A 40v brushless self-propelled lawn mower controller

Abstract

The utility model relates to electric tool control technical field, concretely provides a kind of 40V brushless self-propelled mower controller, including power module, MCU control module, drive module, sampling monitoring module, the drive module, sampling monitoring module are all connected MCU control module;The MCU control module uses main microcontroller U100 and auxiliary microcontroller U300;The drive module uses a gate driver U200 and a bridge circuit, the sampling monitoring module uses a hall sensor monitoring circuit and a sensorless monitoring circuit;The utility model uses double MCU collaborative architecture, avoids single MCU load overload problem, improves control response speed and rotational speed accuracy;Hall and sensorless double mode driving mode, solve the shutdown failure caused by single hall sensor failure, enhance the operation reliability under complex working condition;The scheme can be adapted to domestic and commercial scene, with significant practical value and market competitiveness.

Description

Technical Field

[0001] This utility model relates to the field of power tool control technology, specifically to a 40V brushless self-propelled lawnmower controller. Background Technology

[0002] With the popularization of new energy technologies, brushless lawnmowers have seen a continuous increase in market demand in home gardening and commercial greening due to their advantages of low noise and high energy efficiency. As the core brain of the lawnmower, the controller's performance directly determines the lawnmower's operating efficiency, operational stability, and service life.

[0003] Existing brushless lawnmower controllers mostly adopt a single MCU centralized control mode, which needs to handle multiple tasks such as motor speed regulation, status monitoring, protection logic, and communication interaction simultaneously. This leads to overload, which not only delays control response and affects the uniformity of mowing, but also easily causes problems with untimely execution of control commands, especially in high-intensity continuous operation in commercial scenarios. In addition, existing products mostly rely on a single Hall sensor to locate the motor rotor position. Once the sensor fails due to environmental factors such as dust, vibration, and humidity, or if the wiring is loose or there is signal interference, it will directly cause the motor to stop and fail to complete the operation, seriously affecting the user experience. Utility Model Content

[0004] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a 40V brushless self-propelled lawnmower controller to solve the problem of shutdown failure caused by the failure of a single detection mode in the prior art.

[0005] To achieve the above and other related objectives, this utility model provides a 40V brushless self-propelled lawnmower controller, including a power supply module, an MCU control module, a drive module, and a sampling and monitoring module. The drive module and the sampling and monitoring module are both connected to the MCU control module, and the power supply module supplies power to the MCU control module, the drive module, and the sampling and monitoring module. The MCU control module uses two independently operating main microcontrollers U100 and auxiliary microcontrollers U300; The drive module uses a gate driver U200 and a bridge circuit. The bridge circuit is electrically connected to both the gate driver U200 and the auxiliary microcontroller U300. The gate driver U200 is electrically connected to the main microcontroller U100. The drive module drives the brushless motor rotor to rotate through the bridge circuit. The sampling and monitoring module employs a Hall sensor monitoring circuit and a sensorless monitoring circuit, with the monitoring terminals of the Hall sensor monitoring circuit and the sensorless monitoring circuit respectively connected to a bridge circuit.

[0006] In one embodiment of the present invention, the power supply module employs a DC-DC converter U101 and an LDO regulator U102. The DC-DC converter U101 converts the 40V input voltage to a 12V voltage, and the LDO regulator U102 converts the 12V voltage to a 3.3V supply voltage.

[0007] In one embodiment of this utility model, the bridge circuit adopts a three-phase six-arm full-bridge drive circuit, including an upper arm and a lower arm. The upper arm and the lower arm have the same structure, each including a U phase, a V phase, and a W phase. Each phase uses two MOS switches, and the gates of the two MOS switches in a single phase are connected in parallel. The source of the MOS switch in the upper arm and the drain of the MOS switch in the lower arm are connected to each other.

[0008] In one embodiment of this utility model, a plurality of heat sinks are connected in the bridge circuit.

[0009] In one embodiment of this utility model, the Hall sensor monitoring circuit uses a connection port CN300 for connecting the Hall sensor. Three monitoring branches are connected in parallel on the connection port CN300, and the three monitoring branches are respectively connected to the U phase, V phase and W phase of the bridge circuit.

[0010] In one embodiment of this utility model, the sensorless monitoring circuit adopts three monitoring branches, which are respectively connected to the U phase, V phase and W phase of the bridge circuit.

[0011] In one embodiment of this utility model, the controller further includes a voltage detection module. The voltage detection module uses a PMOS transistor Q100, an NMOS transistor Q101, a voltage divider resistor R108, and a voltage divider resistor R120. The base of the PMOS transistor Q100 is connected to the drain of the NMOS transistor Q101. The PMOS transistor Q100 is connected to the battery pack of the power module, and its drain is connected to one end of the voltage divider resistor R108. The gate of the NMOS transistor Q101 is connected to the power supply terminal of the power module, and its source is connected to one end of the voltage divider resistor R120. The other ends of the voltage divider resistor R108 and the other ends of the voltage divider resistor R120 are simultaneously connected to the main microcontroller U100.

[0012] As described above, the 40V brushless self-propelled lawnmower controller of this utility model has the following beneficial effects: This invention employs a dual-MCU collaborative architecture with a main microcontroller U100 and an auxiliary microcontroller U300, enabling task division. The main MCU focuses on motor speed control algorithms, PWM signal output, and user instruction processing, while the auxiliary MCU handles status monitoring, protection logic execution, and communication assistance. This effectively reduces the load on a single MCU, improves control response speed, minimizes speed errors, and makes mowing operations more uniform, thus meeting the demands of high-precision operations. The sampling and monitoring module of this invention adopts a dual-mode design with both Hall sensor monitoring circuits and sensorless monitoring circuits. Under normal operating conditions, the Hall sensor accurately locates the rotor position. When the Hall sensor fails, the sensorless monitoring circuit estimates the rotor position in real time by detecting the zero-crossing point of the back EMF of the UVW phase of the bridge circuit, achieving sensorless commutation. This avoids downtime caused by the failure of a single detection mode and improves the success rate of continuous operation under complex conditions. Attached Figure Description

[0013] Figure 1 The diagram shown is a block diagram of the 40V brushless self-propelled lawnmower controller disclosed in this utility model.

[0014] Figure 2 The diagram shows the circuit schematic of the main microcontroller U100 connected to the power supply module, sampling and monitoring module, and voltage detection module in the 40V brushless self-propelled lawnmower controller disclosed in this utility model.

[0015] Figure 3 The diagram shows the circuit schematic of the MCU control module, drive module, and bridge circuit connection in the 40V brushless self-propelled lawnmower controller disclosed in this utility model.

[0016] Figure 4 Displayed as Figure 2 or Figure 3 Enlarged view of the main microcontroller U100.

[0017] Figure 5 Displayed as Figure 3 Enlarged view of the Zhongfu microcontroller U300.

[0018] Figure 6 Displayed as Figure 2 Enlarged view of the power supply module.

[0019] Figure 7 Displayed as Figure 3 A magnified view of the driver module.

[0020] Figure 8 Displayed as Figure 2 Enlarged view of the Hall sensor monitoring circuit.

[0021] Figure 9 Displayed as Figure 2 Enlarged view of the sensorless monitoring circuit.

[0022] Component designation explanation Power supply module 1; MCU control module 2; drive module 3; bridge circuit 31; heat sink 311; sampling and monitoring module 4; Hall sensor monitoring circuit 41; sensorless monitoring circuit 42; voltage detection module 5. Detailed Implementation

[0023] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0024] Please see Figures 1 to 9 It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0025] Please see Figures 1-3This utility model provides a 40V brushless self-propelled lawnmower controller, including a power supply module 1, an MCU control module 2, a drive module 3, a sampling and monitoring module 4, and a voltage detection module 5. The drive module 3 and the sampling and monitoring module 4 are both connected to the MCU control module 2. This design uses a 40V battery pack as the input power. The power supply module 1 employs a DC-DC converter U101 and an LDO regulator U102. The DC-DC converter U101 converts the 40V input voltage to 12V, and the LDO regulator U102 converts the 12V voltage to a 3.3V supply voltage, providing a clean and stable power supply to the MCU control module 2, drive module 3, and sampling and monitoring module 4. The MCU control module 2 uses two independently operating main microcontrollers U100 and auxiliary microcontrollers U300. The drive module 3 employs a gate driver U200 and a bridge circuit 31. The bridge circuit 31 is electrically connected to both the gate driver U200 and the auxiliary microcontroller U300. The gate driver U200 is electrically connected to the main microcontroller U100. The drive module 3 drives the brushless motor rotor to rotate through the bridge circuit 31. The brushless motor includes a self-propelled motor and a blade motor. The bridge circuit 31 employs a three-phase, six-arm full-bridge drive circuit, including an upper arm and a lower arm. The upper and lower arms have the same structure, each including a U phase, a V phase, and a W phase. Each phase uses two MOS switches, and the gates of the two MOS switches in a single phase are connected in parallel. The source of the MOS switch in the upper arm and the drain of the MOS switch in the lower arm are connected to each other. Several heat sinks 311 are connected in the bridge circuit 31. The main microcontroller U100 receives user control signals and simultaneously acquires feedback data from the sampling monitoring module 4 and voltage detection module 5 via the auxiliary microcontroller U300. The main MCU runs a preset PID speed adjustment algorithm and dual-mode drive switching logic to generate a PWM control signal with a frequency of 20kHz, which is then transmitted to the gate driver U200. After receiving the PWM signal, the gate driver U200 enhances the signal driving capability through internal circuitry and transmits the signal to the bridge circuit 31. The upper and lower arm MOS switches of the bridge circuit alternately conduct according to the timing logic of the PWM signal, converting 40V DC power into three-phase AC power to drive the brushless motor to operate at a preset speed and direction, realizing the movement and cutting operations of the lawnmower. The auxiliary microcontroller U300 monitors the working status of the bridge circuit in real time and feeds it back to the main MCU to dynamically adjust the PWM signal, ensuring stable motor operation.

[0026] The sampling and monitoring module 4 employs a Hall sensor monitoring circuit 41 and a sensorless monitoring circuit 42. The monitoring terminals of both the Hall sensor monitoring circuit 41 and the sensorless monitoring circuit 42 are connected to a bridge circuit 31. Specifically, the Hall sensor monitoring circuit 41 uses a connection port CN300 for connecting the Hall sensor, with three monitoring branches connected in parallel to the connection port CN300. These three monitoring branches are respectively connected to the U-phase, V-phase, and W-phase of the bridge circuit 31. The sensorless monitoring circuit 42 also employs three monitoring branches, which are respectively connected to the U-phase, V-phase, and W-phase of the bridge circuit 31. This utility model's sampling and monitoring module adopts a dual-mode design of Hall sensor monitoring circuit and sensorless monitoring circuit. Under normal operating conditions, the rotor position is accurately located using the Hall sensor. When the Hall sensor fails, the sensorless monitoring circuit estimates the rotor position in real time by detecting the zero-crossing point of the back electromotive force of the UVW phases of the bridge circuit, achieving sensorless commutation. This avoids downtime caused by the failure of a single detection mode and improves the success rate of continuous operation under complex conditions.

[0027] This utility model adopts a dual MCU collaborative architecture with a main microcontroller U100 and an auxiliary microcontroller U300, which can realize task division. The main MCU focuses on motor speed control algorithm, PWM signal output and user instruction processing, while the auxiliary MCU is responsible for status monitoring, protection logic execution and communication assistance. This effectively reduces the load on a single MCU, improves control response speed, reduces speed error, makes mowing operations more uniform, and can adapt to high-precision operation requirements.

[0028] The voltage detection module 5 employs a PMOS transistor Q100, an NMOS transistor Q101, voltage divider resistors R108 and R120. The base of the PMOS transistor Q100 is connected to the drain of the NMOS transistor Q101. The PMOS transistor Q100 is connected to the battery pack of the power module 1, and its drain is connected to one end of the voltage divider resistor R108. The gate of the NMOS transistor Q101 is connected to the power supply terminal of the power module 1, and its source is connected to one end of the voltage divider resistor R120. The other end of the voltage divider resistor R108 is connected to the other end of the voltage divider resistor R120. The other end is connected to the main microcontroller U100; the voltage detection module converts the battery voltage into a 0-3.3V signal through a network of voltage divider resistors R108 and R120, and transmits it to the main microcontroller U100 after being controlled by the switching of PMOS transistor Q100 and NMOS transistor Q101; the temperature sampling uses an NTC sensor installed near the MOSFET and the battery to convert temperature changes into resistance changes, and then converts them into voltage signals through a voltage divider circuit, which are fed back to the MCU to realize real-time monitoring of current, voltage and temperature.

[0029] In summary, this invention employs a dual-MCU collaborative architecture, avoiding the overload problem of a single MCU and improving control response speed and speed accuracy. The dual-mode drive of Hall effect sensors and sensorless sensors solves the shutdown failure caused by the easy failure of a single Hall sensor, enhancing operational reliability under complex operating conditions. This solution is adaptable to both home and commercial scenarios, possessing significant practical value and market competitiveness. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and has high industrial application value.

[0030] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A 40V brushless self-propelled lawnmower controller, comprising a power supply module (1), an MCU control module (2), a drive module (3), and a sampling and monitoring module (4), wherein the drive module (3) and the sampling and monitoring module (4) are both connected to the MCU control module (2), and the power supply module (1) supplies power to the MCU control module (2), the drive module (3), and the sampling and monitoring module (4); Its features are: The MCU control module (2) uses two independently operating main microcontrollers U100 and auxiliary microcontrollers U300; The drive module (3) uses a gate driver U200 and a bridge circuit (31). The bridge circuit (31) is electrically connected to both the gate driver U200 and the auxiliary microcontroller U300. The gate driver U200 is electrically connected to the main microcontroller U100. The drive module (3) drives the brushless motor rotor to rotate through the bridge circuit (31). The sampling monitoring module (4) uses a Hall sensor monitoring circuit (41) and a sensorless monitoring circuit (42). The monitoring terminals of the Hall sensor monitoring circuit (41) and the sensorless monitoring circuit (42) are simultaneously connected to a bridge circuit (31).

2. The 40V brushless self-propelled lawnmower controller according to claim 1, characterized in that: The power module (1) uses a DC-DC converter U101 and an LDO regulator U102. The DC-DC converter U101 converts the 40V input voltage to 12V voltage, and the LDO regulator U102 converts the 12V voltage to 3.3V supply voltage.

3. The 40V brushless self-propelled lawnmower controller according to claim 1, characterized in that: The bridge circuit (31) adopts a three-phase six-arm full-bridge drive circuit, including an upper arm and a lower arm. The upper arm and the lower arm have the same structure, both including U phase, V phase and W phase. Each phase adopts two MOS switches. The gates of the two MOS switches in a single phase are connected in parallel. The source of the MOS switch in the upper arm and the drain of the MOS switch in the lower arm are connected to each other.

4. The 40V brushless self-propelled lawnmower controller according to claim 3, characterized in that: The bridge circuit (31) is connected to several heat sinks (311).

5. The 40V brushless self-propelled lawnmower controller according to claim 3, characterized in that: The Hall sensor monitoring circuit (41) uses a connection port CN300 for connecting the Hall sensor. Three monitoring branches are connected in parallel on the connection port CN300. The three monitoring branches are respectively connected to the U phase, V phase and W phase of the bridge circuit (31).

6. The 40V brushless self-propelled lawnmower controller according to claim 3, characterized in that: The sensorless monitoring circuit (42) uses three monitoring branches, which are respectively connected to the U phase, V phase and W phase of the bridge circuit (31).

7. The 40V brushless self-propelled lawnmower controller according to claim 1, characterized in that: The controller also includes a voltage detection module (5). The voltage detection module (5) uses a PMOS transistor Q100, an NMOS transistor Q101, a voltage divider resistor R108, and a voltage divider resistor R120. The base of the PMOS transistor Q100 is connected to the drain of the NMOS transistor Q101. The PMOS transistor Q100 is connected to the battery pack of the power module (1), and its drain is connected to one end of the voltage divider resistor R108. The gate of the NMOS transistor Q101 is connected to the power supply terminal of the power module (1), and its source is connected to one end of the voltage divider resistor R120. The other end of the voltage divider resistor R108 and the other end of the voltage divider resistor R120 are simultaneously connected to the main microcontroller U100.

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