CN111446705B - Power-on current-limiting circuit - Google Patents
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- CN111446705B CN111446705B CN202010264181.4A CN202010264181A CN111446705B CN 111446705 B CN111446705 B CN 111446705B CN 202010264181 A CN202010264181 A CN 202010264181A CN 111446705 B CN111446705 B CN 111446705B
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- 239000003990 capacitor Substances 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 20
- 229910044991 metal oxide Inorganic materials 0.000 claims description 2
- 150000004706 metal oxides Chemical class 0.000 claims description 2
- 239000004065 semiconductor Substances 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
- H02H9/02—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess current
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Abstract
The invention provides a power-on current-limiting circuit, which comprises: the power-on switch, the current-limiting resistor and the short circuit control module; the power-on switch, the current-limiting resistor and the charging capacitor to be charged are connected in series to form a loop together with a power supply for charging, and when the power-on switch is closed, the power supply charges the charging capacitor through the current-limiting resistor; the short circuit control module is connected in parallel at two ends of the current-limiting resistor, and is used for short-circuiting the current-limiting resistor after the charging capacitor finishes charging. The overvoltage and overcurrent protection of the integrated joint when the mobile robot is electrified for the first time can be effectively realized, and the accelerated motion performance of the mobile robot is not influenced after the electrification is finished.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a power-on current-limiting circuit.
Background
With the rapid development of the cooperative robot, the advantages of small size, low weight and high power of the integrated joint are widely accepted by the market, and the integrated joint is widely applied to the field of mobile robots. In order to ensure servo acceleration performance of the integrated joint, a power input preceding stage of the integrated joint is generally provided with a large capacitor (filtering and energy storage); the mobile robot is generally powered by a large-capacity battery, when the storage battery is loaded with a plurality of integrated joints for use, an instant large-current short circuit is formed due to capacitor charging at the instant when the power switch is turned on, and a similar LC oscillation phenomenon is formed in a main power supply loop, so that the power supply circuit has large voltage impact and strong impact current. The integrated joint is integrated with a drive control circuit of a servo motor, the prior stage of the drive circuit cannot realize high overvoltage and overcurrent protection due to difficult component selection caused by space limitation, the power supply of the integrated shutdown drive control circuit is generally obtained by DCDC conversion of a main power supply loop, and the damage of a DCDC power supply conversion circuit and other low-voltage control circuits is easily caused by large voltage and current impact at the moment of power-on, so that the drive control circuit of the integrated joint is failed.
This occurs when the mobile robot is first powered up due to the charging of the capacitor. When the robot is electrified and runs, the voltage fluctuation of the main power supply loop is small, the current of the main power supply loop is greatly changed along with the change of the acceleration performance, and although the current change of the main power supply loop is large, the power supply loop has strong stability due to the stability of the voltage. Therefore, how to limit the first power-on current and voltage and ensure good acceleration performance of the mobile robot in the moving process becomes an important problem.
Disclosure of Invention
In order to solve the above technical problem, the present invention designs a power-on current-limiting circuit, which includes: the power-on switch, the current-limiting resistor and the short circuit control module;
the power-on switch, the current-limiting resistor and the charging capacitor to be charged are connected in series to form a loop together with a power supply for charging, and when the power-on switch is closed, the power supply charges the charging capacitor through the current-limiting resistor; the short circuit control module is connected in parallel at two ends of the current-limiting resistor, and is used for short-circuiting the current-limiting resistor after the charging capacitor finishes charging.
In one embodiment, the power-up current limiting circuit further comprises: the voltage control module is used for receiving detection voltage, a second input end of the voltage control module is used for receiving reference voltage, the voltage control module generates a control signal according to the detection voltage and the reference voltage, and the control signal is output to the short-circuit control module through an output end of the voltage control module so as to control the short-circuit control module to work.
In one embodiment, the short circuit control module includes: the power supply comprises a DC boosting power supply, an MOS (metal oxide semiconductor) tube, a first triode, a second triode, a first resistor, a second resistor, a third resistor, a fourth resistor and a fifth resistor; the source electrode and the drain electrode of the MOS tube are respectively connected with the first end and the second end of the current-limiting resistor, and the grid electrode of the MOS tube is connected with the voltage output end of the DC boosting power supply; the first end of the first resistor is connected with an emitting electrode of a first triode, and the second end of the first resistor, the first end of the second resistor and the base electrode of the first triode are connected together; the collector of the first triode is connected with the input end of the DC boosting power supply, and the first end of the third resistor is also connected with the collector of the first triode; the second end of the third resistor, the base of the second triode and the first end of the fourth resistor are connected together; an emitter of the second triode is connected with a second end of the second resistor, and a collector of the second triode is connected with the fifth resistor; and second ends of the fourth resistor and the fifth resistor are connected.
In one embodiment, the resistance value of the first resistor is smaller than the resistance value of the second resistor; the resistance value of the fourth resistor is larger than that of the fifth resistor.
In one embodiment, the output end of the voltage control module is connected with the base of the second triode and used for controlling the conduction or the disconnection of the second triode.
In one embodiment, the power-up current limiting circuit further comprises: the output end of the detection voltage acquisition circuit is connected with the first input end of the voltage control module, and the output end of the reference voltage acquisition circuit is connected with the second input end of the voltage control module; two input ends of the reference voltage acquisition circuit are connected in parallel between the output end of the power-on switch and the negative electrode of the power supply, and two input ends of the detection voltage acquisition circuit are connected in parallel between two ends of the charging capacitor.
In one embodiment, the detection voltage obtaining circuit includes a sixth resistor and a seventh resistor, a first end of the sixth resistor is connected to the positive electrode of the charging capacitor, a second end of the seventh resistor is connected to the negative electrode of the charging capacitor, a second end of the sixth resistor and a first end of the seventh resistor are connected to form an output end of the detection voltage obtaining circuit, and the output end is connected to the first input end of the voltage control module.
In one embodiment, the reference voltage obtaining circuit includes an eighth resistor and a ninth resistor, a first end of the eighth resistor is connected to the output end of the power-on switch, a second end of the ninth resistor is connected to a negative electrode of the power supply, a second end of the eighth resistor and a first end of the ninth resistor are connected to form an output end of the reference voltage obtaining circuit, and the output end is connected to the second input end of the voltage control module.
In one embodiment, the power-up current limiting circuit further comprises: and the control power supply loop is connected in parallel between the output end of the power-on switch and the negative electrode of the power supply and is used for supplying power to the voltage control module.
In one embodiment, the control power supply loop comprises a tenth resistor and a diode connected in series, a first end of the tenth resistor is connected with the output end of the power-on switch, a second end of the tenth resistor is connected with a cathode of the diode, and an anode of the diode is connected with a cathode of the power supply.
In one embodiment, a ground terminal of the DC boost source is connected to a ground terminal of the voltage control module.
The power-on current-limiting circuit provided by the embodiment of the invention can effectively realize overvoltage and overcurrent protection on the integrated joint when the mobile robot is powered on for the first time, and does not influence the accelerated motion performance after the power-on is finished.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a power-on current-limiting circuit according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a power-on current-limiting circuit according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a power-on current-limiting circuit according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a power-on current-limiting circuit according to another embodiment of the present invention;
fig. 5 is a detailed schematic structure diagram of a power-on current limiting circuit according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to protect the driving circuit of the integrated joint from being damaged during power-on, the embodiment of the invention solves the problem by limiting the main circuit current during the first power-on. Fig. 1 is a simplified model of a power-on current-limiting circuit according to an embodiment of the present invention.
As shown in fig. 1, the power-on current-limiting circuit provided in the embodiment of the present invention mainly includes a power-on switch SA, a current-limiting resistor R, and a short-circuit control module SB. The power-on switch SA and the current-limiting resistor R are connected in series with a charging capacitor C1 to be charged, and form a loop together with a power supply for charging (V _ in is the anode of the power supply, and GND _ in is the cathode of the power supply). When the power-on switch SA is closed to power on the mobile robot for the first time, main power supply (a power supply is used for replacing the power supply in the embodiment of the invention, the same is used below) supplies power to the integrated joint through the current-limiting resistor R, a power supply circuit of the integrated joint forms RC (resistance capacitance) charging, and the voltage of the RC charges with the time constant t being 1/RC to finish the power-on process. The short circuit control module SB is connected in parallel at the two ends of the current-limiting resistor R, and after the charging capacitor C1 finishes charging, the short circuit control module SB is closed to short circuit the current-limiting resistor R, so that the acceleration performance of the mobile robot is prevented from being influenced by resistance current limiting in the acceleration process of the mobile robot.
When the upper electric switch SA is closed, the short circuit control module SB is automatically closed, so that the overvoltage and overcurrent protection of the integrated joint when the mobile robot is electrified for the first time can be effectively realized, and the accelerated motion performance of the mobile robot is not influenced after the electrification is finished.
In one embodiment, the power-up current-limiting circuit further includes a voltage control module 1, which is connected in the manner shown in fig. 2. As shown in fig. 2, the voltage control module 1 has a first input terminal a for receiving the detection voltage and a second input terminal b for receiving the reference voltage. After receiving the detection voltage and the reference voltage, the voltage control module 1 generates a control signal according to the two voltage signals, and the control signal is output to the short circuit control module SB through the output end c of the voltage control module 1 to control the short circuit control module to be turned on or turned off.
In one embodiment, the voltage control module 1 may be an operational amplifier, for example.
In one embodiment, the power-on current-limiting circuit further includes a detection voltage acquisition circuit 2 and a reference voltage acquisition circuit 3. The connection mode of the detection voltage obtaining circuit 2 and the reference voltage obtaining circuit 3 is as shown in fig. 3, the output end of the detection voltage obtaining circuit 2 is connected with the first input end a of the voltage control module 1, and the output end of the reference voltage obtaining circuit 3 is connected with the second input end b of the voltage control module. Two input ends of the reference voltage acquisition circuit 3 are connected in parallel between the output end of the upper electric switch SA and the power supply cathode GND _ in, and two input ends of the detection voltage acquisition circuit 2 are connected in parallel between two ends of the charging capacitor C1.
In one embodiment, the power-up current-limiting circuit further includes a control power supply loop 4. The connection mode of the control power supply loop 4 and other modules in the power-on current-limiting circuit is shown in fig. 4, a voltage acquisition end of the control power supply loop 4 is connected in parallel between an output end of the power-on switch SA and a power supply cathode GND _ in, and the output end is connected with a voltage enabling end of the voltage control module 1 and used for supplying power to the voltage control module 1.
In one embodiment, the short-circuit control module SB includes a DC boost power supply 5, a MOS transistor Q1, a first transistor Q3, a second transistor Q2, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, and a fifth resistor R5, which are connected in a manner shown in fig. 5. As shown in fig. 5, the source and the drain of the MOS transistor Q1 are connected to the first terminal and the second terminal of the current limiting resistor R, respectively, and the gate of the MOS transistor Q1 is connected to the voltage output terminal of the DC boost power supply 5. The first end of the first resistor R1 is connected to the emitter of the first transistor Q3, and the second end of the first resistor R1, the first end of the second resistor R2 and the base of the first transistor Q3 are connected together. The collector of the first transistor Q3 is connected to the input of the DC boost power supply 5, and the first terminal of the third resistor R3 is also connected to the collector of the first transistor Q3. The second end of the third resistor R3, the base of the second transistor Q2, and the first end of the fourth resistor R4 are coupled together. The collector of the second transistor Q2 is connected to the second terminal of the second resistor R2, and the emitter of the second transistor Q2 is connected to the fifth resistor R5. Second ends of the fourth resistor R4 and the fifth resistor R5 are connected.
In one embodiment, the resistance of the first resistor R1 is smaller than the resistance of the second resistor R2, and the resistance of the fourth resistor R4 is larger than the resistance of the fifth resistor R5. For example, the first resistor R1 may be a resistor of 500 Ω, and the second resistor may be a resistor of 700 Ω; the fourth resistor R4 may be a resistor of 300 Ω, and the fifth resistor R5 may be a resistor of 100 Ω.
In one embodiment, the output terminal c of the voltage control module 1 is connected to the base of the second transistor Q2, and the output voltage thereof is used to control the second transistor Q2 to turn on or off.
In one embodiment, the ground terminal of the DC boost source 5 is connected to the ground terminal of the voltage control module 1.
In one embodiment, the detected voltage obtaining circuit 2 includes a sixth resistor R6 and a seventh resistor R7, a first end of the sixth resistor R6 is connected to the positive electrode of the charging capacitor C1, a second end of the seventh resistor R7 is connected to the negative electrode of the charging capacitor C1, and a second end of the sixth resistor R6 is connected to a first end of the seventh resistor R7, so as to form an output end of the detected voltage obtaining circuit 2, where the output end is used for connecting to the first input end a of the voltage control module 1.
In one embodiment, the reference voltage obtaining circuit 3 includes an eighth resistor R8 and a ninth resistor R9, a first end of the eighth resistor R8 is connected to the output end of the power-up switch SA, a second end of the ninth resistor R9 is connected to the negative electrode GND _ in of the power supply, a second end of the eighth resistor R8 is connected to a first end of the ninth resistor R9 to form an output end of the reference voltage obtaining circuit 3, and the output end is used for connecting to the second input end b of the voltage control module 1.
In one embodiment, the control power supply circuit 4 includes a tenth resistor R10 and a diode D1 connected in series, a first terminal of the tenth resistor R10 is connected to the output terminal of the power-up switch SA, a second terminal of the tenth resistor R10 is connected to the cathode of the diode D1, and the anode of the diode D1 is connected to the negative terminal GND _ in of the power supply.
In order to more clearly illustrate the technical solution provided by the embodiment of the present invention, the solution provided by the embodiment of the present invention is explained in detail below by taking the embodiment shown in fig. 5 as an example.
The detailed principle of the present invention is shown in fig. 5 below. R10 and D1 form a control power supply loop 4, and when the power supply is powered on, the voltage across the voltage regulator tube D1 is 5V. And R is a current-limiting resistor which limits the current of the main power supply loop to realize the RC charging function. R6, R7, R8, R9 and an operational amplifier (voltage control module 1) constitute a power-on voltage detection control function, in which R8 and R9 constitute a reference voltage acquisition circuit 3, and R6 and R7 constitute a detection voltage acquisition circuit 2. When the power supply is powered on, the voltage across the R7 is slowly increased due to the R current limit, the operational amplifier outputs 0V when the voltage of R7 is lower than the reference voltage of R9, and outputs 5V when the voltage of R7 is higher than the voltage of R9. R1, R2, R3, R4, R5, Q2, and Q3 constitute a short-circuit control module SB of the current-limiting resistor R. When the operational amplifier outputs 0V, the voltage control module 1 is not functional, when the operational amplifier outputs 5V level, the voltage at the two ends of R4 is higher than the voltage at the two ends of R5, Q2 is turned on, due to the voltage division effect of R1 and R2, Q3 is turned on, after Q3 is turned on, due to the voltage division effect, the voltage at the two ends of R4 is higher than the voltage at the two ends of R5, Q2 is continuously turned on, and at this time, no matter whether the operational amplifier has voltage output, the short circuit control module SB continuously works. The DC boost power supply 5 and the Q1 form a short-circuit function of a current-limiting resistor R, when the Q3 is conducted, the DC boost power supply 5 is started to work, and due to the boosting effect, the Q1 is conducted, so that the short-circuit function of two ends of the R is realized. When the switch is closed, R8/R9, R6/R7, R1/R2/R5 and R3/R4 form a discharge loop of the 4-way integrated joint, so that the bus voltage of the 4-way integrated joint is gradually reduced, and Q2 and Q3 are closed. As described above, the power-on current-limiting function is realized, the acceleration performance of the mobile robot is not influenced, and the control reset function is realized after the robot is powered off.
The resistance values of the resistors are also shown in fig. 5, and these values are only examples and are not intended to limit the present invention.
The embodiment of the invention can be used for a power-on circuit with direct current power supply and capacitive load, can effectively realize overvoltage and overcurrent protection on the integrated joint when the mobile robot is powered on for the first time, and does not influence the accelerated motion performance after the power-on is finished.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A power-up current limiting circuit, comprising: the power-on switch, the current-limiting resistor and the short circuit control module;
the power-on switch, the current-limiting resistor and the charging capacitor to be charged are connected in series to form a loop together with a power supply for charging, and when the power-on switch is closed, the power supply charges the charging capacitor through the current-limiting resistor; the short circuit control module is connected in parallel with two ends of the current limiting resistor, and is used for short-circuiting the current limiting resistor after the charging capacitor finishes charging;
the power-up current limiting circuit further comprises: the voltage control module is used for receiving detection voltage, receiving reference voltage and generating a control signal according to the detection voltage and the reference voltage, and outputting the control signal to the short-circuit control module through an output end of the voltage control module so as to control the short-circuit control module to work;
the short circuit control module includes: the power supply comprises a DC boosting power supply, an MOS (metal oxide semiconductor) tube, a first triode, a second triode, a first resistor, a second resistor, a third resistor, a fourth resistor and a fifth resistor; the source electrode and the drain electrode of the MOS tube are respectively connected with the first end and the second end of the current-limiting resistor, and the grid electrode of the MOS tube is connected with the voltage output end of the DC boosting power supply; the first end of the first resistor is connected with an emitting electrode of a first triode, and the second end of the first resistor, the first end of the second resistor and the base electrode of the first triode are connected together; the collector of the first triode is connected with the input end of the DC boosting power supply, and the first end of the third resistor is also connected with the collector of the first triode; the second end of the third resistor, the base of the second triode and the first end of the fourth resistor are connected together; a collector of the second triode is connected with a second end of the second resistor, and an emitter of the second triode is connected with the fifth resistor; and second ends of the fourth resistor and the fifth resistor are connected.
2. A power-on current limiting circuit according to claim 1 wherein the first resistor has a resistance value less than the second resistor; the resistance value of the fourth resistor is larger than that of the fifth resistor.
3. The power-on current-limiting circuit according to claim 1, wherein an output terminal of the voltage control module is connected to a base of the second transistor for controlling the second transistor to be turned on or off.
4. The power-on current limit circuit of claim 1, further comprising: the output end of the detection voltage acquisition circuit is connected with the first input end of the voltage control module, and the output end of the reference voltage acquisition circuit is connected with the second input end of the voltage control module; two input ends of the reference voltage acquisition circuit are connected in parallel between the output end of the power-on switch and the negative electrode of the power supply, and two input ends of the detection voltage acquisition circuit are connected in parallel between two ends of the charging capacitor.
5. The power-on current-limiting circuit according to claim 4, wherein the detection voltage obtaining circuit comprises a sixth resistor and a seventh resistor, a first end of the sixth resistor is connected to the positive electrode of the charging capacitor, a second end of the seventh resistor is connected to the negative electrode of the charging capacitor, a second end of the sixth resistor is connected to a first end of the seventh resistor to form an output end of the detection voltage obtaining circuit, and the output end is connected to the first input end of the voltage control module.
6. The power-on current-limiting circuit according to claim 4, wherein the reference voltage obtaining circuit comprises an eighth resistor and a ninth resistor, a first end of the eighth resistor is connected to the output end of the power-on switch, a second end of the ninth resistor is connected to a negative electrode of the power supply, a second end of the eighth resistor is connected to a first end of the ninth resistor to form an output end of the reference voltage obtaining circuit, and the output end is connected to the second input end of the voltage control module.
7. The power-on current limit circuit of claim 1, further comprising: and the control power supply loop is connected in parallel between the output end of the power-on switch and the negative electrode of the power supply and is used for supplying power to the voltage control module.
8. The power-on current limiting circuit according to claim 7, wherein the control power supply loop comprises a tenth resistor and a diode connected in series, a first end of the tenth resistor is connected to the output terminal of the power-on switch, a second end of the tenth resistor is connected to a cathode of the diode, and an anode of the diode is connected to a cathode of the power supply.
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| CN111884496B (en) * | 2020-08-14 | 2021-07-13 | 电子科技大学中山学院 | ALD power-on circuit following AISG3.0 protocol |
| CN113241733A (en) * | 2021-05-10 | 2021-08-10 | 北京云迹科技有限公司 | Short-circuit prevention circuit and equipment |
| CN113363932B (en) * | 2021-06-07 | 2022-06-21 | 山东建筑大学 | A series short-circuit fault detection and protection circuit based on electrolytic capacitors |
| CN113422352B (en) * | 2021-06-07 | 2022-06-21 | 山东建筑大学 | A strong current switch circuit for automatic detection of short-circuit faults |
| CN114167934A (en) * | 2021-12-08 | 2022-03-11 | 北京北航天宇长鹰无人机科技有限公司 | Filtering and voltage-stabilizing control circuit and system |
| CN114865588B (en) * | 2022-04-28 | 2025-07-04 | 上海空间电源研究所 | A discharge device with pre-connection undervoltage protection function |
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