CN205319984U - Drive control device - Google Patents
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- CN205319984U CN205319984U CN201520934389.7U CN201520934389U CN205319984U CN 205319984 U CN205319984 U CN 205319984U CN 201520934389 U CN201520934389 U CN 201520934389U CN 205319984 U CN205319984 U CN 205319984U
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Abstract
The utility model discloses a drive control device, include: main control unit and servo drive unit, wherein, main control unit receiving position instruction back converts the position instruction into and mails to servo drive unit after instruct the triaxial position, servo drive unit receives triaxial position instruction back, and power amplifier board separately -driven each shaft servo motor is passed through with each shaft servo motor's encoder feedback information to the position instruction according to the each shaft. The utility model discloses a main control unit receiving position instructs, has realized the drive control of the motor of active amusement platform through servo drive unit, furtherly comes from the instruction of host computer position and mails to servo drive unit through ethernet or analog input, each shaft position instruction through the CAN bus, receives the action instruction through ethernet or IO interface, carries out motion control, reduce signal interference, improved the reliability of system, the user experience of active amusement platform has been promoted. Realize monitoring through RS232, improved the operating performance of system.
Description
Technical field
The utility model relates to control utilisation technology, espespecially a kind of drived control device.
Background technology
Servo control system is the equipment that the dynamic amusement platform such as dynamic cinema, recreation facility, stage, simulator is indispensable.
At present, domestic servo control system mainly adopts the general-purpose servo based on pulsed technique to carry out integration realization. Owing to general-purpose servo supports multiple systems, therefore general-purpose servo includes the part function that dynamic amusement platform does not need, and each axle position command is adopted independent driving to control by general-purpose servo respectively, when namely carrying out the driving of three axle position command, needing to adopt three independent drive to control, cost is expensive; General-purpose servo carries out integration realization based on pulsed technique, exists due to wiring and distance, and the problem of pulse missing or interference easily occurs in system, reduces system reliability; In addition, dynamic amusement platform often comprises multiple general-purpose servo, there is the mutual interference of pulse, affect the synchronous effect between each general-purpose servo, affect Consumer's Experience between each general-purpose servo.
Summary of the invention
In order to solve the problems of the technologies described above, the present invention provides a kind of drived control device, it is possible to improve system reliability and Consumer's Experience.
In order to reach the utility model object, the utility model provides a kind of drived control device, comprising: master control unit and servo drive unit; Wherein,
Master control unit, for receiving position command, mails to servo drive unit after the position command of reception is converted to three axle position command;
Servo drive unit, for receiving three axle position command, distinguishes each axle servomotor in drive motor units according to the encoder feedback information of each axle position command and each axle servomotor.
Further, master control unit also for, receiving action instruction, the mechanism that action instruction exports to peripheral hardware carries out action control.
Further, master control unit specifically for, receive by the described position command of Ethernet or analog input;
After position command is converted to three axle position command, mail to servo drive unit;
Described position command is from upper computer.
Further, master control unit specifically for,
Receive described position command, after described position command is converted to three axle position command, mail to servo drive unit;
Receive described action instruction by Ethernet or input and output I/O interface, the mechanism that described action instruction exports peripheral hardware to is carried out action control;
Described action instruction is from upper computer.
Further, master control unit specifically for, receive described position command, after described position command is converted to three axle position command, each axle position command mail to described servo drive unit by controller local area network's CAN.
Further, the central processor CPU of master control unit is independent digital signal processor DSP;
The CPU of described servo drive unit is three DSP becoming corresponding relation with servomotor.
Further, servo drive unit specifically for,
Become the DSP of corresponding relation to be received each axle position command becoming mapping relation with each servomotor respectively by CAN with each servomotor; Encoder feedback information according to each axle position command and each axle servomotor generates motor control signal, it is achieved to the driving of each axle servomotor.
Further, this drived control device also comprises monitoring unit, for obtaining the status information of each axle servomotor, each axle servomotor carries out state monitoring and/or parameter setting and/or remote control.
Further, monitoring unit specifically for, received by described master control unit and comprise the positional information of each axle servomotor and/or the status information of alarm message and/or load-rate of motor via servo drive unit feedback, by RS232 bus each axle servomotor carried out state monitoring and/or parameter setting and/or remote control.
Further, this drived control device also comprises monitoring unit, for obtaining the status information of described servo drive unit, described servo drive unit is monitored and is adjusted.
Further, monitoring unit specifically for, obtain the status information of described servo drive unit, by the status information of servo drive unit described in RS485 bus transfer, described servo drive unit monitored and adjusted.
Further, master control unit also for, receive the status information fed back by each axle servomotor transmitted through described servo drive unit, and the status information that servomotor feeds back is mail to the upper computer sending described position command, to carry out the correction of described position command;
Described servo drive unit also for, receive each axle servomotor feedback status information; The status information that described servomotor feeds back is mail to described master control unit.
Further, servo drive unit specifically for,
Receiving three axle position command, mail to power amplifier board after generating motor control signal according to the encoder feedback information of each axle position command and each axle servomotor, power amplifier board realizes the driving to each axle servomotor according to motor control signal.
Further, power amplifier board comprises: switch power supply circuit, Serve Motor Control circuit, regenerative braking loop circuit, current detecting circuit and voltage detecting circuit.
Further, the each described DSP of servo drive unit produces the pulse width modulation (PWM) control signal of six corresponding road three-phase inverters of each servomotor respectively according to the encoder feedback information of three axle position command to each axle servomotor, and each pwm control signal outputs to the Serve Motor Control circuit of described power amplifier board after buffered;
Described Serve Motor Control circuit specifically for, the described pwm control signal of each DSP output is received respectively by the inside interface of each motor control signal, after photoelectric isolating circuit and intelligent power module process, transfer to corresponding described servomotor, carry out the control of three-phase windings; The trouble signal that IPM exports is linked into corresponding DSP by photoelectric isolating circuit and carries out fault protection.
Further, regenerative braking loop circuit specifically for,
The break-make control of insulated gate bipolar transistor IGBT is carried out according to the regenerative braking signal received; Output port accesses power supply port carry out braking the external of resistance; When detecting that servo drive unit DC bus-bar voltage exceedes the bus voltage threshold value set in advance, carry out voltage and release.
Further, current detecting circuit is used for, the electric current output terminal of the V/W phase winding of each servomotor is connected in series two-way current sensor resistor respectively, the terminal voltage of the two-way current sensor resistor connected by each servomotor electric current output terminal as the current feedback signal of corresponding each servomotor, carries out the torque closed-loop control of each servomotor after isolation amplification processing of circuit according to current feedback signal.
Further, voltage detecting circuit specifically for,
Sampling direct current bus both end voltage input, amplifies as DC bus-bar voltage feedback signal after processing of circuit through isolation, carries out the break-make control in regenerative braking loop according to DC bus-bar voltage feedback signal.
Compared with prior art, technical scheme comprises: master control unit mails to servo drive unit after the position command of reception is converted to three axle position command after receiving position command; After servo drive unit receives three axle position command, drive each axle servomotor according to the encoder feedback information of each axle position command and each axle servomotor respectively by power amplifier board. The utility model receives position command by master control unit, is achieved the drived control of the motor of dynamic amusement platform by servo drive unit; Further, from upper computer position command by Ethernet or analog input, each axle position command is sent to servo drive unit by CAN, by the laggard row action control of Ethernet or I/O interface receiving action instruction; Reduce signal disturbing, it is to increase the reliability of system; Improve the Consumer's Experience of dynamic amusement platform. Monitoring is realized, it is to increase system operation performance by RS232.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the part of the application, and the schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention. In the accompanying drawings:
Fig. 1 is the structure block diagram of practical novel drived control device;
Fig. 2 is the circuit composition schematic diagram of the utility model embodiment master control board;
Fig. 3 is the circuit composition schematic diagram of the utility model embodiment power amplifier board.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, hereinafter will by reference to the accompanying drawings embodiments of the invention be described in detail. It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can arbitrary combination mutually.
Fig. 1 is the structure block diagram of practical novel drived control device, as shown in Figure 1, comprising: master control unit and servo drive unit; Wherein,
Master control unit, for receiving position command, mails to servo drive unit after the position command of reception is converted to three axle position command;
Master control unit specifically for, receive by the position command of Ethernet or analog input;
After position command is converted to three axle position command, mail to servo drive unit; Here, position command is from upper computer.
The utility model master control unit also for, receiving action instruction, the mechanism that action instruction exports to peripheral hardware carries out action control.
Master control unit specifically for,
Receive position command, after position command is converted to three axle position command, mail to servo drive unit;
By Ethernet or the receiving action instruction of input and output (IO) interface, the mechanism that action instruction exports to peripheral hardware carries out action control; Here, action instruction is from upper computer.
Preferably, master control unit specifically for, receive position command, after position command is converted to three axle position command, each axle position command is mail to servo drive unit by controller local area network (CAN) bus.
It should be noted that, three axle position command refer to three not coaxial position command, assume that servomotor comprises A axle servomotor, B axle servomotor and C axle servomotor, then three axle position command comprise: A axle position command (position command of A axle servomotor), B axle position command and C axle position command.
Servo drive unit, for receiving three axle position command, distinguishes each axle servomotor in drive motor units according to the encoder feedback information of each axle position command and each axle servomotor.
In the utility model, the central processing unit (CPU) of master control unit is independent digital signal processor (DSP);
The CPU of servo drive unit is three DSP becoming corresponding relation with servomotor.
It should be noted that, the integrated and same servo drive unit by three DSP, relatively generic servo is compared, and the utility model improves the degree of integration of dynamic amusement platform Controlling System, reduces cost.
Servo drive unit specifically for,
Become the DSP of corresponding relation to be received each axle position command becoming mapping relation with each servomotor respectively by CAN with each servomotor; Encoder feedback information according to each axle position command and each axle servomotor generates motor control signal, it is achieved to the driving of each axle servomotor.
The utility model drived control device also comprises monitoring unit, for obtaining the status information of each axle servomotor, each axle servomotor carries out state monitoring and/or parameter setting and/or remote control.
Monitoring unit specifically for, received by described master control unit and comprise the positional information of each axle servomotor and/or the status information of alarm message and/or load-rate of motor via servo drive unit feedback, by RS232 bus each axle servomotor carried out state monitoring and/or parameter setting and/or remote control.
It should be noted that, remote control here refers to the operation adopting remote mode to carry out parameter setting.
The utility model comprises the positional information of each axle servomotor and/or the status information of alarm message and/or load-rate of motor by the display of RS232 bus transfer; And/or,
The positional information of each axle servomotor and/or the status information of alarm message and/or load-rate of motor is comprised by the transmission display of keyboard & display device;
Each axle servomotor is carried out state monitoring and/or parameter setting and/or remote control.
The utility model drived control device also comprises monitoring unit, for obtaining the status information of servo drive unit, is monitored by servo drive unit and adjusts.
Monitoring unit specifically for, obtain servo drive unit status information, by the status information of RS485 bus transfer servo drive unit, servo drive unit is monitored and adjusts.
The utility model master control unit also for, receive through servo drive unit transmission by each axle servomotor feedback status information, and by servomotor feed back status information mail to send position command upper computer, to carry out the correction of position command;
Servo drive unit also for, receive each axle servomotor feedback status information; The status information that servomotor feeds back is mail to master control unit;
Each servomotor also for, feed back self status information to servo drive unit.
Servo drive unit specifically for,
Receive three axle position command, according to the encoder feedback information of each axle position command and each axle servomotor, drive each axle servomotor respectively by power amplifier board.
The utility model power amplifier board comprises: switch power supply circuit, Serve Motor Control circuit, regenerative braking loop circuit, current detecting circuit and voltage detecting circuit.
The motor control signal of servo drive unit is connected to power amplifier board by respective inside interface respectively;
Each DSP of servo drive unit produces pulse-width modulation (PWM) control signal of six corresponding road three-phase inverters of each servomotor respectively according to the encoder feedback information of three axle position command to each axle servomotor, and each pwm control signal outputs to the Serve Motor Control circuit of power amplifier board after buffered;
Serve Motor Control circuit specifically for, the pwm control signal of each DSP input is received respectively by the inside interface of each DSP, after photoelectric isolating circuit and intelligent power module (IPM) process, transfer to corresponding servomotor, carry out the control of three-phase windings; The trouble signal that IPM exports is linked into corresponding DSP by photoelectric isolating circuit and carries out fault protection.
Regenerative braking loop circuit specifically for,
The break-make control of insulated gate bipolar transistor npn npn (IGBT) is carried out according to the regenerative braking signal received; Output port accesses power supply port carry out braking the external of resistance; When detecting that servo drive unit DC bus-bar voltage exceedes the bus voltage threshold value set in advance, carry out voltage and release.
Current detecting circuit specifically for, the electric current output terminal of the V/W phase winding of each servomotor is connected in series two-way current sensor resistor respectively, the terminal voltage of the two-way current sensor resistor connected by each servomotor electric current output terminal as the current feedback signal of corresponding each servomotor, carries out the torque closed-loop control of each servomotor after isolation amplification processing of circuit according to current feedback signal.
Voltage detecting circuit specifically for, sampling direct current bus both end voltage input, amplifies as DC bus-bar voltage feedback signal after processing of circuit through isolation, carries out the break-make control in regenerative braking loop according to DC bus-bar voltage feedback signal.
The utility model receives position command by main control platform, carries out the drived control of dynamic amusement platform, reduces signal disturbing, it is to increase the reliability of system, improves the Consumer's Experience of dynamic amusement platform.
Below by way of specific embodiment, the utility model being known detailed description, embodiment is only for stating the utility model, and is not used in the protection domain limiting this practical information.
Embodiment 1
The present embodiment master control unit receives the position command from upper computer and action instruction;
The upper computer that this enforcement master control unit connects can comprise following two kinds: a kind of is the upper computer carrying out with Ethernet communicating, and a kind of is the upper computer carrying out Signal transmissions with analog quantity.When upper computer communicates in Ethernet mode, it take time as position command and the action instruction of coordinate axis that the content of dynamic amusement platform is converted to by upper computer by existing protocol algorithm; Here, action instruction refers to dynamic environmental effects needed for amusement platform, such as, by the mechanism of peripheral hardware realizes blowing, rains, smog, sweeps the environmental effects such as leg, bubble. When upper computer is in time carrying out Signal transmissions in the way of analog quantity, analog output position command is passed through in the dynamic control source in upper computer, by I/O interface output action instruction.
To the position command received and action instruction, the present embodiment resolves position command by the digital signal processing (DSP) in master control unit, generates the three axle position command mailing to servo drive unit. Three axle position command are transmitted by the CAN between master control unit and servo drive unit. The DSP of master control unit, also for action instruction being resolved, exports the mechanism of digital control signal to peripheral hardware, generates corresponding environmental effects.
By CAN, master control unit also receives the encoder feedback information from servo drive unit.
Servo drive unit, for driving servomotor to work, the present embodiment servo drive unit can drive dynamic triaxial servomotor simultaneously; The present embodiment servo drive unit adopts three DSP to carry out the driving of each spindle motor, and for convenience of description, the DSP the present embodiment becoming one-to-one relationship to be connected with each servomotor is defined as respectively: corresponding to the A axle DSP of A axle servomotor; Corresponding to the B axle DSP of B axle servomotor; Corresponding to the C axle DSP of C axle servomotor; Master control cells D SP, A axle DSP, B axle DSP and C axle DSP are connected to CAN with node mode, A axle DSP, B axle DSP and C axle DSP resolves after receiving corresponding each axle position command from CAN, drive corresponding servomotor work respectively, thus realize the work driving the dynamic platform of three degree of freedom. The status information of each servomotor is also transferred to master control unit by CAN by the present embodiment servo drive unit.
The present embodiment also by monitoring unit to the status information obtaining each axle servomotor, each axle servomotor is carried out state monitoring and/or parameter setting and/or remote control;
Concrete, monitoring unit specifically for, received by master control unit and comprise the positional information of each axle servomotor and/or the status information of alarm message and/or load-rate of motor via servo drive unit feedback, each axle servomotor is carried out state monitoring and/or parameter setting and/or remote control.
Preferably,
The monitoring of each axle servomotor can be carried out transmission display and editor by the present embodiment by RS232 bus; Keyboard & display device can also be adopted to carry out showing and editing. The status information of servo drive unit servo drive unit, it is possible to carried out transmission display and editor by RS485 bus.
The present embodiment CAN, it is also possible to expand and be connected to communication interface, it is achieved networking controls.
Embodiment 2
The present embodiment drived control device is by master control unit, servo drive unit, monitoring unit; Master control unit, servo drive unit, monitoring unit can be integrated in a circuit card, are originally embodied as and are convenient to statement, and defining this circuit card is master control board. The present embodiment servo drive unit is connected with power amplifier board, is realized the function of servo drive unit by power amplifier board, and power amplifier board comprises: switch power supply circuit, circuit for controlling motor, regenerative braking loop, current detecting and voltage detecting circuit etc.
Fig. 2 is the circuit composition schematic diagram of the utility model embodiment master control board, and as shown in Figure 2, the master control unit of master control board is made up of an independent DSP, and servo drive unit adopts three DSP respectively three servomotors to be carried out drived control;The present embodiment for convenience of description, becomes DSP that one-to-one relationship is connected and motor the present embodiment to be defined as respectively: corresponding to the A axle DSP of A axle servomotor with each motor; Corresponding to the B axle DSP of B axle servomotor; Corresponding to the C axle DSP of C axle servomotor; ; In the present embodiment, the DSP of master control unit receives after the position command and action instruction of upper computer, position command is converted to three axle position command according to protocol algorithm, three DSP of servo drive unit drive each axle servomotor after receiving each axle position command by CAN respectively. The present embodiment four DSP models can adopt identical TMS320F28035.
The working process of master control each part of unit is as follows:
When receiving the position command transmitted in Ethernet mode and action instruction when master control unit, master control unit is linked into Serial Peripheral Interface (SPI) (SPI) the signal pin of the DSP of master control unit after receiving position command by Ethernet external-connected port through Ethernet controller; The present embodiment Ethernet controller model is ENC424J600. Master control cells D SP is to the position command received, after being converted to three axle position command according to protocol algorithm, servo drive unit is outputted to by CAN, status information is also uploaded to monitoring unit by the present embodiment master control unit, uploads to monitoring unit and can be transmitted by Ethernet, can also be transmitted by signalling methodss such as RS232, RS485.
When master control unit is by the position command from upper computer of analog input, the present embodiment carries out the access of the analog quantity (0～10V) inputted by the input pin M-AD [1..6] in external-connected port M-CONTROL, accesses modulus (AD) the signal pin of master control cells D SP through operational amplifier (OPM). Master control cells D SP resolves after the analog input of OPM, after being converted to three axle position command by protocol algorithm, exports three axle position command to servo drive unit.
The present embodiment is when master control unit passes through the position command from upper computer of analog input, by supporting, the external-connected port of 8 railway digital signal inputs receives in action instruction, is linked into the I/O pin of the DSP of master control unit through optical coupling isolation circuit (OPTO-ISO). After the DSP of master control unit receives action instruction, by supporting that the M-Control external-connected port of 12 railway digital signals outputs to the mechanism of the peripheral hardware of the instruction that performs an action, it is achieved environmental effects. Environmental effects comprises: blows, rain, snow, sweep leg, bubble, smog, urgent parking, locking safety belt etc.
External-connected port M-Control supports that 2 railway digital analog converter (DAC) signals export. The AD pin of the DSP of master control unit exports the status information of servomotor feedback to upper computer, is linked into isolation operation amplifier circuit (OPM-ISO), the output signal access external-connected port M-CONTROL after process. In the present embodiment, 2 road DAC output signal the status information that can be exported servomotor by Ethernet; The status information inputted from DAC and the status information mailing to master control unit are carried out contrast by upper computer can realize correction.
The present embodiment master control unit is communicated by CAN with servo drive unit. Mainly through the CAN signal pin of master control cells D SP is linked into CAN driving circuit, after the process of CAN driving circuit, access external-connected port COM. The node ID number of the CAN of the present embodiment master control unit can be defaulted as 0. Master control unit, as a node in CAN, sends three axle position command to servo drive unit; The status information of servomotor is fed back to master control unit by the present embodiment servo drive unit by CAN.
Serial communication interface (SCI) the signal pin of the DSP of the present embodiment master control unit connects the driving isolation circuit of RS232, by being linked into external-connected port serial PORT COM (COM) after the process of driving isolation circuit, the expansion of control device can be realized by external-connected port COM. The status information feedback of each axle servomotor that master control unit is received by the present embodiment by the connection of RS232 bus is to user, by to the display of status information of transmission and editor, it is achieved each axle servomotor to be carried out state monitoring and/or parameter setting and/or remote control.
Monitoring and adjustment to each axle servomotor can also be undertaken by keyboard & display device, such as, by signal (LINE) the signal pin of the DSP of master control unit being linked into keyboard & display device, each axle servomotor is carried out state monitoring and/or parameter setting and/or remote control by the keyboard and display panel connected by keyboard & display device.
The status information of each axle servomotor is also stored by the present embodiment; Concrete, the present embodiment is realized by ferroelectric memory (FRAM). The type of storer can be selected according to cost, transmission speed, data volume size etc.
Three servomotors are carried out independent control by three DSP by the present embodiment servo drive unit; The external-connected port of the present embodiment servo drive unit supports the input of 6 railway digital signals, the three axle position command namely transmitted by the DSP of 6 railway digital Signal reception master control unit; Wherein, A axle DSP, B axle DSP, C axle DSP carries out the reception of A axle position command, B axle position command and C axle position command respectively by two ways of digital signals. The numerary signal of input is linked into the I/O pin of A axle DSP, B axle DSP, C axle DSP respectively after optical coupling isolation circuit processes, and each DSP resolves the numerary signal of input, drives servomotor; Numerary signal comprises the control being rotated forward by servomotor and forbidding, reverse and forbid.
The present embodiment external-connected port S-CONTROL also supports that 6 railway digital signals export, and wherein distributes each 2 railway digital signals of A axle DSP, B axle DSP, C axle DSP and exports. The DSP that each axle servomotor is corresponding exports status information corresponding to servomotor, and the output status information after optical coupling isolation circuit isolation processing is to external-connected port S-CONTROL. In the present embodiment, the output of every axle 2 railway digital signal is respectively electromagnetic braking and dynamic brake, is exported mechanical protection when can realize power-off or emergency situations shutdown by the status information of electromagnetic braking and dynamic brake, and anti-locking system drops suddenly.
Servomotor inputs the encoder feedback signal performing each axle position command through long line receiving circuit (LINE) by external-connected port ENC (comprising A axle ENC, B axle ENC, C axle ENC), it is linked into the QEP signal pin of each axle DSP respectively, each DSP resolves encoder feedback signal respectively and obtains obtaining circular frequency corresponding to each axle and value of angular displacement, it is achieved the vector controlled of servomotor and velocity close-loop control.
The present embodiment CAN, receives the driving circuit being transferred to CAN after the status information of servo drive circuit, is linked into external-connected port COM after driving processes. The present embodiment can by arrange CAN node ID number (such as No. ID respectively value be 1,2,3) to A, B, C tri-axle distinguish.
The SCI signal pin of each axle DSP of the present embodiment is linked into corresponding RS485 driving circuit respectively, is linked into external-connected port COM by driving after being processed.In the present embodiment, A, B, C tri-the node ID number of RS485 bus of axle be defined as 1,2,3 successively by hardware setting. By RS485 bus No. ID selection, it is achieved to servo drive unit to the monitoring of each axle servomotor and adjustment.
The status information of axle each in servo drive unit is also stored by the present embodiment, it is possible to carry out the storage of status information by arranging the corresponding independent ferroelectric memory of each axle.
The present embodiment servo drive unit possesses three inner interfaces, master control unit possesses an inner interface, for being connected with power amplifier board, the present embodiment assumes that the title of servo drive unit three inner interfaces is respectively CON-A-DRV, CON-B-DRV, CON-C-DRV; The name of the inside interface of master control unit is called CON-LINK.
Inner interface CON-A-DRV interface is made up of the control signal and current sensor signal driving A axle servomotor.
The position command that A axle DSP is received by CAN (comprises corresponding CAN numbering, such as, ID=1) and encoder feedback signal realize motor vector control algorithm, produce the pwm control signal of six road three-phase inverters, power amplifier board is outputted to by inner interface CON-A-DRV, it is achieved A axle driven by servomotor operates after No. 6 snubbers (BUFFERS) process. Meanwhile, trouble signal also accesses the signal pin of A axle DSP by inner interface CON-A-DRV; Concrete: if lower level occurs in this signal pin, then A axle DSP closes pwm control signal, enters fault handling, thus realizes protection function.
The AD signal pin of A axle DSP, after operation amplifier circuit (OPM) processes, is connected to power amplifier board by inner interface CON-A-DRV, receives the V/W phase winding current sensor signal of A axle servomotor. A axle DSP passes through the feedback signal of A spindle motor V/W phase winding electric current as closed-loop current control system of measurement in real time, it is achieved the torque closed-loop control of A axle servomotor.
The position command that B axle DSP is received by CAN (comprises corresponding CAN numbering, such as, ID=2) and encoder feedback signal realize motor vector control algorithm, produce the pwm control signal of six road three-phase inverters, power amplifier board is outputted to by inner interface CON-B-DRV, it is achieved B axle driven by servomotor operates after No. 6 snubbers (BUFFERS) process. Meanwhile, trouble signal also accesses the signal pin of B axle DSP by inner interface CON-B-DRV; Concrete: if lower level occurs in this signal pin, then B axle DSP closes pwm control signal, enters fault handling, thus realizes protection function.
The AD signal pin of B axle DSP, after operation amplifier circuit (OPM) processes, is connected to power amplifier board by inner interface CON-B-DRV, receives the V/W phase winding current sensor signal of B axle servomotor. B axle DSP passes through the feedback signal of B spindle motor V/W phase winding electric current as closed-loop current control system of measurement in real time, it is achieved the torque closed-loop control of B axle servomotor.
The position command that C axle DSP is received by CAN (comprises corresponding CAN numbering, such as, ID=3) and encoder feedback signal, realize motor vector control algorithm, produce the pwm control signal of six road three-phase inverters, power amplifier board is outputted to by inner interface CON-C-DRV, it is achieved C axle driven by servomotor operates after No. 6 snubbers (BUFFERS) process. Meanwhile, trouble signal also accesses the signal pin of C axle DSP by inner interface CON-C-DRV;Concrete: if lower level occurs in this signal pin, then C axle DSP closes pwm control signal, enters fault handling, thus realizes protection function.
The AD signal pin of C axle DSP, after operation amplifier circuit (OPM) processes, is connected to power amplifier board by inner interface CON-C-DRV, receives the V/W phase winding current sensor signal of C axle servomotor. C axle DSP passes through the feedback signal of C axle motor V/W phase winding electric current as closed-loop current control system of measurement in real time, it is achieved the torque closed-loop control of C axle servomotor.
On power amplifier board, switch power supply circuit is by direct current to after direct current (DC-DC) circuit, forms the working power of each DSP.
The present embodiment servo drive unit A, B, C tri-axle share regenerative braking loop. The EPWM signal pin of A axle DSP, B axle DSP and the arbitrary axle of C axle DSP exports 1 road pwm signal and is linked into power amplifier board by the inner interface of CON-LINK, and control IGBT pipe is meeting break-make when releasing condition.
The present embodiment servo drive unit A, B, C tri-axle general DC busbar loop. The DC bus-bar voltage signal detected on power amplifier board is accessed by CON-LINK, is linked into the AD pin of A axle DSP, B axle DSP and C axle DSP after operation amplifier circuit (OPM) processes simultaneously. A axle DSP, B axle DSP and C axle DSP judges whether to open regenerative braking loop according to the maximum bus voltage value (bus voltage threshold value) of the DC bus-bar voltage signal and systems setting detected in real time.
Fig. 3 is the circuit diagram of the utility model power amplifier board, and as shown in Figure 3, power amplifier board comprises: the pilot circuit of switch power supply circuit, servomotor, regenerative braking loop circuit, current detecting circuit and voltage detecting circuit; Wherein,
Switch power supply circuit
The external 220V AC power of the utility model power amplifier board inputs as power supply, produces 10 tunnel control power supplys, and wherein 3 tunnels are used for the control power supply of the power magnification circuit of servomotor, and 2 tunnels are for braking the control power supply of circuit, and 5 tunnels are accessed as working power. When the present embodiment accesses as working power, it is possible to be linked into internal port CON-POWER.
Serve Motor Control circuit
The present embodiment can simultaneously independent drive 3 axle servomotor, power magnification circuit is realized by 3 intelligent power modules (A-IPM) respectively.
Six road pwm control signals of the A axle servomotor that inner interface CON-A-DRV inputs, the port (A-MOTOR) transferring to A axle servomotor after access A axle IPM is exported, it is achieved to the control of A axle servomotor three-phase windings through photoelectric isolating circuit (OPTO-ISO). The trouble signal that A axle IPM exports simultaneously is by the inner interface CON-A-DRV of photoelectric isolating circuit access, it is achieved failure protection function.
Six road pwm control signals of the B axle servomotor that inner interface CON-B-DRV inputs, export the port (B-MOTOR) transferring to B axle servomotor after access B axle IPM, it is achieved to the control of B axle servomotor three-phase windings through photoelectric isolating circuit. The trouble signal that B axle IPM exports simultaneously is by the inner interface CON-B-DRV of photoelectric isolating circuit access, it is achieved failure protection function.
Six road pwm control signals of the C axle servomotor that inner interface CON-C-DRV inputs, export the port (C-MOTOR) transferring to C axle servomotor after access C axle IPM, it is achieved to the control of C axle servomotor three-phase windings through photoelectric isolating circuit. The trouble signal that C axle IPM exports simultaneously is by the inner interface CON-C-DRV of photoelectric isolating circuit access, it is achieved failure protection function.
Regenerative braking loop circuit
The regenerative braking signal inputted by inner interface CON-LINK, inputs to IGBT through IGBT drive circuit, the break-make of control IGBT. The P/B of the output access POWER port in regenerative braking loop, for external braking resistance. In the utility model, when servo drive unit detects the maximum bus voltage value that DC bus-bar voltage exceedes default, regenerative braking loop works carries out voltage and releases, and ensures the normal operation of electric motor units A axle, B axle and C axle servomotor.
The present embodiment power amplifier board also comprises current detecting circuit
Electric current output terminal serial connection two-way current sensor resistor (I-Sensor) of A axle servomotor V/W phase winding, the terminal voltage of this two-way current sensor resistor amplifies the inner interface CON-A-DRV of access after circuit (AMP-ISO) process through isolation, as the current feedback signal of A spindle motor, it is achieved the torque closed-loop control of A spindle motor.
The electric current output terminal serial connection two-way current sensor resistor of B axle servomotor V/W phase winding, the terminal voltage of this two-way current sensor resistor amplifies the inner interface CON-B-DRV of access after processing of circuit through isolation, as the current feedback signal of B spindle motor, it is achieved the torque closed-loop control of B spindle motor.
The electric current output terminal serial connection two-way current sensor resistor of C axle servomotor V/W phase winding, the terminal voltage of this two-way current sensor resistor amplifies the inner interface CON-C-DRV of access after processing of circuit through isolation, as the current feedback signal of C axle motor, it is achieved the torque closed-loop control of C axle motor.
The present embodiment power amplifier board also comprises voltage detecting circuit
Sample through electric resistance partial pressure sensor (Udc-Sensor) in direct current bus two ends, the terminal voltage that sampling obtains inputs to after processing of circuit is amplified in isolation and accesses inner interface CON-LINK as DC bus-bar voltage feedback signal, it is achieved the break-make in regenerative braking loop.
Although the enforcement mode disclosed by the utility model is as above, but the enforcement mode that described content only adopts for ease of understanding the present invention, it does not mean to limit the present invention. Technician in any art of the present invention; under the prerequisite not departing from the spirit and scope disclosed by the present invention; any amendment and change can be carried out in the form implemented and details; but the scope of patent protection of the present invention, still must be as the criterion with the scope that appending claims defines.
Claims (18)
1. a drived control device, it is characterised in that, comprising: master control unit and servo drive unit; Wherein,
Master control unit, for receiving position command, mails to servo drive unit after the position command of reception is converted to three axle position command;
Servo drive unit, for receiving three axle position command, distinguishes each axle servomotor in drive motor units according to the encoder feedback information of each axle position command and each axle servomotor.
2. drived control device according to claim 1, described master control unit also for, receiving action instruction, the mechanism that action instruction exports to peripheral hardware carries out action control.
3. drived control device according to claim 1, it is characterised in that, described master control unit specifically for, receive by the described position command of Ethernet or analog input;
After position command is converted to three axle position command, mail to servo drive unit;
Described position command is from upper computer.
4. drived control device according to claim 2, it is characterised in that, described master control unit specifically for,
Receive described position command, after described position command is converted to three axle position command, mail to servo drive unit;
Receive described action instruction by Ethernet or input and output I/O interface, the mechanism that described action instruction exports peripheral hardware to is carried out action control;
Described action instruction is from upper computer.
5. drived control device according to claim 1, it is characterized in that, described master control unit specifically for, receive described position command, after described position command is converted to three axle position command, each axle position command is mail to described servo drive unit by controller local area network's CAN.
6. drived control device according to the arbitrary item of Claims 1 to 5, it is characterised in that, the central processor CPU of described master control unit is independent digital signal processor DSP;
The CPU of described servo drive unit is three DSP becoming corresponding relation with servomotor.
7. drived control device according to claim 6, it is characterised in that, described servo drive unit specifically for,
Become the DSP of corresponding relation to be received each axle position command becoming mapping relation with each servomotor respectively by CAN with each servomotor; Encoder feedback information according to each axle position command and each axle servomotor generates motor control signal, it is achieved to the driving of each axle servomotor.
8. drived control device according to the arbitrary item of Claims 1 to 5, it is characterized in that, this drived control device also comprises monitoring unit, for obtaining the status information of each axle servomotor, each axle servomotor carries out state monitoring and/or parameter setting and/or remote control.
9. drived control device according to claim 8, it is characterized in that, described monitoring unit specifically for, received by described master control unit and comprise the positional information of each axle servomotor and/or the status information of alarm message and/or load-rate of motor via servo drive unit feedback, by RS232 bus each axle servomotor carried out state monitoring and/or parameter setting and/or remote control.
10. drived control device according to the arbitrary item of Claims 1 to 5, it is characterised in that, this drived control device also comprises monitoring unit, for obtaining the status information of described servo drive unit, described servo drive unit is monitored and is adjusted.
11. drived control devices according to claim 10, it is characterized in that, described monitoring unit specifically for, obtain the status information of described servo drive unit, by the status information of servo drive unit described in RS485 bus transfer, described servo drive unit is monitored and adjusted.
The 12. drived control devices according to the arbitrary item of Claims 1 to 5, it is characterized in that, described master control unit also for, receive the status information fed back by each axle servomotor transmitted through described servo drive unit, and the status information that servomotor feeds back is mail to the upper computer sending described position command, to carry out the correction of described position command;
Described servo drive unit also for, receive each axle servomotor feedback status information; The status information that described servomotor feeds back is mail to described master control unit.
13. drived control devices according to claim 6, it is characterised in that, described servo drive unit specifically for,
Receiving three axle position command, mail to power amplifier board after generating motor control signal according to the encoder feedback information of each axle position command and each axle servomotor, power amplifier board realizes the driving to each axle servomotor according to motor control signal.
14. drived control devices according to claim 13, it is characterised in that, described power amplifier board comprises: switch power supply circuit, Serve Motor Control circuit, regenerative braking loop circuit, current detecting circuit and voltage detecting circuit.
15. drived control devices according to claim 14, it is characterized in that, the each described DSP of described servo drive unit produces the pulse width modulation (PWM) control signal of six corresponding road three-phase inverters of each servomotor respectively according to the encoder feedback information of three axle position command to each axle servomotor, and each pwm control signal outputs to the Serve Motor Control circuit of described power amplifier board after buffered;
Described Serve Motor Control circuit specifically for, the described pwm control signal of each DSP output is received respectively by the inside interface of each motor control signal, after photoelectric isolating circuit and intelligent power module process, transfer to corresponding described servomotor, carry out the control of three-phase windings; The trouble signal that IPM exports is linked into corresponding DSP by photoelectric isolating circuit and carries out fault protection.
16. drived control devices according to claim 14, it is characterised in that, described regenerative braking loop circuit specifically for,
The break-make control of insulated gate bipolar transistor IGBT is carried out according to the regenerative braking signal received; Output port accesses power supply port carry out braking the external of resistance; When detecting that servo drive unit DC bus-bar voltage exceedes the bus voltage threshold value set in advance, carry out voltage and release.
17. drived control devices according to claim 14, it is characterised in that, described current detecting circuit specifically for,
The electric current output terminal of the V/W phase winding of each described servomotor is connected in series two-way current sensor resistor respectively, the terminal voltage of the two-way current sensor resistor connected by each servomotor electric current output terminal as the current feedback signal of corresponding each servomotor, carries out the torque closed-loop control of each servomotor after isolation amplification processing of circuit according to current feedback signal.
18. drived control devices according to claim 14, it is characterised in that, described voltage detecting circuit specifically for,
Sampling direct current bus both end voltage input, amplifies as DC bus-bar voltage feedback signal after processing of circuit through isolation, carries out the break-make control in regenerative braking loop according to DC bus-bar voltage feedback signal.
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| CN201520934389.7U CN205319984U (en) | 2015-11-20 | 2015-11-20 | Drive control device |
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| CN107124122A (en) * | 2017-06-01 | 2017-09-01 | 合肥尚强电气科技有限公司 | Management and control system for improving safety and energy-saving performance of motor |
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| CN109029548A (en) * | 2018-04-24 | 2018-12-18 | 天津大学 | A kind of steering gear system and method for real-time accurate feedback running current and output torque |
| CN108508811B (en) * | 2018-05-09 | 2020-09-11 | 浙江大学 | Four-axis robot servo control circuit without communication between axes |
| CN108508811A (en) * | 2018-05-09 | 2018-09-07 | 浙江大学 | A kind of four axis robot servo control circuits of the between centers without communication |
| CN108549303A (en) * | 2018-07-11 | 2018-09-18 | 浙江洛伦驰智能技术有限公司 | Three axis servos control integrated control system |
| CN109733661A (en) * | 2018-12-13 | 2019-05-10 | 中国电子科技集团公司第四十一研究所 | A kind of cigarette transmitting device |
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