Control circuit for improving precision of accelerometer and gyroscope

Abstract

The utility model provides a control circuit for improving the precision of an accelerometer and a gyroscope, and relates to the field of driving systems. The utility model discloses an accelerometer / gyroscope power supply circuit, which comprises an MCU (Microprogrammed Control Unit), an input voltage reduction module, an input voltage detection module, an LDO (Low Dropout Regulator) voltage reduction module, a key access module, a speed regulation MOS (Metal Oxide Semiconductor) bridge module, a current detection module, a motor, a power supply, an LDO voltage reduction filter circuit and an accelerometer / gyroscope circuit. An accelerometer / gyroscope is powered by an LDO (Low Dropout Regulator), the accelerometer / gyroscope is DC and has very low ripple which is only about 11mV, the ripple cannot be effectively reduced by adding conventional CLC or CLLC filtering, on the basis, the ESR of C is reduced or the capacity of C is improved, the ripple cannot be reduced any more, and through repeated attempts, RC filtering or multi-order filtering, the ESR of C is reduced or the capacity of C is improved. And power supply ripples can be effectively reduced.

Description

Technical Field

[0001] The present application relates to the field of drive systems, and in particular to a control circuit for improving the accuracy of accelerometers and gyroscopes. Background Art

[0002] With the development of science and technology, electric products are used in more and more fields, such as lift tables, electric sofas, massage chairs, medical beds, and elderly chairs, which bring a lot of convenience and life experience to our lives. However, electric products can provide powerful driving force, but also bring certain tests to safety.

[0003] For example, a lifting table can support lifting and lowering of loads ranging from tens to hundreds of kilograms. It can be seen that the driving force is very large. For the safety of users, it is necessary to add resistance retraction protection to prevent people from being pinched or items from being damaged. While being convenient to use, the safety of users and items needs to be put first. Therefore, resistance retraction protection and the sensitivity of the protection are features that the entire market pays more attention to. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a control circuit for improving the accuracy of accelerometers and gyroscopes, which can solve the above-mentioned technical problems.

[0005] The embodiment of the present application provides a control circuit for improving the accuracy of an accelerometer and a gyroscope, comprising an MCU, an input buck module, an input voltage detection module, an LDO buck module, a button access module, a speed regulation MOS bridge module, a current detection module, a motor, a power supply, an LDO buck filter circuit, and an accelerometer / gyroscope circuit, wherein the power supply is connected to the input end of the input buck module, the output end of the input buck module is connected to the input end of the input voltage detection module and the input end of the speed regulation MOS bridge module, the output end of the input voltage detection module is connected to the input end of the MCU and the input end of the LDO buck module. The input end of the block is connected, the output end of the LDO buck module is connected to the input end of the key access module and the MCU respectively, the output end of the key access module is electrically connected to the input end of the MCU, the output end of the MCU is connected to the input end of the speed regulation MOS bridge module, the output end of the speed regulation MOS bridge module is electrically connected to the motor through the current detection module, the input end of the LDO buck filter circuit is connected to the output end of the LDO buck module, and the output end of the LDO buck filter circuit is electrically connected to the motor and the MCU through the accelerometer / gyroscope circuit.

[0006] Preferably, the speed regulation MOS bridge module includes a first speed regulation circuit and a second speed regulation circuit, and the motor includes a first motor and a second motor.

[0007] Preferably, the first speed control circuit includes a processor U203, a processor U205, a MOS tube U202, a MOS tube U204, a MOS tube U206, a MOS tube U207, a capacitor C207, a diode D205, a resistor R255, a resistor R208, a resistor R206, a resistor R214, a resistor R207, a resistor R209, a resistor R215, a resistor R256, a capacitor C209, a capacitor C210, a capacitor C208, and a diode D207. The first interface of the processor U203 is grounded through the capacitor C207, the second interface and the third interface of the processor U203 are connected to the MCU, and the fourth interface of the processor U203 is grounded. The first interface of the processor U203 is connected to the input step-down module and the input end of the diode D205, the output end of the diode D205 is connected to the input end of the resistor R255, the output end of the resistor R255 is connected to the eighth interface of the processor U203 and one end of the capacitor C209, the sixth interface of the processor U203 is connected to the other end of the capacitor C209, the fifth interface of the processor U203 is connected to the G pole of the MOS tube U206 through the resistor R214, the sixth interface of the processor U203 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the seventh interface of the processor U203 is connected to One end of the resistor R208 is connected, the other end of the resistor R208 is connected to one end of the resistor R206, the other end of the resistor R206 is connected to the S pole of the MOS transistor U204 and the D pole of the MOS transistor U206, the G pole of the MOS transistor U204 is connected to the other end of the resistor R208, the S pole of the MOS transistor U204 and the D pole of the MOS transistor U206 are electrically connected to the first motor, the D pole of the MOS transistor U204 and the D pole of the MOS transistor U202 are connected to the input step-down module, the S pole of the MOS transistor U202 and the D pole of the MOS transistor U207 are electrically connected to the first motor, and the MOS transistor U202 The G pole of the MOS transistor U207 is connected to one end of the resistor R207 and one end of the resistor R209, the D pole of the MOS transistor U207 is connected to the sixth interface of the processor U205, the S pole of the MOS transistor U207 is connected to the S pole of the MOS transistor U206, the first interface of the processor U205 is grounded through the capacitor C208, the first interface of the processor U205 is connected to the input step-down module and the input end of the diode G207, the third interface and the fourth interface of the processor U205 are connected to the MCU, the fourth interface of the processor U205 is grounded, and the fifth interface of the processor U205 is connected to the G pole of the MOS transistor 207 through the resistor R244.The seventh interface of the processor U205 is connected to the S electrode of the MOS tube through the resistor R209 and the resistor 207. One end of the resistor R256 is connected to the output end of the diode D207. The other end of the resistor R256 is connected to the sixth interface of the processor U205 and the eighth interface of the processor U205.

[0008] Preferably, the second speed control circuit includes a processor U210, a processor U212, a MOS tube U209, a MOS tube U211, a MOS tube U214, a capacitor C228, a diode D208, a resistor R257, a resistor R230, a resistor R228, a resistor R243, a resistor R229, a resistor R231, a resistor R244, a resistor R248, a capacitor C231, a capacitor C210, a capacitor C229, and a diode D209. The first interface of the processor U210 is grounded through the capacitor C228, the second interface and the third interface of the processor U210 are connected to the MCU, the fourth interface of the processor U210 is grounded, and the first interface of the processor U210 is connected to the input The step-down module is connected to the input end of the diode D208, the output end of the diode D208 is connected to the input end of the resistor R257, the output end of the resistor R257 is connected to the eighth interface of the processor U210 and one end of the capacitor C231, the sixth interface of the processor U210 is connected to the other end of the capacitor C231, the fifth interface of the processor U210 is connected to the G pole of the MOS tube U211 through the resistor R243, the sixth interface of the processor U210 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, the seventh interface of the processor U210 is connected to one end of the resistor R230, and the other end of the resistor R230 The MOS transistor U211 is connected to one end of the resistor R228, the other end of the resistor R228 is connected to the S pole of the MOS transistor U211 and the D pole of the MOS transistor U211, the G pole of the MOS transistor U211 is connected to the other end of the resistor R230, the S pole of the MOS transistor U211 and the D pole of the MOS transistor U211 are electrically connected to the second motor, the D pole of the MOS transistor U211 and the D pole of the MOS transistor U209 are connected to the input step-down module, the S pole of the MOS transistor U209 and the D pole of the MOS transistor U214 are electrically connected to the second motor, the G pole of the MOS transistor U209 is connected to one end of the resistor R229 and one end of the resistor R231, and the MO The D pole of the S transistor U214 is connected to the sixth interface of the processor U212, the S pole of the MOS transistor U214 is connected to the S pole of the MOS transistor U211, the first interface of the processor U212 is grounded through the capacitor C229, the first interface of the processor U212 is connected to the input buck module and the input end of the diode G207, the third interface and the fourth interface of the processor U212 are connected to the MCU, the fourth interface of the processor U212 is grounded, the fifth interface of the processor U212 is connected to the G pole of the MOS transistor 207 through the resistor R244, and the seventh interface of the processor U212 is connected to the S pole of the MOS transistor through the resistor R231 and the resistor 207.One end of the resistor R248 is connected to the output end of the diode D209, and the other end of the resistor R248 is connected to the sixth interface of the processor U212 and the eighth interface of the processor U212.

[0009] Preferably, the input step-down module includes a first step-down circuit and a second step-down circuit, the input end of the first step-down circuit and the input end of the second step-down circuit are both electrically connected to the power supply, the output voltage of the output end of the first step-down circuit is DC +12V, and the output voltage of the output end of the second step-down circuit is DC +5V.

[0010] Preferably, the current detection module includes a first current acquisition circuit and a second current acquisition circuit, the first current acquisition circuit is connected to the first speed regulation circuit, the second current acquisition circuit is connected to the second speed regulation circuit, the first current acquisition circuit includes resistor R218, resistor R216, and capacitor C221, and the first current acquisition circuit includes resistor R246, resistor R245, and capacitor C242.

[0011] Preferably, the input voltage detection module includes a resistor R233, a resistor R241, a resistor R237, and a capacitor C236, one end of the resistor R233 is connected to the output end of the input step-down module, the other end of the resistor R233 is connected to one end of the resistor R241 and one end of the resistor R237, the other end of the resistor R237 is connected to the MCU and one end of the capacitor C236, and the other end of the capacitor C236 is grounded.

[0012] Preferably, the button access module is externally connected with adjustment buttons, and the adjustment buttons include an upward adjustment button, a downward adjustment button, a left adjustment button and a right adjustment button.

[0013] Preferably, the current detection module includes a first detection sensor J201 and a second detection sensor J202, the input end of the first detection sensor J201 and the input end of the second detection sensor J202 are connected to the output end of the second step-down circuit, the output end of the first detection sensor J201 is electrically connected to the first motor, and the output end of the second detection sensor J202 is electrically connected to the second motor.

[0014] Preferably, the model of the MCU is MT006.

[0015] Beneficial effects of the utility model:

[0016] The utility model provides a control circuit for improving the accuracy of an accelerometer and a gyroscope, comprising an MCU, an input buck module, an input voltage detection module, an LDO buck module, a button access module, a speed regulation MOS bridge module, a current detection module, a motor, a power supply, an LDO buck filter circuit, and an accelerometer / gyroscope circuit, wherein the power supply is connected to the input end of the input buck module, the output end of the input buck module is connected to the input end of the input voltage detection module and the input end of the speed regulation MOS bridge module, the output end of the input voltage detection module is connected to the input end of the MCU and the input end of the LDO buck module, the output end of the LDO buck module is respectively connected to the button access module and the input end of the MCU, the output end of the button access module is electrically connected to the input end of the MCU, and the output end of the MCU is connected to the output end of the speed regulation MOS bridge module. The input end is connected, the output end of the speed regulation MOS bridge module is electrically connected to the motor through the current detection module, the input end of the LDO buck filter circuit is connected to the output end of the LDO buck module, and the output end of the LDO buck filter circuit is electrically connected to the motor and the MCU through the accelerometer / gyroscope circuit. The utility model optimizes the ripple of the accelerometer / gyroscope power supply voltage to an extremely low level, which can greatly reduce the interference of the extracted data, improve the consistency and sensitivity to resistance. Since the accelerometer / gyroscope is powered by LDO, it is DC and the ripple is very low, only about 11mV. Adding conventional CLC or CLLC filtering cannot effectively reduce the ripple. On this basis, reducing the ESR of C or increasing the capacity of C cannot further reduce the ripple. After repeated attempts, using RC filtering or multi-stage (2nd, 3rd or more stages) can effectively reduce the power supply ripple. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a framework diagram of the utility model;

[0019] Figure 2 This is a circuit diagram of the utility model. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without making any creative efforts shall fall within the scope of protection of the present application.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0023] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended only to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0025] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0026] like Figure 1-2As shown, a control circuit for improving the accuracy of accelerometers and gyroscopes includes an MCU, an input buck module, an input voltage detection module, an LDO buck module, a button access module, a speed regulation MOS bridge module, a current detection module, a motor, a power supply, an LDO buck filter circuit, and an accelerometer / gyroscope circuit. The power supply is connected to the input end of the input buck module, the output end of the input buck module is connected to the input end of the input voltage detection module and the input end of the speed regulation MOS bridge module, the output end of the input voltage detection module is connected to the input end of the MCU and the input end of the LDO buck module, the output end of the LDO buck module is respectively connected to the button access module and the input end of the MCU, the output end of the button access module is electrically connected to the input end of the MCU, and the output end of the MCU is connected to the input end of the speed regulation MOS bridge module. The output end of the speed regulation MOS bridge module is electrically connected to the motor through the current detection module, the input end of the LDO buck filter circuit is connected to the output end of the LDO buck module, and the output end of the LDO buck filter circuit is electrically connected to the motor and the MCU through the accelerometer / gyroscope circuit. The utility model optimizes the ripple of the accelerometer / gyroscope power supply voltage to an extremely low level, which can greatly reduce the interference of the extracted data, improve the consistency and sensitivity to resistance. Since the accelerometer / gyroscope is powered by LDO, it is DC and the ripple is very low, only about 11mV. Adding conventional CLC or CLLC filtering cannot effectively reduce the ripple. On this basis, reducing the ESR of C or increasing the capacity of C cannot further reduce the ripple. After repeated attempts, using RC filtering or multi-stage (2nd, 3rd or more stages) can effectively reduce the power supply ripple.

[0027]

[0028] Table 1

[0029]

[0030] Table 2

[0031] As shown in Tables 1 and 2, without RC filtering, the power supply ripple is 11mV. With one stage of RC filtering, when the resistor is 10Ω and the capacitor is 470nF to 10uF (selected according to the load current and the measured ripple), the ripple is 7mV. With one stage of RC filtering, when the resistor is 10Ω and the capacitor is 470nF to 10uF (selected according to the load current and the measured ripple), the ripple is 6mV. At this time, the data sampled by the gyroscope / accelerometer is shown in Table 2. In the static state, without RC, the floating range of the X-axis, Y-axis, and Z-axis values is △20 to 21; with one stage of RC, the floating range of the X-axis, Y-axis, and Z-axis values is △11 to 12; with two stages of RC, the floating range of the X-axis, Y-axis, and Z-axis values is △10; the effect is significant.

[0032] like Figure 2 As shown, in this embodiment, the speed regulation MOS bridge module includes a first speed regulation circuit and a second speed regulation circuit, and the motor includes a first motor and a second motor.

[0033] like Figure 2As shown, in this embodiment, the first speed control circuit includes a processor U203, a processor U205, a MOS tube U202, a MOS tube U204, a MOS tube U206, a MOS tube U207, a capacitor C207, a diode D205, a resistor R255, a resistor R208, a resistor R206, a resistor R214, a resistor R207, a resistor R209, a resistor R215, a resistor R256, a capacitor C209, a capacitor C210, a capacitor C208, and a diode D207. The first interface of the processor U203 is grounded through the capacitor C207, the second interface and the third interface of the processor U203 are connected to the MCU, and the fourth interface of the processor U203 is connected to the MCU. The first interface of the processor U203 is connected to the input step-down module and the input end of the diode D205, the output end of the diode D205 is connected to the input end of the resistor R255, the output end of the resistor R255 is connected to the eighth interface of the processor U203 and one end of the capacitor C209, the sixth interface of the processor U203 is connected to the other end of the capacitor C209, the fifth interface of the processor U203 is connected to the G pole of the MOS tube U206 through the resistor R214, the sixth interface of the processor U203 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, and the seventh interface of the processor U203 is connected to the G pole of the MOS tube U206. The port is connected to one end of the resistor R208, the other end of the resistor R208 is connected to one end of the resistor R206, the other end of the resistor R206 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the G pole of the MOS tube U204 is connected to the other end of the resistor R208, the S pole of the MOS tube U204 and the D pole of the MOS tube U206 are electrically connected to the first motor, the D pole of the MOS tube U204 and the D pole of the MOS tube U202 are connected to the input step-down module, the S pole of the MOS tube U202 and the D pole of the MOS tube U207 are electrically connected to the first motor, and the MOS tube U20 2 is connected to one end of the resistor R207 and one end of the resistor R209, the D pole of the MOS tube U207 is connected to the sixth port of the processor U205, the S pole of the MOS tube U207 is connected to the S pole of the MOS tube U206, the first port of the processor U205 is grounded through the capacitor C208, the first port of the processor U205 is connected to the input step-down module and the input end of the diode G207, the third port and the fourth port of the processor U205 are connected to the MCU, the fourth port of the processor U205 is grounded, and the fifth port of the processor U205 is connected to the G pole of the MOS tube 207 through the resistor R244.The seventh interface of the processor U205 is connected to the S electrode of the MOS tube through the resistor R209 and the resistor 207. One end of the resistor R256 is connected to the output end of the diode D207. The other end of the resistor R256 is connected to the sixth interface of the processor U205 and the eighth interface of the processor U205.

[0034] like Figure 2As shown, in this embodiment, the second speed control circuit includes a processor U210, a processor U212, a MOS tube U209, a MOS tube U211, a MOS tube U214, a capacitor C228, a diode D208, a resistor R257, a resistor R230, a resistor R228, a resistor R243, a resistor R229, a resistor R231, a resistor R244, a resistor R248, a capacitor C231, a capacitor C210, a capacitor C229, and a diode D209. The first interface of the processor U210 is grounded through the capacitor C228, the second interface and the third interface of the processor U210 are connected to the MCU, the fourth interface of the processor U210 is grounded, and the first interface of the processor U210 is connected to the The input step-down module is connected to the input end of the diode D208, the output end of the diode D208 is connected to the input end of the resistor R257, the output end of the resistor R257 is connected to the eighth interface of the processor U210 and one end of the capacitor C231, the sixth interface of the processor U210 is connected to the other end of the capacitor C231, the fifth interface of the processor U210 is connected to the G pole of the MOS tube U211 through the resistor R243, the sixth interface of the processor U210 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, the seventh interface of the processor U210 is connected to one end of the resistor R230, and the other end of the resistor R230 is connected. One end is connected to one end of the resistor R228, the other end of the resistor R228 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, the G pole of the MOS tube U211 is connected to the other end of the resistor R230, the S pole of the MOS tube U211 and the D pole of the MOS tube U211 are electrically connected to the second motor, the D pole of the MOS tube U211 and the D pole of the MOS tube U209 are connected to the input step-down module, the S pole of the MOS tube U209 and the D pole of the MOS tube U214 are electrically connected to the second motor, the G pole of the MOS tube U209 is connected to one end of the resistor R229 and one end of the resistor R231, and the M The D pole of the MOS tube U214 is connected to the sixth interface of the processor U212, the S pole of the MOS tube U214 is connected to the S pole of the MOS tube U211, the first interface of the processor U212 is grounded through the capacitor C229, the first interface of the processor U212 is connected to the input buck module and the input end of the diode G207, the third interface and the fourth interface of the processor U212 are connected to the MCU, the fourth interface of the processor U212 is grounded, the fifth interface of the processor U212 is connected to the G pole of the MOS tube 207 through the resistor R244, and the seventh interface of the processor U212 is connected to the S pole of the MOS tube through the resistor R231 and the resistor 207.One end of the resistor R248 is connected to the output end of the diode D209, and the other end of the resistor R248 is connected to the sixth interface of the processor U212 and the eighth interface of the processor U212.

[0035] The MCU of the present utility model drives the first speed regulating circuit and the second speed regulating circuit, and controls the running direction and running height of the motor through the first speed regulating circuit and the second speed regulating circuit.

[0036] Specifically, after the MCU is powered on, it is initialized first, and then detects whether there are various abnormalities. If there are abnormalities, it enters the abnormality handling unit until the abnormality is resolved, and then extracts the set reset current threshold parameter. Then, it receives the manual control instruction. If the reset control is detected, it continues to execute. If other control instructions are detected, it performs other control operations.

[0037] After detecting the reset control, the soft start is turned on, and the PWM gradually increases from small to large. At this time, the motor current also gradually increases from small to large, and the motor running speed also gradually increases. At this stage, since the motor current has not reached a steady state, the PWM proportional threshold is used to ensure that during this stage, the stalling force on the table frame will not be too large during reset; when the motor speed reaches the set reset speed, the PWM no longer increases. At this time, a current is collected as the reference current of the adaptive threshold. Since the running speed of different table legs needs to be continuously adjusted during operation to ensure that the desktop is always in a horizontal state, the current of each motor will always change slightly during operation. At the same time, the tightness of the table frame at different high speeds will change, which will also cause electrical problems during operation. The current is always changing, so it is necessary to continuously weight the newly sampled current to the reference current to filter out false reset judgments caused by normal current changes during operation, and then superimpose a smaller threshold on the reference current to form an adaptive threshold. In order to make this threshold controlled by the set total threshold, the superimposed threshold is taken as a percentage of the total threshold. In this way, after changing the setting value of the total threshold, the size of the adaptive threshold will also be adjusted. When the table is loaded and the reference current is relatively high, it can stop running in time when the total threshold or adaptive threshold is triggered, so that the stalling force of the table frame will not be too large. When the table is lightly loaded or unloaded, the reference current is relatively low, and it will stop running when the adaptive threshold is triggered. The stalling force of the table frame will also not be too large, protecting the table frame from damage.

[0038] In this embodiment, the input step-down module includes a first step-down circuit and a second step-down circuit. The input end of the first step-down circuit and the input end of the second step-down circuit are both electrically connected to the power supply. The output voltage of the output end of the first step-down circuit is DC +12V, and the output voltage of the output end of the second step-down circuit is DC +5V.

[0039] like Figure 2As shown, the first step-down circuit of the present invention is used to supply power to the first motor, the second motor, the first speed regulation circuit, and the second speed regulation circuit, and the second step-down circuit is used to supply power to the MCU and the like.

[0040] like Figure 2 As shown, in this embodiment, the current detection module includes a first current acquisition circuit and a second current acquisition circuit. The first current acquisition circuit is connected to the first speed regulation circuit, and the second current acquisition circuit is connected to the second speed regulation circuit. The first current acquisition circuit includes a resistor R218, a resistor R216, and a capacitor C221. The first current acquisition circuit includes a resistor R246, a resistor R245, and a capacitor C242.

[0041] like Figure 2 As shown, the first current acquisition circuit of the utility model is used to collect the current of the first motor during operation, and the second current acquisition circuit collects the current of the second motor during operation, detects the speed and position of the first motor and the second motor, and then feeds back to the MCU, and the MCU makes appropriate adjustments based on the adopted data.

[0042] like Figure 2 As shown, in this embodiment, the input voltage detection module includes a resistor R233, a resistor R241, a resistor R237, and a capacitor C236. One end of the resistor R233 is connected to the output end of the input step-down module, the other end of the resistor R233 is connected to one end of the resistor R241 and one end of the resistor R237, the other end of the resistor R237 is connected to the MCU and one end of the capacitor C236, and the other end of the capacitor C236 is grounded.

[0043] In this embodiment, the button access module is externally connected to an adjustment button, and the adjustment button includes an upward adjustment button, a downward adjustment button, a left adjustment button and a right adjustment button. The utility model can adjust the left and right and height positions through the upward adjustment button, the downward adjustment button, the left adjustment button and the right adjustment button.

[0044] like Figure 2 As shown, in this embodiment, the current detection module includes a first detection sensor J201 and a second detection sensor J202, the input end of the first detection sensor J201 and the input end of the second detection sensor J202 are connected to the output end of the second step-down circuit, the output end of the first detection sensor J201 is electrically connected to the first motor, and the output end of the second detection sensor J202 is electrically connected to the second motor.

[0045] like Figure 2 As shown, in this embodiment, the model of the MCU is MT006.

[0046] Specifically, as PWM increases slowly, the motor current also increases slowly from 0. At this time, the current has not stabilized yet, so the threshold value can be temporarily set according to: (current PWM / maximum PWM at reset) * maximum threshold value. If the mechanical position is directly blocked during the startup phase, the threshold current will not be too large, protecting the table frame from damage. When the running speed reaches the set speed, PWM stops increasing. At this time, it is reliable to judge whether the reset is completed according to the maximum threshold value. If the table is loaded, the reference current collected during the operation will be relatively large. After the reset is in place, the current mutation caused by the slight blockage can reach the maximum threshold value to judge that the reset is completed and stop running. But if it is at this time When the empty table is running, the reference current (the current collected when running at normal speed) is very low. After the table runs to the mechanical position, the stall current needs to be very large to make the reference current + stall current ≥ reset current threshold. In this way, the reset driving force is very large, which is easy to damage the table frame. The reset current threshold needs to be automatically adjusted according to the load condition; when the running speed reaches the set speed, the PWM stops increasing. At this time, the current of the motor is basically stable. The current is collected first as the new current reference. The PWM of the two motors is adjusted according to the height balance of the desktop to ensure that the running height of the two legs is consistent and the desktop is always in a horizontal state. The current of the two tables will change slightly in the process of adjusting their respective PWMs to maintain height consistency. During operation, the resistance of the table legs at different heights will change, which will also cause the current to change. In order to accurately collect and refresh the running current, each newly collected current is weighted to the original current, for example: (I original * 24 + I new) / 25, (the weighted value is adjusted according to actual needs), which means that every time a new current is collected, the new current is superimposed on the original current by 4% to obtain the average. In this way, the current reference will slowly follow the new current changes, but if there is a sudden current change, the reference current will not change suddenly. In this way, the characteristics of the current information are maintained, which can be used to detect the sudden change value of the current △I / △t (△t: generally take the change of 10-80mS as the basis for determining the sudden change value). The time selection is determined according to the actual measured results of different table frames). On the basis of the current reference obtained after weighting, 30% to 70% of the maximum threshold is superimposed as the adaptive threshold (selected according to the actual measured results). The percentage of the maximum threshold is selected here to ensure that after the user sets the maximum reset threshold, the adaptive threshold can change with the setting of the maximum current threshold; after the above weighted calculation, the reference current is obtained, the adaptive threshold coefficient is superimposed, and the mutation value △I / △t is obtained for judgment. This can not only eliminate the false reset caused by small current fluctuations caused by different tightness during balance adjustment and operation, but also ensure that after the actual operation is in place, the reset is judged in time and the operation is stopped to avoid damage to the table frame due to excessive reset force.

[0047] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A control circuit for improving the accuracy of an accelerometer and a gyroscope, characterized by: The invention comprises an MCU, an input buck module, an input voltage detection module, an LDO buck module, a button access module, a speed regulation MOS bridge module, a current detection module, a motor, a power supply, an LDO buck filter circuit, and an accelerometer / gyroscope circuit. The power supply is connected to the input end of the input buck module, the output end of the input buck module is connected to the input end of the input voltage detection module and the input end of the speed regulation MOS bridge module, the output end of the input voltage detection module is connected to the input end of the MCU and the input end of the LDO buck module, the output end of the LDO buck module is respectively connected to the button access module and the input end of the MCU, the output end of the button access module is electrically connected to the input end of the MCU, the output end of the MCU is connected to the input end of the speed regulation MOS bridge module, the output end of the speed regulation MOS bridge module is electrically connected to the motor through the current detection module, the input end of the LDO buck filter circuit is connected to the output end of the LDO buck module, and the output end of the LDO buck filter circuit is electrically connected to the motor and the MCU through the accelerometer / gyroscope circuit.

2. A control circuit for improving the accuracy of an accelerometer and a gyroscope according to claim 1, characterized in that: The speed regulation MOS bridge module includes a first speed regulation circuit and a second speed regulation circuit, and the motor includes a first motor and a second motor.

3. A control circuit for improving the accuracy of an accelerometer and a gyroscope according to claim 2, characterized in that: The first speed control circuit includes a processor U203, a processor U205, a MOS tube U202, a MOS tube U204, a MOS tube U206, a MOS tube U207, a capacitor C207, a diode D205, a resistor R255, a resistor R208, a resistor R206, a resistor R214, a resistor R207, a resistor R209, a resistor R215, a resistor R256, a capacitor C209, a capacitor C210, a capacitor C208, and a diode D207. The first interface of the processor U203 is grounded through the capacitor C207, the second interface and the third interface of the processor U203 are connected to the MCU, the fourth interface of the processor U203 is grounded, and the first interface of the processor U203 is connected to the The input step-down module is connected to the input end of the diode D205, the output end of the diode D205 is connected to the input end of the resistor R255, the output end of the resistor R255 is connected to the eighth interface of the processor U203 and one end of the capacitor C209, the sixth interface of the processor U203 is connected to the other end of the capacitor C209, the fifth interface of the processor U203 is connected to the G pole of the MOS tube U206 through the resistor R214, the sixth interface of the processor U203 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the seventh interface of the processor U203 is connected to one end of the resistor R208, and the other end of the resistor R208 is connected to the G pole of the MOS tube U206. One end is connected to one end of the resistor R206, the other end of the resistor R206 is connected to the S pole of the MOS tube U204 and the D pole of the MOS tube U206, the G pole of the MOS tube U204 is connected to the other end of the resistor R208, the S pole of the MOS tube U204 and the D pole of the MOS tube U206 are electrically connected to the first motor, the D pole of the MOS tube U204 and the D pole of the MOS tube U202 are connected to the input step-down module, the S pole of the MOS tube U202 and the D pole of the MOS tube U207 are electrically connected to the first motor, the G pole of the MOS tube U202 is connected to one end of the resistor R207 and one end of the resistor R209, and the M The D pole of the MOS tube U207 is connected to the sixth interface of the processor U205, the S pole of the MOS tube U207 is connected to the S pole of the MOS tube U206, the first interface of the processor U205 is grounded through the capacitor C208, the first interface of the processor U205 is connected to the input buck module and the input end of the diode G207, the third interface and the fourth interface of the processor U205 are connected to the MCU, the fourth interface of the processor U205 is grounded, the fifth interface of the processor U205 is connected to the G pole of the MOS tube 207 through the resistor R244, and the seventh interface of the processor U205 is connected to the S pole of the MOS tube through the resistor R209 and the resistor 207.One end of the resistor R256 is connected to the output end of the diode D207, and the other end of the resistor R256 is connected to the sixth interface of the processor U205 and the eighth interface of the processor U205.

4. The control circuit for improving the accuracy of an accelerometer and a gyroscope according to claim 2, wherein: The second speed control circuit includes a processor U210, a processor U212, a MOS tube U209, a MOS tube U211, a MOS tube U214, a capacitor C228, a diode D208, a resistor R257, a resistor R230, a resistor R228, a resistor R243, a resistor R229, a resistor R231, a resistor R244, a resistor R248, a capacitor C231, a capacitor C210, a capacitor C229, and a diode D209. The first interface of the processor U210 is grounded through the capacitor C228, the second interface and the third interface of the processor U210 are connected to the MCU, the fourth interface of the processor U210 is grounded, and the first interface of the processor U210 is connected to the input buck module The first terminal of the MOS transistor U211 is connected to the first terminal of the MOS transistor U211 through the resistor R243, the second terminal of the MOS transistor U211 is connected to the first terminal of the MOS transistor U211 through the resistor R243, the third terminal of the MOS transistor U211 is connected to the second terminal of the MOS transistor U211 through the resistor R243, the fourth terminal of the MOS transistor U211 is connected to the first terminal of the MOS transistor U211 through the resistor R243, the fifth terminal of the MOS transistor U211 is connected to the first terminal of the MOS transistor U211 through the resistor R243, the sixth terminal of the MOS transistor U211 is connected to the second terminal of the MOS transistor U211 through the resistor R243, the seventh terminal of the MOS transistor U211 is connected to the first ... One end of the resistor R228 is connected, the other end of the resistor R228 is connected to the S pole of the MOS tube U211 and the D pole of the MOS tube U211, the G pole of the MOS tube U211 is connected to the other end of the resistor R230, the S pole of the MOS tube U211 and the D pole of the MOS tube U211 are electrically connected to the second motor, the D pole of the MOS tube U211 and the D pole of the MOS tube U209 are connected to the input step-down module, the S pole of the MOS tube U209 and the D pole of the MOS tube U214 are electrically connected to the second motor, the G pole of the MOS tube U209 is connected to one end of the resistor R229 and one end of the resistor R231, and the MOS The D pole of the MOS transistor U214 is connected to the sixth interface of the processor U212, the S pole of the MOS transistor U214 is connected to the S pole of the MOS transistor U211, the first interface of the processor U212 is grounded through the capacitor C229, the first interface of the processor U212 is connected to the input step-down module and the input end of the diode G207, the third interface and the fourth interface of the processor U212 are connected to the MCU, the fourth interface of the processor U212 is grounded, the fifth interface of the processor U212 is connected to the G pole of the MOS transistor 207 through the resistor R244, and the seventh interface of the processor U212 is connected to the S pole of the MOS transistor through the resistor R231 and the resistor 207.One end of the resistor R248 is connected to the output end of the diode D209, and the other end of the resistor R248 is connected to the sixth interface of the processor U212 and the eighth interface of the processor U212.

5. The control circuit for improving the accuracy of an accelerometer and a gyroscope according to claim 2, characterized in that: The input step-down module includes a first step-down circuit and a second step-down circuit. The input end of the first step-down circuit and the input end of the second step-down circuit are both electrically connected to the power supply. The output voltage of the output end of the first step-down circuit is DC +12V, and the output voltage of the output end of the second step-down circuit is DC +5V.

6. The control circuit for improving the accuracy of an accelerometer and a gyroscope according to claim 2, characterized in that: The current detection module includes a first current acquisition circuit and a second current acquisition circuit. The first current acquisition circuit is connected to the first speed regulation circuit, and the second current acquisition circuit is connected to the second speed regulation circuit. The first current acquisition circuit includes a resistor R218, a resistor R216, and a capacitor C221. The first current acquisition circuit includes a resistor R246, a resistor R245, and a capacitor C242.

7. The control circuit for improving the accuracy of an accelerometer and a gyroscope according to claim 1, characterized in that: The input voltage detection module includes a resistor R233, a resistor R241, a resistor R237, and a capacitor C236. One end of the resistor R233 is connected to the output end of the input step-down module, the other end of the resistor R233 is connected to one end of the resistor R241 and one end of the resistor R237, the other end of the resistor R237 is connected to the MCU and one end of the capacitor C236, and the other end of the capacitor C236 is grounded.

8. The control circuit for improving the accuracy of an accelerometer and a gyroscope according to claim 1, characterized in that: The button access module is externally connected to an adjustment button, and the adjustment button includes an upward adjustment button, a downward adjustment button, a left adjustment button, and a right adjustment button.

9. The control circuit for improving the accuracy of an accelerometer and a gyroscope according to claim 5, characterized in that: The current detection module includes a first detection sensor J201 and a second detection sensor J202. The input end of the first detection sensor J201 and the input end of the second detection sensor J202 are connected to the output end of the second step-down circuit. The output end of the first detection sensor J201 is electrically connected to the first motor, and the output end of the second detection sensor J202 is electrically connected to the second motor.

10. The control circuit for improving the accuracy of an accelerometer and a gyroscope according to claim 1, characterized in that: The model of the MCU is MT006.

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