CN202771219U - Multifunctional biaxial servo driver - Google Patents
Multifunctional biaxial servo driver Download PDFInfo
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- CN202771219U CN202771219U CN 201220205780 CN201220205780U CN202771219U CN 202771219 U CN202771219 U CN 202771219U CN 201220205780 CN201220205780 CN 201220205780 CN 201220205780 U CN201220205780 U CN 201220205780U CN 202771219 U CN202771219 U CN 202771219U
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Abstract
The utility model discloses a multifunctional biaxial servo driver. The driver comprises a main control module and a power module. The main control module comprises a digital signal processor (DSP), a first programmable logic device, and a first feedback signal conversion circuit; wherein the power module comprises a three-phase AC power supply, a rectifier circuit, two three-phase inverter units, and a current detection circuit. The driver also comprises a second feedback module used for receiving a signal fed back from the second feedback element on a mechanical device driven by two controlled motors and transmitting the signal to the digital signal processor of the main control module. The digital signal processor of the main control module sends a pulse width modulation signal (PWM) to the two controlled motors. The driver can respectively control two AC induction servo motors and/or AC synchronous servo motors and has the two-motor synchronization function; the controlled motor can access to the first feedback and the second feedback, so as to form a position closed-loop servo system, thereby improving the control precision.
Description
Technical field
The utility model relates to a kind of AC servo driver, particularly a kind of multi-functional twin shaft AC servo driver.
Background technology
AC servo is the important topworks of numerically-controlled machine, robot, various industrial machine and defence equipment, and alternating current asynchronous servomotor and AC synchronous servomotor that principle of work is different all obtain a wide range of applications.
In the use procedure of AC servo drive system, different according to the application scenario, not identical to the requirement of AC servo motor yet.
The manufacturing of alternating current asynchronous servomotor is simple, easily realize high-power, high rotating speed (such as 3000 turn/more than the per minute), cheap for manufacturing cost, but control is complicated, algorithm is loaded down with trivial details, is difficult for realizing high precision control; AC synchronous servomotor control is simple, but is difficult for realizing higher rotation speed, and the occasion, the especially main raw material(s) of AC synchronous servomotor that are fit to middle and slow speed of revolution (3000 turn/per minute is following) are the permanent magnetic steels of being made by rare earth, so that its cost is high.The AC synchronous servomotor of especially middle high power (more than the 3KW), cost is much higher than the alternating current asynchronous servomotor.
Based on these characteristics, in different applications, alternating current asynchronous servomotor and AC synchronous servomotor all obtain a wide range of applications.Such as, generally, the spindle motor of numerically-controlled machine use power as 3.7-55KW, rotating speed up to the alternating current asynchronous servomotor more than 8000 rev/mins; And the feeding motor of numerically-controlled machine uses power to be 0.4-7.5KW, the ac synchronous motor of rotating speed below 3000 rev/mins.
In the existing technology, the AC induction motor servo-drive system all is the single-axis servo system, and namely a servo-driver can only be controlled an alternating current asynchronous servomotor.
Along with the progress of DSP technology and FPGA technology, and to the requirement of cost control, can use monolithic DSP to be aided with monolithic FPGA and realize two motors are controlled.
Chinese patent CN201340542Y discloses a kind of double-shaft drive servo-control system, it comprises AC servo driver and is subjected to the first axle and second axle of described AC servo driver control, described AC servo driver comprises be used to the Two axle drive unit that drives described the first axle and the second axle, the first shaft encoder, the second shaft encoder, be used for to the instruction interface of the first axle and the second axle transmission instruction, the second axle output interface that is used for receiving the first axle output interface of the first axle output signal and is used for receiving the second axle output signal.Because its each axle only has a scrambler and an output interface, therefore, can infer that it adopts not is to be closed-loop control.
Chinese patent CN201118497Y discloses a kind of dual electromotor synchronization servo drive, and it comprises dsp system control module and power of motor driver module, is connected into one by control interface; Digital signal processor is connected with host computer or control system by CAN bus interface, RS232 interface in the dsp system control module, realizes real-time Communication for Power, also connects simultaneously the motor code-disc by the code-disc interface, to the closed-loop control of motor; Switching power circuit in the power of motor driver module is the power supply of power of motor driver module by power interface; Current foldback circuit, power driving circuit are communicated by letter with the digital signal processor in the dsp system control module by control interface, and the stream holding circuit is taken in power driving circuit output, and is connected with direct current generator.
There is following shortcoming in existing above-mentioned bi-motor servo-driver: only by the code-disc that is located on the motor shaft rotating speed of motor shaft output is controlled, and can not realize closed-loop control for the mechanical executive component that motor output shaft drives, namely can not adjust in real time the driving error that causes because of gear train, therefore, its control accuracy is not high.Existing twin shaft servo controller also exists the type of motor feedback single, can not be fit to polytype scrambler.There is not communication interface between control module and host computer.The precision of the A/D of control module, D/A change-over circuit is low, is unfavorable for that data transmit between host computer and the control module.In two controlled motors during because of the startup of a motor or braking, the DC bus-bar voltage fluctuation that can cause, thus can cause the fluctuation of speed of another motor.Control module does not have the USB interface with computer communication, inconvenient production debugging and setting parameter yet.
Summary of the invention
The purpose of this utility model is to solve existing twin shaft servo-driver can not realize closed-loop control, so the low problem of control accuracy.
Another purpose of the present utility model is to solve the problem that existing twin shaft servo-driver does not have communication interface.
Another purpose of the present utility model is to solve the single problem of type that also there is motor feedback in existing twin shaft servo controller.
In order to realize the foregoing invention purpose, the utility model provides a kind of Multifunctional dual-spindle servo-driver, comprises a main control module and power model;
Described main control module comprises:
Digital signal processor (DSP) is used for receiving the host computer instruction; Process the I/O data; Receive and process by two the first feedback element feedback of feedback signals that are used for measuring motor rotor position and speed that are located on two controlled motors; The current feedback signal of two controlled motors that reception and processing power control module are sent; Send pulse width modulating signal (PWM) to two controlled motors;
The first programmable logic device (PLD) is used for receiving the I/O data, and sends described digital signal processor (DSP) to by data bus; Be used for receiving as interface chip the pulse command of host computer;
The first feedback signal change-over circuit is used for receiving the feedback signal of the first feedback element on two controlled motors, and flows to described digital signal processor (DSP);
Described power model comprises:
Three-phase alternating-current supply;
Rectification circuit is in order to convert AC power to direct supply;
Two three-phase inversion unit receive respectively the pulse width modulating signal (PWM) of main control module output, and convert direct current to frequency and voltage all variable three-phase alternating currents, are used for providing electric power to two controlled motors;
Current detection circuit, in order to detecting respectively the alternating current flow through two controlled motors, and with the current feedback of two controlled motors in the digital signal processor of described main control module;
Discharge cell, the instantaneous rising of DC bus-bar voltage that causes when being used for suppressing controlled motor braking;
It is characterized in that, this driver also comprises the second feedback module; Described the second feedback module is used for receiving the signal that is located at two the second feedback element feedbacks on the controlled motor-driven plant equipment and the digital signal processor that sends described main control module to, the digital signal processor of described main control module sends pulse width modulating signal (PWM) according to first and second feedback signal to two controlled motors.
Multifunctional dual-spindle servo-driver described in the utility model, wherein, described the second feedback unit (or module) can be in following four kinds of schemes any one:
The first scheme is:
Described the second feedback module comprises:
The second feedback interface is used for connecting the second feedback element;
The second feedback signal change-over circuit, described the second feedback signal change-over circuit comprises incremental encoder change-over circuit and sine and cosine encoder change-over circuit, is used for the feedback signal that receives is converted to level signal;
The incremental encoder change-over circuit of described the second feedback signal change-over circuit is connected with described the first programmable logic device (PLD), described the first programmable logic device (PLD) is used for receiving the feedback signal of described incremental encoder change-over circuit output, and transfers the signal to the in the digital signal processor of described main control module;
The sine and cosine encoder change-over circuit of described the second feedback signal change-over circuit is connected with A/D change-over circuit in the described digital signal processor, and the A/D change-over circuit in the described digital signal processor receives the feedback signal of described sine and cosine encoder change-over circuit output;
First scheme is:
Described the second feedback module comprises:
The second feedback interface is used for connecting the second feedback element;
The second feedback signal change-over circuit, described the second feedback signal change-over circuit is incremental encoder change-over circuit and sine and cosine encoder change-over circuit, is used for the feedback signal that receives is converted to level signal;
Single-chip microcomputer (MCU), the quadrate encode module of this single-chip microcomputer (MCU) is used for receiving and processing the signal of described the second feedback incremental encoder change-over circuit output, and the analog to digital conversion circuit of this single-chip microcomputer (MCU) is used for receiving and processing the signal of described the second feedback sine and cosine encoder change-over circuit output; And
The second programmable logic device (PLD), the digital signal processor that is used for receiving the digital feedback signal of described single-chip microcomputer (MCU) output and transfers the signal to the described main control module;
Perhaps, the third scheme is:
Described the second feedback module comprises:
The second feedback interface is used for connecting the second feedback element;
The second feedback signal change-over circuit, described the second feedback signal change-over circuit is the serial encoder change-over circuit, is used for the feedback signal that receives is converted to level signal;
The second programmable logic device (PLD), be used for receiving the signal of described serial line interface encoder converting circuit output, described the second programmable logic device (PLD) is field programmable gate array (FPGA), and the signal of serial line interface scrambler is flowed to described digital signal processor by data bus and expansion interface;
Perhaps, the 4th kind of scheme is:
Described the second feedback module comprises:
The second feedback interface is used for connecting the second feedback element;
The second feedback signal change-over circuit is Signal Converting Circuit for Resolver, is comprised of exciting circuit and cosine and sine signal change-over circuit;
Single-chip microcomputer (MCU), the pwm unit of this single-chip microcomputer (MCU) is used for the excited signal of output rotary transformer; The AD conversion unit of this single-chip microcomputer (MCU) is used for converting the cosine and sine signal of cosine and sine signal change-over circuit output to digital quantity; And
The second programmable logic device (PLD), the digital signal processor that is used for receiving the digital feedback signal of described single-chip microcomputer (MCU) output and transfers the signal to the described main control module.
Signal transmits between host computer and the control module in order to make things convenient for, and Multifunctional dual-spindle servo-driver described in the utility model also comprises a communication interface module, is used for being connected with host computer transmission bi-directional data and instruction.
As a kind of optimal way, described main control module comprises the first expansion interface; Described communication interface module is inserted on the first expansion interface of main control module.
As a kind of optimal way, described main control module comprises the second expansion interface; Described the second feedback module is installed on the second expansion interface of main control module.
Causing for fear of DC bus-bar voltage that fluctuation produces another motor during because of wherein controlled electric motor starting or braking disturbs, Multifunctional dual-spindle servo-driver described in the utility model, described power model also comprises: direct current bus voltage detecting circuit, in order to detect DC bus-bar voltage, and voltage signal is sent in the described digital signal processor, described digital signal processor is according to the pulse width modulating signal (PWM) of the DC bus-bar voltage adjustment output that detects.
In order to transmit the precision of signal between the DSP that improves host computer and main control module, Multifunctional dual-spindle servo-driver described in the utility model, wherein: described main control module also comprises A/D and D/A change-over circuit, is converted to digital quantity in order to aanalogvoltage instruction that host computer is sent and the current feedback signal of two controlled motors.
Multifunctional dual-spindle servo-driver described in the utility model, wherein: described the first programmable logic device (PLD) is field programmable gate array (FPGA) or CPLD (CPLD).Certainly the new programmable logic device (PLD) of developing after also not getting rid of.
Wherein, described the second programmable logic device (PLD) is field programmable gate array (FPGA) or CPLD (CPLD).
Multifunctional dual-spindle servo-driver described in the utility model, wherein: described the first feedback signal change-over circuit comprises at least two kinds of circuit in incremental encoder change-over circuit, sine and cosine encoder change-over circuit, the serial line interface encoder converting circuit;
Described incremental encoder change-over circuit is connected with the quadrature code-disc circuit of described digital signal processor;
Described sine and cosine encoder change-over circuit is connected with the A/D change-over circuit of described digital signal processor;
Described serial line interface encoder converting circuit is connected with described the first programmable logic device (PLD), and described the first programmable logic device (PLD) is field programmable gate array (FPGA), and the signal of serial line interface scrambler is flowed to described digital signal processor.
Multifunctional dual-spindle servo-driver described in the utility model, wherein: described communication interface module be EtherCat, Profibus-DP, BBFBUS, RS-485, RS-232, Modbus, CAN-open one of them.
Wherein, also comprise a USB interface and a usb interface module in the described main control module, this usb interface module is used for digital signal processor and compunication.
Wherein, also comprise a display unit in the described main control module, be used for showing the duty of two controlled motors and servo-driver, set the data of servo-driver, servo-driver is carried out manual operation.
The advantage of Multifunctional dual-spindle servo-driver of the present utility model is: because, mechanically be provided with the second feedback element in driven by servomotor, and by the second feedback unit feedback signal is sent in the main control module, the DSP of main control module is according to first, second feedback signal, send pulse width modulating signal (PWM) to motor, thereby consist of position Full-closed servo system, improved the control accuracy of motor.The utility model is based on above-mentioned technical scheme, can use two motors of a slice dsp chip control, in two hardware integration to that motor is required devices of control, shared such as the rectification circuit in the power model, current detection circuit, circuit and the casings such as inversion unit, thereby reduced cost, also dwindled the volume of device.
The first feedback of two controlled motors can be chosen as incremental photo encoder, sine and cosine encoder, serial line interface scrambler; The second feedback of two controlled motors can be chosen as incremental photo encoder, sine and cosine encoder, serial line interface scrambler, rotary transformer,
Because it can arrange control alternating current asynchronous servomotor or AC synchronous servomotor by software, makes it have wide range of application; Also can carry out communication from the host computer with different communication modes by selecting different communication interface plates, and receive different steering orders such as pulse command, aanalogvoltage instruction, digital command; Therefore, multifunctional servo driver of the present utility model has the multiple form of using flexibly.
The utility model is further, has increased communication interface, is used for being connected with host computer transmission bi-directional data and instruction.The communication interface plate is preferably mounted on the first expansion interface on the main control module.
Power model of the present utility model has further increased direct current bus voltage detecting circuit, and in order to detecting DC bus-bar voltage, the DC bus-bar voltage fluctuation that causes when being used for eliminating wherein a controlled electric motor starting or braking is to the interference of another motor.
Increase A/D and D/A change-over circuit in the main control module described in the utility model, be converted to digital quantity in order to aanalogvoltage instruction that host computer is sent and the current feedback signal of two controlled motors.Improved the precision that data transmit between host computer and the control module.
Description of drawings
Fig. 1 is the circuit block diagram of the embodiment one of the utility model multifunctional servo driver.
Fig. 2 is the first feedback interface circuit block diagram of the utility model embodiment one.
Fig. 3 is the second feedback module block diagram of the utility model embodiment one.
Fig. 4 is the circuit block diagram of the embodiment two of the utility model multifunctional servo driver.
Fig. 5 is the first feedback interface circuit block diagram of the utility model embodiment two.
Fig. 6 is the second feedback module block diagram of the utility model embodiment two.
Fig. 7 is the second feedback module block diagram of the utility model embodiment three.
Fig. 8 is the second feedback module block diagram of the utility model embodiment four.
Embodiment
Below in conjunction with accompanying drawing, with specific embodiment the utility model is described.
Embodiment one, and as Figure 1-3, the Multifunctional dual-spindle servo-driver of the present embodiment comprises: main control module 10, power model 20.
In the present embodiment, main control module 10 comprises: digital signal processor (DSP) 101; The first programmable logic device (PLD), the present embodiment are CPLD (CPLD) 102; The first feedback signal change-over circuit 103(or title: the first feedback interface circuit); The second feedback module 70(or title: the second feedback signal change-over circuit/the second feedback interface circuit).
Wherein, described digital signal processor (DSP) 101: adopting model is the dsp chip of TMS320F335; This digital signal processor (DSP) 101 is main process chip, digital signal processor (DSP) 101 is connected with CPLD (CPLD) 102 by external data bus 50, in order to process the I/O data, in order to receive the pulse command of host computer 100; Digital signal processor (DSP) 101 receives the signal of the incremental encoder of the first feedback signal change-over circuit 103 by self orthogonal encoder circuit 1012, in order to the position of measuring rotor and the rotating speed of motor; Digital signal processor (DSP) 101 draws the pulse width modulating signal separately (PWM) of two controlled motors by computing, inversion unit 203 through power model 20 corresponding to the task manager unit of digital signal processor (DSP) 101 1014 controls also claims three phase inverter bridge.Select as another kind, when the scrambler of the first feedback element 30 on being located at rotor is sine and cosine encoder, digital signal processor (DSP) 101 can also be converted to the sine and cosine encoder signal of the first feedback signal change-over circuit 103 digital signal and segment calculating by the A/D converting unit 1013 of self, in order to the position of measuring rotor and the rotating speed of motor;
The described Multifunctional dual-spindle servo-driver of the present embodiment, wherein, described CPLD (CPLD) 102 is connected with digital signal processor (DSP) 101; Be connected with general purpose I/O unit, in order to receiving the I/O data, and carry out logic control; CPLD (CPLD) 102 was converted into digital quantity as pulse command and the counting that interface chip receives host computer 100 when the instruction of sending at host computer 100 was pulse command, was input in the digital signal processor (DSP) 101; CPLD (CPLD) 102 is used for receiving the signal of the described second incremental encoder change-over circuit that feeds back 7021 outputs, and transfers the signal to the in the digital signal processor (DSP) 101 of described main control module 10;
Block diagram as shown in Figure 2, the first feedback signal change-over circuit 103 of the present embodiment is by two parts the electric circuit constitute: incremental encoder change-over circuit 1031 and sine and cosine encoder change-over circuit 1032, can select wherein a kind of circuit according to the encoder type that two controlled motors are installed, described incremental encoder change-over circuit 1031 is connected with the orthogonal encoder circuit 1012 of described digital signal processor (DSP) 101; Described sine and cosine encoder change-over circuit 1032 is connected with the A/D converting unit (circuit) 1013 of described digital signal processor 101.The first feedback signal change-over circuit 103 had both comprised incremental encoder change-over circuit 1031, comprise again sine and cosine encoder change-over circuit 1032, it can increase user's alternative, has also increased the versatility of Multifunctional dual-spindle servo-driver described in the utility model.
Servo-driver in the present embodiment, wherein said power model 20, or claim that main loop module comprises: three-phase alternating-current supply 201, rectification circuit 202,203, two current detection circuits 204 in two three-phase inversion unit, direct current bus voltage detecting circuit 205 and discharge cell 206;
Wherein, rectification circuit 202 is bridge full-wave rectifier, in order to convert AC power 201 to direct supply;
Wherein, two three-phase inversion unit 203---three phase inverter bridge, with thinking that two controlled motors provide electric power, be controlled by respectively the pulse width modulating signal (PWM) of main control module 10 output, convert direct current to frequency and voltage all variable three-phase alternating currents;
Wherein, current detection circuit 204 flows through the alternating current of two controlled motors in order to detect respectively, and is input in the digital signal processor (DSP) 101 of main control module 10;
Direct current bus voltage detecting circuit 205 in order to detecting DC bus-bar voltage, and is converted into digital quantity through A/D change-over circuit 106, is input in the digital signal processor (DSP) 101;
The characteristics of the present embodiment are, it also comprises the second feedback module 70, be provided with the second feedback element 40 two controlled motor-driven plant equipment, the position of the plant equipment that drives for detection of two motors, the digital signal processor (DSP) 101 that described the second feedback module 70 is used for receiving the signal of described the second feedback element 40 feedbacks and sends described main control module 10 to, the digital signal processor of described main control module (DSP) 101 sends pulse width modulating signal (PWM) according to first and second feedback signal to two controlled motors.
In the present embodiment, as shown in Figure 3, this second feedback module 70 comprises:
The second feedback interface 701 is used for connecting the second feedback element 40; The second feedback signal change-over circuit 702, by two parts the electric circuit constitute: incremental encoder change-over circuit 7021 and sine and cosine encoder change-over circuit 7022, can select wherein a kind of circuit according to the second feedback element type of installing on the plant equipment;
When the second feedback element 40 of installing on the plant equipment is incremental encoder, described CPLD (CPLD) 102 in the main control module 10, be used for receiving the signal of described incremental encoder change-over circuit 7021 outputs, and transfer the signal to the in the digital signal processor (DSP) 101 of described main control module 10;
When the second feedback element 40 of installing on the plant equipment is sine and cosine encoder, sine and cosine encoder change-over circuit 7022 is connected to self A/D converting unit 1013 of digital signal processor (DSP) 101, is calculated rotational angle or the displacement of the load machinery that is connected with two controlled motors by digital signal processor (DSP) 101.
The described servo-driver of the present embodiment, owing to increased by the second feedback module, thus realized closed-loop control, improved control accuracy.
Another optimal way as above-described embodiment, wherein, described main control module 10 can be set up A/D and D/A change-over circuit 106,107, multichannel buffer interface (McBSP) 1011 by digital signal processor (DSP) 101 is connected with digital signal processor (DSP) 101, is converted to digital quantity in order to aanalogvoltage rotary speed instruction that host computer 100 is sent and the current feedback signal of two controlled motors; And will select the various quantity of states of two controlled motors to be converted into analog output by setup parameter, be used for monitoring.Adopt independently A/D and D/A change-over circuit 106,107, be conducive to improve the precision of the transmission of data.
This main control module 10 can further include a display unit 109, display unit 109 is comprised of liquid crystal display or seven sections light-emitting diode displays and button, GPIO pin by digital signal processor (DSP) 101 links to each other with digital signal processor (DSP) 101, be used for showing the duty of two controlled motors and servo-driver, set the data of servo-driver, servo-driver is carried out manual operation.
The main control module of the present embodiment can further include a usb 1 10 and a usb interface module 108, this usb interface module (circuit) 108 links to each other with digital signal processor (DSP) 101 by data bus 50, is used for digital signal processor (DSP) 101 and compunication.On computers in order to production debugging, setting parameter and data acquisition.
Embodiment two, and shown in Fig. 4-6, Multifunctional dual-spindle servo-driver of the present utility model comprises: main control module 10, power model 20, communication interface module 60 and the second feedback module 70.
Wherein, main control module 10 comprises:
Digital signal processor (DSP) 101; The first programmable logic device (PLD), the present embodiment are field programmable gate array (FPGA) 102 '; The first feedback signal change-over circuit 103(or title: the first feedback interface circuit); Two expansion interfaces: first, second expansion interface 104,105; A/D and D/A change-over circuit 106,107; Usb interface module (circuit) 108; Display unit 109.
In the present embodiment, the model of digital signal processor (DSP) 101 is TMS28F335, is the digital signal processor (DSP) 101 with data bus 50.
Wherein, described digital signal processor (DSP) 101 is main process chip, digital signal processor (DSP) 101 is connected with field programmable gate array (FPGA) 102 ' by external data bus 50, in order to the first encoder data of processing I/O data, serial line interface, the pulse command of host computer 100;
Digital signal processor (DSP) 101 is connected with A/D and D/A change-over circuit 106,107 by multichannel buffer interface (McBSP) 1011 of self, in order to aanalogvoltage instruction and the current of electric feedback signal that receives host computer 100, and export rotating speed and the dtc signal of any motor in the aanalogvoltage mode;
Digital signal processor (DSP) 101 receives the signal of the incremental encoder of the first feedback signal change-over circuit 103 by self orthogonal encoder circuit 1012, in order to the position of measuring rotor and the rotating speed of motor; Digital signal processor (DSP) 101 is converted to the sine and cosine encoder signal of the first feedback signal change-over circuit 103 digital signal and segments calculating by the A/D converting unit 1013 of self; Digital signal processor (DSP) 101 draws the pulse width modulating signal separately (PWM) of two controlled motors by computing, through the inversion unit 203 of power model 20 corresponding to the task manager unit of digital signal processor (DSP) 101 1014 controls.
Wherein, described field programmable gate array (FPGA) 102 ': by data bus 50 and digital signal processor (DSP) 101 interfaces; Be connected with general purpose I/O unit, in order to receiving the I/O data, and carry out logic control; When the first feedback element 30 is the serial line interface scrambler, in order to connect the serial line interface scrambler separately of two controlled motors as interface chip, namely the serial line interface scrambler of the first feedback signal change-over circuit 103 connects this field programmable gate array (FPGA) 102 ', serial data is converted to parallel data is input to digital signal processor (DSP) 101; When the first feedback interface circuit 103 is the serial line interface scrambler, by the program of change field programmable gate array (FPGA) 102 ', can connect from the serial line interface scrambler with different communications protocol (such as ENDAT2.2, Hiperface, BiSS, SSI); When the instruction of sending at host computer 100 was pulse command, field programmable gate array (FPGA) 102 ' was converted into digital quantity as pulse command and the counting that interface chip receives host computer 100, is input in the digital signal processor (DSP) 101.
As shown in Figure 5, the first feedback signal change-over circuit 103 of the present embodiment is comprised of three partial circuits: incremental encoder change-over circuit 1031, sine and cosine encoder change-over circuit 1032 and serial line interface encoder converting circuit 1033, can select wherein feedback signal change-over circuit according to the feedback element type that two controlled motors are installed, these three feedback signal change-over circuits are respectively applied to connect incremental photo encoder, sine and cosine encoder, serial line interface scrambler.Described incremental encoder change-over circuit 1031 is connected with the orthogonal encoder circuit 1012 of described digital signal processor (DSP) 101; Described sine and cosine encoder change-over circuit 1032 is connected with the A/D converting unit (circuit) 1013 of described digital signal processor (DSP) 101.Serial line interface encoder converting circuit 1033 is connected with field programmable gate array (FPGA) 102 ', namely this field programmable gate array (FPGA) 102 ' is connected with described serial line interface encoder converting circuit 1033 as interface chip, and the signal of serial line interface scrambler is flowed to described digital signal processor (DSP) 101.
This main control module 10 also comprises A/D and D/A change-over circuit 106,107, multichannel buffer interface (McBSP) 1011 by digital signal processor (DSP) 101 is connected with digital signal processor (DSP) 101, is converted to digital quantity in order to aanalogvoltage rotary speed instruction that host computer 100 is sent and the current feedback signal of two controlled motors; And will select the various quantity of states of two controlled motors to be converted into analog output by setup parameter, be used for monitoring.
This main control module 10 also comprises a usb 1 10 and a usb interface module 108, this usb interface module (circuit) 108 links to each other with digital signal processor (DSP) 101 by data bus 50, is used for digital signal processor (DSP) 101 and compunication.On computers in order to production debugging, setting parameter and data acquisition.
This main control module 10 also comprises a display unit 109, display unit 109 is comprised of liquid crystal display or seven sections light-emitting diode displays and button, GPIO pin by digital signal processor (DSP) 101 links to each other with digital signal processor (DSP) 101, be used for showing the various duties of two controlled motors and servo-driver, set the various data of servo-driver, and can carry out manual operation to servo-driver.
The described power model 20 of this servo-driver, namely main loop module comprises: three-phase alternating-current supply 201; 202, two three-phase inversion unit 203 of rectification circuit, current detection circuit 204, direct current bus voltage detecting circuit 205 and discharge cell 206(dynamic braking unit); Wherein:
Two three-phase inversion unit 203---three phase inverter bridge with thinking that two controlled motors provide electric power, is controlled by respectively the pulse width modulating signal (PWM) of main control module 10 output, converts DC voltage to frequency and voltage all variable three-phase alternating currents;
Direct current bus voltage detecting circuit 205 in order to detecting DC bus-bar voltage, and is converted into digital quantity through A/D change-over circuit 106, is input in the digital signal processor (DSP) 101.
This driver also comprises a communication interface module 60 and the second feedback module 70: communication interface module 60 and the second feedback module 70 are installed in respectively on two expansion interfaces 104,105 of described main control module 10, the first expansion interface 104 wherein, be used for plugging communication interface module 60, this communication interface module 60 is used for being connected with host computer 100 transmission bi-directional data and instruction.The second expansion interface 105, in order to the second feedback module 70 to be installed, this second feedback module 70 is connected with data signal processor (DSP) 101 by data bus 50, as the closed-loop feedback signal of two controlled motors.Obviously, first, second expansion interface can transposition.
Wherein, be installed in communication interface module 60 on the first expansion interface 104 on the main control module 10, be connected with digital signal processor (DSP) 101 by data bus 50, in order to be connected transmission bi-directional data and instruction with host computer 100; Communication interface module 60 has different forms according to different Principles of Communication, can be chosen as one of EtherCat, Profibus-DP, BBFBUS, RS-485, RS-232, Modbus, CAN-open.According to the host computer 100 with different communication forms, select the with it communication of corresponding communication interface plate.
As shown in Figure 6, wherein, described the second feedback module 70 comprises:
The second feedback interface 701 is used for connecting the second feedback element 40;
The second feedback signal change-over circuit 702 by incremental encoder change-over circuit 7021 and sine and cosine encoder change-over circuit 7022, is used for the feedback signal that receives is converted to level signal; When the second feedback element 40 was incremental encoder, incremental encoder change-over circuit 7021 was connected to the orthogonal encoder circuit 7031 of single-chip microcomputer (MCU) 703; When the second feedback element 40 was sine and cosine encoder, sine and cosine encoder change-over circuit 7022 was connected to the AD conversion unit 7032 of single-chip microcomputer (MCU) 703, and cosine and sine signal is converted into digital quantity;
Single-chip microcomputer (MCU) 703 by calculating the position of controlled machinery, and outputs to the second programmable logic device (PLD) 704 with these data in the mode of serial data; And
The second programmable logic device (PLD) 704, the present embodiment, this second programmable logic device (PLD) 704 is CPLD---CPLD chip: be used for receiving the serial data of single-chip microcomputer (MCU) 703 outputs and being converted to parallel data, transfer the signal to the described main control module 10(or title by data bus: in digital signal processor master control borad) (DSP) 101.
It should be noted that described AC servo motor can be alternating current asynchronous servomotor and/or AC synchronous servomotor, by setting different parameters, can control respectively alternating current asynchronous servomotor or AC synchronous servomotor.
During work, first feedback element 30 of (an alternating current asynchronous servomotor and an ac synchronous motor) detects the position of two rotors and the rotating speed of motor on two motor shafts by being located at; Be located at the position that the second feedback element 40 mechanically that two motors drive detects the machinery that two motors drive, the first feedback element 30 be connected feedback element 40 respectively with the first feedback signal change-over circuit 103 be connected the second feedback signal change-over circuit 702 of feedback module 70 and be connected.
The advantage of the present embodiment is: increased by the second feedback module 70, be used for receiving the signal that is located at second feedback element 40 mechanically of driven by servomotor, and by the second feedback module 70 feedback signal is sent in the main control module 10, the digital signal processor of main control module 10 (DSP) is according to first, second feedback signal, send pulse width modulating signal (PWM) to motor, thereby consist of position Full-closed servo system, improved the control accuracy of motor.The utility model is based on above-mentioned technical scheme, can use two motors of a slice digital signal processor (DSP) control, in two hardware integration to that motor is required devices of control, shared such as the rectification circuit in the power model, current detection circuit, circuit and the casings such as inversion unit, communication module, human-machine interface unit, discharge circuit, thereby reduced cost, also dwindled the volume of device.
Embodiment three, and with embodiment two differences be: wherein the second feedback signal change-over circuit is the serial line interface encoder converting circuit, as shown in Figure 7.
Wherein, the second feedback interface 701 is used for connecting the second feedback element 40;
The second feedback signal change-over circuit 702 is the serial line interface encoder converting circuit;
Secondary scene programmable gate array (FPGA) 704 ', described secondary scene programmable gate array (FPGA) 704 ' is connected with described serial line interface encoder converting circuit 702, and the serial signal that receives is converted to digital quantity, flow to the digital signal processor (DSP) 101 of described main control module 10 by data bus 50.
Need to prove, by the program of change secondary scene programmable gate array (FPGA) 704 ', the second feedback signal change-over circuit 702 can connect from the serial line interface scrambler with different communications protocol (such as ENDAT2.2, Hiperface, BiSS, SSI);
Embodiment four, and embodiment two differences: wherein the second feedback signal change-over circuit 702 is the rotary transformer change-over circuit, as shown in Figure 8.
The second feedback interface 701 is used for connecting the second feedback element;
The second feedback signal change-over circuit 702 is Signal Converting Circuit for Resolver, is comprised of exciting circuit 7023 and cosine and sine signal change-over circuit 7024;
Single-chip microcomputer (MCU) 703, the pwm unit 7033 of described single-chip microcomputer (MCU) 703 is used for the excited signal of output rotary transformer; The AD conversion unit 7032 of described single-chip microcomputer (MCU) 703 is used for converting the cosine and sine signal of cosine and sine signal change-over circuit 7024 outputs to digital quantity; Described single-chip microcomputer (MCU) 703 by calculating the position of controlled machinery, and outputs to the second programmable logic device (PLD) 704 with these data in the mode of serial data; And
The second programmable logic device (PLD) 704, in the present embodiment be: the complex programmable logic device (CPLD) chip, be used for receiving the serial data of single-chip microcomputer (MCU) 703 outputs and being converted to parallel data, transfer the signal to the by data bus 50 in the digital signal processor (DSP) 101 of described main control module 10.Obviously, the second programmable logic device (PLD) 704 in the present embodiment can also be selected field programmable gate array (FPGA).
Above embodiment is for invention illustrative and nonrestrictive just; the utility model aims to provide a kind of twin shaft servo-driver and comprises; mainly be to have increased by the second feedback module; thereby realize closed-loop control, it will be appreciated by those skilled in the art that in the situation that do not break away from the claim limited range; can make many modifications, variation or equivalence; for example: change the model of digital signal processor, change first, second encoder circuit, all will drop into protection domain of the present utility model.
Claims (17)
1. a Multifunctional dual-spindle servo-driver comprises a main control module and power model;
Described main control module comprises:
Digital signal processor is used for receiving the host computer instruction; Process the I/O data; Receive and process by two the first feedback element feedback of feedback signals that are used for measuring motor rotor position and speed that are located on two controlled motors; The current feedback signal of two controlled motors that reception and processing power control module are sent; Send pulse width modulating signal to two controlled motors;
The first programmable logic device (PLD) is used for receiving the I/O data, and sends described digital signal processor to by data bus; Be used for receiving as interface chip the pulse command of host computer;
The first feedback signal change-over circuit is used for receiving the feedback signal of the first feedback element on two controlled motors, and flows to described digital signal processor;
Described power model comprises:
Three-phase alternating-current supply;
Rectification circuit is in order to convert AC power to direct supply;
Two three-phase inversion unit receive respectively the pulse width modulating signal of main control module output, and convert direct current to frequency and voltage all variable three-phase alternating currents, are used for providing electric power to two controlled motors;
Current detection circuit, in order to detecting respectively the alternating current flow through two controlled motors, and with the current feedback of two controlled motors in the digital signal processor of described main control module;
Discharge cell, the instantaneous rising of DC bus-bar voltage that causes when being used for suppressing controlled motor braking;
It is characterized in that, this driver also comprises the second feedback module; Described the second feedback module is used for receiving the signal that is located at two the second feedback element feedbacks on the controlled motor-driven plant equipment and the digital signal processor that sends described main control module to, the digital signal processor of described main control module sends pulse width modulating signal according to first and second feedback signal to two controlled motors.
2. Multifunctional dual-spindle servo-driver according to claim 1 is characterized in that, described the second feedback module comprises:
The second feedback interface is used for connecting the second feedback element;
The second feedback signal change-over circuit, described the second feedback signal change-over circuit comprises incremental encoder change-over circuit and sine and cosine encoder change-over circuit, is used for the feedback signal that receives is converted to level signal;
The incremental encoder change-over circuit of described the second feedback signal change-over circuit is connected with described the first programmable logic device (PLD), described the first programmable logic device (PLD) is used for receiving the feedback signal of described incremental encoder change-over circuit output, and transfers the signal to the in the digital signal processor of described main control module;
The sine and cosine encoder change-over circuit of described the second feedback signal change-over circuit is connected with A/D change-over circuit in the described digital signal processor, and the A/D change-over circuit in the described digital signal processor receives the feedback signal of described sine and cosine encoder change-over circuit output;
Perhaps,
Described the second feedback module comprises:
The second feedback interface is used for connecting the second feedback element;
The second feedback signal change-over circuit, described the second feedback signal change-over circuit comprises incremental encoder change-over circuit and sine and cosine encoder change-over circuit, is used for the feedback signal that receives is converted to level signal;
Single-chip microcomputer, the quadrate encode module of this single-chip microcomputer is used for receiving and processing the signal of described the second feedback incremental encoder change-over circuit output, and the analog to digital conversion circuit of this single-chip microcomputer is used for receiving and processing the signal of described the second feedback sine and cosine encoder change-over circuit output; And
The second programmable logic device (PLD), the digital signal processor that is used for receiving the digital feedback signal of described single-chip microcomputer output and transfers the signal to the described main control module;
Perhaps,
Described the second feedback module comprises:
The second feedback interface is used for connecting the second feedback element;
The second feedback signal change-over circuit, described the second feedback signal change-over circuit is the serial encoder change-over circuit, is used for the feedback signal that receives is converted to level signal;
The second programmable logic device (PLD), be used for receiving the signal of described serial line interface encoder converting circuit output, described the second programmable logic device (PLD) is field programmable gate array, and the signal of serial line interface scrambler is flowed to described digital signal processor by data bus and expansion interface;
Perhaps,
Described the second feedback module comprises:
The second feedback interface is used for connecting the second feedback element;
The second feedback signal change-over circuit is Signal Converting Circuit for Resolver, is comprised of exciting circuit and cosine and sine signal change-over circuit;
Single-chip microcomputer, the pwm unit of this single-chip microcomputer is used for the excited signal of output rotary transformer; The AD conversion unit of this single-chip microcomputer is used for converting the cosine and sine signal of cosine and sine signal change-over circuit output to digital quantity; And
The second programmable logic device (PLD), the digital signal processor that is used for receiving the digital feedback signal of described single-chip microcomputer output and transfers the signal to the described main control module.
3. Multifunctional dual-spindle servo-driver according to claim 1 and 2, it is characterized in that: this driver also comprises a communication interface module, is used for being connected with host computer, transmits bi-directional data and instruction.
4. Multifunctional dual-spindle servo-driver according to claim 3, it is characterized in that: described main control module comprises the first expansion interface; Described communication interface module is inserted on the first expansion interface of main control module.
5. each described Multifunctional dual-spindle servo-driver wherein according to claim 1-2, it is characterized in that: described main control module comprises the second expansion interface; Described the second feedback module is installed on the second expansion interface of main control module.
6. each described Multifunctional dual-spindle servo-driver wherein according to claim 1-2, it is characterized in that: described power model also comprises: direct current bus voltage detecting circuit, in order to detect DC bus-bar voltage, and voltage signal is sent in the described digital signal processor, described digital signal processor is according to the pulse width modulating signal of the DC bus-bar voltage adjustment output that detects.
7. each described Multifunctional dual-spindle servo-driver wherein according to claim 1-2, it is characterized in that: described main control module also comprises A/D change-over circuit and D/A change-over circuit, is converted to digital quantity in order to aanalogvoltage instruction that host computer is sent and the current feedback signal of two controlled motors.
8. each described Multifunctional dual-spindle servo-driver wherein according to claim 1-2, it is characterized in that: described the first programmable logic device (PLD) is field programmable gate array or CPLD.
9. Multifunctional dual-spindle servo-driver according to claim 2, it is characterized in that: described the second programmable logic device (PLD) is field programmable gate array or CPLD.
10. each described Multifunctional dual-spindle servo-driver wherein according to claim 1-2, it is characterized in that: described the first feedback signal change-over circuit comprises at least two kinds of circuit in incremental encoder change-over circuit, sine and cosine encoder change-over circuit, the serial line interface encoder converting circuit;
Described incremental encoder change-over circuit is connected with the quadrature code-disc circuit of described digital signal processor;
Described sine and cosine encoder change-over circuit is connected with the A/D change-over circuit of described digital signal processor;
Described serial line interface encoder converting circuit is connected with described the first programmable logic device (PLD), and described the first programmable logic device (PLD) is field programmable gate array, and the signal of serial line interface scrambler is flowed to described digital signal processor.
11. Multifunctional dual-spindle servo-driver according to claim 4 is characterized in that: described the first feedback signal change-over circuit comprises at least two kinds of circuit in incremental encoder change-over circuit, sine and cosine encoder change-over circuit, the serial line interface encoder converting circuit;
Described incremental encoder change-over circuit is connected with the quadrature code-disc circuit of described digital signal processor;
Described sine and cosine encoder change-over circuit is connected with the A/D change-over circuit of described digital signal processor;
Described serial line interface encoder converting circuit is connected with described the first programmable logic device (PLD), and described the first programmable logic device (PLD) is field programmable gate array, and the signal of serial line interface scrambler is flowed to described digital signal processor.
12. Multifunctional dual-spindle servo-driver according to claim 5 is characterized in that: described the first feedback signal change-over circuit comprises at least two kinds of circuit in incremental encoder change-over circuit, sine and cosine encoder change-over circuit, the serial line interface encoder converting circuit;
Described incremental encoder change-over circuit is connected with the quadrature code-disc circuit of described digital signal processor;
Described sine and cosine encoder change-over circuit is connected with the A/D change-over circuit of described digital signal processor;
Described serial line interface encoder converting circuit is connected with described the first programmable logic device (PLD), and described the first programmable logic device (PLD) is field programmable gate array, and the signal of serial line interface scrambler is flowed to described digital signal processor.
13. Multifunctional dual-spindle servo-driver according to claim 6 is characterized in that: described the first feedback signal change-over circuit comprises at least two kinds of circuit in incremental encoder change-over circuit, sine and cosine encoder change-over circuit, the serial line interface encoder converting circuit;
Described incremental encoder change-over circuit is connected with the quadrature code-disc circuit of described digital signal processor;
Described sine and cosine encoder change-over circuit is connected with the A/D change-over circuit of described digital signal processor;
Described serial line interface encoder converting circuit is connected with described the first programmable logic device (PLD), and described the first programmable logic device (PLD) is field programmable gate array, and the signal of serial line interface scrambler is flowed to described digital signal processor.
14. Multifunctional dual-spindle servo-driver according to claim 7 is characterized in that: described the first feedback signal change-over circuit comprises at least two kinds of circuit in incremental encoder change-over circuit, sine and cosine encoder change-over circuit, the serial line interface encoder converting circuit;
Described incremental encoder change-over circuit is connected with the quadrature code-disc circuit of described digital signal processor;
Described sine and cosine encoder change-over circuit is connected with the A/D change-over circuit of described digital signal processor;
Described serial line interface encoder converting circuit is connected with described the first programmable logic device (PLD), and described the first programmable logic device (PLD) is field programmable gate array, and the signal of serial line interface scrambler is flowed to described digital signal processor.
15. Multifunctional dual-spindle servo-driver according to claim 3 is characterized in that: described communication interface module be EtherCat, Profibus-DP, BBFBUS, RS-485, RS-232, Modbus, CAN-open one of them.
16. Multifunctional dual-spindle servo-driver according to claim 4 is characterized in that: described communication interface module be EtherCat, Profibus-DP, BBFBUS, RS-485, RS-232, Modbus, CAN-open one of them.
17. each described Multifunctional dual-spindle servo-driver wherein according to claim 1-2, it is characterized in that: also comprise a USB interface and a usb interface module in the described main control module, this usb interface module is used for digital signal processor and compunication.
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| CN 201220205780 CN202771219U (en) | 2012-05-09 | 2012-05-09 | Multifunctional biaxial servo driver |
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| CN 201220205780 CN202771219U (en) | 2012-05-09 | 2012-05-09 | Multifunctional biaxial servo driver |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103389684A (en) * | 2012-05-09 | 2013-11-13 | 周立纯 | Multifunctional double-shaft servo driver |
| CN107797493A (en) * | 2017-10-31 | 2018-03-13 | 段天富 | Servo-driver, servo drive system and its automatic testing method |
| CN108312147A (en) * | 2018-03-19 | 2018-07-24 | 北京钢铁侠科技有限公司 | Driver and robot delicate with the driver |
| CN108566125A (en) * | 2018-06-14 | 2018-09-21 | 杭州贝格达自动化技术有限公司 | Three axis servo-driver of integrated form |
| CN111505501A (en) * | 2020-05-15 | 2020-08-07 | 中国计量大学 | Motor dynamic loading and transient testing device |
| CN112511395A (en) * | 2020-11-06 | 2021-03-16 | 云浮中科石材创新科技有限公司 | Driving and controlling integrated control system |
-
2012
- 2012-05-09 CN CN 201220205780 patent/CN202771219U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103389684A (en) * | 2012-05-09 | 2013-11-13 | 周立纯 | Multifunctional double-shaft servo driver |
| CN107797493A (en) * | 2017-10-31 | 2018-03-13 | 段天富 | Servo-driver, servo drive system and its automatic testing method |
| CN108312147A (en) * | 2018-03-19 | 2018-07-24 | 北京钢铁侠科技有限公司 | Driver and robot delicate with the driver |
| CN108566125A (en) * | 2018-06-14 | 2018-09-21 | 杭州贝格达自动化技术有限公司 | Three axis servo-driver of integrated form |
| CN111505501A (en) * | 2020-05-15 | 2020-08-07 | 中国计量大学 | Motor dynamic loading and transient testing device |
| CN112511395A (en) * | 2020-11-06 | 2021-03-16 | 云浮中科石材创新科技有限公司 | Driving and controlling integrated control system |
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