchronous Receiver / Transmitter), etc. The control unit sends control instructions to the driving unit, and the driving unit feeds back status information (such as motor current, voltage, etc.) to the control unit to achieve two-way communication. At the same time, the isolation unit is located between the control unit and the driving unit and is used for electrical isolation to ensure that the control signal and the power signal do not interfere with each other. And this isolation can be implemented by an optocoupler, a magnetic coupler, or a digital isolation chip. At the same time, through the isolation unit, the control unit and the driving unit can be independently powered, thereby improving the safety and anti-interference ability of the system. Further, the Hall sampling circuits and the driving circuits are in one-to-one correspondence and are used to detect the current flowing through each brushed DC servo motor. At the same time, the signals output by the Hall sampling circuits are sent back to the control unit to monitor the working state of the motor in real time and achieve closed-loop control.

[0057] Further, the ADC (Analog-to-Digital Converter) in the sampling module is used to convert the analog voltage signals into digital signals for the control unit to process. It should be noted that these voltage signals may come from the power supply voltage of the brushed DC servo motor, the control signal voltage, or the voltage measurement at other key points.

[0058] Furthermore, the communication module typically uses standard communication protocols such as RS422, RS485, CAN (Controller Area Network), or Ethernet to exchange data with external devices such as computers, remote controls, or other control systems. It should be noted that during the data exchange process, it needs to allow external devices to send control commands to the drive circuit and receive status information from the drive circuit.

[0059] Furthermore, the protection module is used to monitor the current and voltage levels in the circuit. Once an abnormality is detected, such as excessive current or high voltage, the protection module will immediately take actions, such as cutting off the power supply or triggering an alarm, to prevent the circuit or the motor from being damaged.

[0060] That is to say, through the above signal transmission path and isolation measures, the 4-channel brushed DC servo drive circuit provided in this embodiment can ensure the stability and security of the system while guaranteeing high-precision control. At the same time, the serial communication between the control unit and the drive unit, the acquisition of voltage and current signals, and the communication with external devices constitute a closed-loop control system, realizing the precise control of four brushed DC servo motors.

[0061] In this embodiment, the drive circuit includes transistors Q1, Q2, Q5, and Q6. The collector of transistor Q1 is electrically connected to the collector of transistor Q2 and the parallel capacitor bank. The emitter of transistor Q1 is electrically connected to the collector of transistor Q5. The emitter of transistor Q2 is electrically connected to the collector of transistor Q6. The emitter of transistor Q5 is electrically connected to the emitter of transistor Q6 and the parallel capacitor bank. The base of transistor Q1 is electrically connected to resistor R5, resistor R9, and the negative electrode of diode D1. At the same time, resistor R5 is electrically connected to the positive electrode of diode D1. Resistor R9 is electrically connected to the collector of transistor Q5. At the same time, the collector of transistor Q1 is electrically connected to the emitter of transistor Q1 through diode D7. The base of transistor Q2 is electrically connected to resistor R6, resistor R10, and the negative electrode of diode D2. At the same time, resistor R6 is electrically connected to the positive electrode of diode D2. Resistor R10 is electrically connected to the collector of transistor Q5. At the same time, the collector of transistor Q2 is electrically connected to the emitter of transistor Q2 through diode D8. And the emitter of transistor Q2 and resistor R10 are both electrically connected to port 2 of microcontroller DR1. The base of transistor Q5 is electrically connected to resistor R13, resistor R10, and the negative electrode of diode D13. At the same time, resistor R13 is electrically connected to the positive electrode of diode D13. Resistor R10 is electrically connected to the collector of transistor Q5. At the same time, the collector of transistor Q5 is electrically connected to the emitter of transistor Q5 through diode D17. The base of transistor Q6 is electrically connected to resistor R14, resistor R18, and the negative electrode of diode D14. At the same time, resistor R14 is electrically connected to the positive electrode of diode D14. Resistor R18 is electrically connected to the collector of transistor Q6. At the same time, the collector of transistor Q6 is electrically connected to the emitter of transistor Q6 through diode D18. And the emitter of transistor Q6 and resistor R16 are both electrically connected to port 2 of microcontroller DR1. The parallel capacitor bank includes capacitors CP5, CP6, and CP7 connected in parallel with each other.

[0062] Specifically, transistors Q1 and Q2 together form a half-bridge arm for controlling the rotation of the motor in one direction. When transistor Q1 conducts, the motor rotates in one direction. When transistor Q2 conducts, the motor rotates in the other direction. At the same time, the base of transistor Q1 is connected to diodes D1 and D7 through resistors R5 and R9, so that the switching state of Q1 can be controlled by changing the voltages across these two resistors. The base of transistor Q2 is connected to diodes D2 and D8 through resistors R6 and R10, so that the switching state of transistor Q2 can be controlled by changing the voltages across these two resistors.

[0063] Further, transistors Q5 and Q6 together form another half-bridge arm for controlling the other direction of the motor. Its working principle is the same as that of transistors Q1 and Q2 above, so in this embodiment, it will not be elaborated repeatedly. That is to say, the base of transistor Q5 is connected to diodes D13 and D17 through resistors R13 and R10 to control the switching state of transistor Q5. The base of transistor Q6 is connected to diodes D14 and D18 through resistors R14 and R18 to control the switching state of transistor Q6.

[0064] Further, the parallel capacitor bank is used to absorb transient voltage changes, reduce electromagnetic interference, and the parallel capacitor bank also helps to stabilize the power supply voltage and reduce noise. At the same time, port 2 of the microcontroller DR1 is connected to the emitters of transistors Q2 and Q6 to detect the motor current. And by measuring the voltage difference between these two ports, the motor current can be calculated. Further, among the diode devices, such as diode D1 and diode D18, they are used to prevent reverse voltage shock and protect the transistors from damage. The resistor devices, such as resistors R5 and R18, are both bias resistors, which are used to adjust the base current of the transistors to control the switching state of the transistors.

[0065] That is to say, the drive circuit can control the rotation direction and speed of the DC motor. That is, by changing the switching state of the transistors, the current flow direction of the motor can be changed, and thus the rotation speed and direction of the motor can be changed. At the same time, through the current detection function of the microcontroller, real-time monitoring of the motor current can be achieved.

[0066] Further, the drive circuit further includes chips DV1 and DV3. Port 4 of chip DV1 is electrically connected to the positive electrodes of resistor R13 and diode D13. Port 5 of chip DV1 is electrically connected to capacitor C39. Port 6 of chip DV1 is electrically connected to the cathode of diode D5 through capacitors C35 and C36, and port 6 of chip DV1 is electrically connected to port VSA1. Port 7 of chip DV1 is electrically connected to the positive electrodes of resistor R5 and diode D1. Port 8 of chip DV1 is electrically connected to the cathode of diode D5. The anode of diode D5 is electrically connected to capacitor C39. At the same time, capacitor C39 is electrically connected to port 3 of chip DV1, capacitor C45, port 5 of chip DV3, port 8 of chip DV3, and the positive electrode of diode D11.

[0067] The 3-port of chip DV3 is electrically connected to capacitor C45. The 4-port of chip DV3 is electrically connected to resistor R14 and the positive electrode of diode D14. The 6-port of chip DV3 is electrically connected to the negative electrode of diode D11 through capacitors C41 and C42. The 6-port of chip DV3 is electrically connected to the 2-port of microcontroller DR1. The 7-port of chip DV3 is electrically connected to resistor R6 and the positive electrode of diode D2. The 8-port of chip DV3 is electrically connected to the negative electrode of diode D11.

[0068] In this embodiment, the Hall sampling circuit includes chip UA3. The 1-port and 2-port of chip UA3 are both electrically connected to the emitter of transistor Q1 and the collector of transistor Q5. The 5-port of chip UA3 is electrically connected to capacitor C59, capacitor C61 and resistor RG7. Capacitor C59 is electrically connected to the 6-port of chip UA3. Both capacitor C61 and resistor RG7 are electrically connected to resistor RG3. Resistor RG3 is electrically connected to the 7-port of chip UA3. The 8-port of chip UA3 is electrically connected to capacitor C49 and capacitor C53.

[0069] Specifically, chip UA3 is an operational amplifier for amplifying the current detection signal. In the Hall sampling circuit, it is used to amplify the voltage signal obtained from a Hall effect sensor (such as ACS712). The function of this Hall sampling circuit is to detect the motor current through the Hall effect sensor, and then amplify and filter the signal through chip UA3 to finally obtain a stable current representation.

[0070] In this embodiment, the acquisition module includes a chip UAD3. The 49th port of the chip UAD3 is electrically connected to a resistor RA49, and the 50th port of the chip UAD3 is electrically connected to a resistor RA50. The resistor RA49 and the resistor RA50 are electrically connected through a capacitor C95. The 51st port of the chip UAD3 is electrically connected to a resistor RA51, and the 52nd port of the chip UAD3 is electrically connected to a resistor RA52. The resistor RA51 and the resistor RA52 are electrically connected through a capacitor C100. The 53rd port of the chip UAD3 is electrically connected to a resistor RA53, and the 54th port of the chip UAD3 is electrically connected to a resistor RA54. The resistor RA53 and the resistor RA54 are electrically connected through a capacitor C101. The 55th port of the chip UAD3 is electrically connected to a resistor RA55, and the 56th port of the chip UAD3 is electrically connected to a resistor RA56. The resistor RA55 and the resistor RA56 are electrically connected through a capacitor C102. The 57th port of the chip UAD3 is electrically connected to a resistor RA57, and the 58th port of the chip UAD3 is electrically connected to a resistor RA58. The resistor RA57 and the resistor RA58 are electrically connected through a capacitor C103. The 59th port of the chip UAD3 is electrically connected to a resistor RA59, and the 60th port of the chip UAD3 is electrically connected to a resistor RA60. The resistor RA59 and the resistor RA60 are electrically connected through a capacitor C105. The 61st port of the chip UAD3 is electrically connected to a resistor RA61, and the 62nd port of the chip UAD3 is electrically connected to a resistor RA62. The resistor RA61 and the resistor RA62 are electrically connected through a capacitor C106. The 63rd port of the chip UAD3 is electrically connected to a resistor RA63, and the 64th port of the chip UAD3 is electrically connected to a resistor RA64. The resistor RA63 and the resistor RA64 are electrically connected through a capacitor C107. The 36th port of the chip UAD3 is electrically connected to a capacitor CA9, the 39th port of the chip UAD3 is electrically connected to a capacitor CA12, the 42nd port of the chip UAD3 is electrically connected to a capacitor CA10, and the 44th port of the chip UAD3 is electrically connected to a capacitor CA11. The capacitor CA11 is electrically connected to the 43rd port and the 45th port of the chip UAD3. At the same time, the capacitors CA9, CA10, CA11, and CA12 are all grounded.

[0071] Specifically, resistors RA49 to RA64 are a group of resistors that, together with capacitors C95 to C107, form a voltage division network for converting an analog voltage signal into a range suitable for ADC input. The combination of these resistors and capacitors can condition the signal so that the ADC can correctly read the voltage signal. At the same time, capacitors CA9, CA10, CA11, and CA12 are decoupling capacitors used to remove high-frequency noise on the power line to ensure the stability of the ADC operation. Meanwhile, the ADC converts the acquired analog voltage signal into a digital signal and then sends it to a microcontroller or other processors for processing. That is to say, this acquisition module is used to convert the voltage signals of the motor and other components into digital signals for subsequent digital processing. That is to say, in this way, the working state of the motor, such as important parameters like voltage and current, can be monitored in real time, thereby achieving precise motor control.

[0072] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A 4-channel brushed DC brushed servo drive circuit, characterized in that: Included are: A control module, used for processing the operation signal of the circuit; An acquisition module, used for acquiring a voltage signal of a circuit; Communication module, used for information exchange with external devices; Protection module, used to protect the circuit from over-current and over-voltage; The control module includes: A control unit, used for receiving control instructions of the circuit and also for processing feedback signals of the circuit; A driving unit, electrically connected to the control unit, and performing data transmission with the control unit via a serial interface; The control module further includes an isolation unit disposed between the control unit and the drive unit, and the isolation unit is used to supply power to the control unit and the drive unit separately; The driving unit includes at least four groups of driving circuits, each group of driving circuits is electrically connected to a DC brushed servo via an H-bridge structure; The driving unit also includes a plurality of Hall sampling circuits, which are used to detect the current flowing through the DC brushed servo. At the same time, the Hall sampling circuits are arranged in a one-to-one correspondence with the driving circuits, and the Hall sampling circuits are electrically connected to the driving circuits.

2. A 4-channel brushed DC brushed servo drive circuit according to claim 1, characterized in that: The driving circuit includes a transistor Q1, a transistor Q2, a transistor Q5 and a transistor Q6, the collector of the transistor Q1 is electrically connected to the collector of the transistor Q2 and a parallel capacitor group, the emitter of the transistor Q1 is electrically connected to the collector of the transistor Q5, the emitter of the transistor Q2 is electrically connected to the collector of the transistor Q6, and the emitter of the transistor Q5 is electrically connected to the emitter of the transistor Q6 and a parallel capacitor group; The base of the transistor Q1 is electrically connected to the resistor R5, the resistor R9 and the cathode of the diode D1, while the resistor R5 is electrically connected to the anode of the diode D1, the resistor R9 is electrically connected to the collector of the transistor Q5, and the collector of the transistor Q1 is electrically connected to the emitter of the transistor Q1 through the diode D7; The base of the transistor Q2 is electrically connected to the resistor R6, the resistor R10 and the cathode of the diode D2, while the resistor R6 is electrically connected to the anode of the diode D2, the resistor R10 is electrically connected to the collector of the transistor Q5, and the collector of the transistor Q2 is electrically connected to the emitter of the transistor Q2 through the diode D8, and the emitter of the transistor Q2 and the resistor R10 are both electrically connected to port 2 of the microcontroller DR1; The base of the transistor Q5 is electrically connected to the resistor R13, the resistor R10 and the cathode of the diode D13, while the resistor R13 is electrically connected to the anode of the diode D13, the resistor R10 is electrically connected to the collector of the transistor Q5, and the collector of the transistor Q5 is electrically connected to the emitter of the transistor Q5 through the diode D17; The base of the transistor Q6 is electrically connected to the resistor R14, the resistor R18 and the cathode of the diode D14, and the resistor R14 is electrically connected to the anode of the diode D14, the resistor R18 is electrically connected to the collector of the transistor Q6, and the collector of the transistor Q6 is electrically connected to the emitter of the transistor Q6 through the diode D18, and the emitter of the transistor Q6 and the resistor R16 are both electrically connected to port 2 of the microcontroller DR1; The parallel capacitor group includes a capacitor CP5, a capacitor CP6 and a capacitor CP7 which are connected in parallel.

3. A 4-channel brushed DC brushed servo drive circuit according to claim 2, characterized in that: The driving circuit also includes a chip DV1 and a chip DV3, the 4-port of the chip DV1 is electrically connected to the resistor R13 and the positive electrode of the diode D13, the 5-port of the chip DV1 is electrically connected to the capacitor C39, the 6-port of the chip DV1 is electrically connected to the cathode of the diode D5 through the capacitor C35 and the capacitor C36, and the 6-port of the chip DV1 is electrically connected to the VSA1 port, the 7-port of the chip DV1 is electrically connected to the resistor R5 and the positive electrode of the diode D1, the 8-port of the chip DV1 is electrically connected to the cathode of the diode D5, the anode of the diode D5 is electrically connected to the capacitor C39, and the capacitor C39 is electrically connected to the 3-port of the chip DV1, the capacitor C45, the 5-port of the chip DV3, the 8-port of the chip DV3 and the positive electrode of the diode D11; Port 3 of the chip DV3 is electrically connected to capacitor C45, port 4 of the chip DV3 is electrically connected to the positive electrode of resistor R14 and diode D14, port 6 of the chip DV3 is electrically connected to the negative electrode of diode D11 through capacitors C41 and C42, port 6 of the chip DV3 is electrically connected to port 2 of microcontroller DR1, port 7 of the chip DV3 is electrically connected to the positive electrode of resistor R6 and diode D2, and port 8 of the chip DV3 is electrically connected to the negative electrode of diode D11.

4. A 4-channel brushed DC brushed servo drive circuit according to claim 1, characterized in that: The Hall sampling circuit includes a chip UA3, wherein port 1 and port 2 of the chip UA3 are electrically connected to the emitter of transistor Q1 and the collector of transistor Q5, port 5 of the chip UA3 is electrically connected to capacitor C59, capacitor C61 and resistor RG7, capacitor C59 is electrically connected to port 6 of chip UA3, capacitor C61 and resistor RG7 are electrically connected to resistor RG3, resistor RG3 is electrically connected to port 7 of chip UA3, and port 8 of the chip UA3 is electrically connected to capacitor C49 and capacitor C53.

5. A 4-channel brushed DC brushed servo drive circuit according to claim 1, characterized in that: The acquisition module includes a chip UAD3, port 49 of the chip UAD3 is electrically connected to a resistor RA49, port 50 of the chip UAD3 is electrically connected to a resistor RA50, and the resistor RA49 and the resistor RA50 are electrically connected via a capacitor C95; Port 51 of the chip UAD3 is electrically connected to resistor RA51, port 52 of the chip UAD3 is electrically connected to resistor RA52, and resistor RA51 and resistor RA52 are electrically connected via capacitor C100; Port 53 of the chip UAD3 is electrically connected to resistor RA53, port 54 of the chip UAD3 is electrically connected to resistor RA54, and resistor RA53 and resistor RA54 are electrically connected via capacitor C101; Port 55 of the chip UAD3 is electrically connected to resistor RA55, port 56 of the chip UAD3 is electrically connected to resistor RA56, and resistor RA55 and resistor RA56 are electrically connected via capacitor C102; Port 57 of the chip UAD3 is electrically connected to resistor RA57, port 58 of the chip UAD3 is electrically connected to resistor RA58, and resistor RA57 and resistor RA58 are electrically connected via capacitor C103; Port 59 of the chip UAD3 is electrically connected to resistor RA59, port 60 of the chip UAD3 is electrically connected to resistor RA60, and resistor RA59 and resistor RA60 are electrically connected via capacitor C105; The port 61 of the chip UAD3 is electrically connected to the resistor RA61, the port 62 of the chip UAD3 is electrically connected to the resistor RA62, and the resistor RA61 and the resistor RA62 are electrically connected via the capacitor C106; The port 63 of the chip UAD3 is electrically connected to the resistor RA63, the port 64 of the chip UAD3 is electrically connected to the resistor RA64, and the resistor RA63 and the resistor RA64 are electrically connected via the capacitor C107; Port 36 of the chip UAD3 is electrically connected to capacitor CA9, port 39 of the chip UAD3 is electrically connected to capacitor CA12, port 42 of the chip UAD3 is electrically connected to capacitor CA10, port 44 of the chip UAD3 is electrically connected to capacitor CA11, capacitor CA11 is electrically connected to ports 43 and 45 of chip UAD3, and capacitor CA9, capacitor CA10, capacitor CA11 and capacitor CA12 are all grounded.

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