CN108448999A - A kind of driving control system for servo motor - Google Patents
A kind of driving control system for servo motor Download PDFInfo
- Publication number
- CN108448999A CN108448999A CN201810250083.8A CN201810250083A CN108448999A CN 108448999 A CN108448999 A CN 108448999A CN 201810250083 A CN201810250083 A CN 201810250083A CN 108448999 A CN108448999 A CN 108448999A
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- servo motor
- servo
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- power
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
- Control Of Ac Motors In General (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention discloses a kind of driving control system for servo motor, the controller output end of servo drive circuit input terminal and servo motor connects, the output end of servo drive circuit connects the signal input part of a servo-driver, the power input of servo-driver connects a three-phase alternating-current supply, and the power output end of servo drive circuit connects servo motor power supply input terminal；Three inverter circuit power inputs are connected to a capacitance both ends, the power input of the power output end connection servo motor of inverter circuit；Inverse changing driving circuit input terminal connects the output end of controller, the control terminal of the output end connection inverter circuit of inverse changing driving circuit；Standard drive signal generator is connected to the input terminal of controller；Comparison module is connect with controller；Wherein, according to the comparison result of comparison module, the power input of three-phase alternating-current supply or inverter circuit and servo motor is connected.The present invention solves the technical issues of can not being accurately controlled to servo motor.
Description
Technical field
The present invention relates to serve motor control technology fields, and in particular to a kind of drive control system for servo motor
System.
Background technology
The prior art is in the control of servo motor, and generally use closed-loop current control ring is controlled, but this
In control mode, the motor because caused by changing servo motor inherent parameters is not eliminated in advance and exports difference, causes servo electric
The control accuracy of machine declines, and the inherent parameters variation of servo motor includes servo motor parameter perturbation, the change of motor frictional resistance
Electric current output interference caused by the factors such as change, the variation of rotator inertia, current sensor noise, in addition supply voltage is unstable
It can cause the decline of Serve Motor Control precision.
Therefore, the fluctuation pair that the motor because caused by changing servo motor inherent parameters exports difference and input power is eliminated
Accurately controlling for servo motor is most important.
Invention content
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
The object of the present invention is to provide a kind of driving control systems for servo motor, and effectively disappear input three-phase alternating current
The voltage fluctuation in source is influenced caused by Serve Motor Control, and essence is carried out to servo motor by switching the power supply of servo motor
Really control, solves the technical issues of can not being accurately controlled to servo motor.
In order to realize these purposes according to the present invention and other advantages, a kind of driving control for servo motor is provided
System processed, including：
The controller output end of servo drive circuit, input terminal and servo motor connects, and the controller passes through a detection electricity
Road acquires the output electric signal of the servo motor, and the output end of the servo drive circuit connects the signal of a servo-driver
The power input of input terminal, the servo-driver connects a three-phase alternating-current supply, and the power supply of the servo drive circuit is defeated
Outlet connects servo motor power supply input terminal；
Three inverter circuits, power input are connected to a capacitance both ends, and the capacitance is arranged in a rechargeable battery pack
The input terminal at both ends, the battery pack is connected to by a charger on a power supply, and the power output end of the inverter circuit connects
Connect the power input of servo motor；
Inverse changing driving circuit, input terminal connect the output end of the controller, the output end connection of the inverse changing driving circuit
The control terminal of the inverter circuit；
Standard drive signal generator is connected to the input terminal of the controller, for generating standard drive signal voltage；With
And
Comparison module is connect with the controller, the comparison module be used to generate the input voltage of three-phase alternating-current supply with
Difference signal between standard drive signal voltage；
Wherein, it is selectively watched with described according to the comparison result of the comparison module, the three-phase alternating-current supply or inverter circuit
Take the power input connection of motor.
Preferably, the end of charge voltage value of the battery pack is times of servo motor rated voltage；The capacitance setting
Between the battery pack output positive and negative charge.
Preferably, the output first end of three inverter circuits connects altogether.
Preferably, the output second of the output first end connection third inverter circuit of first inverter circuit
It holds, the output first end of second inverter circuit connects the output second end of first inverter circuit, third institute
The output first end for stating inverter circuit connects the output second end of second inverter circuit.
Preferably, the voltage phase sequence in the output second end of three inverter circuits differs 120 °, three inversions
The output second end of circuit connects the power input of the servo motor by first switch S1.
Preferably, the power output end of the servo-driver connects the power supply of the servo motor by second switch S2
Input terminal, the first switch S1 and second switch S2 are controllable switch, and are connect respectively with the controller.
Preferably, the power input of servo motor is connect by initial time with the servo-driver, when measuring three
When at least phase input phase voltage is more than setting voltage range in phase AC power, then by the three-phase alternating-current supply from power supply
It is cut off in circuit, the output second end of three inverter circuits is connected to the power end of servo motor, until three-phase alternating current
When the phase voltage of power supply meets the setting range again, three inverter circuits are cut off from supply line, by servo
The power input of motor is connect with three-phase alternating-current supply again.
Preferably, the output end of the servo drive circuit is connect by the first D/A conversion module with servo-driver, institute
Inverse changing driving circuit is stated to connect with inverter circuit by the second D/A conversion module.
Preferably, the detection circuit output end also sets up an AD conversion module, and the output end of the AD conversion module is set
A compensator is set, the output end of the compensator connects the signal input part of the servo drive circuit.
Preferably, the battery pack and capacitance respectively there are three, each battery pack passes through a charger respectively
It is connected on power supply, each described capacitance is correspondingly connected with an inverter circuit.
Compared with prior art, the advantageous effect that the present invention includes is：
1, the present invention is influenced to eliminate voltage fluctuation caused by Serve Motor Control by stablizing input power, is effectively increased
To the control accuracy of servo motor；
2, it is used as the temporary source of servo motor by a source of stable pressure, to eliminate shadow of the grid disturbance to Serve Motor Control
It rings.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the schematic diagram of circuit connection structure of the present invention；
Fig. 2 is the principle of the present invention schematic diagram；
Fig. 3 is schematic diagram of circuit connection structure in another embodiment.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to comment
It can implement according to this.
As shown in Figs. 1-2, the present invention provides a kind of driving control systems for servo motor, wherein：
The input terminal of servo drive circuit 100 is connect with 800 output end of controller of servo motor 400, and the controller 800 is logical
It crosses a detection circuit 500 and acquires the output electric signal of the servo motor 400, and feed back in controller 800, it is specific to acquire
Each phase voltage of servo motor stator, electric current and phase.
The output end of the servo drive circuit 100 connects the signal input part of a servo-driver 300, and the servo is driven
The power input of dynamic device 300 connects a three-phase alternating-current supply 700, the power output end connection of the servo drive circuit 100
400 power input of servo motor.
Under normal condition, the power input of servo motor 400 is connect with the servo-driver 300, passes through three-phase
AC power 700 is powered for servo motor 400, driving servo motor operating.
The power input of three inverter circuits 11,12,13 is connected to the both ends capacitance C, and the capacitance C settings can one
The input terminal at the both ends of rechargeable battery set 10, the battery pack 10 is connected to by a charger on a power supply, which can be
It is the three-phase alternating-current supply 700, can also be other power supplys, the power output end of the inverter circuit connects servo motor
400 power input.
Specifically, the end of charge voltage value of the battery pack 10 is times of 400 rated voltage of servo motor, by the battery
The input terminal of group is connected to by a charger on a power supply so that battery pack both end voltage is maintained at servo motor rated voltage
Times, and be provided with a capacitance between the battery pack output positive and negative charge, voltage and the battery pack two at the capacitance both ends
Terminal voltage is consistent, that is, servo motor rated voltage times, using capacitance C both end voltages as the voltage stabilizing of inverter circuit
Power supply passes through inverse changing driving circuit so that and the output voltage of inverter circuit is consistent with standard drive signal voltage, so as to
Servo motor is accurately controlled, that is, the capacitance also functions to the effect of stable battery pack output voltage, works as three-phase alternating current
When supply voltage is unstable, you can switching inverter circuit is powered servo motor, to eliminate the fluctuation of three-phase alternating-current supply
Harmful effect is caused to Serve Motor Control.
The input terminal of inverse changing driving circuit 900 connects the output end of the controller 800, the inverse changing driving circuit 900
Output end connect the control terminal of the inverter circuit, controller 800 controls inverter circuit by inverse changing driving circuit 900
Output voltage, to the operation of control servomotor.
Inverter circuit 11,12,13 there are three being respectively set at the both ends of the capacitance C, inverter circuit is using single-phase
Inverter circuit, inverter circuit control terminal connect servomotor controller by inverse changing driving circuit 900, while described inverse by three
The output first end for becoming circuit connects altogether, that is to say to form " star connects " structure, as shown in Figure 1.
In another embodiment, by the output first end connection third inversion electricity of first inverter circuit 11
The output second end on road 13, the output first end of second inverter circuit 12 connect the defeated of first inverter circuit 11
The output first end for going out second end, the third inverter circuit 13 connects the output second of second inverter circuit 12
End, that is, " corner connection " structure is formed, it is not shown in figure.
The connection type of three inverter circuits can be selected according to the connection of servo motor stator and rated voltage.
The voltage phase sequence difference in the output second end of inverter circuit described in each two is controlled by servomotor controller
120 °, a synthesis three-phase alternating current source is formed by individually controlling each inverter circuit, and synthesis three-phase alternating current source can be changed
Phase sequence, amplitude, phase, when three-phase alternating-current supply voltage fluctuation goes beyond the scope, you can will synthesis three-phase alternating current source as watching
The driving power for taking motor drives servo motor by inverse changing driving circuit.Because it is steady to synthesize three-phase alternating current source
The both ends of fixed capacitance C are stably held in as DC inverter, the both end voltage of capacitance C by battery pack 10 and charger
Times of servo motor rated voltage, battery pack 10 is being maintained at floating charge state by charger, ensure that battery pack and capacitance two
The stabilization of terminal voltage adjusts voltage swing, waveform and the phase in synthesis three-phase alternating current source by mouth control inverse changing driving circuit,
When switching and merging three-phase alternating current source is as servo motor driving power in short-term, servo motor can be precisely controlled, to disappear
It is influenced caused by being operated on servo motor except three-phase alternating-current supply fluctuation.
Standard drive signal generator is connected to the input terminal of the controller 800, is used to provide one for servo motor
The drive signal of standard, controller is operated according to the standard drive signal come control servomotor, when the control journey of servo motor
After sequence is set, which can determine, that is, generate standard drive signal voltage.
Comparison module is connect with the controller 800, and the comparison module is used to generate the input of three-phase alternating-current supply 700
Difference signal between voltage and standard drive signal voltage, it is every when three-phase alternating-current supply according to requiring setting voltage range
When phase voltage is stablized in corresponding voltage range, then powered to servo motor by three-phase alternating-current supply, otherwise, as long as wherein
When having any one phase voltage to exceed voltage range, three-phase alternating-current supply is replaced into as the drive of servo motor in synthesis three-phase alternating current source
Dynamic power supply, to ensure to accurately control servo motor.
Specifically, the output second end of three inverter circuits passes through the first switch S1 connections servo motor 400
Power input.The power output end of the servo-driver 300 connects the servo motor 400 by second switch S2
Power input, the first switch S1 and second switch S2 are controllable switch, and are connect respectively with the controller 800, are controlled
First switch S1 processed is closed, when second switch S2 is cut-off, you can powered to servo motor by synthesizing three-phase alternating current source, it is on the contrary then
It is powered to servo motor by three-phase alternating-current supply, by controlling first switch S1 and second switch S2 come the electricity to servo motor
Source switches over.
The output end of the servo drive circuit 100 is connect by the first D/A conversion module 210 with servo-driver 300,
The inverse changing driving circuit 900 is connect by the second D/A conversion module 220 with inverter circuit.500 output end of the detection circuit
An AD conversion module 600 is also set up, a compensator 610, the compensator 610 is arranged in the output end of the AD conversion module 600
Output end connect the signal input part of the servo drive circuit 100.
The power input of servo motor 400 is connect by initial time with the servo-driver 300, passes through three intersections
Galvanic electricity source is servo motor power supply, driving servo motor operating, and passes through the servo motor 400 in real time of detection circuit 500
Electric signal is exported, and is fed back in controller 800, it is specific to acquire each phase voltage of 400 stator of servo motor, electric current and phase.
Specifically, standard drive signal u of the controller according to servo motor, generates a corresponding current controling signal, it should
Current controling signal is denoted as expectation electric current i1, by current closed-loop mode come the operation of control servomotor.Expectation electric current i1By
After the processing of servo drive circuit 100, corresponding drive signal is generated, the first D/A conversion module 210 is sent to, turned by the first DA
Mold changing block 210 is converted into corresponding simulation controlled quentity controlled variable, is sent to servo-driver 300, and servo-driver 300, which corresponds to, generates a drive
Streaming current, driving servo motor operating.
The electric signal of the acquisition servo motor in real time of detection circuit 500, feeds back in controller 800, and by each phase stator
Actual current signal i2, it is sent to AD conversion module 600 and carries out analog-to-digital conversion, generates an actual current digital signal i3, and transmit
Into compensator 610, compensator 610 is according to comparison actual current digital signal i3With expectation electric current i1Between difference, generate one
Corresponding compensating current signal ie, with expectation electric current i1The signal input part for feeding back to servo-drive electronic 100 together, to eliminate
The operation deviation of servo motor, reaches and accurately controls.
During control servomotor is run, the three-phase input phase voltage and phase current of servo motor are acquired in real time,
The namely phase voltage and phase current of three-phase alternating-current supply 700 is inputted when measuring an at least phase in three-phase alternating-current supply 700
When phase voltage is more than setting voltage range, the setting voltage range of phase voltage can be standard drive signal voltage ± 5%, then
The three-phase alternating-current supply 700 is cut off from supply line, disconnects S2, S1 is closed, by the output of three inverter circuits
Second end is connected to the power end of servo motor 400, and controller drives letter according to the standard that standard drive signal generator provides
Number u generates corresponding control signal w, and control signal w is transferred into inverse changing driving circuit 900, generates three inversion electricity of correspondence
The drive signal on road changes into corresponding analog signal by the second D/A conversion module 220, corresponding to control inverter circuit output
Driving power, that is, synthesis three-phase alternating current source, driving servo motor operating.
Because synthesizing the both ends for the capacitance C that three-phase alternating current source is stabilization as DC inverter, the both end voltage of capacitance C
It is stably held in times of servo motor rated voltage by battery pack 10 and charger, therefore ensure that synthesis three-phase alternating current source is steady
It is fixed, and keep consistent with standard drive signal, servo motor can be precisely controlled as a result, to eliminate three-phase alternating-current supply
Fluctuation influences caused by being operated on servo motor.
When the phase voltage of three-phase alternating-current supply 700 meets the setting range again, by three inverter circuits
It is cut off from supply line, the power input of servo motor 400 is connect with three-phase alternating-current supply 700 again, passes through three-phase
AC power 700 is powered for servo motor, if three-phase alternating-current supply 700 is chronically at the state of fluctuating widely, can be passed through
It is provided on servo motor again after one AC voltage regulator voltage stabilizing, otherwise battery pack is chronically at charging and discharging state, influences to use the longevity
Life, and under long-term work state, largely fever energy consumption can be caused to improve.
In another embodiment, as shown in figure 3, the battery pack 10 and capacitance C respectively there are three, each battery pack
10 are connected to by a charger on power supply respectively, each described capacitance C is correspondingly connected with an inverter circuit, improves
The capacity of battery pack so that the work of three inverter circuits is independent of each other, and improves the stability of output voltage, further increases and watch
Take the control accuracy of motor.
From the above mentioned, servo motor driving control system of the invention drives according to three-phase alternating-current supply voltage and standard
The comparison result of signal corresponding voltage is powered servo motor 400 to switch three-phase alternating-current supply 700 or inverter circuit,
It is influenced caused by eliminating the unstable operation on servo motor of three-phase alternating-current supply, effectively increases the control to servo motor 400
Precision；Meanwhile being used as the temporary source of servo motor by a source of stable pressure, a standard driving voltages are provided for servo motor,
To eliminate influence of the grid disturbance to Serve Motor Control, the control accuracy to servo motor is further improved.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easy
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of driving control system for servo motor, which is characterized in that including：
The controller output end of servo drive circuit, input terminal and servo motor connects, and the controller passes through a detection electricity
Road acquires the output electric signal of the servo motor, and the output end of the servo drive circuit connects the signal of a servo-driver
The power input of input terminal, the servo-driver connects a three-phase alternating-current supply, and the power supply of the servo drive circuit is defeated
Outlet connects servo motor power supply input terminal；
Three inverter circuits, power input are connected to a capacitance both ends, and the capacitance is arranged in a rechargeable battery pack
The input terminal at both ends, the battery pack is connected to by a charger on a power supply, and the power output end of the inverter circuit connects
Connect the power input of servo motor；
Inverse changing driving circuit, input terminal connect the output end of the controller, the output end connection of the inverse changing driving circuit
The control terminal of the inverter circuit；
Standard drive signal generator is connected to the input terminal of the controller, for generating standard drive signal voltage；With
And
Comparison module is connect with the controller, the comparison module be used to generate the input voltage of three-phase alternating-current supply with
Difference signal between standard drive signal voltage；
Wherein, it is selectively watched with described according to the comparison result of the comparison module, the three-phase alternating-current supply or inverter circuit
Take the power input connection of motor.
2. being used for the driving control system of servo motor as described in claim 1, which is characterized in that the charging of the battery pack
Final voltage value is times of servo motor rated voltage；The capacitance is arranged between the battery pack output positive and negative charge.
3. being used for the driving control system of servo motor as claimed in claim 2, which is characterized in that three inverter circuits
Output first end connect altogether.
4. being used for the driving control system of servo motor as claimed in claim 2, which is characterized in that first inversion electricity
The output first of the output second end of the output first end connection third inverter circuit on road, second inverter circuit
The output second end of first inverter circuit of end connection, the output first end of the third inverter circuit connect second
The output second end of the inverter circuit.
5. the driving control system for servo motor as claimed in claims 3 and 4, which is characterized in that three inversions
Voltage phase sequence in the output second end of circuit differs 120 °, and the output second end of three inverter circuits passes through first switch
S1 connects the power input of the servo motor.
6. being used for the driving control system of servo motor as claimed in claim 5, which is characterized in that the servo-driver
Power output end connects the power input of the servo motor, the first switch S1 and second switch by second switch S2
S2 is controllable switch, and is connect respectively with the controller.
7. being used for the driving control system of servo motor as claimed in claim 6, which is characterized in that initial time, by servo
The power input of motor is connect with the servo-driver, and when measuring in three-phase alternating-current supply, at least a phase the input phase is electric
When pressure is more than setting voltage range, then the three-phase alternating-current supply is cut off from supply line, by three inverter circuits
Output second end be connected to the power end of servo motor, until the phase voltage of three-phase alternating-current supply meets the setting model again
When enclosing, three inverter circuits are cut off from supply line, by the power input of servo motor again with three-phase alternating current
Power supply connects.
8. being used for the driving control system of servo motor as claimed in claim 7, which is characterized in that the servo drive circuit
Output end connect with servo-driver by the first D/A conversion module, the inverse changing driving circuit passes through the second D/A conversion module
It is connect with inverter circuit.
9. being used for the driving control system of servo motor as claimed in claim 8, which is characterized in that the detection circuit output
End also sets up an AD conversion module, and a compensator is arranged in the output end of the AD conversion module, and the output end of the compensator connects
Connect the signal input part of the servo drive circuit.
10. being used for the driving control system of servo motor as described in claim 1, which is characterized in that the battery pack and electricity
Hold respectively there are three, each battery pack is connected to by a charger on power supply respectively, each described capacitance pair
An inverter circuit should be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810250083.8A CN108448999B (en) | 2018-03-26 | 2018-03-26 | Drive control system for servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810250083.8A CN108448999B (en) | 2018-03-26 | 2018-03-26 | Drive control system for servo motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108448999A true CN108448999A (en) | 2018-08-24 |
| CN108448999B CN108448999B (en) | 2020-06-12 |
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ID=63196515
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810250083.8A Active CN108448999B (en) | 2018-03-26 | 2018-03-26 | Drive control system for servo motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109371557A (en) * | 2018-11-21 | 2019-02-22 | 杭州之山智控技术有限公司 | Straight-bar machines plays plate control system and its method |
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| CN201113483Y (en) * | 2007-08-17 | 2008-09-10 | 李彪 | Frequency converter standby electric power supply system |
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| CN109371557B (en) * | 2018-11-21 | 2024-02-20 | 杭州之山智控技术有限公司 | Flat knitting machine lifting plate control system and method thereof |
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| CN108448999B (en) | 2020-06-12 |
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Address after: 314001 Floor 3, Building 6, Science Park, Shanghai Jiaotong University (Jiaxing), 228 Hongye Road, Xiuzhou Industrial Zone, Jiaxing City, Zhejiang Province Applicant after: Zhejiang Deou Electric Technology Co., Ltd Address before: 314001 Floor 3, Building 6, Science Park, Shanghai Jiaotong University (Jiaxing), 228 Hongye Road, Xiuzhou Industrial Zone, Jiaxing City, Zhejiang Province Applicant before: ZHEJIANG DEALOUR ELECTRIC TECHNOLOGY Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |