Electronic speed regulator and short-circuit protection circuit and self-moving device thereof
By setting up a sampling module and controller in the electronic speed controller, the short-circuit branch can be automatically identified and cut off, solving the problem of needing to manually replace fuses in the prior art, and realizing fast short-circuit protection and automatic recovery of the electronic speed controller.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN HANYANG TECHNOLOGY CO LTD
- Filing Date
- 2025-08-01
- Publication Date
- 2026-07-31
AI Technical Summary
Existing electronic speed controllers require manual fuse replacement for short-circuit protection and cannot automatically recover.
The first, second, and third sampling modules are used to collect signals from the A-phase, B-phase, and C-phase switch drive branches, respectively. The controller judges the short-circuit fault based on the signals from the sampling modules and automatically disconnects the corresponding branch, thereby achieving fast short-circuit protection and automatic recovery.
It enables automatic protection and rapid recovery of the electronic speed controller in the event of a short circuit, avoiding the hassle of manually replacing fuses.
Smart Images
Figure CN224582825U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of motors in self-moving equipment, and more particularly to an electronic speed controller and its short-circuit protection circuit, and a self-moving equipment. Background Technology
[0002] In existing self-moving equipment, a motor is installed inside the machine. This motor is connected to an electronic speed controller (ESC), which regulates the motor's speed by changing the supply voltage / frequency (e.g., PWM signal control). However, short circuits can occur in the ESC due to various issues, including short circuits at the plug, short circuits caused by contact between enameled wires, short circuits caused by solder joints being too close together, and burrs (circuit connections). Currently, short-circuit protection is achieved by installing a fuse in the ESC's drive branch. When the current exceeds the fuse's rated value, the fuse element melts quickly, cutting off the circuit. However, after the fuse blows, it must be manually replaced; automatic restoration is not possible. Summary of the Invention
[0003] This utility model provides an electronic speed controller, its short-circuit protection circuit, and a self-moving device to solve the problem that existing electronic speed controllers, which rely on fuses for short-circuit protection, require manual replacement of the fuses after they blow and cannot automatically recover.
[0004] In one embodiment, a short-circuit protection circuit for an electronic speed controller includes:
[0005] The system comprises a first sampling module, a second sampling module, a third sampling module, and a fourth sampling module. The first sampling module is connected in series in the A-phase switch drive branch of the electronic speed controller, the second sampling module is connected in series in the B-phase switch drive branch of the electronic speed controller, and the third sampling module is connected in series in the C-phase switch drive branch of the electronic speed controller. The input terminal of the fourth sampling module is connected to the output terminals of the first, second, and third sampling modules, respectively, and the output terminal of the fourth sampling module is connected to ground.
[0006] The controller is used to control the on / off state of the A-phase switch drive branch, the B-phase switch drive branch, or the C-phase switch drive branch based on the acquisition signal of the first sampling module, the acquisition signal of the second sampling module, or the acquisition signal of the third sampling module; or to control the on / off state of each switch drive branch based on the acquisition signal of the fourth sampling module.
[0007] In one embodiment, the A-phase switch drive branch includes:
[0008] A first switching transistor and a second switching transistor are connected. The input terminal of the first switching transistor is connected to the positive terminal of the power supply. The output terminal of the first switching transistor is connected to the input terminal of the second switching transistor and the A-phase terminal of the motor coil. The output terminal of the second switching transistor is connected to the input terminal of the first sampling module. The control terminals of the first and second switching transistors are respectively connected to the controller.
[0009] The B-phase switch drive branch includes:
[0010] The third and fourth switching transistors are connected as follows: the input terminal of the third switching transistor is connected to the positive terminal of the power supply; the output terminal of the third switching transistor is connected to the input terminal of the fourth switching transistor and the B-phase terminal of the motor coil; the output terminal of the fourth switching transistor is connected to the input terminal of the second sampling module; and the control terminals of the third and fourth switching transistors are respectively connected to the controller.
[0011] The C-phase switch drive branch includes:
[0012] The fifth and sixth switching transistors are connected as follows: the input terminal of the fifth switching transistor is connected to the positive terminal of the power supply; the output terminal of the fifth switching transistor is connected to the input terminal of the sixth switching transistor and the C-phase terminal of the motor coil; the output terminal of the sixth switching transistor is connected to the input terminal of the third sampling module; and the control terminals of the fifth and sixth switching transistors are respectively connected to the controller.
[0013] In one embodiment, the A-phase switch drive branch includes:
[0014] The first switch and the second switch are connected. The input terminal of the first switch is connected to the positive terminal of the power supply through the first sampling module. The output terminal of the first switch is connected to the input terminal of the second switch and the A-phase terminal of the motor coil. The output terminal of the second switch is connected to ground. The control terminals of the first switch and the second switch are respectively connected to the controller.
[0015] The B-phase switch drive branch includes:
[0016] The third and fourth switching transistors are connected in the following ways: the input terminal of the third switching transistor is connected to the positive terminal of the power supply through the second sampling module; the output terminal of the third switching transistor is connected to the input terminal of the fourth switching transistor and the B-phase terminal of the motor coil; the output terminal of the fourth switching transistor is connected to ground; and the control terminals of the third and fourth switching transistors are respectively connected to the controller.
[0017] The C-phase switch drive branch includes:
[0018] The fifth and sixth switching transistors are connected as follows: the input terminal of the fifth switching transistor is connected to the positive terminal of the power supply through the third sampling module; the output terminal of the fifth switching transistor is connected to the input terminal of the sixth switching transistor and the C-phase terminal of the motor coil; the output terminal of the sixth switching transistor is connected to ground; and the control terminals of the fifth and sixth switching transistors are respectively connected to the controller.
[0019] In one embodiment, the short-circuit protection circuit further includes:
[0020] An amplifier is connected in parallel with the fourth sampling module, and the output of the amplifier is connected to the controller.
[0021] In one embodiment, the first sampling module includes a first resistor, one end of which serves as the input terminal of the first sampling module, and the other end of which serves as the output terminal of the first sampling module; the second sampling module includes a second resistor, one end of which serves as the input terminal of the second sampling module, and the other end of which serves as the output terminal of the second sampling module; the third sampling module includes a third resistor, one end of which serves as the input terminal of the third sampling module, and the other end of which serves as the output terminal of the third sampling module.
[0022] In one embodiment, the fourth sampling module includes a fourth resistor, one end of which serves as the input terminal of the fourth sampling module, and the other end of which serves as the output terminal of the fourth sampling module.
[0023] In one embodiment, the first sampling module is a first Hall current sensor connected to the A-phase switch drive branch, and the output terminal of the first Hall current sensor is used to output the acquisition signal of the A-phase switch drive branch.
[0024] The second sampling module is a second Hall current sensor connected to the B-phase switch drive branch. The output terminal of the second Hall current sensor is used to output the acquisition signal of the B-phase switch drive branch.
[0025] The third sampling module is a third Hall current sensor connected to the C-phase switch drive branch, and the output terminal of the third Hall current sensor is used to output the acquisition signal of the C-phase switch drive branch.
[0026] In one embodiment, the fourth sampling module further includes a Hall current sensor, which is sleeved on the line where the fourth resistor is located, and the output terminal of the Hall current sensor is connected in parallel with the input terminal of the amplifier.
[0027] In one embodiment, an electronic speed controller includes the short-circuit protection circuit described in any embodiment.
[0028] In one embodiment, a self-moving device is provided, wherein the self-moving device is equipped with an electronic speed controller.
[0029] This utility model provides an electronic speed controller and its short-circuit protection circuit and self-moving device. The controller collects signals from the A-phase switch drive branch, B-phase switch drive branch, and C-phase switch drive branch via a first sampling module, a second sampling module, and a third sampling module, respectively. Based on the signals collected by the first, second, or third sampling modules, the controller cuts off the corresponding switch drive branch when a short-circuit fault is detected in a branch, and reconnects the corresponding switch drive branch when the short-circuit fault is cleared. Alternatively, the controller cuts off all switch drive branches based on the signals collected by the fourth sampling module, thus achieving rapid short-circuit protection and automatic recovery. Attached Figure Description
[0030] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0031] Figure 1 This is a schematic diagram of the short-circuit protection circuit of the first type of electronic speed controller in one embodiment of this utility model;
[0032] Figure 2 This is a schematic diagram of the short-circuit protection circuit of the second type of electronic speed controller in one embodiment of this utility model;
[0033] Figure 3 This is a schematic diagram of the short-circuit protection circuit of the third type of electronic speed controller in one embodiment of this utility model;
[0034] Figure 4 This is a schematic diagram of an electronic speed controller according to one embodiment of the present invention;
[0035] Figure 5 This is a schematic diagram of a self-moving device according to one embodiment of the present invention;
[0036] The following are the explanations for compliance:
[0037] 10. First sampling module; 20. Second sampling module; 30. Third sampling module; 11. A-phase switch drive branch; 21. B-phase switch drive branch; 31. C-phase switch drive branch; 40. Fourth sampling module; 50. Amplifier; 60. Controller; 70. Driver chip; 80. Controller. Detailed Implementation
[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.
[0039] It should be understood that this invention can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of this invention to those skilled in the art. In the drawings, for clarity, the dimensions of layers and regions, as well as their relative dimensions, may be exaggerated. The same reference numerals denote the same elements throughout.
[0040] It should be understood that when an element or layer is referred to as "on," "adjacent to," "connected to," or "coupled to" other elements or layers, it may be directly on, adjacent to, connected to, or coupled to other elements or layers, or there may be intervening elements or layers. Conversely, when an element is referred to as "directly on," "directly adjacent to," "directly connected to," or "directly coupled to" other elements or layers, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc., may be used to describe various elements, components, areas, layers, and / or portions, these elements, components, areas, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, area, layer, or portion from another element, component, area, layer, or portion. Therefore, without departing from the teachings of this utility model, the first element, component, area, layer, or portion discussed below may be referred to as the second element, component, area, layer, or portion.
[0041] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein for convenience of description to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms are intended to also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, then the element or feature described as “below,” “under,” or “below” other elements or features will be oriented “above” other elements or features. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. The device may be otherwise oriented (rotated 90 degrees or otherwise) and the spatial descriptive terms used herein will be interpreted accordingly.
[0042] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and / or “including,” when used in this specification, identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.
[0043] To fully understand this utility model, detailed structures and steps will be presented in the following description to illustrate the technical solution proposed by this utility model. Preferred embodiments of this utility model are described in detail below; however, in addition to these detailed descriptions, this utility model may have other embodiments.
[0044] In one embodiment, such as Figure 1 As shown, a short-circuit protection circuit for an electronic speed controller includes:
[0045] The system comprises a first sampling module 10, a second sampling module 20, a third sampling module 30, and a fourth sampling module 40. The first sampling module 10 is connected in series in the A-phase switch drive branch 11 of the electronic speed controller, the second sampling module 20 is connected in series in the B-phase switch drive branch 21 of the electronic speed controller, and the third sampling module 30 is connected in series in the C-phase switch drive branch 31 of the electronic speed controller. The input terminal of the fourth sampling module 40 is connected to the output terminals of the first sampling module 10, the second sampling module 20, and the third sampling module 30, respectively, and the output terminal of the fourth sampling module 40 is connected to ground.
[0046] The controller is used to control the on / off state of the A-phase switch drive branch 11, the B-phase switch drive branch 21, or the C-phase switch drive branch 31 based on the acquisition signal of the first sampling module 10, the acquisition signal of the second sampling module 20, or the acquisition signal of the third sampling module 30.
[0047] Among them, the A-phase switch drive branch 11, the B-phase switch drive branch 21 and the C-phase switch drive branch 31 are equipped with controllable electronic switches to control the conduction and disconnection of the branch.
[0048] The working process of this short-circuit protection circuit is as follows:
[0049] Under normal circumstances, the controller sends drive commands to the A-phase switch drive branch 11, B-phase switch drive branch 21, and C-phase switch drive branch 31 to control the electronic switches in these branches to turn on. The fourth sampling module acquires the collected signals and sends them to the controller. The controller performs threshold comparison based on the collected signals from the fourth sampling module, determines if a short circuit fault exists, activates short circuit protection, and controls each switch drive branch to disconnect. Alternatively, the controller performs threshold comparison based on the collected signals from the fourth sampling module, determines if a short circuit fault exists, and then acquires the collected signals from the first sampling module 10, the second sampling module 20, and the third sampling module 30 to locate the short circuit fault in the specific switch drive branch and controls the corresponding switch drive branch to disconnect. In this embodiment, the short-circuit protection circuit collects signals from the A-phase switch drive branch 11, the B-phase switch drive branch 21, and the C-phase switch drive branch 31 via the first sampling module 10, the second sampling module 20, and the third sampling module 30, respectively. Based on the signals collected by the first sampling module 10, the second sampling module 20, or the third sampling module 30, the controller cuts off the corresponding switch drive branch when a short-circuit fault is detected in a certain branch, and controls the corresponding switch drive branch to conduct again when the short-circuit fault is detected to be cleared. Alternatively, the controller cuts off each switch drive branch based on the signals collected by the fourth sampling module when a short-circuit fault is detected in a branch, thereby achieving rapid short-circuit protection and automatic recovery.
[0050] In one embodiment, such as Figure 1 As shown, the A-phase switch drive branch 11 includes:
[0051] The first switch and the second switch are connected. The input terminal of the first switch is connected to the positive terminal of the power supply. The output terminal of the first switch is connected to the input terminal of the second switch and the A-phase terminal of the motor coil. The output terminal of the second switch is connected to the input terminal of the first sampling module 10. The control terminals of the first switch and the second switch are respectively connected to the controller.
[0052] Phase B switch drive branch 21 includes:
[0053] The third switch and the fourth switch are connected in the following ways: the input terminal of the third switch is connected to the positive terminal of the power supply; the output terminal of the third switch is connected to the input terminal of the fourth switch and the B-phase terminal of the motor coil; the output terminal of the fourth switch is connected to the input terminal of the second sampling module 20; and the control terminals of the third switch and the fourth switch are respectively connected to the controller.
[0054] The C-phase switch drive branch 31 includes:
[0055] The fifth and sixth switching transistors are connected as follows: the input terminal of the fifth switching transistor is connected to the positive terminal of the power supply; the output terminal of the fifth switching transistor is connected to the input terminal of the sixth switching transistor and the C-phase terminal of the motor coil; the output terminal of the sixth switching transistor is connected to the input terminal of the third sampling module 30; and the control terminals of the fifth and sixth switching transistors are respectively connected to the controller.
[0056] The first sampling module 10, the second sampling module 20, and the third sampling module 30 are positioned between the switching transistor and ground, implementing low-side sampling. The first sampling module 10, the second sampling module 20, and the third sampling module 30 respectively send their acquired signals to the controller. The controller is equipped with a comparator, which is used to compare the acquired signal of the first sampling module 10, the second sampling module 20, or the third sampling module 30 with a set first short-circuit threshold. When the acquired signal (which is a voltage signal) exceeds the set first short-circuit threshold, the comparator outputs a high level (or a low level), triggering subsequent short-circuit protection actions.
[0057] In one embodiment, such as Figure 2 As shown, the A-phase switch drive branch 11 includes:
[0058] The first switch and the second switch are connected. The input terminal of the first switch is connected to the positive terminal of the power supply through the first sampling module 10. The output terminal of the first switch is connected to the input terminal of the second switch and the A-phase terminal of the motor coil. The output terminal of the second switch is connected to ground. The control terminals of the first switch and the second switch are respectively connected to the controller.
[0059] Phase B switch drive branch 21 includes:
[0060] The third and fourth switching transistors are connected in the following ways: the input terminal of the third switching transistor is connected to the positive terminal of the power supply through the second sampling module 20; the output terminal of the third switching transistor is connected to the input terminal of the fourth switching transistor and the B-phase terminal of the motor coil; the output terminal of the fourth switching transistor is connected to ground; and the control terminals of the third and fourth switching transistors are respectively connected to the controller.
[0061] The C-phase switch drive branch 31 includes:
[0062] The fifth and sixth switching transistors are connected as follows: the input terminal of the fifth switching transistor is connected to the positive terminal of the power supply through the third sampling module 30; the output terminal of the fifth switching transistor is connected to the input terminal of the sixth switching transistor and the C-phase terminal of the motor coil; the output terminal of the sixth switching transistor is connected to ground; and the control terminals of the fifth and sixth switching transistors are respectively connected to the controller.
[0063] The first sampling module 10, the second sampling module 20, and the third sampling module 30 are positioned between the switching transistor and the power supply, implementing high-side sampling. The first sampling module 10, the second sampling module 20, and the third sampling module 30 respectively send their acquired signals to the controller. The controller is equipped with a comparator, which is used to compare the acquired signal of the first sampling module 10, the second sampling module 20, or the third sampling module 30 with a set second short-circuit threshold. When the acquired signal (which is a voltage signal) exceeds the set second short-circuit threshold, the comparator outputs a high level (or a low level), triggering subsequent short-circuit protection actions.
[0064] In one embodiment, such as Figure 3 As shown, the short-circuit protection circuit further includes:
[0065] Amplifier 50 is connected in parallel with the fourth sampling module 40, and the output of amplifier 50 is connected to controller 60.
[0066] The fourth sampling module 40 is used to acquire the sum of the signals collected by the first sampling module 10, the second sampling module 20 and the third sampling module 30, i.e. the bus voltage signal. The amplifier 50 is used to amplify the amplitude of the bus voltage signal to obtain the amplified bus voltage signal. The controller 60 compares the amplified bus voltage signal with the preset third short-circuit threshold. If the amplified bus voltage signal is greater than the third short-circuit threshold, it is determined that a short-circuit fault has occurred, triggering the short-circuit protection action and controlling the A-phase switch drive branch 11, the B-phase switch drive branch 21 and the C-phase switch drive branch 31 to disconnect.
[0067] In another implementation, the first sampling module 10, the second sampling module 20, and the third sampling module 30 can collect the current signals on each switch drive branch in real time. The output terminals of the first sampling module 10, the second sampling module 20, and the third sampling module 30 are respectively connected to an amplifier to obtain three amplified A-phase acquisition signals, B-phase acquisition signals, and C-phase acquisition signals, which are then sent to the controller. The controller compares the A-phase acquisition signals, B-phase acquisition signals, and C-phase acquisition signals with the short-circuit threshold to determine whether a short-circuit fault has occurred in each branch. If a short-circuit fault is determined to have occurred, short-circuit protection is activated, and the corresponding switch drive branch is disconnected until the short-circuit fault is determined to have been cleared, at which point the corresponding switch drive branch is reconnected.
[0068] In this embodiment, the magnitude of the third short-circuit threshold can be determined based on the peak current of the electronic speed controller during normal operation (such as the surge current at the moment the motor starts).
[0069] In this embodiment, since the power supply voltage of the controller 60 is generally only 3.3V, the voltage obtained by the controller 60 is also very small. If the voltage signal is not amplified, there may be errors in the comparison process. The amplifier 50 is set to amplify the bus voltage signal, which reduces the error of the subsequent short-circuit threshold comparison result.
[0070] In one embodiment, such as Figure 1 As shown, the first sampling module 10 includes a first resistor, one end of which serves as the input terminal of the first sampling module 10, and the other end of which serves as the output terminal of the first sampling module 10; the second sampling module 20 includes a second resistor, one end of which serves as the input terminal of the second sampling module 20, and the other end of which serves as the output terminal of the second sampling module 20; the third sampling module 30 includes a third resistor, one end of which serves as the input terminal of the third sampling module 30, and the other end of which serves as the output terminal of the third sampling module 30.
[0071] The voltage across the first resistor is the signal acquired by the first acquisition module. Since the resistance value of the first resistor is fixed, its voltage reflects the magnitude of the single-phase current in phase A switch drive branch 11. The voltage across the second resistor is the signal acquired by the second acquisition module. Since the resistance value of the second resistor is fixed, its voltage reflects the magnitude of the single-phase current in phase B switch drive branch 21. The voltage across the third resistor is the signal acquired by the third acquisition module. Since the resistance value of the third resistor is fixed, its voltage reflects the magnitude of the single-phase current in phase C switch drive branch 31. The controller 60 can determine whether a short-circuit fault has occurred in the corresponding switch drive branch by measuring the voltages of the first, second, or third resistors, and then activate short-circuit protection and automatic recovery control.
[0072] In one embodiment, such as Figure 3 As shown, the fourth sampling module 40 includes a fourth resistor, one end of which serves as the input terminal of the fourth sampling module 40, and the other end of which serves as the output terminal of the fourth sampling module 40.
[0073] The voltage across the fourth resistor is the acquisition signal from the fourth acquisition module. Since the resistance value of the fourth resistor is fixed, its voltage reflects the magnitude of the line current. The controller 60 can determine whether a short-circuit fault has occurred on the switch drive branch by measuring the voltage across the fourth resistor, and then activate short-circuit protection and automatic recovery control.
[0074] In one embodiment, the first sampling module 10 is a first Hall current sensor sleeved on the A-phase switch drive branch 11, and the output terminal of the first Hall current sensor is used to output the acquisition signal of the A-phase switch drive branch 11.
[0075] The second sampling module 20 is a second Hall current sensor sleeved on the B-phase switch drive branch 21. The output terminal of the second Hall current sensor is used to output the acquisition signal of the B-phase switch drive branch 21.
[0076] The third sampling module 30 is a third Hall current sensor sleeved on the C-phase switch drive branch 31. The output terminal of the third Hall current sensor is used to output the acquisition signal of the C-phase switch drive branch 31.
[0077] Alternatively, a first Hall current sensor can be used to acquire signals from the first sampling module 10 to the A-phase switch drive branch 11, a second Hall current sensor can be used to acquire signals from the second sampling module 20 to the B-phase switch drive branch 21, and a third Hall current sensor can be used to acquire signals from the third sampling module 30 to the C-phase switch drive branch 31. This allows the controller 60 to determine whether a short circuit fault has occurred in the corresponding switch drive branch based on the acquired signals from the three Hall current sensors, and to initiate short circuit protection and automatic recovery control.
[0078] In one embodiment, the fourth sampling module 40 further includes a Hall current sensor, which is sleeved on the line where the fourth resistor is located, and the output terminal of the Hall current sensor is connected in parallel with the input terminal of the amplifier 50.
[0079] Alternatively, a fourth Hall current sensor can be used to enable the fourth sampling module 40 to collect signals on the line where the fourth resistor is located, so that the controller 60 can determine whether a short circuit fault has occurred in the switch drive branch based on the collected signal from the fourth Hall current sensor, and start short circuit protection and automatic recovery control.
[0080] In one embodiment, an electronic speed controller includes the short-circuit protection circuit described in any embodiment. For example... Figure 4 As shown, the electronic speed controller also includes a driver chip 70. One end of the driver chip 70 is connected to the controller 60, and the other end of the driver chip 70 is connected to the control terminals of the switching transistors in phase A switch drive branch 11, phase B switch drive branch 21, and phase C switch drive branch 31. The driver chip 70 is used to obtain drive commands from the controller 60, send drive signals to the control terminals of the switching transistors in each switch drive branch, control the conduction and disconnection of each switching transistor, and realize the activation and self-recovery of short-circuit protection.
[0081] In one embodiment, a self-moving device 80 includes the aforementioned electronic speed controller. For example... Figure 5 As shown, the self-moving device may include a snowplow, lawnmower, hair dryer, etc., and the electronic speed controller is used to control the motor in the self-moving device 80 to work.
[0082] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.
Claims
1. A short-circuit protection circuit for an electronic speed controller, characterized by The short-circuit protection circuit includes: The system comprises a first sampling module, a second sampling module, a third sampling module, and a fourth sampling module. The first sampling module is connected in series in the A-phase switch drive branch of the electronic speed controller, the second sampling module is connected in series in the B-phase switch drive branch of the electronic speed controller, and the third sampling module is connected in series in the C-phase switch drive branch of the electronic speed controller. The input terminal of the fourth sampling module is connected to the output terminals of the first, second, and third sampling modules, respectively, and the output terminal of the fourth sampling module is connected to ground. The controller is used to control the on / off state of the A-phase switch drive branch, the B-phase switch drive branch, or the C-phase switch drive branch based on the acquisition signal of the first sampling module, the acquisition signal of the second sampling module, or the acquisition signal of the third sampling module; or to control the on / off state of each switch drive branch based on the acquisition signal of the fourth sampling module.
2. The short circuit protection circuit according to claim 1, characterized in that The A-phase switch drive branch includes: A first switching transistor and a second switching transistor. The input terminal of the first switching transistor is connected to the positive terminal of the power supply. The output terminal of the first switching transistor is connected to the input terminal of the second switching transistor and the A-phase terminal of the motor coil. The output terminal of the second switching transistor is connected to the input terminal of the first sampling module. The control terminals of the first and second switching transistors are respectively used to connect to the controller. The B-phase switch drive branch includes: The third and fourth switching transistors are connected as follows: the input terminal of the third switching transistor is connected to the positive terminal of the power supply; the output terminal of the third switching transistor is connected to the input terminal of the fourth switching transistor and the B-phase terminal of the motor coil; the output terminal of the fourth switching transistor is connected to the input terminal of the second sampling module; and the control terminals of the third and fourth switching transistors are respectively used to connect to the controller. The C-phase switch drive branch includes: The fifth and sixth switching transistors are configured such that the input terminal of the fifth switching transistor is connected to the positive terminal of the power supply, the output terminal of the fifth switching transistor is connected to the input terminal of the sixth switching transistor and the C-phase terminal of the motor coil, the output terminal of the sixth switching transistor is connected to the input terminal of the third sampling module, and the control terminals of the fifth and sixth switching transistors are respectively used to connect to the controller.
3. The short circuit protection circuit of claim 1, wherein The A-phase switch drive branch includes: The first switch and the second switch are connected. The input terminal of the first switch is connected to the positive terminal of the power supply through the first sampling module. The output terminal of the first switch is connected to the input terminal of the second switch and the A-phase terminal of the motor coil. The output terminal of the second switch is connected to ground. The control terminals of the first switch and the second switch are respectively used to connect to the controller. The B-phase switch drive branch includes: The third and fourth switching transistors are connected in the following ways: the input terminal of the third switching transistor is connected to the positive terminal of the power supply through the second sampling module; the output terminal of the third switching transistor is connected to the input terminal of the fourth switching transistor and the B-phase terminal of the motor coil; the output terminal of the fourth switching transistor is connected to ground; and the control terminals of the third and fourth switching transistors are respectively used to connect to the controller. The C-phase switch drive branch includes: The fifth and sixth switching transistors are configured such that the input terminal of the fifth switching transistor is connected to the positive terminal of the power supply through the third sampling module, the output terminal of the fifth switching transistor is connected to the input terminal of the sixth switching transistor and the C-phase terminal of the motor coil, the output terminal of the sixth switching transistor is connected to ground, and the control terminals of the fifth and sixth switching transistors are respectively used to connect to the controller.
4. The short-circuit protection circuit according to claim 1 or 2 or 3, characterized in that The short-circuit protection circuit also includes: An amplifier is connected in parallel with the fourth sampling module, and the output of the amplifier is connected to the controller.
5. The short-circuit protection circuit according to claim 1 or 2 or 3, characterized in that, The first sampling module includes a first resistor, one end of which serves as the input terminal of the first sampling module, and the other end of which serves as the output terminal of the first sampling module; the second sampling module includes a second resistor, one end of which serves as the input terminal of the second sampling module, and the other end of which serves as the output terminal of the second sampling module; the third sampling module includes a third resistor, one end of which serves as the input terminal of the third sampling module, and the other end of which serves as the output terminal of the third sampling module.
6. The short circuit protection circuit of claim 4, wherein The fourth sampling module includes a fourth resistor, one end of which serves as the input terminal of the fourth sampling module, and the other end of which serves as the output terminal of the fourth sampling module.
7. The short circuit protection circuit of claim 1, wherein The first sampling module is a first Hall current sensor connected to the A-phase switch drive branch, and the output terminal of the first Hall current sensor is used to output the acquisition signal of the A-phase switch drive branch. The second sampling module is a second Hall current sensor connected to the B-phase switch drive branch. The output terminal of the second Hall current sensor is used to output the acquisition signal of the B-phase switch drive branch. The third sampling module is a third Hall current sensor connected to the C-phase switch drive branch, and the output terminal of the third Hall current sensor is used to output the acquisition signal of the C-phase switch drive branch.
8. The short circuit protection circuit of claim 6, wherein The fourth sampling module also includes a Hall current sensor, which is sleeved on the line where the fourth resistor is located, and the output terminal of the Hall current sensor is connected in parallel with the input terminal of the amplifier.
9. An electronic speed controller characterized by The electronic speed controller includes the short-circuit protection circuit as described in any one of claims 1 to 8.
10. A self-moving device, characterized by The self-moving device includes the electronic speed controller as described in claim 9.