Dual-controller servo system for direct-current brushless motor

Abstract

The utility model belongs to the field of motor control, and particularly relates to a dual-controller servo system for a direct-current brushless motor, which comprises a first control module, a second control module, a driving module, a current detection module, a brushless motor, a position detection module, a human-computer interface, a starting mode selector, a network communication module and a voltage detection module. The position detection module, the human-computer interface, the starting mode selection module, the network communication module and the voltage detection module are all connected with the first control module, the driving module and the current detection module are connected with the second control module, the second control module is connected with the first control module, the current detection module is connected with the driving module, and the brushless motor is connected with the driving module. And the position detection module is connected with the brushless motor. According to the utility model, the first control module and the second control module cooperate with each other to realize accurate control of torque, speed and position parameters of the brushless motor, and the double control modules are adopted to overcome the defect of processing speed of a domestic controller.

Description

Technical Field

[0001] This utility model belongs to the field of motor control, and in particular relates to a dual-controller servo system for a brushless DC motor. Background Technology

[0002] Due to the late start of domestic MCU chip development, domestically produced MCUs have slower processing speeds, resulting in less than ideal performance for complex control algorithms. In the servo controller field, the high-end and mid-range markets in China are currently dominated by foreign brands. Even in the low-end and mid-range markets where domestic brands hold a share, the main control MCUs for their servo controllers primarily use foreign chips. This is detrimental to the healthy development of the domestic chip industry. Besides requiring strong computing power, servo controllers also need strong communication and comprehensive information processing capabilities; a single MCU with slightly weaker performance is insufficient for this task.

[0003] Chinese invention patent CN 117691911 A discloses a sensor-oriented magnetic field control system for a brushless DC motor. The disclosed technical solution uses a foreign STM32F4 series MCU as the microcontroller, but does not provide a technical approach for strong integrated information processing capabilities. Chinese invention patent CN 117724386 A provides a communication device and method for combining an EPS system MCU and an FOC chip. This hardware device connects the EPS system MCU and the FOC chip using five signal lines. A communication timing sequence and protocol are established between the EPS system MCU and the FOC chip to achieve reliable data transmission and reception. This communication timing sequence and protocol are similar to the SPI bus communication protocol. This system uses a programmable FOC chip, which may result in higher costs for small-to-medium production volumes.

[0004] To address the issue of using domestically produced microcontrollers with relatively low computing power in brushless DC motor servo controllers, and to provide mid-to-high-end servo controller products with high performance and cost-effectiveness, this utility model provides the following technical solution. Summary of the Invention

[0005] A dual-controller servo system for a brushless DC motor includes: a first control module (1), a drive module (3), a current detection module (4), a brushless motor (5), a position detection module (6), a voltage detection module (10), and a power supply module (11). The current detection module (4) and the brushless motor (5) are both connected to the drive module (3), and the position detection module (6) is connected to the brushless motor (5). The system is characterized by further including a second control module (2), a human-machine interface (7), a network communication module (9), and a start-up mode selection (8). The position detection module (6), the human-machine interface (7), the start-up mode selection (8), the network communication module (9), and the voltage detection module (10) are all connected to the first control module (1); the second control module (2) is connected to the first control module (1); and the drive module (3) and the current detection module (4) are both connected to the second control module (2).

[0006] Furthermore, the position detection module (6) includes a grating encoder position sensor circuit and a serial magnetic encoder position sensor circuit.

[0007] The grating encoder position sensor circuit includes a first connector CN2, a first resistor R43, a second resistor R44, a third resistor R45, a fourth resistor R40, a fifth resistor R41, a sixth resistor R42, a seventh resistor R46, an eighth resistor R47, a ninth resistor R48, and a tenth resistor R49. Pins 1, 2, and 3 of CN2 are connected to the Z, A, and B three-phase position signal outputs of the grating encoder, respectively. Pins 4 and 5 of CN2 are connected to the 5V power supply and GND of the grating encoder, respectively. R43, R44, and R45 are connected between pins 1, 2, and 3 and pin 4 of CN2, respectively. One end of R40, R41, and R42 is connected to pins 1, 2, and 3 of CN2, respectively. The other end of R40... One end of R41 is connected to the first GPIO input pin of the first control module (1). R41 is connected to one end of R46 and R47. The other end of R46 is connected to the positive polarity signal input pin of the first channel of the first timer of the first control module (1). The other end of R47 is connected to the negative polarity signal input pin of the first channel of the same timer as R46 of the first control module (1). R42 is connected to one end of R48 and R49. The other end of R48 is connected to the positive polarity signal input pin of the second channel of the same timer as R46 of the first control module (1). The other end of R49 is connected to the negative polarity signal input pin of the second channel of the same timer as R46 of the first control module (1).

[0008] The serial magnetic encoder position sensor circuit includes a second connector CN3, a third connector U21, a first RS485 interface chip U22, a first NPN transistor Q5, a first switching diode D29, a first capacitor C41, a second capacitor C71, an eleventh resistor R52, a twelfth resistor R51, a thirteenth resistor R53, a fourteenth resistor R83, and a fifteenth resistor R84. U21 is connected to pins 1 and 2 via jumpers to select 11V power supply, and pins 2 and 3 of U21 are connected to select 5V power supply. Pins 1, 2, 3, and 4 of CN3 are connected to the external magnetic encoder's B signal, A signal, power supply, and GND, respectively. R51 is connected between pin 8 of U22 and pin 2 of CN3. R52 is connected to pin 1 of CN3, and R53 is connected to pin 6 of U22. Between pins 1 and 7, R53 is connected between pins 1 and 2 of CN3, C41 is connected between 5V and GND, pin 1 of U22 is connected to the input pin of the first asynchronous serial communication port of the first control module (1), pin 4 of U22 is connected to the output pin of the first control module (1) and the same asynchronous serial communication port connected to pin 1 of U22, pins 2 and 3 of U22 are shorted, connecting one end of R83 and the collector of Q5, the other end of R83 is connected to the 5V power supply, the emitter of Q5 is connected to GND, the base of Q5 is connected to one end of C71, one end of R84, and the anode of D29, the other end of C71 is connected to GND, the other end of R84 is connected to the cathode of D29 and then connected to the output pin of the first control module (1) and the same asynchronous serial communication port connected to pin 1 of U22.

[0009] Furthermore, the human-machine interface (7) includes a five-way switch input circuit, a potentiometer input circuit, and an LCD screen output module circuit.

[0010] The five-way switch input circuit includes a five-way switch SW4, a sixteenth resistor R134, a seventeenth resistor R135, an eighteenth resistor R136, a third capacitor C111, a fourth capacitor C112, and a fifth capacitor C113. One end of R134, R135, and R136 is connected to a 3.3V power supply. The C and E pins of SW4 are connected to GND. C111, C112, and C113 are respectively connected between the A, B, and D pins of SW4 and GND. The A, B, and D pins of SW4 are respectively connected to the second, third, and fourth GPIO input pins of the first control module (1).

[0011] The potentiometer input circuit includes potentiometer SW5, sixth capacitor C114, and nineteenth resistor R137. The middle tap of SW5 is connected to the first analog-to-digital conversion pin of the first control module (1). One pin of SW5 is connected to GND, and the other pin is connected to one end of C114 and one end of R137. The other end of R137 is connected to a 3.3V power supply, and the other end of C114 is connected to GND.

[0012] The LCD screen output module circuit is connected to the external LCD display through the fourth connector U59. Pins 1, 2, 3, 4, 5, and 6 of U59 are respectively connected to the second, third, fourth, fifth, sixth, and seventh GPIO output pins of the first control module (1).

[0013] Furthermore, the startup mode selection (8) includes two sets of 4-bit DIP switches. The first set of 4-bit DIP switches SW2 has pins 1, 2, 3, and 4 connected to the first, second, third, and fourth GPIO input pins of the second control module (2), and pins 5, 6, 7, and 8 connected to GND. The second set of 4-bit DIP switches SW3 has pins 1, 2, 3, and 4 connected to the fifth, sixth, seventh, and eighth GPIO input pins of the first control module (1), and pins 5, 6, 7, and 8 connected to GND.

[0014] Furthermore, the network communication module (9) includes a second RS485 communication interface circuit, a first Ethernet communication interface circuit, and a first CAN communication interface circuit.

[0015] The second RS485 communication interface circuit consists of the fifth connector CN5, the second RS485 interface chip U46, the second NPN transistor Q6, the second switching diode D30, the seventh capacitor C72, the eighth capacitor C73, the twentieth resistor R85, the twenty-first resistor R86, the twenty-second resistor R87, the twenty-third resistor R88, and the twenty-fourth resistor R89. Pins 1, 2, 3, and 4 of CN5 are connected to the B signal, A signal, power supply, and GND of the external host computer's RS485 module, respectively. R85 is connected between pin 8 of U46 and pin 2 of CN5. R86 is connected to pin 1 of CN5. R87 is connected between pins 6 and 7 of U22 and between pins 1 and 2 of CN5. Between, C72 is connected between 5V and GND, pin 1 of U46 is connected to the input pin of the second asynchronous serial communication port of the first control module (1), pin 4 of U46 is connected to the output pin of the same asynchronous serial communication port of the first control module (1) connected to pin 1 of U46, pins 2 and 3 of U46 are shorted and connected to one end of R88 and the collector of Q6, the other end of R88 is connected to the 5V power supply, the emitter of Q6 is connected to GND, the base of Q6 is connected to one end of C73, one end of R89, and the anode of D30, the other end of C73 is connected to GND, the other end of R89 is connected to the cathode of D29 and then connected to the output pin of the same asynchronous serial communication port of the first control module (1) connected to pin 1 of U46.

[0016] The first Ethernet communication interface circuit consists of the sixth connector J1, the ninth capacitor C10, the twenty-fifth resistor R1, and the twenty-sixth resistor R2. The 6th pin of J1 is connected to the RXN pin of the Ethernet module of the first control module (1), the 3rd pin of J1 is connected to the RXP pin of the Ethernet module of the first control module (1), the 2nd pin of J1 is connected to the TXN pin of the Ethernet module of the first control module (1), the 1st pin of J1 is connected to the TXP pin of the Ethernet module of the first control module (1), the 10th pin of J1 is connected to the eighth GPIO output pin of the first control module (1), and the 11th pin of J1 is connected to the ninth GPIO output pin of the first control module (1). One pin of R1 and R2 is connected to the 3.3V power supply, and the other pin is connected to the 9th and 12th pins of J1 respectively. The SH1 and SH2 pins of J1 are connected to GND.

[0017] The first CAN communication interface circuit consists of the first CAN bus transceiver chip U23, the twenty-seventh resistor R50, the tenth capacitor C40, and the seventh connector U24. U24 is connected to the CAN bus transceiver of the host computer. Pin 1 of U24 is connected to the CANH signal, pin 2 of U24 is connected to the CANL signal, pin 1 of U24 is connected to pin 7 of U23, pin 2 of U24 is connected to pin 6 of U23, R50 is connected between pins 6 and 7 of U23, pins 2 and 8 of U23 are connected to GND, pin 3 of U23 is connected to the 5V power supply, pin 5 of U23 is left floating, and pins 1 and 4 of U23 are respectively connected to the CAN_TX and CAN_RX pins of the first control module (1).

[0018] Furthermore, the voltage detection module (10) is used to detect the 24V main power supply voltage. It consists of the eleventh capacitor C74, the twenty-eighth resistor R91, the twenty-ninth resistor R92, the thirtieth resistor R93, the thirty-first resistor R167, and the third switching diode D31. R91, R167, R92, and R93 are connected in series between the 24V main power supply and PGND. The connection point of R92 and R93 is connected to one end of C74, the anode of D31, and the second analog-to-digital conversion pin of the first control module (1). The other end of C74 is connected to GND, and the cathode of D31 is connected to the 3.3V power supply.

[0019] Furthermore, the first control module (1) includes a first domestic microcontroller U44 and its associated decoupling capacitor, crystal oscillator, and reset circuit, and the second control module (2) includes a second domestic microcontroller U43 and its associated decoupling capacitor, crystal oscillator, and reset circuit. The SPI pin of U44 and the SPI pin of U43 are connected through the thirty-second resistor R105, the thirty-third resistor R106, the thirty-fourth resistor R107, and the thirty-fifth resistor R108, respectively.

[0020] Further, the current detection module (4) circuit consists of the thirty-sixth resistor R109, the thirty-seventh resistor R110, the thirty-eighth resistor R111, the thirty-ninth resistor R112, the fortieth resistor R113, the forty-first resistor R114, the twelfth capacitor C100, the twelfth capacitor C101, the thirteenth capacitor C95, the first diode group D35, and the first operational amplifier U57.1. One end of R109 is connected to the current sampling signal, and the other end of R109 is connected to one end of C94 and one end of R111. One end of R110 is connected to GND, and the other end of R110 is connected to the other end of C94 and one end of R112. The other end is connected to one end of R113 and the non-inverting input pin of U57.1. The other end of R113 is connected to a 1.65V power supply. The other end of R112 is connected to the inverting input pin of U57.1 and one end of R114. The other end of R114 is connected to the amplified output pin of U57.1. The amplified output pin of U57.1 is connected to one end of C95, pin 3 of D35, and the third pin of the analog-to-digital converter of the second control module (2). Pin 11 of U57.1 is connected to GND, pin 5 is connected to a 5V power supply, the other end of C95 is connected to GND, pin 1 of D35 is connected to GND, pin 2 is connected to 3.3V, and C100 and C101 are connected between the 5V power supply and GND.

[0021] The beneficial effects of this utility model are as follows: This utility model achieves high-precision servo control of a brushless DC motor by using two domestically produced microcontrollers. The computing power of the two domestically produced microcontrollers is divided into two tasks: the first microcontroller is responsible for human-computer interaction, communication with the host computer, power supply voltage signal detection, and acquisition of brushless motor position signals, while the second microcontroller is responsible for the generation of SPWM waves, implementation of Park transform, Clark transform, inverse Clark transform, PID algorithm, speed control algorithm, torque control algorithm, and position control algorithm, etc. The two microcontrollers communicate with each other through a high-speed serial bus, realizing the collaborative work of the two microcontrollers and meeting the technical requirements of a high-precision servo controller. By flexibly configuring the selection of communication modules, position sensor types, and device address parameters through DIP switches, the universality of the device can be obtained, achieving domestic controllability, promoting the healthy development of domestic control chips, and expanding the application scenarios of domestic control chips. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model.

[0023] Figure 2 This is the circuit diagram of the dual controller of this utility model.

[0024] Figure 3 This is a circuit diagram of the position detection circuit of the serial magnetic encoder of this utility model.

[0025] Figure 4This is a circuit diagram of the position detection circuit of the grating encoder of this utility model.

[0026] Figure 5 This is the circuit diagram of the second RS485 communication interface of this utility model.

[0027] Figure 6 This is the circuit diagram of the first Ethernet communication interface of this utility model.

[0028] Figure 7 This is the circuit diagram of the first CAN communication interface of this utility model.

[0029] Figure 8 This is the power supply voltage detection circuit diagram of this utility model.

[0030] Figure 9 This is a circuit diagram illustrating the working mode of this utility model.

[0031] Figure 10 This is the device address configuration circuit diagram of this utility model.

[0032] Figure 11 This is the circuit diagram of the five-way switch input circuit for the human-machine interface of this utility model.

[0033] Figure 12 This is the circuit diagram of the human-machine interface LCD screen output module of this utility model.

[0034] Figure 13 This is the circuit diagram of the human-machine interface potentiometer input circuit of this utility model.

[0035] Figure 14 This is the circuit diagram for current detection of this utility model. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. The described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0037] In the embodiments of this utility model, Figure 1 According to this utility model, a dual-controller servo system for a brushless DC motor is provided, comprising: a first control module (1), a second control module (2), a drive module (3), a current detection module (4), a brushless motor (5), a position detection module (6), a human-machine interface (7), a start-up mode selection (8), a network communication module (9), a voltage detection module (10), and a power supply module (11).

[0038] The position detection module (6), human-machine interface (7), start-up mode selection (8), network communication module (9), and voltage detection module (10) are all connected to the first control module (1). The first control module (1) mainly acquires position detection parameters, processes human-machine interaction, configures working parameters, performs network communication, and detects voltage. It also sends the current position parameters, expected position, and start-stop control parameters to the second control module (2) via the SPI bus. With its computing power support, the first control module can better handle network communication and comprehensive data processing capabilities.

[0039] The second control module (2) is connected to the first control module (1) via a high-speed SPI bus. The drive module (3) and the current detection module (4) are both connected to the second control module (2). The second control module (2) needs to generate the SPWM wave and send the six complementary signals with added dead time to the drive module (3). The drive module outputs three-phase AC power UVW to the brushless motor (5) to control its operation. It also samples the three-phase current through a 0.02-ohm sampling resistor and sends it to the current detection module (4). The output of the current detection module (4) is sent to the three analog-to-digital converter input pins of the second control module (2). The second control module (2) obtains the three-phase current signal from here for the implementation of the FOC control algorithm.

[0040] Figure 2 This is the circuit diagram of the dual controller of this utility model, as follows: Figure 2 As shown, both the second control module (2) and the first control module (1) are equipped with a domestic RISC-V microcontroller, CH32V307, from Qinheng. The two microcontrollers are interconnected via four pins of the SPI bus. To ensure stable operation, four 20-ohm resistors are connected in series on the signal lines. Figure 2 The circuit uses network labels and follows a relatively standardized naming format to assign pins to connect to various functional modules. Technical personnel in this field can clearly see the circuit connections from the circuit diagram, so they will not be explained in detail here.

[0041] Figure 4 This is a circuit diagram of the position detection circuit of the grating encoder of this utility model, as follows: Figure 4As shown, the grating encoder position sensor circuit includes a first connector CN2, a first resistor R43, a second resistor R44, a third resistor R45, a fourth resistor R40, a fifth resistor R41, a sixth resistor R42, a seventh resistor R46, an eighth resistor R47, a ninth resistor R48, and a tenth resistor R49. Pins 1, 2, and 3 of CN2 are connected to the Z, A, and B three-phase position signal outputs of the grating encoder, respectively. Pins 4 and 5 of CN2 are connected to the 5V power supply and GND of the grating encoder, respectively. R43, R44, and R45 are connected between pins 1, 2, and 3 of CN2 and pin 4, respectively. A 10K resistor can be selected to provide pull-up current. One end of R40, R41, and R42 is connected to pins 1, 2, and 3 of CN2, respectively. A 120-ohm resistor can be selected to limit current and prevent damage to the microcontroller pins due to inconsistency between the grating encoder's operating level and the microcontroller's operating level. The other pin of R40 is connected to the first GPIO input pin of the first control module (1). R41 is connected to one end of R46 and R47. The other end of R46 is connected to the positive signal input pin of the first channel of one of the timers of the first control module (1). The other end of R47 is connected to the negative signal input pin of the first channel of the same timer connected to R46 in the first control module (1). R42 is connected to one end of R48 and R49. The other end of R48 is connected to the positive signal input pin of the second channel of the same timer connected to R46 in the first control module (1). The other end of R49 is connected to the negative signal input pin of the second channel of the same timer connected to R46 in the first control module (1). R46, R47, R48, and R49 are reserved signal selection jumpers. 0-ohm resistors can be soldered on them as needed to achieve signal connection.

[0042] Figure 3 This is a circuit diagram of the position detection circuit of the serial magnetic encoder of this utility model, as follows: Figure 3As shown, the serial magnetic encoder position sensor circuit comprises a second connector CN3, a third connector U21, a first RS485 interface chip U22, a first NPN transistor Q5, a first switching diode D29, a first capacitor C41, a second capacitor C71, an eleventh resistor R52, a twelfth resistor R51, a thirteenth resistor R53, a fourteenth resistor R83, and a fifteenth resistor R84. The jumper configuration of U21 is determined based on the operating voltage of the externally connected magnetic encoder. U21 is connected to pins 1 and 2 via a jumper cap to select 11V power supply, and to pins 2 and 3 via a jumper cap to select 5V power supply. Pins 1, 2, 3, and 4 of CN3 are respectively connected to the RS-485 bus signals B and A, power supply, and GND of the external magnetic encoder. R51 is connected between pin 8 of U22 and pin 2 of CN3 to provide a pull-up for signal A; a 360-ohm resistor can be selected. R52 is connected to pin 1 of CN3 to provide a pull-down for signal B; a 360-ohm resistor can also be selected. R53 is connected between pins 6 and 7 of U22, and also between pins 1 and 2 of CN3. A 120-ohm resistor can be selected to achieve impedance matching of the communication line. C41 is connected between 5V and GND. A 100nF capacitor can be selected to achieve decoupling of the 5V power supply. Pin 1 of U22 is connected to the input pin of the first asynchronous serial communication port of the first control module (1). Pin 4 of U22 is connected to the output pin of the same asynchronous serial communication port of the first control module (1) as pin 1 of U22. Pins 2 and 3 of U22 are shorted and connected to one end of R83 and the collector of Q5. The other end of R83 is connected to a 5V power supply. R83 can be a 10K resistor. The emitter of Q5 is connected to GND. Q5 can be an SS8050. The base of Q5 is connected to one end of C71, one end of R84, and the anode of D29. The other end of C71 is connected to GND. C71 can be a 1nF capacitor. The other end of R84 is connected to the cathode of D29 and then connected to the output pin of the same asynchronous serial communication port of the first control module (1) as pin 1 of U22. R84 can be a 20K resistor. D29 can be a 1N4148 diode.

[0043] Figure 11 This is the circuit diagram of the five-way switch input circuit for the human-machine interface of this utility model, as follows: Figure 11As shown, the five-way switch input circuit includes a five-way switch SW4, a sixteenth resistor R134, a seventeenth resistor R135, an eighteenth resistor R136, a third capacitor C111, a fourth capacitor C112, and a fifth capacitor C113. One end of R134, R135, and R136 is connected to a 3.3V power supply, providing pull-up for the three pins A, B, and D of SW4. R134, R135, and R136 can be selected as 3.3K resistors. The C and E pins of SW4 are connected to GND. C111, C112, and C113 are respectively connected between the A, B, and D pins of SW4 and GND, serving as filters and debouncing. C111, C112, and C113 can be selected as 100nF capacitors. The A, B, and D pins of SW4 are respectively connected to the second, third, and fourth GPIO input pins of the first control module (1).

[0044] Figure 13 This is the circuit diagram of the human-machine interface potentiometer input circuit of this utility model, as follows: Figure 13 As shown, the potentiometer input circuit includes potentiometer SW5, sixth capacitor C114, and nineteenth resistor R137. The middle tap of SW5 is connected to the first analog-to-digital conversion pin of the first control module (1). One pin of SW5 is connected to GND, and the other pin is connected to one end of C114 and one end of R137. SW5 can be a 5K potentiometer. The other end of R137 is connected to a 3.3V power supply. R137 can be a 300 ohm resistor. The other end of C114 is connected to GND. C114 can be a 10uF capacitor.

[0045] Figure 12 This is the circuit diagram of the human-machine interface LCD screen output module of this utility model, as follows: Figure 12 As shown, the LCD screen output module circuit is connected to the external LCD display screen via the fourth connector U59. Pins 1, 2, 3, 4, 5, and 6 of U59 are respectively connected to the second, third, fourth, fifth, sixth, and seventh GPIO output pins of the first control module (1). The LCD can be selected as a 1.8-inch full-color screen.

[0046] Figure 9 This is the circuit diagram of the working mode configuration of this utility model, such as... Figure 9 As shown, pins 1, 2, 3, and 4 of the first group of 4-bit DIP switches SW2 are connected to the first, second, third, and fourth GPIO input pins of the second control module (2), respectively, and pins 5, 6, 7, and 8 of SW2 are connected to GND.

[0047] Figure 10 This is the device address configuration circuit diagram of this utility model, such as... Figure 10As shown, pins 1, 2, 3, and 4 of the second group of 4-bit DIP switches SW3 are connected to the fifth, sixth, seventh, and eighth GPIO input pins of the first control module (1), respectively, and pins 5, 6, 7, and 8 of SW2 are connected to GND.

[0048] Figure 5 This is the circuit diagram of the second RS485 communication interface of this utility model, as follows: Figure 5 As shown, the second RS485 communication interface circuit consists of the fifth connector CN5, the second RS485 interface chip U46, the second NPN transistor Q6, the second switching diode D30, the seventh capacitor C72, the eighth capacitor C73, the twentieth resistor R85, the twenty-first resistor R86, the twenty-second resistor R87, the twenty-third resistor R88, and the twenty-fourth resistor R89. Pins 1, 2, 3, and 4 of CN5 are connected to the B signal, A signal, power supply, and GND of the external host computer RS485 module, respectively. R85 is connected between pin 8 of U46 and pin 2 of CN5 to provide a pull-up for the A signal. R86 is connected to pin 1 of CN5 to provide a pull-down for the B signal. R87 is connected between pins 6 and 7 of U22 and between pins 1 and 2 of CN5. C72 is connected between 5V and GND to achieve 5V power supply decoupling. Pin 1 of U46 is connected to the input pin of the second asynchronous serial communication port of the first control module (1). Pin 4 of U46 is connected to the output pin of the same asynchronous serial communication port of the first control module (1) as pin 1 of U46. U46 can be selected as a MAX485ESA with a working voltage of 5V. Pins 2 and 3 of U46 are shorted and connected to one end of R88 and the collector of Q6. The other end of R88 is connected to the 5V power supply. The emitter of Q6 is connected to GND. The base of Q6 is connected to one end of C73, one end of R89, and the anode of D30. The other end of C73 is connected to GND. The other end of R89 is connected to the cathode of D29 and then connected to the output pin of the same asynchronous serial communication port of the first control module (1) as pin 1 of U46. The circuit parameters are the same as those of U46. Figure 3 In this case, the circuit parameters of the serial magnetic encoder position sensor are the same.

[0049] Figure 6 This is the circuit diagram of the first Ethernet communication interface of this utility model, as follows: Figure 6As shown, the first Ethernet communication interface circuit consists of the sixth connector J1, the ninth capacitor C10, the twenty-fifth resistor R1, and the twenty-sixth resistor R2. J1 is an RJ45 interface with an internal transformer. Pin 6 of J1 is connected to the Ethernet module RXN pin of the first control module (1), pin 3 of J1 is connected to the Ethernet module RXP pin of the first control module (1), pin 2 of J1 is connected to the Ethernet module TXN pin of the first control module (1), pin 1 of J1 is connected to the Ethernet module TXP pin of the first control module (1), pin 10 of J1 is connected to the eighth GPIO output pin of the first control module (1), and pin 11 of J1 is connected to the ninth GPIO output pin of the first control module (1). One pin of R1 and R2 is connected to a 3.3V power supply for pull-up, and the other pin is connected to pins 9 and 12 of J1 respectively. R1 and R2 can be selected as 1K resistors. The SH1 and SH2 pins of J1 are connected to GND. The CH32V307 chip has a built-in 10M Ethernet physical layer.

[0050] Figure 4 In the first CAN communication interface circuit, the first CAN bus transceiver chip U23, the twenty-seventh resistor R50, the tenth capacitor C40, and the seventh connector U24 are composed of the first CAN bus transceiver chip U23, the twenty-seventh resistor R50, the tenth capacitor C40, and the seventh connector U24. U24 is connected to the CAN bus transceiver of the host computer. Pin 1 of U24 is connected to the CANH signal, pin 2 of U24 is connected to the CANL signal, pin 1 of U24 is connected to pin 7 of U23, pin 2 of U24 is connected to pin 6 of U23, R50 is connected between pins 6 and 7 of U23, pins 2 and 8 of U23 are connected to GND, pin 3 of U23 is connected to the 5V power supply, pin 5 of U23 is left floating, and pins 1 and 4 of U23 are connected to the CAN_TX and CAN_RX pins of the first control module (1) respectively. U23 can be selected as TJA1050T, R50 is selected as a 120-ohm resistor to achieve impedance matching, and C40 is selected as a 100nF capacitor.

[0051] Figure 8 This is the power supply voltage detection circuit diagram of this utility model, as follows: Figure 8As shown, the voltage detection module (10) is used to detect the 24V main power supply voltage. It consists of the eleventh capacitor C74, the twenty-eighth resistor R91, the twenty-ninth resistor R92, the thirtieth resistor R93, the thirty-first resistor R167, and the third switching diode D31. R91, R167, R92, and R93 are connected in series between the 24V main power supply and PGND. The connection point of R92 and R93 is connected to one end of C74, the anode of D31, and the second analog-to-digital conversion pin of the first control module (1). The other end of C74 is connected to GND. The cathode of D31 is connected to 3.3V. R91 is selected as 15K, R167 as 12K, R92 as 10K, R93 as 2.7K, C74 as 100nF, and D31 as 1N4148.

[0052] Figure 14 This is the circuit diagram for the current detection of this utility model, as follows: Figure 14 As shown, the current detection module (4) circuit consists of the thirty-sixth resistor R109, the thirty-seventh resistor R110, the thirty-eighth resistor R111, the thirty-ninth resistor R112, the fortieth resistor R113, the fortieth resistor R114, the twelfth capacitor C100, the twelfth capacitor C101, the thirteenth capacitor C95, the first diode group D35, and the first operational amplifier U57.1, forming a non-inverting proportional amplifier circuit. The input is the sampled value of the three-phase current signal U, V, W, which is amplified and limited before being sent to the analog-to-digital conversion pin of the second control module (2). One end of R109 is connected to the current sampling signal, the other end of R109 is connected to one end of C94, one end of R111, one end of R110 is connected to GND, the other end of R110 is connected to the other end of C94 and one end of R112, the other end of R111 is connected to one end of R113 and the non-inverting input pin of U57.1, the other end of R113 is connected to a 1.65V power supply, the other end of R112 is connected to the inverting input pin of U57.1 and one end of R114, the other end of R114 is connected to the amplified output pin of U57.1, the amplified output pin of U57.1 is connected to one end of C95, pin 3 of D35, and the analog-to-digital converter of the second control module (2). The three-pin connector has pin 11 of U57.1 connected to GND, pin 5 connected to the 5V power supply, the other end of C95 connected to GND, pin 1 of D35 connected to GND, and pin 2 connected to 3.3V. C100 and C101 are connected between the 5V power supply and GND to achieve power supply decoupling. R109 is a 68-ohm resistor, R110 is a 68-ohm resistor, R111 is a 1.2K-ohm resistor, R112 is a 1.2K-ohm resistor, R113 is a 5.1K-ohm resistor, R114 is a 5.1K-ohm resistor, C95 is a 68pF capacitor, C100 is a 10uF capacitor, C101 is a 100nF capacitor, and D35 is a BAS70-04 capacitor.

[0053] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although this utility model has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A dual-controller servo system for a brushless DC motor, comprising: The system comprises a first control module (1), a drive module (3), a current detection module (4), a brushless motor (5), a position detection module (6), a voltage detection module (10), and a power supply module (11). The current detection module (4) and the brushless motor (5) are both connected to the drive module (3), and the position detection module (6) is connected to the brushless motor (5). The system is characterized by further comprising a second control module (2), a human-machine interface (7), a network communication module (9), and a start-up mode selection (8). The position detection module (6), the human-machine interface (7), the start-up mode selection (8), the network communication module (9), and the voltage detection module (10) are all connected to the first control module (1). The second control module (2) is connected to the first control module (1). The drive module (3) and the current detection module (4) are both connected to the second control module (2).

2. A dual-controller servo system for a brushless DC motor according to claim 1, characterized in that: The position detection module (6) includes a grating encoder position sensor circuit and a serial magnetic encoder position sensor circuit; The grating encoder position sensor circuit includes a first connector CN2, a first resistor R43, a second resistor R44, a third resistor R45, a fourth resistor R40, a fifth resistor R41, a sixth resistor R42, a seventh resistor R46, an eighth resistor R47, a ninth resistor R48, and a tenth resistor R49. Pins 1, 2, and 3 of CN2 are connected to the Z, A, and B three-phase position signals of the grating encoder, respectively. Pins 4 and 5 of CN2 are connected to the 5V power supply and GND of the grating encoder, respectively. R43, R44, and R45 are connected between pins 1, 2, and 3 and pin 4 of CN2, respectively. One end of R40, R41, and R42 is connected to pins 1, 2, and 3 of CN2, respectively. The other end of R40... R41 is connected to one end of R46 and R47, the other end of R46 is connected to the positive polarity signal input pin of the first channel of the first timer of the first control module (1), the other end of R47 is connected to the negative polarity signal input pin of the first channel of the same timer as R46 of the first control module (1), R42 is connected to one end of R48 and R49, the other end of R48 is connected to the positive polarity signal input pin of the second channel of the same timer as R46 of the first control module (1), and the other end of R49 is connected to the negative polarity signal input pin of the second channel of the same timer as R46 of the first control module (1). The serial magnetic encoder position sensor circuit includes a second connector CN3, a third connector U21, a first RS485 interface chip U22, a first NPN transistor Q5, a first switching diode D29, a first capacitor C41, a second capacitor C71, an eleventh resistor R52, a twelfth resistor R51, a thirteenth resistor R53, a fourteenth resistor R83, and a fifteenth resistor R84. U21 is connected to pins 1 and 2 via jumpers to select 11V power supply, and pins 2 and 3 are connected to select 5V power supply. Pins 1, 2, 3, and 4 of CN3 are connected to the external magnetic encoder's B, A, power supply, and GND, respectively. R51 is connected between pin 8 of U22 and pin 2 of CN3. R52 is connected to pin 1 of CN3, and R53 is connected to pins 6 and 7 of U22. Between the pins, R53 connects between pins 1 and 2 of CN3, C41 connects between 5V and GND, pin 1 of U22 connects to the input pin of the first asynchronous serial communication port of the first control module (1), pin 4 of U22 connects to the output pin of the first control module (1) connected to the same asynchronous serial communication port connected to pin 1 of U22, pins 2 and 3 of U22 are shorted, connecting one end of R83 and the collector of Q5, the other end of R83 is connected to the 5V power supply, the emitter of Q5 is connected to GND, the base of Q5 is connected to one end of C71, one end of R84, and the anode of D29, the other end of C71 is connected to GND, the other end of R84 is connected to the cathode of D29, and then connected to the output pin of the first control module (1) connected to the same asynchronous serial communication port connected to pin 1 of U22.

3. A dual-controller servo system for a brushless DC motor according to claim 1, characterized in that: The human-machine interface (7) includes a five-way switch input circuit, a potentiometer input circuit, and an LCD screen output module circuit; The five-way switch input circuit includes a five-way switch SW4, a sixteenth resistor R134, a seventeenth resistor R135, an eighteenth resistor R136, a third capacitor C111, a fourth capacitor C112, and a fifth capacitor C113. One end of R134, R135, and R136 is connected to a 3.3V power supply. The C and E pins of SW4 are connected to GND. C111, C112, and C113 are respectively connected between the A, B, and D pins of SW4 and GND. The A, B, and D pins of SW4 are respectively connected to the second, third, and fourth GPIO input pins of the first control module (1). The potentiometer input circuit includes potentiometer SW5, sixth capacitor C114, and nineteenth resistor R137. The middle tap of SW5 is connected to the first pin of the analog-to-digital conversion module inside the first control module (1). One pin of SW5 is connected to GND, and the other pin is connected to one end of C114 and one end of R137. The other end of R137 is connected to a 3.3V power supply, and the other end of C114 is connected to GND. The LCD screen output module circuit is connected to the external LCD display through the fourth connector U59. Pins 1, 2, 3, 4, 5, and 6 of U59 are respectively connected to the second, third, fourth, fifth, sixth, and seventh GPIO output pins of the first control module (1).

4. A dual-controller servo system for a brushless DC motor according to claim 1, characterized in that: The startup mode selection (8) includes two sets of 4-bit DIP switches. The first set of 4-bit DIP switches SW2 has pins 1, 2, 3, and 4 connected to the first, second, third, and fourth GPIO input pins of the second control module (2), and pins 5, 6, 7, and 8 connected to GND. The second set of 4-bit DIP switches SW3 has pins 1, 2, 3, and 4 connected to the fifth, sixth, seventh, and eighth GPIO input pins of the first control module (1), and pins 5, 6, 7, and 8 connected to GND.

5. A dual-controller servo system for a brushless DC motor according to claim 1, characterized in that: The network communication module (9) includes a second RS485 communication interface circuit, a first Ethernet communication interface circuit, and a first CAN communication interface circuit; The second RS485 communication interface circuit consists of the fifth connector CN5, the second RS485 interface chip U46, the second NPN transistor Q6, the second switching diode D30, the seventh capacitor C72, the eighth capacitor C73, the twentieth resistor R85, the twenty-first resistor R86, the twenty-second resistor R87, the twenty-third resistor R88, and the twenty-fourth resistor R89. Pins 1, 2, 3, and 4 of CN5 are connected to the B signal, A signal, power supply, and GND of the external host computer's RS485 module, respectively. R85 is connected between pin 8 of U46 and pin 2 of CN5. R86 is connected to pin 1 of CN5. R87 is connected between pins 6 and 7 of U22 and between pins 1 and 2 of CN5. Between, C72 is connected between 5V and GND, pin 1 of U46 is connected to the input pin of the second asynchronous serial communication port of the first control module (1), pin 4 of U46 is connected to the output pin of the same asynchronous serial communication port of the first control module (1) connected to pin 1 of U46, pins 2 and 3 of U46 are shorted and connected to one end of R88 and the collector of Q6, the other end of R88 is connected to the 5V power supply, the emitter of Q6 is connected to GND, the base of Q6 is connected to one end of C73, one end of R89, and the anode of D30, the other end of C73 is connected to GND, the other end of R89 is connected to the cathode of D29, and then connected to the output pin of the same asynchronous serial communication port of the first control module (1) connected to pin 1 of U46; The first Ethernet communication interface circuit consists of the sixth connector J1, the ninth capacitor C10, the twenty-fifth resistor R1, and the twenty-sixth resistor R2. The 6th pin of J1 is connected to the RXN pin of the Ethernet module of the first control module (1), the 3rd pin of J1 is connected to the RXP pin of the Ethernet module of the first control module (1), the 2nd pin of J1 is connected to the TXN pin of the Ethernet module of the first control module (1), the 1st pin of J1 is connected to the TXP pin of the Ethernet module of the first control module (1), the 10th pin of J1 is connected to the eighth GPIO output pin of the first control module (1), and the 11th pin of J1 is connected to the ninth GPIO output pin of the first control module (1). One pin of R1 and R2 is connected to the 3.3V power supply, and the other pin is connected to the 9th and 12th pins of J1 respectively. The SH1 and SH2 pins of J1 are connected to GND. The first CAN communication interface circuit consists of the first CAN bus transceiver chip U23, the twenty-seventh resistor R50, the tenth capacitor C40, and the seventh connector U24. U24 is connected to the CAN bus transceiver of the host computer. Pin 1 of U24 is connected to the CANH signal, pin 2 of U24 is connected to the CANL signal, pin 1 of U24 is connected to pin 7 of U23, pin 2 of U24 is connected to pin 6 of U23, R50 is connected between pins 6 and 7 of U23, pins 2 and 8 of U23 are connected to GND, pin 3 of U23 is connected to the 5V power supply, pin 5 of U23 is left floating, and pins 1 and 4 of U23 are respectively connected to the CAN_TX and CAN_RX pins of the first control module (1).

6. A dual-controller servo system for a brushless DC motor according to claim 1, characterized in that: The voltage detection module (10) is used to detect the 24V main power supply voltage. It consists of the eleventh capacitor C74, the twenty-eighth resistor R91, the twenty-ninth resistor R92, the thirtieth resistor R93, the thirty-first resistor R167, and the third switching diode D31. R91, R167, R92, and R93 are connected in series between the 24V main power supply and PGND. The connection point of R92 and R93 is connected to one end of C74, the anode of D31, and the second analog-to-digital conversion pin of the first control module (1). The other end of C74 is connected to GND, and the cathode of D31 is connected to the 3.3V power supply.

7. A dual-controller servo system for a brushless DC motor according to claim 1, characterized in that: The first control module (1) includes a first domestic microcontroller U44 and its associated decoupling capacitor, crystal oscillator, and reset circuit. The second control module (2) includes a second domestic microcontroller U43 and its associated decoupling capacitor, crystal oscillator, and reset circuit. The SPI pins of U44 and U43 are connected through resistors R105 (thirty-second), R106 (thirty-third), R107 (thirty-fourth), and R108 (thirty-fifth), respectively.

8. A dual-controller servo system for a brushless DC motor according to claim 1, characterized in that: The current detection module (4) consists of the thirty-sixth resistor R109, the thirty-seventh resistor R110, the thirty-eighth resistor R111, the thirty-ninth resistor R112, the fortieth resistor R113, the forty-first resistor R114, the twelfth capacitor C100, the twelfth capacitor C101, the thirteenth capacitor C95, the first diode group D35, and the first operational amplifier U57.

1. One end of R109 is connected to the current sampling signal, and the other end of R109 is connected to one end of C94 and one end of R111. One end of R110 is connected to GND, and the other end of R110 is connected to the other end of C94 and one end of R112. The other end of R111 is connected to R One end of R113 is connected to the non-inverting input pin of U57.1, the other end of R113 is connected to the 1.65V power supply, the other end of R112 is connected to the inverting input pin of U57.1 and one end of R114, the other end of R114 is connected to the amplified output pin of U57.1, the amplified output pin of U57.1 is connected to one end of C95, pin 3 of D35 and the third pin of the analog-to-digital converter of the second control module (2), pin 11 of U57.1 is connected to GND, pin 5 is connected to the 5V power supply, the other end of C95 is connected to GND, pin 1 of D35 is connected to GND, pin 2 of D35 is connected to 3.3V, and C100 and C101 are connected between the 5V power supply and GND.

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