TWI502210B - Torqueestimating circuit of remote control servo motor and torqueestimating method thereof - Google Patents

Description

Torque estimation circuit of remote servo motor and torque detecting method thereof

The present invention relates to an estimation technique, and more particularly to a torque estimation circuit for a remote servo motor and a torque detection method thereof.

Remote Control (RC) servo motors are common in the model and toy industry. The control methods are roughly divided into angle control and speed control. In general, the remote servo motor rotates in accordance with the angle control signal. However, the configuration of the remote servo motor is simple, so the use information (such as torque information) cannot be provided, so that the user cannot know the information of the remote servo motor, which causes application limitations. In addition, in the current measurement technology, an external resistor is used to measure the current of the motor, but the motor current value can only be obtained from the outside, that is, only the magnitude of the torque can be known, and the direction of the torque cannot be obtained. In order to obtain the direction of the torque, it is inevitable to connect the resistor in series with the circuit of the electronic commutator inside the motor, but this will damage the original circuit of the motor module and may affect the operation of the motor.

The invention provides a torque estimation circuit of a remote control servo motor and a torque detecting method thereof, which can directly measure the torque information of the remote control servo motor without disassembling the remote control servo motor.

An embodiment of the present invention provides a torque estimation circuit for a remote control servo motor including a processing unit. The processing unit receives a motor current signal, receives a first angle control signal and provides a second angle control signal to a control end of the remote servo motor, the first angle control signal corresponding to a predetermined rotation angle of the remote servo motor. The processing unit adjusts an actual rotation angle of the remote servo motor through the second angle control signal, and determines a torque information of the remote servo motor according to the second angle control signal and the motor current signal.

Another embodiment of the present invention provides a torque estimation circuit for a remote control servo motor and a torque detecting method thereof, including at least the following steps. Receiving a first angle control signal corresponding to a predetermined rotation angle through a processing unit and providing a second angle signal to the remote control servo motor. The second angle control signal is adjusted by the processing unit to control an actual rotation angle of the remote servo motor. A torque information of the remote servo motor is determined by the processing unit and according to the second angle control signal and a motor current signal.

Based on the above, the torque estimation circuit of the remote control servo motor and the torque detecting method thereof according to the embodiment of the present invention determine the magnitude of the torque through the output current, and determine the direction of the torque through the rotation angle of the remote servo motor and the change of the output current. Thereby, the torque information of the remote servo motor can be directly measured without disassembling the remote servo motor.

The above described features and advantages of the invention will be apparent from the following description.

10‧‧‧Remote servo motor

100‧‧‧Torque Estimation Circuit

110‧‧‧current detection unit

111‧‧‧Detection resistance

113‧‧‧Amplification circuit

120‧‧‧Processing unit

121‧‧‧ Pulse Modulator

123‧‧‧Torque Estimator

125‧‧‧ analog digital converter

Ftr‧‧‧Torque Information

Io‧‧‧ output current

SAN1‧‧‧First angle control signal

SAN2‧‧‧second angle control signal

SAR‧‧ angle adjustment signal

Sim, Sim_D‧‧‧ motor current signal

TC‧‧‧ control terminal

TG‧‧‧ grounding terminal

TP‧‧‧ power terminal

Tr‧‧‧ Torque

VDD‧‧‧ system voltage

Vr‧‧‧cross pressure

S210, S220, S230, S240, S250‧‧ steps

1A is a system diagram of a torque estimation circuit of a remotely controlled servo motor according to an embodiment of the invention.

FIG. 1B is a circuit diagram of a torque estimation circuit of a remote control servo motor according to an embodiment of the invention.

2 is a flow chart of a torque detecting method of a remote servo motor according to an embodiment of the invention.

1A is a system diagram of a torque estimation circuit of a remotely controlled servo motor according to an embodiment of the invention. Referring to FIG. 1A, in the present embodiment, the Torque estimation circuit 100 is coupled to the remote servo motor 10 for measuring the torque information Ftr of the remote servo motor 10. The remote control servo motor 10 has a power terminal TP, a control terminal TC and a ground terminal TG. The power terminal TP is used to receive a system voltage VDD, and the control terminal is used to receive an angle control signal (such as SAN1, SAN2) and a ground terminal TG. The output current Io is outputted by the torque Tr generated by the remote control servo motor 10 pressing an object (not shown).

The torque estimation circuit 100 includes a current detecting unit 110 and a processing unit 120. The current detecting unit 110 is coupled to the ground terminal TG of the remote servo motor 10 and is configured to detect the output current Io of the remote servo motor 10 to provide a motor current signal Sim. The processing unit 120 is coupled to the current detecting unit 110 to receive the motor current signal Sim, and receives the first angle control signal SAN1 provided by the remote control device (not shown), and provides the second angle control signal SAN2 to the remote servo motor. The control terminal TC of 10, wherein the first angle control signal SAN1 is used to set the rotation angle of the remote control servo motor 10 to a predetermined rotation angle. In this embodiment, the processing unit 120 can adjust the actual rotation angle of the remote control servo motor 10 through the second angle control signal SAN2, and determine the torque information Ftr of the remote control servo motor 10 according to the second angle control signal SAN2 and the motor current signal Sim. In another embodiment, the torque estimation circuit 100 includes a voltage detection unit (not shown) and a processing unit 120. The voltage detecting unit is coupled to the grounding end TG of the remote control servo motor 10, and is configured to detect a voltage change of an output voltage of the remote control servo motor 10 on a resistor to provide a motor current signal Sim. The voltage detecting unit detects the output current Io of the remote control servo motor 10 by detecting a voltage change of the output voltage on the resistor.

Further, the processing unit 120 can determine the magnitude of the torque Tr through the motor current signal Sim. Secondly, the processing unit 120 can control the remote servo motor 10 to rotate clockwise or counterclockwise through the second angle control signal SAN2, and the processing unit 120 can determine the direction of rotation as being toward the pressed object by the change of the motor current signal Sim ( Not shown or away from the object being pressed (not shown), wherein the above-described clockwise rotation or counterclockwise rotation is based on a predetermined rotation angle of the remote control servo motor 10.

In other words, when the processing unit 120 controls the remote control servo motor 10 to rotate in the clockwise direction (corresponding to the first direction) on the basis of the predetermined rotation angle and the output current Io is increased, the clockwise direction is opposite to the load direction of the remote servo motor 10, That is, toward the object being pressed (not shown). When the remote control servo motor 10 rotates in the clockwise direction on the basis of the predetermined rotation angle and the output current Io is decreased, the clockwise direction is the same as the load direction of the remote servo motor 10. Thereby, the processing unit 120 can determine the magnitude and direction of the torque Tr (ie, the torque information Ftr) without disassembling the remote control servo motor 10.

The above is an example in which the remote control servo motor 10 is rotated clockwise. However, in other embodiments, the remote control servo motor 10 can be controlled to perform counterclockwise rotation. The present invention is not limited thereto.

After the processing unit 120 obtains the torque information Ftr, the torque information Ftr can be output as a reference for controlling the remote control servo motor 10 by a remote control device (not shown). The processing unit 120 can set the second angle control signal SAN2 according to the predetermined rotation angle, that is, the processing unit 120 can directly output the first angle control signal SAN1 as the second angle control signal SAN2, but the embodiment of the present invention is not limited thereto. .

In an embodiment of the invention, the first angle control signal SAN1 and the second angle control signal SAN2 may be pulse signals, and the processing unit 120 may control the duty cycle of the second angle control signal SAN2. The rotation of the servo motor 10 is remotely controlled. Alternatively, the first angle control signal SAN1 and the second angle control signal SAN2 may be voltage signals, and the processing unit 120 may control the rotation of the remote servo motor 10 by adjusting the voltage level of the second angle control signal SAN2. turn. The above is the description, and the signal type of the first angle control signal SAN1 and the second angle control signal SAN2 may be determined according to the design of the remote control servo motor 10. The embodiment of the present invention is not limited thereto.

FIG. 1B is a circuit diagram of a torque estimation circuit of a remote control servo motor according to an embodiment of the invention. 1A and 1B, wherein the same or similar elements are given the same or similar reference numerals. In this embodiment, the current detecting unit 110 includes a detecting resistor 111 and an amplifying circuit 113. The detecting resistor 111 is coupled between the grounding terminal TG of the remote control servo motor 10 and a ground voltage for providing a motor current signal Sim, and the amplifier 113 is configured to amplify the motor current signal Sim and provide the processing to the processing unit 120. In other words, the output current Io flows through the detecting resistor 111 to generate a corresponding voltage across the voltage Vr, and the voltage across the voltage Vr is amplified by the amplifier 113 as the voltage level of the motor current signal Sim. In this embodiment, the amplifier 113 is used to amplify the voltage across the voltage Vr and the blocking detection resistor 111 and the processing unit 120. However, in other embodiments, the amplifier 113 may be omitted, or the voltage across the voltage Vr may be directly used as the motor current signal Sim. The embodiment of the present invention is not limited thereto. The embodiment of the present invention is not limited thereto.

Processing unit 120 includes pulse wave modulator 121, torque estimator 123, and analog digital converter 125. The pulse modulator 121 receives the angle adjustment signal SAR provided by the torque estimator 123, and generates a second angle control signal SAN2 according to the angle adjustment signal SAR to be supplied to the remote control servo motor 10. The analog digital converter 125 is configured to convert the format of the motor current signal Sim into a digital signal format motor current signal Sim_D and provide it to the torque estimator 123 for interpretation by the torque estimator 123. Torque The estimator 123 receives the motor current signal Sim_D and the first angle control signal SAN1, and provides an angle adjustment signal SAR according to the first angle control signal SAN1, and the torque estimator 123 adjusts the signal according to the motor current signal Sim_D and the angle thereof provided The SAR judges the torque information Ftr of the remote control servo motor 10.

Further, the torque estimator 123 sets the angle adjustment signal SAR corresponding to the angle of the first angle control signal SAN1 such that the angle corresponding to the second angle control signal SAN2 is the same as the angle of the first angle control signal SAN1; The estimator 123 adjusts the angle adjustment signal SAR such that the angle corresponding to the second angle control signal SAN2 is slightly larger or slightly smaller than the angle of the first angle control signal SAN1; finally, the torque estimator 123 corresponds to the first angle control The angle of the signal SAN1 sets the angle adjustment signal SAR such that the angle corresponding to the second angle control signal SAN2 is the same as the angle of the first angle control signal SAN1, and the remote servo motor 10 operates normally.

In the above embodiment, the analog-to-digital converter 125 is used to convert the format of the motor current signal Sim, but in the case where the torque estimator 123 can receive the analog signal, the analog-to-digital converter 125 can be omitted without affecting the overall operation. Depending on the design of the torque estimator 123, the embodiments of the present invention are not limited thereto.

2 is a flow chart of a torque detecting method of a remote servo motor according to an embodiment of the invention. Referring to FIG. 2, in the embodiment, the torque detecting method of the remote control servo motor includes at least the following steps. Detecting an output current of the remote servo motor through the current detecting unit to provide a motor current signal (step S210), and receiving a first angle control signal corresponding to the predetermined rotation angle through the processing unit and providing a second angle signal The number is to the remote servo motor (step S220). Next, the second angle control signal is adjusted by the processing unit to control the actual rotation angle of the remote control servo motor (step S230). Then, the torque information of the remote control servo motor is determined by the processing unit and according to the second angle control signal and the motor current signal (step S240). After the torque information of the remote control servo motor is obtained, the second angle control signal is set by the processing unit and according to the predetermined rotation angle (step S250). The order of the foregoing steps S210, S220, S230, S240, and S250 is used for the description, and the embodiment of the present invention is not limited thereto. In another embodiment, step S210 can be changed to the following manner: the voltage detecting unit detects a voltage change of the output voltage of the remote servo motor on a resistor to provide a motor current signal. The voltage detecting unit detects the output current Io of the remote control servo motor 10 by detecting a voltage change of the output voltage on the resistor. For details of the foregoing steps S210, S220, S230, S240, and S250, reference may be made to the embodiment of FIG. 1A and FIG. 1B, and details are not described herein again.

In summary, the torque estimation circuit of the remote control servo motor and the torque detecting method thereof according to the embodiment of the present invention determine the magnitude of the torque through the output current, and determine the torque through the rotation angle of the remote servo motor and the change of the output current. direction. Thereby, the torque information of the remote servo motor can be directly measured without disassembling the remote servo motor.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and any one of ordinary skill in the art can make some changes and refinements without departing from the spirit and scope of the present invention. The scope of the invention is defined by the scope of the appended claims.

10‧‧‧Remote servo motor

100‧‧‧Torque Estimation Circuit

110‧‧‧current detection unit

120‧‧‧Processing unit

Ftr‧‧‧Torque Information

Io‧‧‧ output current

SAN1‧‧‧First angle control signal

SAN2‧‧‧second angle control signal

Sim‧‧‧Motor current signal

TC‧‧‧ control terminal

TG‧‧‧ grounding terminal

TP‧‧‧ power terminal

Tr‧‧‧ Torque

VDD‧‧‧ system voltage

Claims (11)

A torque estimation circuit for a remote control servo motor, wherein the remote control servo motor is a motor module, and the torque estimation circuit is independent of the motor module to obtain torque information of the remote control servo motor, wherein the torque The information includes a magnitude and a direction of the torque. The torque estimation circuit includes: a detecting unit coupled to a ground end of the remote servo motor, and configured to detect an output current of the remote servo motor to provide a motor current And a processing unit receiving the motor current signal provided by the detecting unit, receiving a first angle control signal provided by a remote control device, and the processing unit provides a second angle control signal to the signal a control end of the remote servo motor, the first angle control signal corresponds to a predetermined rotation angle of the remote control servo motor, and the processing unit adjusts an actual rotation angle of the remote control servo motor by the second angle control signal, and according to the first The two angle control signal and the motor current signal determine the torque information of the remote servo motor. The torque estimation circuit of the remote control servo motor according to claim 1, wherein the first direction is opposite to the remote servo motor when the remote servo motor rotates in a first direction and the output current is increased. a load direction, when the remote servo motor rotates in the first direction and the output current is reduced, the first direction is the same as the load direction of the remote servo motor. The torque estimation circuit of the remote control servo motor according to claim 1, wherein the processing unit comprises: a pulse wave modulator, receiving an angle adjustment signal, and adjusting the signal according to the angle Providing the second angle control signal; and a torque estimator, receiving the motor current signal and the first angle control signal, and providing the angle adjustment signal according to the first angle control signal, according to the motor current signal and The angle adjustment signal determines the torque information of the remote servo motor. The torque estimation circuit of the remote control servo motor according to claim 1, wherein the processing unit further comprises an analog digital converter for converting the format of the motor current signal into a digital signal format and providing the same Torque estimator. The torque estimation circuit of the remote control servo motor according to the first aspect of the invention, wherein the detecting unit comprises: a detecting resistor coupled between the grounding end of the remote control servo motor and a ground voltage, To provide the motor current signal. The torque estimation circuit of the remote control servo motor according to claim 5, wherein the detecting unit further comprises an amplifier for amplifying the motor current signal and supplying the signal to the processing unit. The torque estimation circuit of the remote control servo motor according to claim 1, wherein the processing unit sets the second angle control signal according to the predetermined rotation angle after the processing unit obtains the torque information of the remote control servo motor . The torque estimation circuit of the remote control servo motor according to claim 1, wherein the first angle control signal and the second angle control signal are a pulse wave signal. Torque detecting method for remote servo motor, wherein the remote servo motor For a motor module, the torque detection method utilizes a torque estimation circuit independent of the motor module to obtain torque information of the remote control servo motor, wherein the torque information includes a magnitude and a direction of the torque. The torque detecting method includes: receiving, by a processing unit of the torque estimating circuit, a first angle control signal corresponding to a predetermined rotation angle provided by the remote control device to the processing unit, and providing a processing unit through the processing unit a second angle signal is sent to the remote control servo motor; the second angle control signal is adjusted by the processing unit to control an actual rotation angle of the remote control servo motor; and the remote control servo is detected by one of the detection units of the torque estimation circuit An output current of the motor is used to provide a motor current signal; and the torque information of the remote control servo motor is determined by the processing unit and according to the second angle control signal and the motor current signal provided by the detecting unit. The method for detecting a torque of a remote control servo motor according to claim 9 , wherein the step of determining, by the processing unit, the torque information of the remote control servo motor according to the second angle control signal and the motor current signal comprises: When the remote servo motor rotates in a first direction and the output current is increased, the first direction is opposite to a load direction of the remote servo motor; and when the remote servo motor rotates in the first direction and the output current In order to reduce, the first direction is the same as the load direction of the remote servo motor. The torque detecting method of the remote control servo motor according to claim 9, further comprising: after the torque information of the remote control servo motor is obtained, passing through the processing unit The second angle control signal is set according to the predetermined rotation angle.