CN109067262A - A kind of motor driver, driving method and fork truck - Google Patents
A kind of motor driver, driving method and fork truck Download PDFInfo
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- CN109067262A CN109067262A CN201811057962.5A CN201811057962A CN109067262A CN 109067262 A CN109067262 A CN 109067262A CN 201811057962 A CN201811057962 A CN 201811057962A CN 109067262 A CN109067262 A CN 109067262A
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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Abstract
The embodiment of the invention discloses a kind of motor driver, driving method and fork trucks.The motor driver includes processing unit, power source bus, running motor driving unit and steering motor driving unit；Running motor driving unit is used for the running signal according to processing unit, turn-on power bus and running motor, to control running motor operating；Steering motor driving unit is used for the turn signal according to processing unit, turn-on power bus and steering motor, to control steering motor operating.The technical solution of the embodiment of the present invention, running motor driving unit and steering motor driving unit are controlled simultaneously by a processing unit, realize the integrated design of traveling driver and directional drive, effectively reduce the volume of driver, the delay eliminating control running motor and being communicated when steering motor, power source bus is shared by running motor and steering motor, can effectively reduce the cost, simplify wiring, effectively improve the reliability of motor driver.
Description
Technical field
The present embodiments relate to control technology more particularly to a kind of motor drivers, driving method and fork truck.
Background technique
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to and be equipped with
Electricity magnetically or optically waits homing guidances device, it can be travelled along defined guide path, has safeguard protection and various transfers
The transport vehicle of function, AGV belong to the scope of wheeled mobile robot (WMR-Wheeled Mobile Robot).
In existing AGV system (such as automatic guidance fork truck), generallys use master system and controlled respectively by bus
Driver and directional drive are travelled, realizes traveling and course changing control to driving wheel；Travel driver and directional drive it
Between using bus or I/O interface realize that state transfer and interlocking just will appear delay due to travelling and turning to control respectively；And
And it travels both driver and directional drive and is connect respectively with running motor and steering motor, it is also necessary to it is connect with host computer,
So that fork truck back panel wiring is cumbersome, complicated, driver size itself, occupies larger solid space volume inside fork truck, leads in addition
Cause traveling and steering execution synchronism not high enough, not compact, at high cost, the easy error of structure.
Summary of the invention
The embodiment of the present invention provides a kind of motor driver, driving method and fork truck, to realize running motor and turn
Controlled while to motor, cost can be effectively reduced, simplify wiring, eliminate control running motor with communicated when steering motor
Delay.
In a first aspect, the embodiment of the present invention provides a kind of motor driver, for driving running motor simultaneously and turning to electricity
Machine, including processing unit, power source bus, running motor driving unit and steering motor driving unit；
The control terminal of the running motor driving unit is electrically connected with the processing unit, the running motor driving unit
Input terminal be electrically connected with the power source bus, output end and the running motor of the running motor driving unit are electrically connected
It connects, the running motor driving unit is used for according to the running signal of the processing unit, and the power source bus and described is connected
Running motor, to control the running motor operating；
The control terminal of the steering motor driving unit is electrically connected with the processing unit, the steering motor driving unit
Input terminal be electrically connected with the power source bus, output end and the steering motor of the steering motor driving unit are electrically connected
It connects, the steering motor driving unit is used for according to the turn signal of the processing unit, and the power source bus and described is connected
Steering motor, to control the steering motor operating.
Optionally, further include brake unit, be electrically connected with the processing unit, the brake unit is used for according to the place
The brake signal for managing unit controls the running motor and/or steering motor braking.
It optionally, further include starting switch, the control terminal started switch is electrically connected with the processing unit, described to open
The input terminal of dynamic switch is electrically connected with the power source bus, and the output end started switch drives with the running motor respectively
The electrical connection of the input terminal of the input terminal of unit and the steering motor driving unit, it is described to start switch in the processing
It is connected under the control of unit, so that the power source bus is that the running motor and the steering motor are powered.
Optionally, the processing unit further include:
First current detecting interface, is electrically connected with the current sensor on the running motor, for obtaining the traveling
First current signal of motor；
The processing unit is also used to correct the running signal according to first current signal.
Optionally, the processing unit further include:
Interface is detected in first position, is electrically connected with the position sensor on the running motor, for obtaining the traveling
The first position signal of motor；
The processing unit is also used to correct the running signal according to the first position signal.
Optionally, the processing unit further include:
Second current detecting interface, is electrically connected with the current sensor in the steering motor, for obtaining the steering
Second current signal of motor；
The processing unit is also used to correct the turn signal according to second current signal.
Optionally, the processing unit further include:
Interface is detected in the second position, is electrically connected with the position sensor in the steering motor, for obtaining the steering
The second position signal of motor；
The processing unit is also used to correct the turn signal according to the second position signal.
Optionally, the processing unit further includes bus interface, and the bus interface is connect by bus with host computer, institute
The position command that processing unit is sent for parsing the host computer is stated, the running signal and the turn signal are generated.
Second aspect, the embodiment of the present invention also provide a kind of driving method, are held by motor driver as described above
Row, the driving method include:
The position command of target position is obtained and parses, the running signal and control for generating control running motor turn to electricity
The turn signal of machine；
Running motor driving unit is sent by the running signal and the turn signal respectively and steering motor drives
Unit, to control the running motor and steering motor operating.
The third aspect, the embodiment of the present invention also provide a kind of fork truck, which is characterized in that including motor driven as described above
Device.
The embodiment of the present invention provides a kind of motor driver, for driving running motor and steering motor, including place simultaneously
Manage unit, power source bus, running motor driving unit and steering motor driving unit；The control terminal of running motor driving unit with
Processing unit electrical connection, the input terminal of running motor driving unit is electrically connected with power source bus, running motor driving unit it is defeated
Outlet is electrically connected with running motor, and running motor driving unit is used for the running signal according to processing unit, turn-on power bus
And running motor, to control running motor operating；The control terminal of steering motor driving unit is electrically connected with processing unit, turns to electricity
The input terminal of machine driving unit is electrically connected with power source bus, and the output end of steering motor driving unit is electrically connected with steering motor,
Steering motor driving unit is used for the turn signal according to processing unit, turn-on power bus and steering motor, is turned to controlling
Motor operating.Running motor driving unit and steering motor driving unit are controlled simultaneously by a processing unit, realizes row
The integrated design for sailing driver and directional drive effectively reduces the volume of driver, eliminates control running motor and turns to
The delay communicated when motor shares power source bus by running motor and steering motor, can effectively reduce the cost, simplify and connect
Line effectively improves the reliability of motor driver.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of motor driver provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another motor driver provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of another motor driver provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of another motor driver provided in an embodiment of the present invention；
Fig. 5 is a kind of flow diagram of driving method provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.It should be noted that " connected ", " connection " described in the embodiment of the present invention shall be understood in a broad sense, for example, it may be
It is fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It may be said that
It is directly connected to, can also be indirectly connected with by intermediary, can be the connection inside two elements.In addition, term " first ",
" second " etc. is used for description purposes only, and is not offered as any sequence, quantity or importance, and is used only to distinguish different groups
At part.For the ordinary skill in the art, above-mentioned term in the present invention specific can be understood with concrete condition
Meaning.
Fig. 1 show a kind of structural schematic diagram of motor driver provided in an embodiment of the present invention.The embodiment of the present invention mentions
The motor driver of confession is used for while driving running motor 1 and steering motor 2, including processing unit 10, power source bus 20, traveling
Electric-motor drive unit 30 and steering motor driving unit 40；10 electricity of control terminal a1 and processing unit of running motor driving unit 30
Connection, the input terminal a2 of running motor driving unit 30 are electrically connected with power source bus 20, the output of running motor driving unit 30
End a3 is electrically connected with running motor 1, and running motor driving unit 30 is used for the running signal according to processing unit 10, turn-on power
Bus 20 and running motor 1, to control the operating of running motor 1；The control terminal b1 and processing unit of steering motor driving unit 40
10 electrical connections, the input terminal b2 of steering motor driving unit 40 are electrically connected with power source bus 20, steering motor driving unit 40
Output end b3 is electrically connected with steering motor 2, and steering motor driving unit 40 is used for the turn signal according to processing unit 10, conducting
Power source bus 20 and steering motor 2, to control the operating of steering motor 2.
It is understood that the running motor 1 and steering motor 2 in the embodiment of the present invention can be permanent magnet synchronous electric
Machine, processing unit 10 can be Digital Signal Processing (Digital Signal Processing, DSP) chip, such as can select
With the high-performance microcontroller of TI company 28x series, the function such as fault detection, logical process, algorithm process, motor control are realized
Energy.It controls, may be implemented since running motor driving unit 30 and steering motor driving unit 40 share a processing unit 10
Information sharing between two driving units, such as running motor 1 and the respective state of steering motor 2, revolving speed, steering position,
Quickly processing can be achieved inside processing unit 10, there is no hardware transports to be delayed.One end of power source bus 20 connects to power supply, separately
One end is connect with the input terminal b2 of the input terminal a2 of running motor driving unit 30 and steering motor driving unit 40, for row
It sails motor 1 and steering motor 2 provides required electric power.Running motor driving unit 30 and steering motor driving unit 40 are ok
Including insulated gate bipolar transistor (Insulated Gate Bipolar Transistor, IGBT), illustratively, processing
Unit 10 may include running signal output interface and turn signal output interface, respectively with running motor driving unit 30 and turn
The grid (control terminal) of IGBT into electric-motor drive unit 40 is electrically connected, running motor driving unit 30 and steering motor driving
The source electrode (input terminal) of IGBT in unit 40 is all electrically connected with power source bus 20, drain electrode (output end) and running motor 1 or turn
It is electrically connected to motor 2, when needing that running motor 1 is driven to walk, processing unit 10 sends one to running motor driving unit 30
A running signal, such as can be pulse width modulation (Pulse Width Modulation, a PWM) signal, so that electric
Source bus 20 and running motor 1 are connected, to control the operating of running motor 1, realize traveling control.The control of steering motor 2
Journey is similar, is not repeated.
The technical solution of the present embodiment controls running motor driving unit and steering motor by a processing unit simultaneously
Driving unit realizes the integrated design of traveling driver and directional drive, effectively reduces the volume of driver, eliminates control
Running motor processed can be effective by running motor and the shared power source bus of steering motor with the delay communicated when steering motor
It reduces the cost, simplify wiring, effectively improve the reliability of motor driver.
Fig. 2 show the structural schematic diagram of another motor driver provided in an embodiment of the present invention.Optionally, the motor
Driver further includes brake unit 50, is electrically connected with processing unit 10, and brake unit 50 is used for the braking according to processing unit 10
Signal controls running motor 1 and/or steering motor 2 is braked.
It is understood that it is illustrative, for controlling running motor 1, when processing unit 10 no longer exports traveling letter
Number, running motor driving unit 30 will disconnect the electrical connection of power source bus 20 and running motor 1,1 stop motion of running motor, from
And make AGV system (such as homing guidance fork truck) stop motion.But in practice, due to inertia the effects of, running motor 1 power off
After may not be able to stop immediately, therefore the motor driver is additionally provided with brake unit 50, for control running motor 1 and/or
Steering motor 2 is braked, such as can be shifted to an earlier date and be slowed down according to the control running motor 1 and/or steering motor 2 of processing unit 10, with
Realize the accurate control of AGV system.
Illustratively, the brake unit 50 in the present embodiment can be to pass through the electronics system for collecting motor reverse power generation energy
Flowing mode, such as may include the energy-storage travelling wave tubes such as the capacitor for collecting electricity, when needing to brake, by collecting motor reverse power generation
Energy, realize fast braking function.
Fig. 3 show the structural schematic diagram of another motor driver provided in an embodiment of the present invention.Optionally, the motor
Driver further includes starting switch 60, starts switch 60 control terminal c1 and is electrically connected with processing unit 10, start switch 60 it is defeated
Enter to hold c2 to be electrically connected with power source bus 20, starts switch the 60 output end c3 input terminal with running motor driving unit 30 respectively
The input terminal b2 of a2 and steering motor driving unit 40 electrical connection starts switch 60 for leading under the control of processing unit 10
It is logical, so that power source bus 20 is that running motor 1 and steering motor 2 are powered.
60 are started switch by setting, when starting switch 60 conducting, power supply is that running motor 1 and steering motor 2 are powered,
It is operated under the control of processing unit 10.
Fig. 4 show the structural schematic diagram of another motor driver provided in an embodiment of the present invention.Optionally, processing is single
Member 10 further include: the first current detecting interface 101 is electrically connected with the current sensor 11 on running motor 1, for obtaining traveling
First current signal of motor 1；Processing unit 10 is also used to correct running signal according to the first current signal.
It is understood that being provided with current sensor 11 on running motor 1, current sensor 11 is for acquiring power supply mother
The first current signal that line 20 gives running motor 1 to provide, and the first current signal is fed back to processing unit 10.Processing unit 10
It can be believed with running signal for controlling the predetermined current of the operating of running motor 1 according to the first current signal fed back
Number comparison corrects running signal when actually measured the first current signal and predetermined current signal are inconsistent, realizes traveling electricity
The closed-loop control of machine 1 improves the accuracy of 1 speed of service of running motor control.
With continued reference to Fig. 4, optionally, processing unit 10 further include: detect on interface 102, with running motor 1 first position
Position sensor 12 be electrically connected, for obtaining the first position signal of running motor 1；Processing unit 10 is also used to according to first
Position signal corrects running signal.
It is understood that being additionally provided with position sensor 12 on running motor 1, position sensor 12 can become for rotation
Depressor has preferable heat-resisting, vibration strength, supports higher revolving speed.Position sensor 12 is for acquiring the first of running motor 1
Position signal, and first position signal is fed back to processing unit 10.Processing unit 10 can be according to first fed back
For controlling the predeterminated position comparison of the operating of running motor 1 in confidence number, with running signal, when actually measured first position is believed
Number with predeterminated position it is inconsistent when, correct running signal, realize running motor 1 closed-loop control, guarantee running motor 1 according to pre-
If route.
With continued reference to Fig. 4, optionally, processing unit 10 further include: the second current detecting interface 103, in steering motor 2
Current sensor 21 be electrically connected, for obtaining the second current signal of steering motor 2；Processing unit 10 is also used to according to second
Current signal corrects turn signal.
It is understood that being provided with current sensor 22 in steering motor 2, current sensor 22 is for acquiring power supply mother
The second current signal that line 20 gives steering motor 2 to provide, and the second current signal is fed back to processing unit 10.Processing unit 10
It can be believed with turn signal for controlling the predetermined current of the operating of steering motor 2 according to the second current signal fed back
Number comparison corrects turn signal when actually measured the second current signal and predetermined current signal are inconsistent, realizes and turns to electricity
The closed-loop control of machine 2 improves the accuracy of 1 course changing control of steering motor.
With continued reference to Fig. 4, optionally, processing unit 10 further include: detect on interface 104, with steering motor 2 second position
Position sensor 22 be electrically connected, for obtaining the second position signal of steering motor 2；Processing unit 10 is also used to according to second
Position signal corrects turn signal.
It is understood that being additionally provided with position sensor 22 in steering motor 2, position sensor 22 can be ABZUVW
Photoelectric encoder.Position sensor 22 is used to acquire the second position signal of steering motor 2, and signal feedback in the second position is arrived
Processing unit 10.Processing unit 10 can be turned to turn signal for controlling according to the second position signal fed back
The preset direction comparison that motor 2 operates, when actually measured second position signal and preset direction is inconsistent, amendment turns to letter
Number, it realizes 2 closed-loop control of steering motor, guarantees that steering motor 2 is realized according to preset direction control AGV system and turn to.
Optionally, processing unit 10 further includes bus interface 105, and bus interface 105 is connected by bus 70 and host computer 80
It connects, processing unit 10 is used to parse the position command of the transmission of host computer 80, generates running signal and turn signal.
It is understood that host computer 80 is used to generate the position command of AGV system target position, started by bus 70
To processing unit 10, processing unit 10 calculates control running motor 1 and steering motor 2 runs by parsing position command
Path, and running signal and turn signal are generated, it is sent respectively to running motor driving unit 30 and steering motor driving unit
40, control AGV system reaches target position.
Optionally, bus 70 is one kind of CAN bus, EtherCAT bus or PROFIBUS bus.
Illustratively, bus 70 can be any one of CAN bus, EtherCAT bus or PROFIBUS bus, this
Inventive embodiments are not construed as limiting this.
Fig. 5 show a kind of flow diagram of driving method provided in an embodiment of the present invention.The embodiment of the present invention
It provides driving method any one motor driver provided by the above embodimen to execute, which includes:
Step 110, the position command for obtaining and parsing target position generate running signal and the control of control running motor
The turn signal of steering motor processed.
It is understood that AGV system generally comprises host computer, the position command of target position can be produced by host computer
It is raw, it can use bus for position command and be sent to processing unit, processing unit is available and parses position command, calculates
The path of running motor and steering motor operation is controlled, and generates running signal and turn signal, such as running signal includes row
Motor direction of travel, distance etc. are sailed, turn signal includes the angle turned to.
Step 120 sends running motor driving unit and steering motor for running signal and turn signal respectively and drives
Unit, to control running motor and steering motor operating.
After processing unit generates running signal and turn signal, it is sent respectively to running motor driving unit and turns to electricity
Machine driving unit, running motor driving unit turn-on power bus and running motor, steering motor driving unit turn-on power are female
Line and steering motor, control AGV system reach target position.
It is single to control running motor driving by a processing unit simultaneously for driving method provided in an embodiment of the present invention
Member and steering motor driving unit may be implemented the information sharing between two driving units, can be achieved inside processing unit fast
Speed processing, eliminates control running motor and the delay communicated when steering motor, can effectively reduce the cost, simplify wiring, have
Effect improves the reliability of motor driver.
Optionally, the driving method further include:
The running data of running motor and the steering data of steering motor are obtained in real time；
According to running data and data are turned to, correct running signal and turn signal.
Running data includes the first current signal and first position signal when running motor is run, and is arranged on running motor
There are current sensor and position sensor, provides the first current signal and first position signal to processing unit respectively.It can manage
Solution, in actually control running motor operation, the electric current of running motor actual motion may provide pre- with running signal
If electric current has deviation, causes running motor physical location and predeterminated position to generate deviation, obtain the first electric current through the processing unit
Signal and first position signal, are modified running signal according to the first current signal and first position signal, realize traveling
The closed-loop control of motor improves the accuracy of control.Turn to second current signal of data when including the operation of steering motor and
Second position signal, makeover process is similar with steering motor makeover process, is not repeated.
Optionally, the driving method further include:
When determining that first position signal meets the first preset range, control running motor driving unit disconnects power source bus
With being electrically connected for running motor；
When determining that second position signal meets the second preset range, control running motor driving unit disconnects power source bus
With being electrically connected for running motor.
It is understood that it is default that second position signal meets second when first position signal meets the first preset range
Range shows that AGV system reaches predetermined position, and specific first preset range and the second preset range can be according to practical control essences
Degree setting, the embodiment of the present invention are not construed as limiting this.
The embodiment of the present invention also provides a kind of fork truck, including any one motor driver provided by the above embodiment.By
Include the motor driver that above-mentioned any embodiment provides in fork truck provided in an embodiment of the present invention, is driven with included motor
Dynamic device has identical and corresponding beneficial effect, and details are not described herein again.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of motor driver, which is characterized in that for driving running motor and steering motor simultaneously, including processing unit,
Power source bus, running motor driving unit and steering motor driving unit；
The control terminal of the running motor driving unit is electrically connected with the processing unit, the running motor driving unit it is defeated
Enter end to be electrically connected with the power source bus, the output end of the running motor driving unit is electrically connected with the running motor, institute
Running motor driving unit is stated for the running signal according to the processing unit, the power source bus and traveling electricity is connected
Machine, to control the running motor operating；
The control terminal of the steering motor driving unit is electrically connected with the processing unit, the steering motor driving unit it is defeated
Enter end to be electrically connected with the power source bus, the output end of the steering motor driving unit is electrically connected with the steering motor, institute
Steering motor driving unit is stated for the turn signal according to the processing unit, the power source bus and steering electricity is connected
Machine, to control the steering motor operating.
2. motor driver according to claim 1, which is characterized in that further include brake unit, with the processing unit
Electrical connection, the brake unit are used to control the running motor and/or described turn according to the brake signal of the processing unit
To motor braking.
3. motor driver according to claim 1, which is characterized in that it further include start switch, it is described to start switch
Control terminal is electrically connected with the processing unit, and the input terminal started switch is electrically connected with the power source bus, the starting
The input with the input terminal of the running motor driving unit and the steering motor driving unit respectively of the output end of switch
End electrical connection, it is described to start switch for being connected under the control of the processing unit, so that the power source bus is the row
Sail motor and steering motor power supply.
4. motor driver according to claim 1, which is characterized in that the processing unit further include:
First current detecting interface, is electrically connected with the current sensor on the running motor, for obtaining the running motor
The first current signal；
The processing unit is also used to correct the running signal according to first current signal.
5. motor driver according to claim 1, which is characterized in that the processing unit further include:
Interface is detected in first position, is electrically connected with the position sensor on the running motor, for obtaining the running motor
First position signal；
The processing unit is also used to correct the running signal according to the first position signal.
6. motor driver according to claim 1, which is characterized in that the processing unit further include:
Second current detecting interface, is electrically connected with the current sensor in the steering motor, for obtaining the steering motor
The second current signal；
The processing unit is also used to correct the turn signal according to second current signal.
7. motor driver according to claim 1, which is characterized in that the processing unit further include:
Interface is detected in the second position, is electrically connected with the position sensor in the steering motor, for obtaining the steering motor
Second position signal；
The processing unit is also used to correct the turn signal according to the second position signal.
8. motor driver according to claim 1, which is characterized in that the processing unit further includes bus interface, institute
Bus interface to be stated to connect by bus with host computer, the processing unit is used to parse the position command that the host computer is sent,
Generate the running signal and the turn signal.
9. a kind of driving method, which is characterized in that executed by any motor driver of claim 1~8, the electricity
Machine driving method includes:
The position command of target position is obtained and parsed, the running signal of control running motor is generated and controls steering motor
Turn signal；
Running motor driving unit and steering motor driving unit are sent by the running signal and the turn signal respectively,
To control the running motor and steering motor operating.
10. a kind of fork truck, which is characterized in that including any motor driver of claim 1~8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811057962.5A CN109067262A (en) | 2018-09-11 | 2018-09-11 | A kind of motor driver, driving method and fork truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811057962.5A CN109067262A (en) | 2018-09-11 | 2018-09-11 | A kind of motor driver, driving method and fork truck |
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Application publication date: 20181221 |