CN204013300U - DC permanent magnet globular motor control device - Google Patents
DC permanent magnet globular motor control device Download PDFInfo
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- CN204013300U CN204013300U CN201420492139.8U CN201420492139U CN204013300U CN 204013300 U CN204013300 U CN 204013300U CN 201420492139 U CN201420492139 U CN 201420492139U CN 204013300 U CN204013300 U CN 204013300U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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Abstract
The utility model discloses a kind of DC permanent magnet globular motor control device, comprise main control module, 4 four-way D/A modular converter #1-#4, 16 Voltage-current conversion module #1-#16, with 16 current detection module #1-#16, DC permanent magnet globular motor control device comprises microprocessor, microprocessor is connected with 4 four-way D/A modular converters, the output of each four-way D/A modular converter is connected with a Voltage-current conversion module respectively, in 16 coils of 16 Voltage-current conversion module access DC permanent magnet globular motors, current detection circuit is connected with microprocessor, output current also should be connected with current detection circuit, input module is connected with microprocessor, display module is connected with microprocessor.The utlity model has and can realize the advantage that multifreedom controlling, mechanism are simple, output driving current precision is high, control efficiency is high.
Description
Technical field
The utility model relates to machine field, is specifically related to a kind of DC permanent magnet globular motor control device.
Background technology
Follow social progress and development in science and technology, single-degree-of-freedom motor can not meet industrial requirement, during multi-freedom electric motor taking globular motor as representative is being studied widely, DC permanent magnet globular motor because of its structure special, its control structure is different from the control device of usual motor, and the driving based on DC permanent magnet globular motor is all the driving based on electric current at present.DC permanent magnet globular motor is as a kind of multiple degrees of freedom executive component, and its output the tip of the axis can be realized multifreedom motion in working space.Therefore need every group of coil on independent operation permanent magnetism spherical motor.The precision of drive current has influence on the torque of motor and the track of Three Degree Of Freedom greatly.
At present, need in the industry a kind of high-precision controller that can allow DC permanent magnet globular motor complete multifreedom motion.
Utility model content
The technical problems to be solved in the utility model is to provide and a kind ofly can realizes the advantage that multifreedom controlling, mechanism are simple, output driving current precision is high, control efficiency is high.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of DC permanent magnet globular motor control device, comprise main control module, 4 four-way D/A modular converter #1-#4, 16 Voltage-current conversion module #1-#16 and 16 current detection module #1-#16, described main control module comprises microprocessor, microprocessor is connected with 4 four-way D/A modular converters, the output of each four-way D/A modular converter is connected with 4 Voltage-current conversion modules respectively, 16 Voltage-current conversion modules are connected with 16 coils of DC permanent magnet globular motor respectively, one end of described current detection circuit is connected with microprocessor, current detection circuit is connected with current/charge-voltage convertor, described microprocessor is also connected with respectively input module and display module.
Preferably, described 4 four-way D/A modules are connected with the SPI interface of microprocessor, microprocessor output control word drives four-way D/A module to produce four tunnels and independently controls voltage, respectively with 4 Voltage-current conversion modules of output of described four-way D/A module are connected, control voltage through Voltage-current conversion module, produce drive current.
Preferably, one end of described current detection circuit is connected with the output of Voltage-current conversion module, and the other end of current detection circuit is connected with the AD interface of microprocessor.
The utlity model has following advantage: in the utility model, microprocessor is connected by SPI interface with 4 four-way D/A modules, control drives four-way D/A module to produce four tunnels and independently controls voltage, control voltage through Voltage-current conversion module, produce corresponding drive current, Voltage-current conversion module is connected with 16 air core coils of globular motor respectively, generation current moves in order to drive motors, current detection module is connected respectively at the coil that enters motor, in order to detect the electric current that enters coil, current signal loopback is carried out closed-loop control and delivers to display module to microprocessor, input module is connected with microprocessor, in order to accept user's input, display module is connected with microprocessor, in order to show active user's the drive current of setting and input, the utlity model has and can realize multifreedom controlling, mechanism is simple, output driving current precision is high, the advantage that control efficiency is high.
Brief description of the drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the perspective view of the utility model embodiment.
Fig. 2 is multichannel D/A conversion and microprocessor connection diagram in the utility model embodiment.
Fig. 3 is the circuit theory schematic diagram of current detection module in the utility model embodiment.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail, thereby so that advantage of the present utility model and feature can be easier to be it will be appreciated by those skilled in the art that, protection range of the present utility model is made to more explicit defining.
As shown in Figure 1, the DC permanent magnet globular motor control device of the present embodiment comprises main control module, 4 four-way D/A modular converter #1-#4, 16 Voltage-current conversion module #1-#16 and 16 current detection module #1-#16, main control module comprises microprocessor, microprocessor is connected with 4 four-way D/A modular converters, the output of each four-way D/A modular converter is connected with 4 Voltage-current conversion modules respectively, in 16 coils of 16 Voltage-current conversion module access DC permanent magnet globular motors, current detection circuit is connected with microprocessor, output current also should be connected with current detection circuit, for processor is connected with input module and display module.
In the present embodiment, it is the dsp chip realization of TMS320LF2407A that microprocessor adopts concrete model, dsp chip and the minimum operating circuit of peripheral circuit composition DSP.
As shown in Figure 2, four-way D/A modular converter adopts the 4 Channel 12-Bit serial input D/A conversion chips that model is DAC7714U, and input port SPISIMO is connected with microprocessor, and each four-way D/A modular converter comprises 4 output channels (OUT1-OUT4).The present embodiment comprises altogether 16 Voltage-current conversion modules, every 4 Voltage-current conversion modules are connected with the output channel OUT1-OUT4 of single four-way D/A modular converter respectively, the input of Voltage-current conversion module is connected with four-way D/A modular converter, and 16 groups of voltage-current converter circuits amplify the drive current that is output as DC permanent magnet globular motor.
In the present embodiment, current detection module adopts LTS6-NP current Hall transducer to realize, the input of 16 current detection modules is connected with the output of Voltage-current conversion module respectively, the electric current of Voltage-current conversion module output is after LTS6-NP, be converted into the output of 0-5V analog voltage, each current detection module is connected with the ADCIN0-ADCIN15 of DSP, carries out FEEDBACK CONTROL and electric current shows in real time in collected dsp chip.
Referring to Fig. 3, current detection module in the present embodiment, input is gathered by pin 1, and pin 4 flows out, and pin 7 is connected with an AD acquisition channel of microprocessor, can detect 0-5V analog voltage.
The course of work of the present embodiment is as follows: in DC permanent magnet globular motor running, by the input message of input module input coordinate, microprocessor calculates the electric current that calculates each coil, current value is rewritten into the control word of corresponding each four-way D/A modular converter simultaneously, write in four-way D/A modular converter #1-#4 by the SPI interface of DSP, drive four-way D/A modular converter #1-#4, obtain the analog voltage of each four-way D/A modular converter output; Each analog voltage of each four-way D/A modular converter is access in each Voltage-current conversion module #1-#16, and each analog voltage is converted into corresponding drive current by Voltage-current conversion module; Every road drive current is gathered by current detection module #1-#16, current detection module analog voltage corresponding to corresponding current value converts to, analog voltage is gathered by the AD sampling module of microprocessor, send as feedback quantity and control, the configuration information of real-time current and user's input is sent into display module simultaneously and show.In the time that needs change coordinate, only need in input module, reset coordinates of targets, said process will be re-executed, and completes the motion control of DC permanent magnet globular motor.
These are only preferred implementation of the present utility model, protection range of the present utility model is not limited in above-mentioned execution mode, and every technical scheme that belongs to the utility model principle all belongs to protection range of the present utility model.For a person skilled in the art, some improvements and modifications of carrying out under the prerequisite that does not depart from principle of the present utility model, these improvements and modifications also should be considered as protection range of the present utility model.
Claims (3)
1. a DC permanent magnet globular motor control device, it is characterized in that: comprise main control module, 4 four-way D/A modular converter #1-#4, 16 Voltage-current conversion module #1-#16 and 16 current detection module #1-#16, described main control module comprises microprocessor, microprocessor is connected with 4 four-way D/A modular converters, the output of each four-way D/A modular converter is connected with 4 Voltage-current conversion modules respectively, 16 Voltage-current conversion modules are connected with 16 coils of DC permanent magnet globular motor respectively, one end of described current detection circuit is connected with microprocessor, current detection circuit is connected with current/charge-voltage convertor, described microprocessor is also connected with respectively input module and display module.
2. DC permanent magnet globular motor control device according to claim 1, it is characterized in that: described 4 four-way D/A modules are connected with the SPI interface of microprocessor, microprocessor output control word drives four-way D/A module to produce four tunnels and independently controls voltage, respectively with 4 Voltage-current conversion modules of output of described four-way D/A module are connected, control voltage through Voltage-current conversion module, produce drive current.
3. DC permanent magnet globular motor control device according to claim 2, is characterized in that: one end of described current detection circuit is connected with the output of Voltage-current conversion module, the other end of current detection circuit is connected with the AD interface of microprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420492139.8U CN204013300U (en) | 2014-08-29 | 2014-08-29 | DC permanent magnet globular motor control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420492139.8U CN204013300U (en) | 2014-08-29 | 2014-08-29 | DC permanent magnet globular motor control device |
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| Publication Number | Publication Date |
|---|---|
| CN204013300U true CN204013300U (en) | 2014-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420492139.8U Expired - Fee Related CN204013300U (en) | 2014-08-29 | 2014-08-29 | DC permanent magnet globular motor control device |
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| CN (1) | CN204013300U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104362912A (en) * | 2014-10-10 | 2015-02-18 | 中山市鸿程科研技术服务有限公司 | Motor control device |
-
2014
- 2014-08-29 CN CN201420492139.8U patent/CN204013300U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104362912A (en) * | 2014-10-10 | 2015-02-18 | 中山市鸿程科研技术服务有限公司 | Motor control device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141210 Termination date: 20150829 |
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| EXPY | Termination of patent right or utility model |