CN114204945B - Enclosure signal transmitting circuit, base station and enclosure signal transmitting method thereof - Google Patents
Enclosure signal transmitting circuit, base station and enclosure signal transmitting method thereof Download PDFInfo
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- CN114204945B CN114204945B CN202111514384.5A CN202111514384A CN114204945B CN 114204945 B CN114204945 B CN 114204945B CN 202111514384 A CN202111514384 A CN 202111514384A CN 114204945 B CN114204945 B CN 114204945B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/02—Transmitters
- H04B1/04—Circuits
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
- H03F3/00—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements
- H03F3/20—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers
- H03F3/21—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers with semiconductor devices only
- H03F3/217—Class D power amplifiers; Switching amplifiers
Abstract
The application provides a contour signal transmitting circuit, a base station and a contour signal transmitting method thereof. The base station outputs a switching signal and an amplifying signal through the control unit, the switching signal controls the on-off of an upper bridge switching element in an H bridge circuit in the base station, and the amplifying signal controls the gate voltage of a lower bridge amplifying element in the H bridge circuit in the base station so as to amplify and convert the polarity of a contour power signal. According to the method, the signal current of the contour line can be fed back through the current sensor on the contour line, the gate voltage output by the control unit is dynamically adjusted in a closed loop mode, the voltage is equal to the sum of the gate threshold voltage when the changed switching element is switched on and the voltage reference value of the corresponding time point in the pulse period, and therefore the signal of the contour line can be effectively identified in the whole working area by adjusting the voltage reference value of the gate threshold voltage and the voltage reference value of the corresponding time point in the pulse period in the closed loop mode, and the guidance and the planning and the regulation of the working state of the automatic walking equipment are achieved.
Description
Technical Field
The application relates to the field of garden tools, in particular to a contour signal transmitting circuit, a base station and a contour signal transmitting method thereof.
Background
Automatic walking equipment such as a mowing robot and the like is widely applied to the aspect of home lawn trimming in European and American areas. Currently, most automatic walking devices rely on an electronic contour line to set a working area of the automatic walking device, so that the automatic walking device is limited to work only in the surrounding range of the electronic contour line. The current transmitted in the electronic contour is loaded by the base station. In order to allow the device to recognize and also to prevent external interference, it is necessary to perform processing such as encoding on a signal transmitted from the base station, and to transmit a plurality of pulse signals. Therefore, it is necessary to increase the signal transmission frequency.
The area of the working area of the automatic walking equipment is increased, the required excitation current in the surrounding line of the automatic walking equipment needs to be enhanced, and the power of a base station transmitting signal needs to be increased. However, for signals with relatively high frequency and power, the transmission process of the base station is troublesome in the prior art. In the prior art, a base station needs to use a high-frequency inversion scheme to transmit a higher-frequency and higher-power contour signal, so that the cost is high, the control method is also complex, and the high-frequency inversion scheme is difficult to engineer in the base station in some scenes.
Disclosure of Invention
The utility model provides a to prior art's not enough, provides a contour signal transmitting circuit, basic station and contour signal transmission method thereof, this application realizes the cycle exchange of signal polarity and the amplification adjustment to signal amplitude through H bridge circuit, can directly transmit the contour signal with the help of the amplification of H bridge circuit through the signal that the control unit output, realizes higher frequency, more powerful contour signal output. The technical scheme is specifically adopted in the application.
First, in order to achieve the above object, a contour signal transmitting circuit is provided, which includes: a control unit having a switch control terminal for outputting a switch signal and a voltage output terminal for outputting an amplified signal; the H-bridge circuit comprises an upper bridge switching element and a lower bridge amplifying element, wherein the upper bridge switching element is connected with a switch control end to adjust the polarity of the contour signal according to a switching signal, the lower bridge amplifying element is connected with a voltage output end to adjust the current waveform of the contour signal according to an amplifying signal, and a common end between the upper bridge switching element and the lower bridge amplifying element is connected with the contour to emit the contour signal.
Optionally, the wire signal transmitting circuit is further provided with a current sensor, which is used for sensing a current state of the wire signal and feeding back the current sensing signal to the control unit, and triggering the voltage output end to correspondingly adjust the wire signal current.
Optionally, the contour signal transmitting circuit as described in any of the above, wherein, in the H-bridge circuit: the upper bridge switching element and the lower bridge amplifying element are connected in series to form two groups of driving units, the two groups of driving units are connected in parallel, the switching states of the two groups of driving units are different, and the two groups of driving units are respectively electrically connected with two ends of the contour line.
Optionally, in the above-mentioned contour signal transmitting circuit, the voltage output terminal outputs the amplified signal in each pulse period of the contour signal according to the following steps: determining an amplified signal voltage according to a preset reference voltage value V _ DA _ I _ ref required by correspondingly triggering the signal current of the contour line at different time points in a pulse period, a gate threshold voltage V _ DA _ gs (th) when the lower bridge switching element is switched on and an adjustment incremental value Vd matched with the current sensing signal; taking the amplified signal voltage as the gate voltage of the lower bridge amplifying element at the corresponding time point in the pulse period; and when the lower bridge amplifying element is switched on in the switch state of the drive unit, the lower bridge amplifying element outputs the amplified power signal of the contour line to the contour line according to the gate voltage.
Optionally, in the above contour signal emitting circuit, the gate threshold voltage V _ DA _ gs (th) is determined by the following steps after the emission of each pulse cycle is finished: and under the on-off state of the drive unit of the lower bridge amplification element, gradually increasing and amplifying the signal voltage from 0, and recording the amplified signal voltage when the current sensing signal is detected as the gate threshold voltage V _ DA _ gs (th).
Optionally, in the above-mentioned contour signal transmitting circuit, the upper bridge switching element and the lower bridge amplifying element are both composed of MOSFETs, where the MOSFET of the upper bridge switching element operates in a switching state, and the MOSFET of the lower bridge amplifying element operates in an amplifying state.
Optionally, the contour signal transmitting circuit as described in any of the above, wherein the control unit is at least connected to a digital-to-analog conversion module, a signal output interface, and an analog-to-digital conversion module; the output end of the digital-to-analog conversion module is connected with the MOSFET grid of the lower bridge amplification element to output a gate voltage; the signal output interface is connected with the MOSFET grid of the upper bridge switch element to output a switch signal; the input end of the analog-to-digital conversion module is connected with the current sensor so as to feed back a current sensing signal to the control unit.
Meanwhile, in order to achieve the above object, the present application also provides a base station, which includes the contour signal transmitting circuit as described in any one of the above.
Based on the above scheme, the present application also provides a method for transmitting a contour signal, which is used in the base station as described above, and outputs an amplified signal according to the following steps in each pulse period of the contour signal: determining an amplified signal voltage according to a preset reference voltage value V _ DA _ I _ ref required by correspondingly triggering the signal current of the wire at different time points in a pulse cycle, a gate threshold voltage V _ DA _ gs (th) when the upper bridge switching element is switched on and an adjustment incremental value Vd matched with the current sensing signal; taking the amplified signal voltage as the gate voltage of the lower bridge amplifying element at the corresponding time point in the pulse period; when the lower bridge amplifying element is switched on in the switching state of the drive unit, the amplified contour power signal is output to the contour according to the gate voltage; after each pulse period of the contour signal is finished, the switching states of the two groups of upper bridge switching elements in the H-bridge circuit and the conducting state of the lower bridge amplifying element are respectively switched.
Optionally, in the method for emitting a wire-surrounding signal, the gate threshold voltage V _ DA _ gs (th) is determined by the following steps after the emission of each pulse cycle is finished: and under the on-off state of the drive unit of the lower bridge amplification element, gradually increasing and amplifying the signal voltage from 0, and recording the amplified signal voltage when the current sensing signal is detected as the gate threshold voltage V _ DA _ gs (th).
Optionally, in any one of the above methods for transmitting a contour signal, the adjustment increment value Vd is determined by the following steps: and performing PID calculation on the difference value of the reference current and the actual current of the contour signal induced by the current sensor to obtain the adjustment increment value Vd.
Advantageous effects
The base station outputs a switching signal and an amplifying signal through the control unit, the switching signal controls the on-off of an upper bridge switching element in an H bridge circuit in the base station, and the amplifying signal controls the gate voltage of a lower bridge amplifying element in the H bridge circuit in the base station so as to realize the amplification and polarity conversion of a contour power signal. According to the method, the signal current of the contour line can be fed back through the current sensor on the contour line, the gate voltage output by the control unit is dynamically adjusted in a closed loop mode, the voltage is equal to the sum of the gate threshold voltage when the changed switching element is switched on and the voltage reference value of the corresponding time point in the pulse period, and therefore the signal of the contour line can be effectively identified in the whole working area by adjusting the voltage reference value of the gate threshold voltage and the voltage reference value of the corresponding time point in the pulse period in the closed loop mode, and the guidance and the planning and the regulation of the working state of the automatic walking equipment are achieved.
In the contour signal transmitting circuit, 2 MOSFETs of an upper bridge of an H bridge circuit are arranged in a switch state, and 2 MOSFETs of a lower bridge are arranged in an amplifying state. Therefore, the control unit can directly output the gate voltage through the digital-to-analog conversion module integrated in the control unit to realize the regulation and control of the signal amplification amplitude, and outputs the positive polarity contour signal in the first half period and the negative polarity contour signal in the second half period by matching with the limitation of the MOSFET element on the on-off direction of the current in the upper bridge switch state. Therefore, alternating current signals superposed on the direct current gate voltage can be amplified by the MOSFET and applied to the contour line according to the success rate signals, and the alternating current signals on the gate voltage are controlled in a closed loop mode.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
FIG. 1 is a schematic diagram of a contour signal transmitting circuit of the present application;
fig. 2 is a flowchart of the steps of the contour signal transmission method of the present application.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without inventive effort, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The meaning of "inside and outside" in this application means that the direction from the housing to the internal circuit structure is inside and vice versa with respect to the self-propelled device itself; and not as a specific limitation on the mechanism of the device of the present application.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
Fig. 1 is a contour signal transmitting circuit according to the present application, which is provided in a base station associated with an automatic walking apparatus. The base station is connected with the contour line arranged at the outer peripheral edge of the working area of the automatic walking equipment through a contour line signal transmitting port. The utility model provides a contour signal transmitting circuit passes through H bridge circuit output and has the interchange contour signal of positive and negative polarity, can effectively ensure automatic walking equipment in the whole work area to the received power of contour signal, thereby ensures that automatic walking equipment can accurately discern the corresponding information of contour signal and accurately adjusts its operating condition and orbit.
The utility model provides a contour signal transmission circuit includes:
the control unit can be generally realized by an MCU (microprogrammed control Unit), an IO (input/output) pin of an MCU chip can be used as a switch control end, an output port with controllable output voltage which is integrated in a chip or arranged outside the chip is used as a voltage output end, so that a switch signal is output through the switch control end, and an amplified signal is output through the voltage output end;
the H-bridge circuit comprises an upper bridge switch element and a lower bridge amplifying element, wherein the upper bridge switch element is connected with a switch control end to adjust the polarity of the contour signal according to a switch signal, the lower bridge amplifying element is connected with a voltage output end to adjust the contour signal current waveform according to an amplified signal, and a common end between the upper bridge switch element and the lower bridge amplifying element is connected with the contour to transmit the contour signal for receiving and identifying the contour signal by automatic walking equipment.
The circuit works in the following way in each pulse period of the contour signal:
determining an amplified signal voltage according to a preset reference voltage value V _ DA _ I _ ref required by correspondingly triggering the signal current of the wire at different time points in a pulse cycle, a gate threshold voltage V _ DA _ gs (th) when the upper bridge switching element is switched on and an adjustment incremental value Vd matched with the current sensing signal;
taking the amplified signal voltage as the gate voltage of the lower bridge amplifying element at the corresponding time point in the pulse period;
when the switch state of the drive unit of the lower bridge amplifying element is conducted, the amplified power signal of the contour line is output to the contour line according to the gate voltage;
after the emission of each pulse period of the contour signal is finished, the switching states of two groups of upper bridge switching elements and the conducting state of a lower bridge amplifying element in the H bridge circuit are respectively switched to realize the polarity switching of the contour signal, the processes are repeated, and the emission of the contour signal in the whole signal period is completed in the same mode.
Therefore, the amplification and polarity conversion of the power signals of the peripheral wires can be realized directly through the MCU controller, the H-bridge circuit and limited peripheral circuit devices. The amplification gain of the contour signal can be realized by dynamically adjusting the voltage of the gate electrode. The method and the device can realize the contour signal output close to a complex high-frequency inversion scheme in the prior art through a simple circuit structure. Due to the fact that circuit devices and connection modes are simple, the method is suitable for most working scenes, hardware cost of the contour signal output circuit can be effectively saved, complexity of an algorithm of a base station control module is simplified, and engineering implementation is facilitated.
And considering different lengths of the contour lines, the transmission power losses of the contour line signals are different under different arrangement modes. Therefore, in order to ensure the receiving and identifying effects of the automatic walking equipment on the contour signals within the range of the contour, the current sensor can be preferably additionally arranged on the contour. The current sensor can be directly connected in series in the electric path of the contour, and the signal output end of the current sensor is connected with a corresponding signal receiving port in the MCU controller or the control unit. Therefore, the current sensor can directly sense the current state of the contour signal, feed back the current sensing signal to the control unit in real time, represent the actual emission signal size of the contour through the current sensing signal, and accordingly trigger the voltage output end of the base station to correspondingly adjust the contour signal output size when the contour current is too large or too small, so that closed-loop dynamic adjustment of the contour signal is achieved, and the receiving effect of the automatic walking equipment on the contour signal is guaranteed.
A typical H-bridge circuit suitable for the present application is provided on the right side of fig. 1. In the circuit, the upper bridge switching element and the lower bridge amplifying element are both composed of MOSFETs, wherein the MOSFETs of the upper bridge switching element work in a switching state, the MOSFETs of the lower bridge amplifying element work in an amplifying state, the upper bridge switching element and the lower bridge amplifying element are connected in series in a crossed manner through a contour circuit to form two groups of driving units Q1A-Q2B and Q2A-Q1B, the two groups of driving units are connected in parallel on an output port of an MCU controller, the output signals of the MCU controller are used for setting the switching states of the two groups of driving units to be different, and the two groups of driving units are respectively electrically connected with two ends of the contour to form a signal path.
In the above circuit, the transmission process of the contour signal can be performed in a manner as shown in fig. 2:
firstly, gradually increasing and amplifying signal voltage from 0 under the on-off state of a drive unit to which a lower bridge amplifying element belongs, and recording the amplified signal voltage when a current sensing signal is detected as the gate threshold voltage V _ DA _ gs (th);
then, in a pulse period, for example, in a positive half period of the ambient signal, sequentially determining an amplified signal voltage = V _ DA _ I _ ref + V _ DA _ gs (th) + Vd according to a preset reference voltage value V _ DA _ I _ ref required for correspondingly triggering the ambient signal current at different time points in the pulse period, a gate threshold voltage V _ DA _ gs (th) when the upper bridge switching element is turned on, and an adjustment incremental value Vd matched with the current sensing signal, so that the amplified signal voltage is used as the gate voltage of the lower bridge amplifying element at the corresponding time point in the pulse period, and the amplified ambient power signal is output to the ambient according to the gate voltage when the lower bridge amplifying element in the H-bridge circuit is turned on in the switching state of the driving unit;
after one pulse period of the ambient line signal is transmitted, switching the switching states of two groups of upper bridge switching elements and the conducting state of a lower bridge amplifying element in the H bridge circuit, and repeating the ambient line signal output process in the previous step by using the other group of conducting elements to realize the next pulse period of the ambient line signal, namely, the power output corresponding to the other negative half period of the ambient line signal;
after the whole period of the wire signal is finished, the MCU controller amplifies the signal voltage step by step from 0 again under the on-off state of the drive unit to which the lower bridge amplification element belongs, and updates the gate threshold voltage V _ DA _ gs (th) for the power output of the next wire signal period.
In the above process, considering that power losses caused by different cable arrangement conditions are different, the increment value Vd of the amplified signal in a signal period may be dynamically adjusted specifically as follows: and performing PID calculation on the difference (I _ ref-I _ AD) between the reference value I _ ref of the corresponding trigger contour current and the actual current I _ AD of the contour signal sensed by the current sensor at different time points in the pulse period to obtain the adjustment incremental value Vd matched with the current power loss. The reference value I _ ref of the current may be set to a preset fixed total current that can ensure that the wire signal can be accurately received by the automatic walking device. Therefore, PID adjustment is carried out on the increment value of the amplified signal by taking the reference current as a reference, the transmitting power of the contour signal can be effectively maintained within a reasonable range, and the identification effect of the automatic walking equipment on the adjusted contour signal is ensured.
In order to further simplify the contour signal transmitting circuit, the method of fig. 1 can be adopted in some implementation modes, and the MCU controller with 2 paths of DAC and 1 path of ADC functions is selected as the control unit, so that the signal output control of the H-bridge circuit is provided by an independent DAC chip module and an ADC chip module which are arranged outside the chip of the control unit. In an H-bridge circuit connected with the MCU controller, an upper bridge switching element and a lower bridge amplifying element can both consist of MOSFETs, wherein the MOSFETs of the upper bridge switching element work in a switching state, and the MOSFETs of the lower bridge amplifying element work in an amplifying state. In the implementation mode, the DAC of the MCU controller is used for providing driving voltages of two paths of the Q1B and the Q2B MOSET to enable the driving voltages to work in an amplifying state, the driving voltages comprise direct-current gate voltage and alternating-current pulse voltage components, wherein the direct-current gate voltage value is equal to the MOSFET gate threshold voltage value, and the alternating-current pulse voltage components are determined according to preset reference voltage values V _ DA _ I _ ref required by corresponding trigger contour signal currents at different time points in a pulse period to achieve output of different signal magnitudes at the time points in the pulse period. Since the gate threshold voltage of the MOSFET is not a fixed value, which is influenced by ambient temperature, current, etc., the dc gate voltage output by the DAC can be dynamically adjusted after each pulse signal period is completed. The ADC is used for connecting the current sensor to acquire the current in the contour line so as to realize dynamic closed-loop adjustment of direct-current gate voltage and closed-loop control of alternating-current voltage.
The H-bridge circuit on the right side of fig. 1, for the generation of the contour current: wherein 2 upper bridge MOSFETs receive 2 IO control of MCU, work in the on off state, and 2 MOSFETs of lower bridge receive 2 DAC output voltage control of MCU, work in the enlarged state. A group of Q1A and Q2B is conducted at the same time, Q2A and Q1B are closed, and a positive half-cycle polarity signal can be output; and a group of Q2A and Q1B is simultaneously conducted, and Q1A and Q2B are closed, so that a negative half-cycle polarity signal can be output. The two groups are alternately conducted to form bipolar signals on the contour. The current sensor connected with the ADC port in the MCU can adopt a Hall current sensor and is used for collecting the current in the contour, and the collected real-time current signal is transmitted to the on-chip ADC of the MCU for gate threshold voltage calculation and closed-loop control of contour current peak value constancy. A contour line connected between the upper bridge element and the lower bridge element of the H-bridge circuit is used as a carrier of the lower bridge for amplifying an output current signal, can radiate electromagnetic waves outwards and is used for delineating a working area of the mowing robot.
Therefore, in this implementation, the base station of the present application needs to calculate the MOSFET gate threshold voltage matching the current ambient temperature and current factor in each cycle before the ac pulse starts. In the MOSFET gate threshold voltage matching process, the DC voltage value output by the DA needs to be gradually increased, and when the MOS is just enabled to be switched on, namely the current in the contour line can be just collected through the current sensor, the DC voltage value output by the DA is equal to the gate threshold voltage of the MOSFET. Since the environmental factor and the current factor are different in each period, the application preferably recalculates the dc gate voltage value of DA at the beginning of each period, so that the MCU can quickly adjust the dc gate voltage output by DA when the gate threshold voltage of the MOSFET changes due to environmental factors.
After the gate threshold voltage of the MOSFET is calculated, the wire signal pulse emission of the period can be started: the pulse current waveform of the contour signal may be stored in advance in the RAM of the MCU in the form of a data table. Each element of the data table represents a current reference value at a time point in the pulse period. And 2 DACs of the MCU respectively output corresponding analog voltages according to digital voltage values of corresponding time points in the data table, so that the DAC pins corresponding to the current time output controlled alternating current signals one by one according to the time sequence of the data table, and the signals can contain alternating current and direct current offset components to provide signal amplification gains. Meanwhile, the ADC acquires the actual current in the contour at the corresponding moment through the current sensor, the difference value of the reference current and the actual current is sent to the PID for calculation, the increment value required to be adjusted by the DAC output is calculated, and the increment value is superposed on the corresponding reference value, so that the power loss compensation of the contour is realized. The increment value determined by the PID calculation can be positive or negative so as to reduce the amplification gain when the power of the contour signal is too high to avoid the distortion of the received signal at the receiving end of the automatic walking device, or increase the amplification gain when the power of the contour signal is too low so as to automatically walk to receive the contour signal. The method and the device can effectively improve the response speed of signal regulation through simple differential operation of the PID algorithm, so that the value of the contour current approaches to a preset value as soon as possible. According to the method and the device, PID closed-loop control is realized through the current sensor and the ADC, the current in the contour line can be guaranteed not to be influenced by the length of the contour line, and therefore the recognition effect of the automatic walking device on the contour line signal is effectively guaranteed.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (10)
1. A contour signal transmitting circuit, comprising:
the control unit is provided with a switch control end and a voltage output end, wherein the switch control end is used for outputting a switch signal, and the voltage output end is used for outputting an amplified signal;
the H-bridge circuit comprises an upper bridge switching element and a lower bridge amplifying element, wherein the upper bridge switching element is connected with a switch control end to adjust the polarity of the contour signal according to a switching signal, the lower bridge amplifying element is connected with a voltage output end to adjust the current waveform of the contour signal according to an amplifying signal, and a common end between the upper bridge switching element and the lower bridge amplifying element is connected with the contour to emit the contour signal.
2. The wire signal transmitting circuit of claim 1, wherein a current sensor is further disposed on the wire for sensing a current state of the wire signal and feeding back the current sensing signal to the control unit, and the trigger voltage output terminal adjusts the wire signal current accordingly.
3. The contour signal transmitting circuit according to claim 2, wherein in the H-bridge circuit: the upper bridge switching element and the lower bridge amplifying element are connected in series to form two groups of driving units, the two groups of driving units are connected in parallel, the switching states of the two groups of driving units are different, and the two groups of driving units are respectively electrically connected with two ends of the contour line.
4. The contour signal transmitting circuit according to claim 3, wherein the voltage output terminal outputs the amplified signal in each pulse period of the contour signal according to the following steps, respectively:
determining an amplified signal voltage according to a preset reference voltage value V _ DA _ I _ ref required by correspondingly triggering the signal current of the contour line at different time points in a pulse period, a gate threshold voltage V _ DA _ gs (th) when the lower bridge switching element is switched on and an adjustment incremental value Vd matched with the current sensing signal;
taking the amplified signal voltage as the gate voltage of the lower bridge amplifying element at the corresponding time point in the pulse period;
and when the lower bridge amplifying element is switched on in the switching state of the driving unit, the amplified contour power signal is output to the contour according to the gate voltage.
5. The contour signal emitting circuit according to claim 4, wherein said gate threshold voltage V _ DA _ gs (th) is determined after the end of each pulse period emission by:
and under the on-off state of the drive unit of the lower bridge amplification element, gradually increasing and amplifying the signal voltage from 0, and recording the amplified signal voltage when the current sensing signal is detected as the gate threshold voltage V _ DA _ gs (th).
6. The contour signal transmitting circuit according to claim 5, wherein said control unit is connected with at least a digital-to-analog conversion module, a signal output interface and an analog-to-digital conversion module;
the output end of the digital-to-analog conversion module is connected with the MOSFET grid of the lower bridge amplification element to output gate voltage;
the signal output interface is connected with the MOSFET grid of the upper bridge switch element to output a switch signal;
the input end of the analog-to-digital conversion module is connected with the current sensor so as to feed back a current sensing signal to the control unit.
7. A base station comprising the contour signal transmitting circuit as claimed in any one of claims 1 to 6.
8. A contour signal transmission method for a base station according to claim 7, characterized in that the amplified signals are outputted in each pulse period of the contour signal in accordance with the following steps, respectively:
determining an amplified signal voltage according to a preset reference voltage value V _ DA _ I _ ref required by correspondingly triggering the signal current of the wire at different time points in a pulse cycle, a gate threshold voltage V _ DA _ gs (th) when the upper bridge switching element is switched on and an adjustment incremental value Vd matched with the current sensing signal;
taking the amplified signal voltage as the gate voltage of the lower bridge amplifying element at the corresponding time point in the pulse period;
when the lower bridge amplifying element is switched on in the switching state of the drive unit, the amplified power signal of the contour line is output to the contour line according to the gate voltage;
after each pulse period of the contour signal is transmitted, the switching states of two groups of upper bridge switching elements and the conducting state of a lower bridge amplifying element in the H-bridge circuit are switched respectively.
9. The method of claim 8, wherein the gate threshold voltage V _ DA _ gs (th) is determined by the following steps after each pulse period is finished:
and under the on-off state of the drive unit of the lower bridge amplification element, gradually increasing and amplifying the signal voltage from 0, and recording the amplified signal voltage when the current sensing signal is detected as the gate threshold voltage V _ DA _ gs (th).
10. The contour signal transmission method according to claim 8, wherein said adjustment increment value Vd is determined by: and performing PID calculation on the difference value between the reference current and the actual current of the contour signal sensed by the current sensor to obtain the adjustment incremental value Vd.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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