CN112787549B

CN112787549B - STO control circuit of multi-axis driver

Info

Publication number: CN112787549B
Application number: CN202011552569.0A
Authority: CN
Inventors: 胡荏; 王宏; 李剑; 邓锦祥; 马天奇; 马青林
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2022-07-15
Anticipated expiration: 2040-12-24
Also published as: CN112787549A

Abstract

The embodiment of the application provides an STO control circuit of multiaxis driver, and its technical scheme main points are: the method comprises the following steps: the STO signal input module receives the STO signal and generates a control signal; the central processing module receives the control signal and generates a first PWM driving signal and a second PWM driving signal; the PWM signal driving and buffering module is used for receiving a first PWM driving signal and a second PWM driving signal, and is also used for receiving a control signal; the driving isolation module prevents the upper pipe and the lower pipe from being directly communicated; the three-phase inversion module converts direct current into alternating current; and the power module outputs power. The STO control circuit of the multi-axis driver has the advantage of achieving staggered control of two axis driving signals.

Description

STO control circuit of multi-axis driver

Technical Field

The application relates to the technical field of safety control circuits, in particular to an STO control circuit of a multi-axis driver.

Background

With the development of socioeconomic and technological progress, in the field of industrial automation, the demand for Safe production is higher, and STO (Safe Torque Off) is regarded as a very important technology in Safe production more and more by technicians and manufacturers.

The traditional STO technical scheme has two main aspects: firstly, the control aspect of a main power output circuit is emphasized, namely, a safety relay is connected in series in a three-phase cable output by a driver, and when an STO (stop) fails, the power output of the driver is immediately cut off, so that the torque output of a motor is turned off, and the aim of safety stop is fulfilled; secondly, the method focuses on the aspect of single-axis control, a PWM buffer in a driver is used for controlling a driving waveform, and two buffers are connected in series for redundancy, so that the purpose of reliably turning off the power output of the motor is achieved.

In view of the above problems, improvements are needed.

Disclosure of Invention

An object of the embodiments of the present application is to provide an STO control circuit for a multi-axis actuator, which has the advantages of interleaving redundant control and implementing interleaving control of two axis driving signals.

In a first aspect, an embodiment of the present application provides an STO control circuit for a multi-axis driver, which has the following technical solutions:

the method comprises the following steps:

the STO signal input module is used for receiving an externally input STO signal and processing and converting the externally input STO signal into a control signal;

the input end of the central processing module is connected with the output end of the STO signal input module and used for receiving the control signal and generating a first PWM (pulse-width modulation) driving signal and a second PWM driving signal according to the control signal;

the input end of the PWM signal driving buffer module is connected with the output end of the central processing module and used for receiving the first PWM driving signal and the second PWM driving signal to realize staggered redundancy control, the input end of the PWM signal driving buffer module is also connected with the output end of the STO signal input module and used for receiving the control signal, the PWM signal driving buffer module comprises a plurality of driving buffers, two driving buffers are used as a group, the first PWM driving signal is respectively input to the two driving buffers in each group, and the second PWM driving signal is respectively input to the two driving buffers in each group;

the input end of the drive isolation module is connected with the output end of the PWM signal drive buffer module and is used for preventing the upper pipe and the lower pipe from being directly connected;

the input end of the three-phase inversion module is connected with the output end of the driving isolation module and is used for converting direct current into alternating current;

and the input end of the power module is connected with the output end of the three-phase inversion module and is used for receiving the converted alternating current so as to output different torque, rotating speed and angle.

Further, in this application embodiment, the driving isolation module includes a plurality of driving isolation components, the number of the driving isolation components is the same as the number of the driving buffers, two driving isolation components are taken as a group, and two driving isolation components in each group respectively receive the output signals of two driving buffers in each group.

Further, in this application embodiment, the three-phase inverter module includes a plurality of driving power modules, the number of the driving power modules is the same as the number of the driving isolation assemblies, two driving power modules are taken as a group, and the two driving power modules in each group respectively and correspondingly receive signals output by the two driving isolation assemblies in each group.

Further, in this application embodiment, the power module includes a plurality of motors, the number of the motors is the same as the number of the driving power modules, and the motors correspond to the driving power modules one by one, and the motors are used for receiving signals output by the driving power modules and then acting.

Further, in this embodiment, the STO signal input module includes a first resistor, a first power supply terminal, a first capacitor, a second capacitor and a photo isolator, the photo isolator includes a first pin, a second pin, a third pin and a fourth pin, the STO signal input terminal is connected to the first pin, the second pin is grounded, one end of the first capacitor is connected to the first pin, the other end of the first capacitor is connected to the second pin, one end of the first resistor is connected to the first power supply terminal, the other end of the first resistor is connected to the third pin, one end of the second capacitor is connected to the third pin, the other end of the second capacitor is grounded, the third pin is connected to the driving isolation module for outputting the control signal, the third pin is connected to the central processing module for outputting the control signal, the fourth pin is grounded.

Further, in this embodiment, the STO signal input module further includes a second resistor, one end of the second resistor is connected to the first pin, and the other end of the second resistor is connected to the second pin.

Further, in the embodiment of the present application, the STO signal input module further includes a third resistor, and the third resistor is disposed between the second pin and the ground.

Further, in this embodiment, the STO signal input module receives two externally input STO signals and outputs two control signals.

Further, in this embodiment, the two driving buffers in each group respectively receive one path of the control signal.

Further, in the embodiment of the present application, two driving buffers in each group receive two paths of the control signals.

As can be seen from the above, in the STO control circuit of the multi-axis driver provided in the embodiment of the present application, the STO signal input module is utilized to receive an STO signal, and the STO signal is processed to output a control signal, the control signal is output to the central processing module on the one hand, and is directly output to the PWM signal driving buffer module on the other hand, the central processing module receives the control signal and generates a first PWM driving signal and a second PWM driving signal to the PWM signal driving buffer module, the PWM signal driving buffer module includes a plurality of driving buffers, two driving buffers are used as a group, the first PWM driving signal is respectively input to the two driving buffers in each group, and the second PWM driving signal is respectively input to the two driving buffers in each group, which has a staggered redundancy control, and realizes a beneficial effect of staggered control of the driving signals.

Additional features and advantages of the present 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 embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

Fig. 1 is a control schematic diagram of an STO control circuit of a multi-axis driver according to an embodiment of the present disclosure.

Fig. 2 is a circuit diagram of an STO signal input module according to an embodiment of the present disclosure.

Fig. 3 is a circuit diagram of one set of driving buffers in a PWM signal driving buffer module according to an embodiment of the present application.

Fig. 4 is a circuit diagram of one set of driving buffers in the PWM signal driving buffer module according to an embodiment of the present application.

Fig. 5 is a circuit diagram of one of the drive isolation components in the drive isolation module according to an embodiment of the present application.

Fig. 6 is a schematic connection diagram of a three-phase inverter module and a power module provided in the embodiment of the present application.

In the figure: 100. an STO signal input module; 200. a central processing module; 300. the PWM signal drives the buffer module; 400. a drive isolation module; 500. a three-phase inversion module; 600. a power module; 110. a photovoltaic isolator; 111. a first pin; 112. a second pin; 113. a third pin; 114. a fourth pin; 120. a first resistor; 121. a second resistor; 122. a third resistor; 130. a first power supply terminal; 140. a first capacitor; 141. a second capacitor; 310. a drive buffer; 410. a drive isolation assembly; 510. a driving power module; 610. an electric motor.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.

Referring to fig. 1 to 6, an STO control circuit of a multi-axis driver includes:

an STO signal input module 100, configured to receive an STO signal input from the outside, process the STO signal, and convert the STO signal into a control signal;

a central processing module 200, an input end of which is connected to an output end of the STO signal input module 100, for receiving a control signal and generating a first PWM driving signal and a second PWM driving signal according to the control signal; the central processing module 200 is an MCU.

A PWM signal driving buffer module 300, an input end of which is connected to an output end of the central processing module 200, for receiving a first PWM driving signal and a second PWM driving signal to implement interleaved redundancy control, an input end of the PWM signal driving buffer module 300 is further connected to an output end of the STO signal input module 100 for receiving a control signal, the PWM signal driving buffer module 300 includes a plurality of driving buffers 310, two driving buffers 310 are taken as a group, the first PWM driving signal is respectively input to the two driving buffers 310 in each group, and the second PWM driving signal is respectively input to the two driving buffers 310 in each group;

a driving isolation module 400, the input end of which is connected with the output end of the PWM signal driving buffer module 300, for preventing the upper and lower pipes from being directly connected;

a three-phase inverter module 500, an input end of which is connected to an output end of the driving isolation module 400, for converting a direct current into an alternating current;

and an input end of the power module 600 is connected to an output end of the three-phase inverter module 500, and is configured to receive the converted alternating current and output different torque, rotation speed, and angle.

Through the above technical solution, the STO signal input module 100 is utilized to receive the STO signal, the control signal is output after being processed, the control signal is output to the central processing module 200 on the one hand, so that the central processing module 200 generates a first PWM driving signal and a second PWM driving signal to the PWM signal driving buffer module 300 after receiving the control signal, the PWM signal driving buffer module 300 includes a plurality of driving buffers 310, two driving buffers 310 are grouped, the first PWM driving signal is respectively input to two driving buffers 310 in each group, the second PWM driving signal is respectively input to two driving buffers 310 in each group, when a connection node between a certain driving buffer 310 and the central processing module 200 fails to transmit a signal, another driving buffer 310 in the same group further has a connection line to transmit the first PWM driving signal or the second PWM driving signal transmitted by the central processing module 200 to the driving buffer 310 that has a connection failure, thereby controlling the action of the corresponding power module 600, having the staggered redundancy control and realizing the beneficial effect of the staggered control of the two-axis driving signals. On the other hand, the control signal is directly output to the PWM signal driving buffer module 300, and the driving buffer module can directly control the power module 600 to stop operation after receiving the control signal.

In some embodiments, the first PWM driving signal output by the cpu 200 is input to a set of two driving buffers 300, the first driving buffer 300 receives an AX1-UN1 signal, an AX1-VN1 signal, and an AX1-WN1 signal, the second driving buffer 300 receives an AX1-UP1 signal, an AX1-VP1 signal, and an AX1-WP1 signal, the second PWM driving signal output by the cpu 200 is input to the same set of two driving buffers 300, the first driving buffer 300 receives an AX2-UN1 signal, an AX2-VN1 signal, and an AX2-WN1 signal, and the second driving buffer 300 receives an AX2-UP1 signal, an AX2-VP1 signal, and an AX2-WP1 signal. In addition, the signal input manner of the other sets of the driving buffers 300 is the same as that described above.

In some embodiments, the driving isolation module 400 includes a plurality of driving isolation components 410, the number of the driving isolation components 410 is the same as the number of the driving buffers 310, the number of groups of two driving isolation components 410 forming a group of driving isolation components 410 is the same as the number of groups of buffer drivers, and the two driving isolation components 410 in each group respectively receive the output signals of the two driving buffers 310 in each group. Wherein each drive isolation assembly 410 includes six optocouplers for drive isolation.

Through the technical scheme, each driving buffer 310 in each group inputs an output signal to each driving isolation component 410 of the corresponding group, and through the arrangement mode, even when one driving buffer 310 in one group fails, the driving buffer 310 in the other group can work through the other driving buffer 310.

In some embodiments, each of the driving buffers 310 outputs six signals, AX2-UN, AX2-VN, AX2-WN, AX1-UN, AX1-VN, AX1-WN, and one set of driving buffers 310 outputs twelve signals, AX2-UN, AX2-VN, AX2-WN, AX1-UN, AX1-VN, AX1-WN, AX2-UP, AX2-VP, AX2-WP, AX1-UP, AX1-VP, and AX1-WP, that is, each of the driving isolation components 410 receives twelve signals, wherein each of the driving isolation components 410 includes six opto-couplers, OP1, and 1-1, and each of the opto-couplers receives one signal, that is, OP1 and 1, and outputs one signal, that is OP1 and 1, OP2 receives AX2-UP and AX1-UN signals and outputs UNn signals, OP3 receives AX1-VP and AX2-VN signals and outputs VPu signals, OP4 receives AX2-VP and AX1-VN signals and outputs VNn signals, OP5 receives AX1-WP and AX2-WN signals and outputs WPu signals, and OP6 receives AX2-WP and AX1-WN signals and outputs WNn signals. Furthermore, the other sets of drive isolation elements 410 are signaled in the same manner as described above.

In some embodiments, the three-phase inverter module 500 includes a plurality of driving power modules 510, the number of the driving power modules 510 is the same as the number of the driving isolation components 410, two driving power modules 510 are taken as a group, the group number of the driving power modules 510 is the same as the group number of the driving isolation components 410, and the two driving power modules 510 in each group respectively receive signals output by the two driving isolation components 410 in each group. Each driving power module 510 is correspondingly provided with a three-phase inverter circuit, the three-phase inverter circuit converts direct current into alternating current to power the motor 610 to work, and the three-phase inverter circuit is a conventional circuit, and therefore, the description of the three-phase inverter circuit is omitted, and is specifically shown in the attached drawings.

Through the technical scheme, each driving isolation assembly 410 in each group inputs an output signal to each driving power module 510 in the corresponding group, and through the arrangement, even when one driving isolation assembly 410 in one group fails, the other driving isolation assembly 410 can work. In some embodiments, in the three-phase inverter circuit as shown in the figure, the output signal of OP1 of the first driving power module 510 in one group is input to Q1, OP3 to Q3, OP5 to Q5 of the first driving power module 510 in one group, the output signal of OP2 of the second driving power module 510 is input to Q2, OP4 to Q4, OP4 to Q4 of the first power module, the output signal of OP4 of the second driving power module 510 is input to Q4, OP4 to Q4, and OP4 of the second driving power module 510 in one group, the output signal of OP4 of the second driving power module 510 is input to Q4, OP4 to Q4, and OP4 of the first power module, and Q4 in each driving power module 510, Q4 and Q4 in each driving power module 510 correspond to the three-phase motors, Q4 and Q4 of the same motor 610, Q4 and Q4 correspond to Q4.

The power module 600 includes a plurality of motors 610, the number of the motors 610 is the same as the number of the driving power modules 510, and the motors 610 are in one-to-one correspondence to receive the signals output by the driving power modules 510.

In some embodiments, the STO signal input module 100 includes a first resistor 120, a first power supply terminal 130, a first capacitor 140, a second capacitor 141, and a photo isolator 110, the photo isolator 110 includes a first pin 111, a second pin 112, a third pin 113, and a fourth pin 114, an input terminal of the STO signal is connected to the first pin 111, the second pin 112 is grounded, one end of the first capacitor 140 is connected to the first pin 111, and the other end is connected to the second pin 112, one end of the first resistor 120 is connected to the first power supply terminal 130, and the other end is connected to the third pin 113, one end of the second capacitor 141 is connected to the third pin 113, and the other end is grounded, the third pin 113 is connected to the driving isolation module 400 for outputting a control signal, and the third pin 113 is connected to the central processing module 200 for outputting a control signal. In addition, the STO signal input module 100 further includes a second resistor 121, one end of the second resistor 121 is connected to the first pin 111, and the other end is connected to the second pin 112. In addition, the STO signal input module 100 further includes a third resistor 122, and the third resistor 122 is disposed between the second pin 112 and the ground.

Through the above technical solution, when the rotating shaft needs to be turned off in an unexpected situation, the STO signal input module 100 receives an STO signal from the outside, the signal flows into the optical isolator 110, so that the side of the optical isolator 110 is turned on, the third pin 113 and the fourth pin 114 are communicated under a photoelectric effect, a closed loop is formed between the first power supply terminal 130 and the ground terminal, then a control signal is generated and output to the central processing module 200 and the PWM signal driving buffer module 300, the STO signal from the outside is isolated, filtered and level-converted by the STO signal input module 100, and the STO signal is converted into a control signal meeting the requirement of the next stage.

In some embodiments, the STO signal input module 100 receives two STO signals input from the outside and outputs two control signals. Alternatively, the STO signal may be received from multiple external inputs and a control signal may be output

Through the technical scheme, two input and output circuits are arranged in the STO signal input module 100, the two circuits are the same, so that two paths of externally input STO signals are received, two paths of control signals are output, the two paths of STO signals are the same signals, the two paths of control signals are also the same signals, reliability is improved by receiving the two paths of STO signals, and even if one path of STO signal fails to be transmitted, the other path of STO signal is guaranteed.

Referring to FIG. 3, in some embodiments, two drive buffers 310 in each group receive two control signals.

Through the technical scheme, each driving buffer 310 receives two paths of control signals, the control signals can directly control the driving buffers 310 to work, and when one path of control signals fails, the other path of control signals is used as a guarantee.

Referring to fig. 4, as one of the preferred modes, the two driving buffers 310 in each group respectively receive one path of control signal.

Through the technical scheme, as the two-way redundant staggered path is adopted between the central processing module 200 and the PWM signal driving buffer module 300, even if one path of control signal fails, staggered redundant control can be realized, and staggered control of two axis driving signals is realized. Compared with the case that two driving buffers 310 in each group respectively receive one path of control signal, the wiring and the cost can be reduced.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An STO control circuit for a multi-axis drive, comprising:

the STO signal input module is used for receiving an externally input STO signal and processing the STO signal to convert the STO signal into a control signal;

the input end of the central processing module is connected with the output end of the STO signal input module and is used for receiving the control signal and generating a first PWM driving signal and a second PWM driving signal according to the control signal;

2. An STO control circuit for a multi-axis driver according to claim 1 wherein the drive isolation module comprises a plurality of drive isolation components, the number of the drive isolation components is the same as the number of the drive buffers, and two drive isolation components in each group are grouped, and the two drive isolation components in each group respectively receive the output signals of the two drive buffers in each group.

3. An STO control circuit for a multi-axis driver as claimed in claim 2, wherein the three-phase inverter module comprises a plurality of driving power modules, the number of the driving power modules is the same as the number of the driving isolation components, two driving power modules in each group are grouped, and the two driving power modules in each group respectively receive the signals output by the two driving isolation components in each group.

4. An STO control circuit for a multi-axis drive as claimed in claim 3 wherein the power module comprises a plurality of motors, the number of the motors is the same as the number of the drive power modules and corresponds to one motor, the motors are used to receive the signals output by the drive power modules and then act.

5. An STO control circuit for a multi-axis driver according to claim 1, wherein the STO signal input module comprises a first resistor, a first power supply terminal, a first capacitor, a second capacitor and a photo isolator, the photo isolator comprises a first pin, a second pin, a third pin and a fourth pin, the first pin is connected to an input terminal of the STO signal, the second pin is grounded, one end of the first capacitor is connected to the first pin, the other end of the first capacitor is connected to the second pin, one end of the first resistor is connected to the first power supply terminal, the other end of the first resistor is connected to the third pin, one end of the second capacitor is connected to the third pin, the other end of the second capacitor is grounded, the third pin is connected to the drive isolation module for outputting the control signal, the third pin is connected to the central processing module for outputting the control signal, the fourth pin is grounded.

6. An STO control circuit for a multi-axis driver as claimed in claim 5 wherein the STO signal input module further comprises a second resistor having one end connected to the first pin and the other end connected to the second pin.

7. An STO control circuit for a multi-axis driver as claimed in claim 5 wherein the STO signal input module further comprises a third resistor disposed between the second pin and ground.

8. An STO control circuit for a multi-axis driver according to claim 1 wherein said STO signal input module receives two externally inputted STO signals and outputs two said control signals.

9. An STO control circuit for a multi-axis drive as claimed in claim 8 wherein the two drive buffers in each set each receive one of the control signals.

10. An STO control circuit for a multi-axis drive as claimed in claim 8 wherein both of the drive buffers in each set receive two of the control signals.