Steering engine state monitoring and angle control circuit

Abstract

The utility model provides a steering engine state monitoring and angle control circuit. The control circuit belongs to the field of steering engine control, is applied to a steering engine and comprises a touch screen display circuit, a main control circuit, a motor driving circuit, a current induction amplifier circuit and a power supply circuit, the main control circuit is used for receiving a control signal of the touch screen display circuit and outputting the obtained steering engine parameters to the touch screen display circuit for display; the main control circuit also sends the control signal to the motor driving circuit to drive the motor; the power supply end of any steering engine channel is connected with a sampling resistor in series and then connected with a current induction amplifier, a current induction amplifier circuit is used for obtaining a current value generated when current flows through the sampling resistor and transmitting the current value to a main control circuit, and the main control circuit conducts analog-digital processing on the current value and then transmits the current value to a touch screen display circuit to be displayed. And the control precision and stability can be improved.

Description

Technical Field

[0001] The present application relates to the field of steering gear control, and in particular to a steering gear state monitoring and angle control circuit. Background Art

[0002] A servo primarily consists of a housing, circuit board, motor, reducer, and position detection element. Its operating principle is to receive a control signal from a control circuit. This signal, transmitted through the IC on the circuit board, drives the motor to start rotating. This power is then transmitted to the swing arm via a reduction gear. Simultaneously, a position detector sends back a signal to determine whether the position has been reached.

[0003] Servos are increasingly used in a variety of devices and applications. This diversification of application scenarios is driving new demands on servo control circuits, requiring them to be compact, highly precise, and stable. However, existing servo control circuits are bulky, require improved angle control accuracy, and are unable to accurately monitor the servo's operating status. Utility Model Content

[0004] The purpose of this application is to provide a steering gear state monitoring and angle control circuit, which can increase control accuracy and stability.

[0005] This application is implemented as follows:

[0006] The present application provides a steering gear state monitoring and angle control circuit, which is applied to a steering gear and includes a touch screen display circuit and:

[0007] Main control circuit, motor drive circuit, current sensing amplifier circuit and power supply circuit;

[0008] The main control circuit is connected to the touch screen display circuit, and is used to receive the control signal of the touch screen display circuit and output the obtained servo parameters to the touch screen display circuit for display, wherein the servo parameters include the current value;

[0009] The main control circuit is connected to the motor drive circuit, the output end of the motor drive circuit is used to connect to the servo, and the main control circuit is used to send a control signal to the motor drive circuit to drive the motor;

[0010] The main control circuit is connected to a current sensing amplifier circuit. The power supply end of any of the servo channels is connected in series with a sampling resistor and then connected to the current sensing amplifier. The current sensing amplifier circuit is used to obtain the current value generated by the current flowing through the sampling resistor and transmit it to the main control circuit. The main control circuit performs analog-to-digital processing on the current value and then transmits it to the touch screen display circuit for display.

[0011] The power supply circuit is respectively connected to the main control circuit, the current sensing amplifier circuit, and the motor driving circuit to provide operating voltage.

[0012] Furthermore, there are four servo channels, and the power supply ends of the four servo channels are respectively connected in series with sampling resistors R7, sampling resistors R8, sampling resistors R12 and sampling resistors R13. The current sensing amplifier circuit respectively obtains the four current values ​​generated by the current flowing through the sampling resistors R7, sampling resistors R8, sampling resistors R12 and sampling resistors R13 and outputs them to the main control circuit through four output ends. The main control circuit performs analog-to-digital processing on the four current values ​​and then transmits them to the touch screen display circuit for display.

[0013] Furthermore, the above-mentioned main control circuit includes a GD32F103C8T6 chip, the BOOT0 pin of the above-mentioned GD32F103C8T6 chip is grounded after passing through resistor R3, the USART1_RX pin and USART1_TX pin are correspondingly connected to the USART1_RX pin and USART1_TX pin of the touch screen display circuit, the ADC_CLK pin and ADC_DATA are correspondingly connected to the ADC_CLK pin and ADC_DATA of the ADCS7476AIMFX / NOPB chip, the power supply pin VDD is grounded after passing through decoupling capacitors C6, C7, C8, and C9, and the reset pin NRST is grounded after passing through capacitor C11.

[0014] Furthermore, the above-mentioned motor drive circuit includes a DRV8837DSGR chip, and the DC_M_EN pin, TIM4_CH3 pin, and TIM4_CH4 pin of the above-mentioned DRV8837DSGR chip are respectively connected to the DC_M_EN pin, TIM4_CH3 pin, and TIM4_CH4 pin of the GD32F103C8T6 chip, and the M+ pin and M- pin are respectively connected to the positive and negative poles of the servo.

[0015] Furthermore, the current sensing amplifier circuit includes an INA4180A1IPWR chip. A resistor R7 is connected in series between the IN1-pin and IN1+pin of the INA4180A1IPWR chip and connected to the power supply end of the servo channel CH3. A resistor R12 is connected in series between the IN2+pin and IN2-pin and connected to the power supply end of the servo channel CH4. A resistor R13 is connected in series between the IN3+pin and IN3-pin and connected to the power supply end of the servo channel CH1. A resistor R8 is connected in series between the IN4+pin and IN4-pin and connected to the power supply end of the servo channel CH4. Electrical connections: the ADC_CH1 pin is grounded through capacitor C13 and connected to the ADC_CH1 pin of the GD32F103C8T6 chip; the ADC_CH2 pin is grounded through capacitor C15 and connected to the ADC_CH2 pin of the GD32F103C8T6 chip; the ADC_CH3 pin is grounded through capacitor C14 and connected to the ADC_CH3 pin of the GD32F103C8T6 chip; and the ADC_CH4 pin is grounded through capacitor C16 and connected to the ADC_CH4 pin of the GD32F103C8T6 chip.

[0016] Furthermore, the power supply circuit includes an AMS1117-3.3 chip, a VIN pin of the AMS1117-3.3 chip is grounded via input filter capacitors C3 and C2, and an OUT pin is grounded via output filter capacitors C4 and C5.

[0017] Compared with the prior art, this application has at least the following advantages or beneficial effects:

[0018] The present application provides a servo state monitoring and angle control circuit, which can receive a control signal from a touch screen display circuit. The control signal includes a servo angle setting, and sends a PWM signal with a corresponding duty cycle to the servo channel according to the control signal to control the servo operating angle; at the same time, a sampling resistor is connected in series to the power supply end of each servo channel, and the current on the sampling resistor is obtained through a current sensing amplifier circuit and then converted into analog to digital to obtain the servo operating current value, which is sent to the touch screen display circuit for display. By comparing the current with the servo parameters, it is determined whether the servo is working normally or is stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 creative work.

[0020] Figure 1This is a structural block diagram of a servo state monitoring and angle control circuit for this application;

[0021] Figure 2 This is a circuit schematic diagram of the main control circuit in a servo state monitoring and angle control circuit of this application;

[0022] Figure 3 This is a circuit schematic diagram of a motor drive circuit in a servo state monitoring and angle control circuit in this application;

[0023] Figure 4 This is a circuit schematic diagram of a current sensing amplifier circuit in a servo state monitoring and angle control circuit of the present application;

[0024] Figure 5 This is a circuit schematic diagram of a power supply circuit in a servo state monitoring and angle control circuit in this application.

[0025] icon:

[0026] 1. Servo; 2. Touch screen display circuit; 3. Main control circuit; 4. Motor drive circuit; 5. Current sensing amplifier circuit; 6. Power supply circuit. DETAILED DESCRIPTION

[0027] 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.

[0028] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features thereof may be combined with each other.

[0029] Example

[0030] After long-term research and practice, the applicant discovered that the angle control accuracy of the control circuit for controlling the servo 1 in the prior art needs to be improved, and the working status of the servo 1 cannot be obtained in a timely manner.

[0031] In view of this, an embodiment of the present application provides a state monitoring and angle control circuit for a steering gear 1 , which can increase control accuracy and stability.

[0032] Please refer to Figure 1 , Figure 1This is a block diagram of the state monitoring and angle control circuit for a servo 1 according to this application. The main control circuit 3, motor drive circuit 4, current sensing amplifier circuit 5, and power supply circuit 6 within the dashed line represent the invention of this application. The touchscreen display circuit 2 and servo 1 outside the dashed line are based on existing mature technologies. For example, the touchscreen display circuit 2 utilizes a mature touchscreen display, enabling human-computer interaction. The user inputs control signals to the main control circuit 3 through the touchscreen display. The servo 1 utilizes an existing mature servo 1 capable of receiving control signals for adjustment. The touchscreen display circuit 2 and servo 1 are not limited herein.

[0033] The control circuit is applied to a servo 1 and includes a touch screen display circuit 2, a main control circuit 3, a motor drive circuit 4, a current sensing amplifier circuit 5 and a power supply circuit 6;

[0034] Specifically, the main control circuit 3, the motor drive circuit 4, the current sensing amplifier circuit 5 and the power supply circuit 6 all use existing mature program codes. This application does not make any improvements to the program codes. The core invention of this application is the specific connection method of the main control circuit 3, the motor drive circuit 4, the current sensing amplifier circuit 5 and the power supply circuit 6.

[0035] The main control circuit 3 is connected to the touch screen display circuit 2, and is used to receive the control signal of the touch screen display circuit 2, and output the obtained parameters of the servo 1 to the touch screen display circuit 2 for display, and the parameters of the servo 1 include the current value;

[0036] Specifically, the main control circuit 3 is connected to the touch-screen display circuit 2 via a serial port. The main control circuit 3 is capable of receiving control signals sent by the touch-screen display circuit 2. These signals include instructions or parameter settings input by the user through the touch screen, which are used to guide the movement of the servo 1. Based on the received control signals, the main control circuit 3 generates corresponding control instructions and sends them to the motor drive circuit 4 via PWM (pulse width modulation) signals or serial communication. These instructions are used to control the rotation angle of the servo 1. The main control circuit 3 is also capable of outputting collected parameters of the servo 1 (such as current values) to the touch-screen display circuit 2, so that the user can understand the operating status of the servo 1 in real time.

[0037] The main control circuit 3 is connected to the motor drive circuit 4. The output end of the motor drive circuit 4 is used to connect to the servo 1. The main control circuit 3 is used to send a control signal to the motor drive circuit 4 to drive the motor;

[0038] Specifically, the motor drive circuit 4 can convert the control signal sent by the main control circuit 3 into an actual current or voltage capable of driving the motor (here, the servo 1). The output end of the motor drive circuit 4 is connected to the input end of the servo 1 to transmit the drive signal to the servo 1. The main control circuit 3 can receive information from the touch screen display circuit 2 and generate control signals based on this information. These control signals are sent to the motor drive circuit 4, and the motor drive circuit 4 adjusts its output according to these signals, thereby driving the servo 1. By providing the main control circuit 3 and the motor drive circuit 4, the control accuracy of the servo 1 can be increased.

[0039] The main control circuit 3 is connected to the current sensing amplifier circuit 5. The power supply end of each servo 1 channel is connected in series with a sampling resistor and then connected to the current sensing amplifier. The current sensing amplifier circuit 5 is used to obtain the current value generated by the current flowing through the sampling resistor and transmit it to the main control circuit 3. The main control circuit 3 performs analog-to-digital processing on the current value and then transmits it to the touch screen display circuit 2 for display.

[0040] Specifically, a sampling resistor is connected in series in the power supply circuit of each servo 1 channel. The sampling resistor converts current into a voltage proportional to the current flowing through the sampling resistor. The current sensing amplifier circuit 5 indirectly measures current using this voltage. The sampling resistor of each servo 1 channel is connected to the current sensing amplifier circuit 5 to measure the current in that channel. The function of the current sensing amplifier circuit 5 is to read the voltage across the sampling resistor and convert it into a current value. This current value is then transmitted to the main control circuit 3. After receiving the current value transmitted by the current sensing amplifier circuit 5, the main control circuit 3 first performs analog-to-digital conversion (converting the continuous analog current signal into a discrete digital signal). This digital signal is then sent to the touch screen display circuit 2 and ultimately displayed on the touch screen in digital or graphical form for the user to view. By comparing this with the parameters of the servo 1, it can be determined whether the servo 1 is operating normally and whether it is stalled. This configuration allows real-time monitoring of the servo 1's operating status, thereby increasing operational stability.

[0041] The power supply circuit 6 is respectively connected to the main control circuit 3 , the current sensing amplifier circuit, and the motor driving circuit 4 to provide an operating voltage.

[0042] Specifically, the main function of the power supply circuit 6 is to provide the required operating voltage for each of the above circuits, ensuring that these circuits can obtain a stable operating voltage so as to operate normally.

[0043] Furthermore, the servo 1 has four channels, and the power supply ends of the four servo 1 channels are respectively connected in series with sampling resistors R7, sampling resistors R8, sampling resistors R12 and sampling resistors R13. The current sensing amplifier circuit 5 respectively obtains the four current values ​​generated by the current flowing through the sampling resistors R7, sampling resistors R8, sampling resistors R12 and sampling resistors R13 and outputs them to the main control circuit 3 through the four output ends. The main control circuit 3 performs analog-to-digital processing on the four current values ​​and then transmits them to the touch screen display circuit 2 for display.

[0044] Specifically, the application scenarios of the control circuit of the present application include drones, robots, automation equipment, etc. When the application scenario requires simultaneous control of four servos 1, this embodiment connects sampling resistors in series at the power supply ends of the four servos 1 channels. The current sensing amplifier circuit 5 can indirectly measure the current value flowing through the resistor by reading the voltage on each sampling resistor. Therefore, for the four servos 1 channels, the current sensing amplifier circuit 5 can obtain four current values ​​respectively. The current sensing amplifier circuit 5 has four output terminals, each of which corresponds to the current value of a servo 1 channel. These current values ​​(or voltage values ​​that are proportional to the current) are sent to the main control circuit 3 through the output terminals. After the main control circuit 3 receives the current value transmitted by the current sensing amplifier circuit 5, it first performs analog-to-digital conversion (converting the continuous analog current signal into a discrete digital signal). Then, these digital signals are sent to the touch screen display circuit 2 and finally displayed on the touch screen in digital or graphical form for the user to view. By comparing with the parameters of the servo 1, it can be determined whether the servo 1 is working normally and whether it is stuck, etc., and the working status of the servo 1 can be obtained in real time.

[0045] Please refer to Figure 2 , Figure 2 It is a circuit schematic diagram of the main control circuit 3; further, the main control circuit 3 includes a GD32F103C8T6 chip, the BOOT0 pin of the GD32F103C8T6 chip is grounded after passing through a resistor R3, the USART1_RX pin and the USART1_TX pin are correspondingly connected to the USART1_RX pin and the USART1_TX pin of the touch screen display circuit 2, the ADC_CLK pin and the ADC_DATA pin are correspondingly connected to the ADC_CLK pin and the ADC_DATA of the ADCS7476AIMFX / NOPB chip, the power pin VDD is grounded after passing through decoupling capacitors C6, C7, C8 and C9, and the reset pin NRST is grounded after passing through capacitor C11.

[0046] Specifically, the BOOT0 pin is used to set the chip's boot mode. When the BOOT0 pin is grounded, the chip boots from the user flash memory (i.e., internal memory). The BOOT0 pin is connected to ground through resistor R3, ensuring the chip boots in normal mode. The receive (RX) and transmit (TX) pins of USART1 are connected to the corresponding pins of touchscreen display circuit 2, enabling data communication between main control circuit 3 and touchscreen display circuit 2. The ADC clock (CLK) and data (DATA) pins of the GD32F103C8T6 chip are connected to the corresponding pins of the ADCS7476AIMFX / NOPB chip, enabling analog signal acquisition and conversion. Decoupling capacitors C6, C7, C8, and C9 are connected around the GD32F103C8T6 chip's power pins to filter out noise and maintain a stable voltage on the microcontroller's power pins. The NRST pin is connected to ground through capacitor C11. This helps stabilize the reset signal and prevent false reset triggers.

[0047] Please refer to Figure 3 , Figure 3 It is a circuit schematic diagram of the motor drive circuit 4; further, the motor drive circuit 4 includes a DRV8837DSGR chip, and the DC_M_EN pin, TIM4_CH3 pin, and TIM4_CH4 pin of the DRV8837DSGR chip are respectively connected to the DC_M_EN pin, TIM4_CH3 pin, and TIM4_CH4 pin of the GD32F103C8T6 chip, and the M+ pin and M- pin are respectively connected to the positive and negative poles of the servo 1.

[0048] Specifically, the DC_M_EN pin is used to control the motor enable (i.e., turning the motor power on or off). The DC_M_EN pin of the DRV8837DSGR chip is connected to the corresponding pin on the GD32F103C8T6 chip. The GD32F103C8T6 chip can control the DRV8837DSGR chip, thereby controlling the motor enable state. TIM4 is a timer module in the GD32F103C8T6 chip. The TIM4_CH3 and TIM4_CH4 pins of the DRV8837DSGR chip are connected to the corresponding pins on the GD32F103C8T6 chip. This connection is used to output PWM (pulse width modulation) signals to control the motor speed and direction. PWM signals adjust the average power of the motor by varying the pulse width, thereby controlling the motor speed. In some applications, two PWM signals are required to control the motor direction or implement more complex control strategies. M+ and M- are output pins of the DRV8837DSGR chip, which provide power and drive signals to servo 1. Here, the M+ pin is connected to the positive pole of the servo 1, and the M- pin is connected to the negative pole of the servo 1, thus realizing the electrical connection between the motor driver and the servo 1.

[0049] Please refer to Figure 4 , Figure 4 : is a circuit schematic diagram of the current sensing amplifier circuit 5; further, the current sensing amplifier circuit 5 includes an INA4180A1IPWR chip, a resistor R7 is connected in series between the IN1- pin and the IN1+ pin of the INA4180A1IPWR chip and connected to the power supply end of the servo 1 channel CH3, a resistor R12 is connected in series between the IN2+ pin and the IN2- pin and connected to the power supply end of the servo 1 channel CH4, a resistor R13 is connected in series between the IN3+ pin and the IN3- pin and connected to the power supply end of the servo 1 channel CH1, a resistor R8 is connected in series between the IN4+ pin and the IN4- pin and connected to the power supply end of the servo 1 channel CH1. Connect to the power supply end of servo 1 channel CH4, the ADC_CH1 pin is grounded through capacitor C13 and connected to the ADC_CH1 pin of the GD32F103C8T6 chip, the ADC_CH2 pin is grounded through capacitor C15 and connected to the ADC_CH2 pin of the GD32F103C8T6 chip, the ADC_CH3 pin is grounded through capacitor C14 and connected to the ADC_CH3 pin of the GD32F103C8T6 chip, and the ADC_CH4 pin is grounded through capacitor C16 and connected to the ADC_CH4 pin of the GD32F103C8T6 chip.

[0050] Specifically, the INA4180A1IPWR chip has four current sensing channels (IN1, IN2, IN3, and IN4). Each channel includes a positive input (+) and a negative input (-). A resistor R7 is connected in series between the inputs of channel IN1 to measure the current in channel CH3 of servo 1. When current passes through R7, a voltage drop is generated, which is amplified by the INA4180A1IPWR chip and converted into a current sensing signal. The same applies to channels IN2, IN3, and IN4. The ADC_CH1 pin of the INA4180A1IPWR chip is connected to ground via a capacitor C13 and is also connected to the ADC_CH1 pin of the GD32F103C8T6 chip. This allows the GD32F103C8T6 chip to read the amplified current sensing signal from the INA4180A1IPWR chip for further processing or monitoring. The same applies to the ADC_CH2, ADC_CH3, and ADC_CH4 pins of the INA4180A1IPWR chip. Capacitors C13, C15, C14, and C16 act as filters to smooth the current sensing signal, reduce noise interference, and ensure that the GD32F103C8T6 chip can accurately read the current sensing data.

[0051] Please refer to Figure 5 , Figure 5It is a circuit schematic diagram of the power supply circuit 6; further, the power supply circuit 6 includes an AMS1117-3.3 chip, the VIN pin of the AMS1117-3.3 chip is grounded after passing through the input filter capacitor C3 and the input filter capacitor C2, and the OUT pin is grounded after passing through the output filter capacitor C4 and the output filter capacitor C5.

[0052] Specifically, the function of input filter capacitors C3 and C2 is to smooth the input voltage, reduce power supply fluctuations and noise, and ensure that the AMS1117-3.3 chip can receive a stable input voltage. After adding input filter capacitors C3 and C2 for filtering, the pulsating DC is converted into DC with low ripple due to the charge and discharge effect of the capacitors, which has the function of input filtering. The function of output filter capacitors C4 and C5 is that the working process of the voltage stabilization circuit requires sampling from the output, and then adjusting the output according to its feedback value to achieve the purpose of voltage stabilization. If there is no output filter capacitor at this time, as long as the frequency of the voltage fluctuation caused by the load change is almost the same as the regulation rate of the voltage stabilization circuit, an oscillation effect will occur, causing the output to be out of control. Therefore, adding filter capacitors to the regulated output can further increase the stability of the regulated output.

[0053] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A steering gear state monitoring and angle control circuit, applied to a steering gear, wherein the control circuit includes a touch screen display circuit, characterized in that: Also includes: Main control circuit, motor drive circuit, current sensing amplifier circuit and power supply circuit; The main control circuit is connected to the touch screen display circuit, and is used to receive a control signal from the touch screen display circuit, and output the obtained servo parameters to the touch screen display circuit for display, wherein the servo parameters include current values; The main control circuit is connected to the motor drive circuit, the output end of the motor drive circuit is used to be connected to the steering gear, and the main control circuit is used to send a control signal to the motor drive circuit to drive the motor; The main control circuit is connected to the current sensing amplifier circuit. The power supply end of any of the servo channels is connected in series with a sampling resistor and then connected to the current sensing amplifier. The current sensing amplifier circuit is used to obtain the current value generated by the current flowing through the sampling resistor and transmit it to the main control circuit. The main control circuit performs analog-to-digital processing on the current value and then transmits it to the touch screen display circuit for display. The power supply circuit is respectively connected to the main control circuit, the current sensing amplifier circuit, and the motor driving circuit to provide an operating voltage.

2. A steering gear state monitoring and angle control circuit according to claim 1, characterized in that: There are four servo channels, and the power supply ends of the four servo channels are respectively connected in series with sampling resistors R7, sampling resistors R8, sampling resistors R12 and sampling resistors R13. The current sensing amplifier circuit respectively obtains the four current values ​​generated by the current flowing through the sampling resistors R7, sampling resistors R8, sampling resistors R12 and sampling resistors R13 and outputs them to the main control circuit through four output ends. The main control circuit performs analog-to-digital processing on the four current values ​​and then transmits them to the touch screen display circuit for display.

3. The steering gear state monitoring and angle control circuit according to claim 2, characterized in that: The main control circuit includes a GD32F103C8T6 chip, the BOOT0 pin of the GD32F103C8T6 chip is grounded via a resistor R3, the USART1_RX pin and the USART1_TX pin are correspondingly connected to the USART1_RX pin and the USART1_TX pin of the touch screen display circuit, the ADC_CLK pin and the ADC_DATA pin are correspondingly connected to the ADC_CLK pin and the ADC_DATA pin of the ADCS7476AIMFX / NOPB chip, the power pin VDD is grounded via decoupling capacitors C6, C7, C8, and C9, and the reset pin NRST is grounded via capacitor C11.

4. The steering gear state monitoring and angle control circuit according to claim 3, characterized in that: The motor drive circuit includes a DRV8837DSGR chip, the DC_M_EN pin, TIM4_CH3 pin, and TIM4_CH4 pin of the DRV8837DSGR chip are respectively connected to the DC_M_EN pin, TIM4_CH3 pin, and TIM4_CH4 pin of the GD32F103C8T6 chip, and the M+ pin and M- pin are respectively connected to the positive and negative poles of the servo.

5. The steering gear state monitoring and angle control circuit according to claim 3, characterized in that: The current sensing amplifier circuit includes the INA4180A1IPWR chip. A resistor R7 is connected in series between the IN1- and IN1+ pins of the INA4180A1IPWR chip and connected to the power supply end of the servo channel CH3. A resistor R12 is connected in series between the IN2+ and IN2- pins and connected to the power supply end of the servo channel CH4. A resistor R13 is connected in series between the IN3+ and IN3- pins and connected to the power supply end of the servo channel CH1. A resistor R8 is connected in series between the IN4+ and IN4- pins and connected to the power supply end of the servo channel CH4. The ADC_CH1 pin is grounded through capacitor C13 and connected to the ADC_CH1 pin of the GD32F103C8T6 chip. The ADC_CH2 pin is grounded through capacitor C15 and connected to the ADC_CH2 pin of the GD32F103C8T6 chip. The ADC_CH3 pin is grounded through capacitor C14 and connected to the ADC_CH3 pin of the GD32F103C8T6 chip. The ADC_CH4 pin is grounded through capacitor C16 and connected to the ADC_CH4 pin of the GD32F103C8T6 chip.

6. The steering gear state monitoring and angle control circuit according to claim 3, characterized in that: The power supply circuit includes an AMS1117-3.3 chip, a VIN pin of the AMS1117-3.3 chip is grounded via input filter capacitors C3 and C2, and an OUT pin is grounded via output filter capacitors C4 and C5.

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