CN205754082U - Digital Sine AC servo driver with two-shipper position ring Synchronization Control - Google Patents
Digital Sine AC servo driver with two-shipper position ring Synchronization Control Download PDFInfo
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- CN205754082U CN205754082U CN201620402396.7U CN201620402396U CN205754082U CN 205754082 U CN205754082 U CN 205754082U CN 201620402396 U CN201620402396 U CN 201620402396U CN 205754082 U CN205754082 U CN 205754082U
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Abstract
With the Digital Sine AC servo driver of two-shipper position ring Synchronization Control, relate to technical field of automatic control.Feature is: main digital AC servo-driver and be provided for transmitting current location, target location and the SPI communication system of Drive Status signal between digital AC servo-driver；The outfan of user control centre is connected with main digital AC servo-driver.Utilize this utility model that one load can use the control that the two digital AC servo drivers of set and the sinusoidal wave servomotor of two sets move simultaneously; can accurately realize two set sine wave servomotors the synchronous operation of load is controlled, it is possible to greatly protection load and control motor.
Description
Technical field
This utility model relates to technical field of automatic control.
Background technology
Servo, from English word Servo, refers to that system is followed external command and carried out desired motion.Servosystem is as a kind of actuating device, and the every field at modern industry has to be used widely.Servosystem is mainly made up of servo-driver, servomotor and the related accessory such as feedback device, connection cable.The function of servo-driver is to accept external command, completes the closed loop control of servosystem.Servo-driver employing classics automatically control three close-loop control theory and motor are carried out position ring, speed ring and current loop control.With controller as core, with electric and electronic power converting means as actuator, convert electrical energy into mechanical energy, it is achieved the movement needs of machinery.
The fast development of modern automatic technology, constantly widening of application, some occasion needs to use the drive system jointly dragging a load to chain.
Because chain system is not rigidly connected between two motors, in special tandem operation control system, use that to compare two-shipper active and slave current ring mode widely the most applicable, need the mode considering other that two motors are carried out Synchronization Control, in two motor operation courses, physical location is inconsistent else if, reach to a certain degree to cause chain system to distort, even cause chain stuck.Existing simultaneous techniques is usually the position command simultaneously being sent out same to two drivers by master controller, it is rigidly connected owing to not existing, system is affected by the non-linear factor such as moment of friction fluctuation of motor torque ripple, drive system, it is not fine for causing net synchronization capability, although can more additional compensation techniques, but be because being difficult to the most accurately revising, the position synchronicity of two motors is uncontrolled, alternate position spike has randomness, and effect is not fine.
Utility model content
This utility model purpose is to propose the Digital Sine AC servo driver of a kind of band two-shipper position ring Synchronization Control that can ensure that synchronism output.
This utility model includes main digital AC servo-driver and from digital AC servo-driver, described main digital AC servo-driver is connected with main sinusoidal wave servomotor, described being connected with from sinusoidal wave servomotor from digital AC servo-driver, feature of the present utility model is: described main digital AC servo-driver and be provided for transmission current location, target location and the SPI communication system of Drive Status signal between digital AC servo-driver；The outfan of user control centre is connected with main digital AC servo-driver.
Utilize this utility model that one load can use the control that the two digital AC servo drivers of set and the sinusoidal wave servomotor of two sets move simultaneously; can accurately realize two set sine wave servomotors the synchronous operation of load is controlled, it is possible to greatly protection load and control motor.
Described main digital AC servo-driver arranges the first master cpu and the first power drive unit, the output of user control centre connects the first master cpu, first master cpu and the first power drive unit connect, first power drive unit is connected with main sinusoidal wave servomotor, and the feedback signal output of main sinusoidal wave servomotor is connected on the first master cpu.
Described second master cpu and the second power drive unit are set from digital AC servo-driver, second master cpu and the second power drive unit connect, second power drive unit is connected with from sinusoidal wave servomotor, is connected to the second master cpu from the feedback signal output of sinusoidal wave servomotor.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present utility model.
Detailed description of the invention
As shown in Figure 1, this utility model is provided with main digital AC servo-driver 1, from digital AC servo-driver 2, main sinusoidal wave servomotor 3 and from sinusoidal wave servomotor 4, main digital AC servo-driver 1 is connected with main sinusoidal wave servomotor 3, is connected with from sinusoidal wave servomotor 4 from digital AC servo-driver 2.
At main digital AC servo-driver 1 be provided for transmitting current location, target location and the SPI communication system 5 of Drive Status signal between digital AC servo-driver 2.
The outfan of user control centre 6 is also connected with main digital AC servo-driver 1.
First master cpu 1-1 and the first power drive unit 1-2 is set in main digital AC servo-driver 1.The output of user control centre 6 connects the first master cpu 1-1, first master cpu 1-1 and the first power drive unit 1-2 connects, first power drive unit 1-2 is connected with main sinusoidal wave servomotor 3, and the feedback signal output of main sinusoidal wave servomotor 3 is connected on the first master cpu 1-1.
Second master cpu 2-1 and the second power drive unit 2-2 is set in digital AC servo-driver 2.Second master cpu 2-1 and the second power drive unit 2-2 connects, and the second power drive unit 2-2 is connected with from sinusoidal wave servomotor 4, is connected to the second master cpu 2-1 from the feedback signal output of sinusoidal wave servomotor 4.
Connected by SPI communication system 5 between first master cpu 1-1 and the second master cpu 2-1.
Operation principle of the present utility model:
Three loops are formed between main digital AC servo-driver 1 and main sinusoidal wave servomotor 3, internal ring is electric current loop and speed ring, biphase current IU, IV of taking in main sinusoidal wave servomotor three-phase power line feed back to master cpu, the electric current loop processor on the servo-driver panel of feedback after calculating processes, electric current loop processor calculates required current actual value according to real-time given value of current signal and current of electric value of feedback, it is sent to pulsed drive and inversion unit, drives main sinusoidal wave servomotor.Drivers velocity ring, by reading the A of motor encoder, B signal, feed back to the speed ring processor on main digital AC servo-driver panel, the speed command that user controls sends the speed ring processor of main digital AC servo-driver to, the position and speed command value of the speed ring processor peripheral control unit to accepting and the position and speed value of feedback of main sinusoidal wave servomotor feedback merge calculating and process, and output given value of current signal is to electric current loop processor.Outer shroud is position ring, by reading absolute location information pos_fb of the multi-turn absolute value encoder of main sinusoidal wave servomotor, feeding back to the position ring processor on main digital AC servo-driver, the target location controlled according to user calculates main sinusoidal wave servomotor running orbit and exports to speed ring.
Three loops are formed by above-mentioned similar mode from digital AC servo-driver 2 with between sinusoidal wave servomotor 4.
Main digital AC servo-driver 1 and transmit current location, target location and Drive Status signal by SPI communication 5 between digital AC servo-driver 2, the position ring Synchronization Control between bi-motor.
Main digital AC servo-driver 1 and when digital AC servo-driver 2 powers on, by main sinusoidal wave servomotor 3, the current location of master and slave two sinusoidal wave servomotors 3,4 will be compared, two drivers of PC control can be pointed out to switch to pattern one mode as inconsistent, this mode is from machine, the current location of main frame to be run as final goal position, and after end of run, two motors will be parked on same absolute position.
nullMain digital AC servo-driver 1 and from digital AC servo-driver 2 arrive same absolute position and stop after automatically into pattern two，In such a mode，User controls after end provides order，Main digital AC servo-driver 1 compares with oneself current location after receiving the location of instruction that user control centre 6 sends、Calculate，And use the target location pos_cmd calculated to the position ring of main digital AC servo-driver 1，By SPI communication system 5, the target location pos_cmd calculated is delivered to from digital AC servo-driver 2 simultaneously，The target location sent here according to main frame from digital AC servo-driver 2 as oneself target location and is directly run，So make to carry out run-in synchronism from sinusoidal wave servomotor 4 according to the track that main sinusoidal wave servomotor 3 is same，Avoid the occurrence of chain distortion or stuck situation，Reach the purpose of bi-motor position ring Synchronization Control.
For avoiding at work owing to driver monitors is reported to the police or other faults cause master and slave two motor position differences excessive, causing the situation that chain is stuck, this utility model also can design two-shipper position ring synchronous protection function.
If there is abnormal alarm in main digital AC servo-driver 1 in work process, main sinusoidal wave servomotor 3 is in art skating state, now main sinusoidal wave servomotor 3 abnormal state detected from digital AC servo-driver 2, pattern three will be automatically switched to, the tracking that the current location of main sinusoidal wave servomotor 3 will be carried out position ring as final goal position from sinusoidal wave servomotor 4, finally still can be parked in identical position from sinusoidal wave servomotor 4 and main sinusoidal wave servomotor 3.
If there is abnormal alarm from digital AC servo-driver 2 in work process, it is in art skating state from sinusoidal wave servomotor 4, the most main sinusoidal wave servomotor 3 detects that slave status is abnormal, pattern four will be automatically switched to, main sinusoidal wave servomotor 3 carries out the tracking of position ring from the current location of sinusoidal wave servomotor 4 as final goal position, can finally make to rest on identical position from sinusoidal wave servomotor 4 and main sinusoidal wave servomotor 3.
Claims (3)
1. the Digital Sine AC servo driver of band two-shipper position ring Synchronization Control, including main digital AC servo-driver with from digital AC servo-driver, described main digital AC servo-driver is connected with main sinusoidal wave servomotor, described is connected with from sinusoidal wave servomotor from digital AC servo-driver, it is characterised in that: described main digital AC servo-driver and be provided for transmission current location, target location and the SPI communication system of Drive Status signal between digital AC servo-driver；The outfan of user control centre is connected with main digital AC servo-driver.
The Digital Sine AC servo driver of band two-shipper position ring Synchronization Control the most according to claim 1, it is characterized in that: described main digital AC servo-driver arranges the first master cpu and the first power drive unit, the output of user control centre connects the first master cpu, first master cpu and the first power drive unit connect, first power drive unit is connected with main sinusoidal wave servomotor, and the feedback signal output of main sinusoidal wave servomotor is connected on the first master cpu.
The Digital Sine AC servo driver of band two-shipper position ring Synchronization Control the most according to claim 1 or claim 2, it is characterized in that: described second master cpu and the second power drive unit are set from digital AC servo-driver, second master cpu and the second power drive unit connect, second power drive unit is connected with from sinusoidal wave servomotor, is connected to the second master cpu from the feedback signal output of sinusoidal wave servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620402396.7U CN205754082U (en) | 2016-05-06 | 2016-05-06 | Digital Sine AC servo driver with two-shipper position ring Synchronization Control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620402396.7U CN205754082U (en) | 2016-05-06 | 2016-05-06 | Digital Sine AC servo driver with two-shipper position ring Synchronization Control |
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| Publication Number | Publication Date |
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| CN205754082U true CN205754082U (en) | 2016-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620402396.7U Active CN205754082U (en) | 2016-05-06 | 2016-05-06 | Digital Sine AC servo driver with two-shipper position ring Synchronization Control |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109698642A (en) * | 2019-02-21 | 2019-04-30 | 广东工业大学 | A kind of control method of servo motor and system |
| CN116345960A (en) * | 2023-02-24 | 2023-06-27 | 浙江众邦机电科技有限公司 | High-precision multi-motor synchronous system |
-
2016
- 2016-05-06 CN CN201620402396.7U patent/CN205754082U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109698642A (en) * | 2019-02-21 | 2019-04-30 | 广东工业大学 | A kind of control method of servo motor and system |
| CN116345960A (en) * | 2023-02-24 | 2023-06-27 | 浙江众邦机电科技有限公司 | High-precision multi-motor synchronous system |
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