Small anti-interference multichannel steering engine controller

Abstract

The utility model relates to a steering engine controller, in particular to a small anti-interference multichannel steering engine controller. Comprising an MCU module, and a multi-path steering engine driving module and a multi-path position detection circuit which are connected with the MCU module, the multiple steering engine driving modules are in one-to-one correspondence with the multiple position detection circuits, and the corresponding steering engine driving modules and the position detection circuits form control channels. The steering engine driving module and the position detection circuit which are positioned in the same control channel are respectively connected with the steering engine and a position sensor of the steering engine; the MCU module is connected with the upper computer; the MCU module receives a control instruction of the upper computer and position feedback information of the position detection circuit, and generates a new control instruction by combining the control instruction and the position feedback information; and the steering engine driving module operates the new control instruction and drives the steering engine to operate. By integrating the multiple steering engine driving modules and the multiple position detection circuits, driving control of multiple steering engines can be achieved at the same time, the space occupied by the steering engine controller can be reduced, and the steering engine controller can be used in equipment with the high integration level.

Description

Technical Field

[0001] The utility model relates to a steering gear controller, in particular to a small-sized anti-interference multi-channel steering gear controller. Background Art

[0002] Servo controllers are widely used and crucial in the defense and military industry. As core components, they play an irreplaceable role in multiple key systems.

[0003] Despite their significant application value in the defense and military sectors, servo controllers currently face a number of challenges in practical application. One prominent issue is their large size. This not only increases the overall weight and footprint of the equipment, making installation and integration more difficult, but also limits their application in certain military equipment requiring a compact layout. Utility Model Content

[0004] The purpose of the utility model is to solve the technical problem that the existing steering gear controller is large in size, which limits its application in certain equipment requiring a compact layout, and to provide a small anti-interference multi-channel steering gear controller.

[0005] In order to solve the above technical problems, the technical solutions provided by the present invention are as follows:

[0006] A small anti-interference multi-channel servo controller includes an MCU module, a multi-channel servo drive module and a multi-channel position detection circuit connected thereto;

[0007] The multiple servo drive modules correspond to the multiple position detection circuits one by one, and the corresponding servo drive modules and position detection circuits form a control channel; the servo drive modules and position detection circuits located in the same control channel are connected to the servo and the position sensor of the servo respectively;

[0008] The MCU module is connected to the host computer;

[0009] The MCU module receives the control instructions from the host computer and the position feedback information from the position detection circuit, and combines the two to generate new control instructions; the servo drive module executes the new control instructions and drives the servo to operate.

[0010] Furthermore, the MCU module is provided with a CAN communication interface, a power interface, an SPI interface and a PWM / DIR / UART interface;

[0011] The servo drive module is connected to the PWM / DIR / UART interface via a bus driver;

[0012] The position detection circuit is connected to the SPI interface via an AD signal processing circuit;

[0013] The host computer is connected to the CAN communication interface via a CAN communication interface circuit;

[0014] The power interface is connected to the power supply through a power conversion circuit.

[0015] Furthermore, the power conversion circuit includes a +9VD power terminal, a +5VD power terminal, a +3.3VD power terminal, a +2.5VD power terminal and a +1VD power terminal.

[0016] Furthermore, the power supply, +9VD power terminal, +5VD power terminal, +3.3VD power terminal, +2.5VD power terminal and +1VD power terminal are all provided with ADC voltage and current acquisition modules;

[0017] The MCU module is provided with an I2C interface, and the ADC voltage and current acquisition module is connected to the MCU module via the I2C interface.

[0018] Furthermore, the position detection circuit includes a digital-to-analog converter U17, an analog switch chip U22, operational amplifiers U20, U18B and U23B;

[0019] The eleventh, twelfth, thirteenth and fourteenth pins of the digital-to-analog converter U17 are connected to the SPI interface of the MCU module;

[0020] The first pin, the twentieth pin, the sixteenth pin, the seventeenth pin, the eighteenth pin, the nineteenth pin, the sixth pin, the seventh pin, the eighth pin, the ninth pin, the third pin, the second pin and the fifteenth pin of the analog-to-digital converter U17 are respectively connected to one end of the capacitors C124, C125, C20, C21, C26, C38, C39, C40, C41, C42, C127, C126 and C43; the other ends of the capacitors C124, C125, C20, C21, C26, C38, C39, C40, C41, C42, C127, C126 and C43 are all grounded;

[0021] The first and 20th pins of the digital-to-analog converter U17 are also connected to the +5VD power supply terminal;

[0022] The fifteenth pin of the digital-to-analog converter U17 is connected to the +3.3VD power supply terminal;

[0023] The fourth pin, the fifth pin, the tenth pin and the twenty-first pin of the digital-to-analog converter U17 are connected to the ground;

[0024] The first pin of the analog switch chip U22 is connected to the +5VD power supply terminal and one end of the capacitor C142, and the other end of the capacitor C142 is grounded;

[0025] The third pin of the analog switch chip U22 is connected to one end of the capacitor C40, the other end of the capacitor C40 is grounded, and the sixth pin and the ninth pin of the analog switch chip U22;

[0026] The third pin of the analog switch chip U22 is connected to one end of the resistor R19 and the fifth pin of the operational amplifier U23B. The other end of the resistor R19 is connected to the seventh pin of the operational amplifier U18B, the resistor R30, and one end of the capacitor C72. The other ends of the resistor R30 and the capacitor C72 are connected and connected to the sixth pin of the original acid amplifier U18B and one end of the resistor R29. The other end of the resistor R29 is grounded.

[0027] The fifth pin of the operational amplifier U18B is connected to resistor R34 and one end of resistor R63. The other end of resistor R34 is connected to the +1VD power supply terminal and one end of capacitor C111. The other end of capacitor C111 is grounded. The other end of resistor R63 is connected to one end of resistor R65 and the sixth and seventh pins of the operational amplifier U23B. The other end of resistor R65 is connected to the seventeenth pin of the digital-to-analog converter U17.

[0028] The eighth pin of the operational amplifier U18B is connected to the eighth pin of the operational amplifier U23B and is connected to the +5VD power supply terminal and one end of the capacitor C138. The other end of the capacitor C138 is grounded. The fourth pin of the operational amplifier U18B and the fourth pin of the operational amplifier U23B are both grounded.

[0029] The third pin of the operational amplifier U20 is connected to one end of the capacitor C76, and the other end of the capacitor C76 is grounded;

[0030] The first pin and the fourth pin of the operational amplifier U20 are connected to one end of the resistor R32, and the other end of the resistor R32 is connected to the sixteenth pin of the digital-to-analog converter U17;

[0031] The fifth pin of the operational amplifier U20 is connected to the +5VD power supply terminal and one end of the capacitor C74, and the other end of the capacitor C74 is grounded;

[0032] The third pin of the operational amplifier U20, the second pin, the seventh pin, the fifth pin and the tenth pin of the analog switch chip U22 are connected to the position sensor.

[0033] Furthermore, the steering gear drive control module includes a drive control chip U1 and a data acquisition chip U9;

[0034] The sixth pin and the seventh pin of the drive control chip U1 are connected to the MCU module;

[0035] The first pin, the second pin, the eighth pin and the ninth pin of the drive control chip U1 are connected to the fourth pin, the first pin, the second pin and the third pin of the data acquisition chip U9 respectively;

[0036] A resistor R1 is connected in series between the eleventh and twelfth pins of the drive control chip U1, and the eleventh pin of the drive control chip is grounded;

[0037] The sixteenth pin of the drive control chip U1 is connected to one end of the capacitors C22 and C106, the other end of the capacitor C22 is connected to the other end of the capacitor C106, one end of the capacitor C60, the power supply, and the seventeenth pin of the drive control chip; the other end of the capacitor C60 is grounded;

[0038] The first pin of the data acquisition chip U9 is connected to one end of the capacitor C16, and the other end of the capacitor C16 is connected to the fourth pin of the data acquisition chip U9;

[0039] The fifth pin of the data acquisition chip U9 is grounded, and one end of the capacitor C17 is connected, and the other end of the capacitor C17 is connected to the eighth pin of the data acquisition chip U9 and the +3.3VD power supply terminal;

[0040] The sixth and seventh pins of the data acquisition chip U9 are connected to the servo.

[0041] Furthermore, the ADC voltage and current acquisition module includes an acquisition chip U16;

[0042] The second pin, the fifteenth pin, and the sixteenth pin of the acquisition chip U16 are connected to the +3.3VD power terminal and one end of the capacitors C53 and C54, and the other ends of the capacitors C53 and C54 are connected to the ground;

[0043] The first pin, the third pin, and the seventeenth pin of the acquisition chip U16 are connected and grounded;

[0044] The sixth pin of the acquisition chip U16 is connected to one end of the resistor R20, and the other end of the resistor R20 is grounded;

[0045] The fourth and fifth pins of the acquisition chip U16 are connected to the MCU module;

[0046] A resistor R37 is connected in series between the seventh and eighth pins of the acquisition chip U16, and the seventh pin of the acquisition chip U16 is connected to one end of the capacitors C119, C120, and C121, and the other ends of the capacitors C119, C120, and C121 are grounded; the eighth pin of the acquisition chip U16 is connected to one end of the capacitors C103, C104, and C105, and the other ends of the capacitors C103, C104, and C105 are grounded;

[0047] The power supply, the +9VD power terminal, the +5VD power terminal, the +3.3VD power terminal, the +2.5VD power terminal or the +1VD power terminal are connected to both ends of the resistor R37.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] The small-scale anti-interference multi-channel servo controller provided by the utility model integrates a multi-channel servo drive module and a multi-channel position detection circuit in the servo controller, and then uses an MCU module to receive control instructions from a host computer and position feedback information of the servo, and generates new control instructions by combining the two, and the servo drive module executes the new control instructions and drives the servo to operate; by integrating the multi-channel servo drive module and the multi-channel position detection circuit, the drive control of multiple servos can be realized at the same time, and the space occupied by the servo controller can be reduced, so that it can be used in equipment with a higher degree of integration without being restricted by the occupied space. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic structural diagram of an embodiment of the present utility model;

[0051] Figure 2 1 is a circuit diagram of a position detection circuit in an embodiment of the present utility model;

[0052] Figure 3 This is a circuit diagram of a steering gear drive module in an embodiment of the present utility model;

[0053] Figure 4 2 is a circuit diagram of an ADC voltage and current detection circuit in an embodiment of the present utility model. DETAILED DESCRIPTION

[0054] The following is a clear and complete description of the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0055] like Figure 1 As shown, a small anti-interference multi-channel servo controller includes an MCU module, and four servo drive modules and four position detection circuits connected thereto; the four servo drive modules correspond to the four position detection circuits one-to-one, and the corresponding servo drive modules and position detection circuits form a control channel; the servo drive modules and position detection circuits located in the same control channel are respectively connected to the servo and the servo position sensor;

[0056] The MCU module is connected to the host computer; the MCU module receives the control instructions from the host computer and the position feedback information from the position detection circuit, and combines the two to generate new control instructions; the servo drive module executes the new control instructions and drives the servo to operate.

[0057] like Figure 1 As shown, the MCU module is equipped with a CAN communication interface, a power interface, an SPI interface, and a PWM / DIR / UART interface; the servo drive module is connected to the PWM / DIR / UART interface through a bus driver; the position detection circuit is connected to the SPI interface through an AD signal processing circuit; the host computer is connected to the CAN communication interface through a CAN communication interface circuit; and the power interface is connected to the power supply through a power conversion circuit.

[0058] The MCU module is also provided with a clock control circuit, which includes a clock circuit and a watchdog circuit.

[0059] The power conversion circuit includes a +9VD power terminal, a +5VD power terminal, a +3.3VD power terminal, a +2.5VD power terminal and a +1VD power terminal.

[0060] The power supply, +9VD power supply terminal, +5VD power supply terminal, +3.3VD power supply terminal, +2.5VD power supply terminal and +1VD power supply terminal are all equipped with ADC voltage and current acquisition modules; the MCU module is provided with an I2C interface, and the ADC voltage and current acquisition module is connected to the MCU module through the I2C interface.

[0061] like Figure 2 As shown, one of the position detection circuits includes a digital-to-analog converter U17, an analog switch chip U22, operational amplifiers U20, U18B and U23B;

[0062] The 11th, 12th, 13th and 14th pins of the digital-to-analog converter U17 are connected to the SPI interface of the MCU module;

[0063] The first pin, the twentieth pin, the sixteenth pin, the seventeenth pin, the eighteenth pin, the nineteenth pin, the sixth pin, the seventh pin, the eighth pin, the ninth pin, the third pin, the second pin and the fifteenth pin of the analog-to-digital converter U17 are respectively connected to one end of the capacitors C124, C125, C20, C21, C26, C38, C39, C40, C41, C42, C127, C126 and C43; the other ends of the capacitors C124, C125, C20, C21, C26, C38, C39, C40, C41, C42, C127, C126 and C43 are all grounded;

[0064] The first and 20th pins of the digital-to-analog converter U17 are also connected to the +5VD power supply terminal;

[0065] The fifteenth pin of the digital-to-analog converter U17 is connected to the +3.3VD power supply terminal;

[0066] The fourth pin, the fifth pin, the tenth pin and the twenty-first pin of the digital-to-analog converter U17 are connected to each other and grounded;

[0067] The first pin of the analog switch chip U22 is connected to the +5VD power supply terminal and one end of the capacitor C142, and the other end of the capacitor C142 is grounded;

[0068] The third pin of the analog switch chip U22 is connected to one end of the capacitor C40, the other end of the capacitor C40 is grounded, and the sixth pin and the ninth pin of the analog switch chip U22;

[0069] The third pin of the analog switch chip U22 is connected to one end of the resistor R19 and the fifth pin of the operational amplifier U23B. The other end of the resistor R19 is connected to the seventh pin of the operational amplifier U18B, the resistor R30, and one end of the capacitor C72. The other ends of the resistor R30 and the capacitor C72 are connected and connected to the sixth pin of the original amplifier U18B and one end of the resistor R29. The other end of the resistor R29 is grounded.

[0070] The fifth pin of the operational amplifier U18B is connected to resistor R34 and one end of resistor R63. The other end of resistor R34 is connected to the +1VD power supply terminal and one end of capacitor C111. The other end of capacitor C111 is grounded. The other end of resistor R63 is connected to one end of resistor R65 and the sixth and seventh pins of the operational amplifier U23B. The other end of resistor R65 is connected to the seventeenth pin of the digital-to-analog converter U17.

[0071] The eighth pin of the operational amplifier U18B is connected to the eighth pin of the operational amplifier U23B and is connected to the +5VD power supply terminal and one end of the capacitor C138. The other end of the capacitor C138 is grounded. The fourth pin of the operational amplifier U18B and the fourth pin of the operational amplifier U23B are both grounded.

[0072] The third pin of the operational amplifier U20 is connected to one end of the capacitor C76, and the other end of the capacitor C76 is grounded;

[0073] The first pin and the fourth pin of the operational amplifier U20 are connected to one end of the resistor R32, and the other end of the resistor R32 is connected to the sixteenth pin of the digital-to-analog converter U17;

[0074] The fifth pin of the operational amplifier U20 is connected to the +5VD power supply terminal and one end of the capacitor C74, and the other end of the capacitor C74 is grounded;

[0075] The third pin of the operational amplifier U20, the second pin, the seventh pin, the fifth pin and the tenth pin of the analog switch chip U22 are connected to the position sensor.

[0076] like Figure 3 As shown, one of the servo drive control modules includes a drive control chip U1 and a data acquisition chip U9;

[0077] The sixth and seventh pins of the driver control chip U1 are connected to the MCU module;

[0078] The first pin, second pin, eighth pin, and ninth pin of the driving control chip U1 are connected to the fourth pin, first pin, second pin, and third pin of the data acquisition chip U9 respectively;

[0079] A resistor R1 is connected in series between the eleventh and twelfth pins of the driver control chip U1, and the eleventh pin of the driver control chip is grounded;

[0080] The sixteenth pin of the driver control chip U1 is connected to one end of the capacitors C22 and C106, the other end of the capacitor C22 is connected to the other end of the capacitor C106, one end of the capacitor C60, the power supply, and the seventeenth pin of the driver control chip; the other end of the capacitor C60 is grounded;

[0081] The first pin of the data acquisition chip U9 is connected to one end of the capacitor C16, and the other end of the capacitor C16 is connected to the fourth pin of the data acquisition chip U9;

[0082] The fifth pin of the data acquisition chip U9 is grounded and connected to one end of the capacitor C17. The other end of the capacitor C17 is connected to the eighth pin of the data acquisition chip U9 and the +3.3VD power supply terminal.

[0083] The sixth and seventh pins of the data acquisition chip U9 are connected to the servo.

[0084] like Figure 4 As shown, one of the ADC voltage and current acquisition modules includes an acquisition chip U16;

[0085] The second pin, the fifteenth pin, and the sixteenth pin of the acquisition chip U16 are connected to the +3.3VD power terminal and one end of the capacitors C53 and C54. The other ends of the capacitors C53 and C54 are connected to the ground.

[0086] The first pin, the third pin, and the seventeenth pin of the acquisition chip U16 are connected and grounded;

[0087] The sixth pin of the acquisition chip U16 is connected to one end of the resistor R20, and the other end of the resistor R20 is grounded;

[0088] The fourth and fifth pins of the acquisition chip U16 are connected to the MCU module;

[0089] A resistor R37 is connected in series between the seventh and eighth pins of the acquisition chip U16, and the seventh pin of the acquisition chip U16 is connected to one end of the capacitors C119, C120, and C121, and the other ends of the capacitors C119, C120, and C121 are grounded; the eighth pin of the acquisition chip U16 is connected to one end of the capacitors C103, C104, and C105, and the other ends of the capacitors C103, C104, and C105 are grounded;

[0090] The power supply, +9VD power terminal, +5VD power terminal, +3.3VD power terminal, +2.5VD power terminal or +1VD power terminal is connected to both ends of the resistor R37.

[0091] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention shall be covered by the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

1. A small anti-interference multi-channel steering gear controller, characterized by: It includes an MCU module, a multi-channel servo drive module and a multi-channel position detection circuit connected thereto; The multiple servo drive modules correspond to the multiple position detection circuits one by one, and the corresponding servo drive modules and position detection circuits form a control channel; The servo drive module and the position detection circuit located in the same control channel are connected to the servo and the position sensor of the servo respectively; The MCU module is connected to the host computer; The MCU module receives the control instructions from the host computer and the position feedback information from the position detection circuit, and combines the two to generate new control instructions; the servo drive module executes the new control instructions and drives the servo to operate.

2. The small anti-interference multi-channel steering gear controller according to claim 1, characterized in that: The MCU module is provided with a CAN communication interface, a power interface, an SPI interface and a PWM / DIR / UART interface; The servo drive module is connected to the PWM / DIR / UART interface via a bus driver; The position detection circuit is connected to the SPI interface via an AD signal processing circuit; The host computer is connected to the CAN communication interface via a CAN communication interface circuit; The power interface is connected to the power supply through a power conversion circuit.

3. The small anti-interference multi-channel steering gear controller according to claim 2, characterized in that: The power conversion circuit includes a +9VD power terminal, a +5VD power terminal, a +3.3VD power terminal, a +2.5VD power terminal and a +1VD power terminal.

4. The small anti-interference multi-channel steering gear controller according to claim 3, characterized in that: The power supply, +9VD power terminal, +5VD power terminal, +3.3VD power terminal, +2.5VD power terminal and +1VD power terminal are all equipped with ADC voltage and current acquisition modules; The MCU module is provided with an I2C interface, and the ADC voltage and current acquisition module is connected to the MCU module via the I2C interface.

5. The small anti-interference multi-channel steering gear controller according to claim 3, characterized in that: The position detection circuit includes a digital-to-analog converter U17, an analog switch chip U22, operational amplifiers U20, U18B and U23B; The eleventh, twelfth, thirteenth and fourteenth pins of the digital-to-analog converter U17 are connected to the SPI interface of the MCU module; The first pin, the twentieth pin, the sixteenth pin, the seventeenth pin, the eighteenth pin, the nineteenth pin, the sixth pin, the seventh pin, the eighth pin, the ninth pin, the third pin, the second pin and the fifteenth pin of the analog-to-digital converter U17 are respectively connected to one end of the capacitors C124, C125, C20, C21, C26, C38, C39, C40, C41, C42, C127, C126 and C43; the other ends of the capacitors C124, C125, C20, C21, C26, C38, C39, C40, C41, C42, C127, C126 and C43 are all grounded; The first and 20th pins of the digital-to-analog converter U17 are also connected to the +5VD power supply terminal; The fifteenth pin of the digital-to-analog converter U17 is connected to the +3.3VD power supply terminal; The fourth pin, the fifth pin, the tenth pin and the twenty-first pin of the digital-to-analog converter U17 are connected to the ground; The first pin of the analog switch chip U22 is connected to the +5VD power supply terminal and one end of the capacitor C142, and the other end of the capacitor C142 is grounded; The third pin of the analog switch chip U22 is connected to one end of the capacitor C40, the other end of the capacitor C40 is grounded, and the sixth pin and the ninth pin of the analog switch chip U22; The third pin of the analog switch chip U22 is connected to one end of the resistor R19 and the fifth pin of the operational amplifier U23B. The other end of the resistor R19 is connected to the seventh pin of the operational amplifier U18B, the resistor R30, and one end of the capacitor C72. The other ends of the resistor R30 and the capacitor C72 are connected and connected to the sixth pin of the original acid amplifier U18B and one end of the resistor R29. The other end of the resistor R29 is grounded. The fifth pin of the operational amplifier U18B is connected to resistor R34 and one end of resistor R63. The other end of resistor R34 is connected to the +1VD power supply terminal and one end of capacitor C111. The other end of capacitor C111 is grounded. The other end of resistor R63 is connected to one end of resistor R65 and the sixth and seventh pins of the operational amplifier U23B. The other end of resistor R65 is connected to the seventeenth pin of the digital-to-analog converter U17. The eighth pin of the operational amplifier U18B is connected to the eighth pin of the operational amplifier U23B and is connected to the +5VD power supply terminal and one end of the capacitor C138. The other end of the capacitor C138 is grounded. The fourth pin of the operational amplifier U18B and the fourth pin of the operational amplifier U23B are both grounded. The third pin of the operational amplifier U20 is connected to one end of the capacitor C76, and the other end of the capacitor C76 is grounded; The first pin and the fourth pin of the operational amplifier U20 are connected to one end of the resistor R32, and the other end of the resistor R32 is connected to the sixteenth pin of the digital-to-analog converter U17; The fifth pin of the operational amplifier U20 is connected to the +5VD power supply terminal and one end of the capacitor C74, and the other end of the capacitor C74 is grounded; The third pin of the operational amplifier U20, the second pin, the seventh pin, the fifth pin and the tenth pin of the analog switch chip U22 are connected to the position sensor.

6. The small anti-interference multi-channel steering gear controller according to claim 1, characterized in that: The servo drive module includes a drive control chip U1 and a data acquisition chip U9; The sixth pin and the seventh pin of the drive control chip U1 are connected to the MCU module; The first pin, the second pin, the eighth pin and the ninth pin of the drive control chip U1 are connected to the fourth pin, the first pin, the second pin and the third pin of the data acquisition chip U9 respectively; A resistor R1 is connected in series between the eleventh and twelfth pins of the drive control chip U1, and the eleventh pin of the drive control chip is grounded; The sixteenth pin of the drive control chip U1 is connected to one end of the capacitors C22 and C106, the other end of the capacitor C22 is connected to the other end of the capacitor C106, one end of the capacitor C60, the power supply, and the seventeenth pin of the drive control chip; the other end of the capacitor C60 is grounded; The first pin of the data acquisition chip U9 is connected to one end of the capacitor C16, and the other end of the capacitor C16 is connected to the fourth pin of the data acquisition chip U9; The fifth pin of the data acquisition chip U9 is grounded, and one end of the capacitor C17 is connected, and the other end of the capacitor C17 is connected to the eighth pin of the data acquisition chip U9 and the +3.3VD power supply terminal; The sixth and seventh pins of the data acquisition chip U9 are connected to the servo.

7. The small anti-interference multi-channel steering gear controller according to claim 4, characterized in that: The ADC voltage and current acquisition module includes an acquisition chip U16; The second pin, the fifteenth pin, and the sixteenth pin of the acquisition chip U16 are connected to the +3.3VD power terminal and one end of the capacitors C53 and C54, and the other ends of the capacitors C53 and C54 are connected to the ground; The first pin, the third pin, and the seventeenth pin of the acquisition chip U16 are connected and grounded; The sixth pin of the acquisition chip U16 is connected to one end of the resistor R20, and the other end of the resistor R20 is grounded; The fourth and fifth pins of the acquisition chip U16 are connected to the MCU module; A resistor R37 is connected in series between the seventh and eighth pins of the acquisition chip U16, and the seventh pin of the acquisition chip U16 is connected to one end of the capacitors C119, C120, and C121, and the other ends of the capacitors C119, C120, and C121 are grounded; the eighth pin of the acquisition chip U16 is connected to one end of the capacitors C103, C104, and C105, and the other ends of the capacitors C103, C104, and C105 are grounded; The power supply, the +9VD power terminal, the +5VD power terminal, the +3.3VD power terminal, the +2.5VD power terminal or the +1VD power terminal are connected to both ends of the resistor R37.

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