CN206165027U - Integrated form multichannel output servo control driver - Google Patents
Integrated form multichannel output servo control driver Download PDFInfo
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- CN206165027U CN206165027U CN201621147178.XU CN201621147178U CN206165027U CN 206165027 U CN206165027 U CN 206165027U CN 201621147178 U CN201621147178 U CN 201621147178U CN 206165027 U CN206165027 U CN 206165027U
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- power amplifier
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Abstract
The utility model provides an integrated form multichannel output servo control driver, includes casing, power amplifier board, electric source plate and control panel, the casing is formed by last casing and lower casing butt joint, and it is the same with lower shell structure wherein to go up the casing, high difference, and lower casing bottom surface has 4 mounting flange, the bottom of casing install a power amplifier board, electric source plate of every power amplifier board spiro union respectively at last casing under with, the control panel links firmly on the metal sheet through the damping pad, installs the metal sheet on high casing upper portion, through connector mode electrical connection between power amplifier board, electric source plate and the control panel again. Utilize this servo control driver can drive many electromechanical actuator simultaneously to compare than prior art, reduced electromechanical servo system installation space, reduced product quality, simplified the electrical connection of system.
Description
Technical field：
The utility model is related to a kind of integrated form multichannel output SERVO CONTROL driver, drives with multi-channel control and exports
Ability.
Background technology：
With the progress of modern science and technology and quickly propelling for the modernization of national defense, weaponry is just towards high, precision and frontier side
To development, and it is also proposed higher technical requirements to product servo.Electromechanical coupling system itself, with " total digitalization, batch
Amount productivity it is strong, easy to maintenance " etc. technological merit.And the technology such as power electronic technology, control technology and rare earth permanent-magnetic material
Maturation and progress, promote developing rapidly for this industry of electromechanical servo, now have become important of space flight servo techniques
One of exhibition direction.Nowadays, the application of electromechanical servo is more and more extensive, with its " splendid dependable with function " subdued army,
People's multi-party users unit.At the same time, user requires also more and more higher to its integrated level.
Electromechanical servo system is typically made up of SERVO CONTROL driver, electromechanical actuator and servo battery.SERVO CONTROL is driven
Dynamic device receives the pivot angle instruction of control system by bus, while gathering the displacement of the lines of electromechanical actuator, electric machine phase current and electricity
Machine rotor position, realizes position, electric current and speed closed loop control, finally realizes that drive ram promotes load, reaches servo control
The purpose of system.
Traditional multichannel electromechanical servo system adopts the distributed AC servo system form of multiple stage intelligence unit, electromechanical with four-way
As a example by servo-drive system, typically it is made up of a servo controller, four servo-drivers and four electromechanical actuators, every servo
One electromechanical actuator of driver drives, or be made up of two binary channels SERVO CONTROL drivers and four electromechanical actuators, often
Two electromechanical actuators of platform SERVO CONTROL driver drives.The advantage of composition described above mode is servo controller, servo-drive
The single function of device or SERVO CONTROL driver, exchanges with achievable between category.But its volume and weight is relatively
Greatly, in the application scenario that some volume and weight index requests are harsh, especially in aerospace flight vehicle executing agency
Using being extremely limited.
Utility model content：
Technology solve problem of the present utility model is：Overcome the deficiencies in the prior art, there is provided a kind of integrated form multichannel is defeated
Go out SERVO CONTROL driver, effectively reduce installing space, reduce product quality, simplify system electrical connection, save production cost.
Technical solution of the present utility model is：A kind of integrated form multichannel exports SERVO CONTROL driver, including shell
Body, power amplifier board, power panel and control panel；Housing is formed by upper shell and lower house docking, wherein upper shell and lower house structure
Identical, height is different, and lower house bottom surface carries 4 mounting flanges；One piece of work(is respectively mounted in the bottom of upper shell and lower house
Rate plate, every piece of power amplifier board is spirally connected one piece of power panel；Control panel is connected on a metal plate by cushion blocking, then metallic plate is arranged on
Highly high housing upper, is electrically connected between power amplifier board, power panel and control panel by connector mode.
Every piece of power amplifier board is designed with an electrical source of power interface and multiple servomotor interfaces, and every piece of power amplifier board passes through
Electrical source of power interface is electrically connected with the HVDC of outside input, is connected with servomotor by servomotor interface.
The control panel is designed with a feedback signal interface and a controlling bus signaling interface, and control panel is by feedback
Signaling interface is connected with multiple electromechanical actuators, is connected with external bus by controlling bus signaling interface, while receiving outside
The control voltage of input.
Shock absorber is additionally provided with each flange of the SERVO CONTROL driver lower house bottom surface, each shock absorber includes
Two cushion blockings, a banking stop and a limiting bushs, cushion blocking is the round rubber pad with cylinder boss, spacing lining
Set is the circular metal pad with cylinder boss, and cushion blocking and limiting bush center are provided with through hole, limiting bush through hole
External diameter is identical with cushion blocking through hole internal diameter, and cushion blocking boss external diameter is identical with flange inner diameter, and two cushion blockings are located at respectively flange
Upper and lower ends, and the boss of two cushion blockings inserted in flange, and limiting bush passes through from the bottom up two cushion blockings, in method
Banking stop is placed on blue upper end cushion blocking, banking stop, limiting bush and two cushion blockings are fastenedly connected by screw and flange.
Compared with prior art, the utility model has the advantages that：
(1) traditional control actuator housing is made up of a main casing and cover plate, and each plate is installed in series in main casing
On, the housing that the utility model is adopted is divided into upper shell and lower house two parts, and each plate is separately mounted on upper-lower casing, tool
Have and simple, test easily advantage is installed.
(2) two pieces of power amplifier boards of the present utility model are installed with upper shell and lower house be connected respectively, drive can control
Device to greatest extent by housing radiating, improves the reliability of product at work.
(3) each plate in the inside of conventional control drive is connected by way of plate series winding plate with housing bottom.And this reality
It is spirally connected after one piece of power panel with every piece of power amplifier board of new internal and is connected with upper shell and lower house respectively, control panel passes through vibration damping
Pad is fixed on after metallic plate the top for being mounted in lower house, and structural strength is significantly improved, and compared with traditional approach, internal plate level is shaken
Dynamic amplification substantially reduces, and effectively increases the environmental suitability of product.
(4) compared with traditional SERVO CONTROL driver, it is highly integrated that the utility model realizes electronic equipment, makes electromechanics
The electronic equipment unit quantity of servo-drive system reaches most simplified.According to traditional use pattern, to realize equal function and
Performance, " one drives one " scheme needs 5 electronic equipments (controller and driver), and " one drives two " scheme also needs 2 electronic equipments, and
Scheme of the present utility model, servo-drive system is taken only to need 1 electronic equipment unit, effectively reduce the installation of electronic equipment unit
Space, alleviates the gross weight of electronic equipment unit.
Description of the drawings：
Fig. 1 is the utility model structural representation；
Fig. 2 is SERVO CONTROL driver electric interfaces schematic diagram；
Fig. 3 is shock absorber schematic diagram；
Fig. 4 is control panel composition schematic diagram；
Fig. 5 is power amplifier board composition schematic diagram；
Fig. 6 is power panel composition schematic diagram.
Specific embodiment：
The utility model proposes a kind of integrated form multichannel exports SERVO CONTROL driver, using the SERVO CONTROL driver
Multiple stage electromechanical actuator can be simultaneously driven, so as to compared with the prior art, reduce electromechanical servo system installing space, is mitigated
Product quality, simplifies system electrical connection.
As shown in figure 1, the utility model integrated form multichannel output SERVO CONTROL driver includes housing, power amplifier board 4, electricity
Source plate 5 and control panel 3, housing includes upper shell 1 and lower house 2, and wherein upper shell 1 is identical with the structure of lower house 2, and height is not
Together, the bottom surface of lower house 2 carries 4 mounting flanges.Enclosure interior adopts layered structure, in the bottom of upper shell 1 and lower house 2 point
Not An Zhuan one piece of power amplifier board 4, every piece of power amplifier board 4 is spirally connected one piece of power panel 5.Control panel 3 adopts metallic framework supporting construction, passes through
Cushion blocking is connected on a metal plate, then metallic plate is arranged on into the high housing upper of height, show shown in Fig. 1 for lower house it is high
Degree is higher, so control panel 3 is arranged on lower house top.By connector mode between power amplifier board 4, power panel 5 and control panel 3
Electrical connection.After connecting, upper shell 1 and lower house 2 dock the assembling for completing whole SERVO CONTROL driver.
Every piece of power amplifier board 4 is designed with an electrical source of power interface and multiple servomotor interfaces, and every piece of power amplifier board 4 is by dynamic
Power power interface is electrically connected with the HVDC of outside input, is connected with servomotor by servomotor interface.
Control panel 3 is designed with feedback signal interface and controlling bus signaling interface, control panel 3 by feedback signal interface with
Multiple electromechanical actuator connections, by controlling bus signaling interface reception external signal is connected with external bus, while feedback is distant
Signal is surveyed, while receiving the control voltage of outside input.
As shown in figure 3, being additionally provided with shock absorber 6 on each flange of the bottom surface of SERVO CONTROL driver lower house 2, each subtracts
The device that shakes includes two cushion blockings, 61, banking stop 62 and a limiting bush 63, and cushion blocking 61 is with cylinder boss
Round rubber pad, limiting bush 63 is the circular metal pad with cylinder boss, and cushion blocking 61 and the center of limiting bush 63
Through hole is provided with, the through hole external diameter of limiting bush 63 is identical with the through hole internal diameter of cushion blocking 61, in the boss external diameter of cushion blocking 61 and flange
Footpath is identical, and two cushion blockings 61 are inserted in flange respectively positioned at the upper and lower ends of flange, and the boss of two cushion blockings 61, are limited
Position bushing 63 passes through from the bottom up two cushion blockings 61, and banking stop 62, banking stop 62, limit are placed on flange upper end cushion blocking 61
Position bushing 63 and two cushion blockings 61 are fastenedly connected by screw with flange.Vibration damping by this way, damping efficiency can reach
More than 80%.
By taking four-way output SERVO CONTROL driver as an example：
Four-way output SERVO CONTROL driver has eight electric interfaces.As shown in Fig. 2 two pieces of power amplifier boards are using same
Individual electrical source of power interface, for receiving power electricity.One of power amplifier board has Motor drive interface I and Motor drive interface
There is IV, another piece of power amplifier board Motor drive interface III and Motor drive interface II, Motor drive interface I to be used for driving electromechanics
The servomotor of actuator I, Motor drive interface II is used for driving the servomotor of electromechanical actuator II, Motor drive interface
III is used for driving the servomotor of electromechanical actuator III, Motor drive interface IV to be used for driving the servo electricity of electromechanical actuator IV
Machine.
Control panel be designed with two feedback signal interfaces (the first feedback signal interface and the second feedback signal interface) and
One controlling bus signaling interface, the first feedback signal interface is used for receiving the rotation of electromechanical actuator I and electromechanical actuator IV
Transformer signal and displacement of the lines signal, the second feedback signal interface is used for receiving electromechanical actuator II's and electromechanical actuator III
Signals of rotating transformer and displacement of the lines signal, controlling bus signaling interface is used for receiving+28V controls electricity and 1553B buses letter
Number.
The utility model further provides the implementation of control panel, power panel, power amplifier board.
As shown in figure 4, control panel includes DSP circuit, CPLD logic control circuits, bus interface circuit, signal condition electricity
Road, rotary transformer decoding circuit, power converting circuit and protection control circuit.
The displacement of the lines signal and current signal of signal conditioning circuit collection servomotor, and it is converted into DSP circuit energy
Enough voltage signals for receiving are exported to DSP circuit.Rotary transformer decoding circuit gathers the motor of electromechanical actuator servomotor
Rotor-position signal, and the data signal that be converted into DSP circuit and can receive exported to DSP circuit.Protection control circuit
The fault-signal of receiving power plate input, exports to DSP circuit.Bus interface circuit receives the command signal of outside input, enters
Export to DSP circuit after row conversion.Bus interface circuit is realized using the 1553B buses of 4Mbps traffic rates.DSP circuit point
Not Cai Ji signal conditioning circuit and rotary transformer decoding circuit output voltage signal and data signal, according to receive instruction
Signal, voltage signal and data signal carry out closed loop computing, obtain 3N roads pulse-width signal, and export and give CPLD logic controls
Circuit, N is port number；DSP circuit stops to CPLD logic controls when the fault-signal of protection control circuit input is received
Circuit sends pulse-width signal.
CPLD receives the 3N roads individual pulse width modulation signal of DSP, and is responsible for time series stereodata, by the 3N roads pulsewidth of DSP
Modulated signal is converted into 6N roads (the 3N group bridge arms) PWM output signal with complementary dead band, and 6N roads pwm signal point N groups are conveyed to 2 pieces
Power amplifier board, controls the switch of N number of IPM, realizes the Synchronization Control of N platform servomotors.Power converting circuit receives outside input
Power supply, is transformed into the power supply needed for each circuit on control panel, for powering for each circuit on control panel.
By taking N=4 as an example, control panel selects DSP+CPLD control frameworks, DSP to be responsible for the pwm control signal of 12 tunnel independences
Export to CPLD, CPLD is responsible for time series stereodata, and the 12 road pwm control signals of DSP are converted into into complementary dead band 24
Road (12 groups of bridge arms) PWM output signal, 4 groups of 24 road pwm signals point are conveyed to 2 pieces of power amplifier boards, and then control the switch of 4 IPM.
DSP is up to the high speed processor of 150MHz, the synchronous quick real-time closed-loop control realized to 4 electromechanical actuators using dominant frequency.
As shown in figure 5, every piece of power amplifier board includes multiple high-power switch device IPM, current sampling circuit, Phototube Coupling electricity
Road, absorption protection circuit and busbar voltage Acquisition Circuit, when N is even number, two pieces of power amplifier boards include N/2 high power switch
Device IPM, when N is odd number, one of power amplifier board includes (N+1)/2 high-power switch device IPM, another piece of power amplifier board
Including (N-1)/2 high-power switch device IPM.
Photoelectric isolating circuit receives the pulse-width signal of control panel output, and every group of pulse-width signal to receiving enters
Row Phototube Coupling process, by process after one group of pulse-width signal export to a high-power switch device IPM.
Absorption protection circuit is filtered after process to the high voltage direct current (such as 160V) of outside input and exports to high-power
Switching device IPM and busbar voltage Acquisition Circuit.Ground power supply has been separately designed in high voltage direct current input interface supplied electric contact
Electric contact is supplied with servo battery, allows control driver to work under ground power supply and servo battery condition of power supply respectively, inhaled
The one end for receiving the outside ground power input voltage of protection circuit reception devises diode reverse cut-off circuit, can prevent due to ground
The positive and negative terminal shortcircuit of face power supply lines and affect servo battery to power to SERVO CONTROL driver.
Each high-power switch device IPM is protected according to one group of pulse-width signal that photoelectric isolating circuit is exported to absorbing
The high voltage direct current of circuit output carries out copped wave process, exports one group of exchange electric drive servomotor action.
Current sampling circuit is used to gather the current signal of servomotor, exports to the signal conditioning circuit of control panel.
Busbar voltage Acquisition Circuit carries out voltage division processing to the high voltage direct current for absorbing protection circuit output, after process
Voltage output is to power panel.
As shown in fig. 6, power panel turns including EMI suppressors, multigroup power driving power supply translation circuit and busbar voltage
Circuit is changed, power driving power supply translation circuit group number is identical with the high-power switch device IPM numbers on correspondence power amplifier board.
EMI suppressors receive the power supply of outside input, export after being filtered and give power driving power supply translation circuit.
The filtered external input power voltage conversion of EMI suppressors is four groups by every group of power driving power supply translation circuit
Independent power driving power supply voltage output is to a high-power switch device IPM on correspondence power amplifier board.
Busbar voltage change-over circuit receives the voltage of correspondence power amplifier board Up Highway UHW voltage collection circuit output, is translated into
The voltage signal that DSP circuit can be received is exported to external system by DSP circuit.
Integrated form four-way output SERVO CONTROL driver adopts DSP+CPLD numerical control schemes, effectively realizes a servo
The function of controller and four servo-drivers, performance, mainly realize digital information communication between servo control mechanism and host computer,
The functions such as the secondary power supply conversion needed for electromechanical actuator closed-loop control, servo control mechanism inside.Control panel completes bus communication, many
The function of road power driver module control, makes full use of the resource of DSP, realizes that servo control unit is minimized.Power panel is used
Highly integrated multi-output switch power source substitutes multiple single channel out-put supply modules, realizes the conversion of power drive secondary power supply
Miniaturization.Two pieces of high-power full-bridge IPM modules and support circuit are integrated into one piece of PCB by power amplifier board by rational deployment cabling
On plate, power drive unit miniaturization is realized.
SERVO CONTROL driver of the present utility model, realizes resource consolidation and the integrated design of product, using this
The servo-drive system that the SERVO CONTROL driver of utility model is realized, effectively reduces installing space, reduces product quality, simplifies system
Electrical connection, saves production cost.
The utility model unspecified part belongs to general knowledge as well known to those skilled in the art.
Claims (4)
1. a kind of integrated form multichannel exports SERVO CONTROL driver, it is characterised in that：Including housing, power amplifier board (4), power panel
And control panel (3) (5)；Housing is formed by upper shell (1) and lower house (2) docking, and wherein upper shell (1) and lower house (2) are tied
Structure is identical, and height is different, and lower house (2) bottom surface carries 4 mounting flanges；Distinguish in the bottom of upper shell (1) and lower house (2)
One piece of power amplifier board (4) is installed, every piece of power amplifier board (4) is spirally connected one piece of power panel (5)；Control panel (3) is connected in gold by cushion blocking
On category plate, then metallic plate is arranged on into the high housing upper of height, is led between power amplifier board (4), power panel (5) and control panel (3)
Cross connector mode to be electrically connected.
2. a kind of integrated form multichannel according to claim 1 exports SERVO CONTROL driver, it is characterised in that：It is described every
Block power amplifier board (4) is designed with an electrical source of power interface and multiple servomotor interfaces, and every piece of power amplifier board (4) is by electrical source of power
Interface is electrically connected with the HVDC of outside input, is connected with servomotor by servomotor interface.
3. a kind of integrated form multichannel according to claim 1 exports SERVO CONTROL driver, it is characterised in that：The control
Making sheet (3) is designed with a feedback signal interface and a controlling bus signaling interface, and control panel (3) is by feedback signal interface
It is connected with multiple electromechanical actuators, is connected with external bus by controlling bus signaling interface, while receives the control of outside input
Voltage processed.
4. a kind of integrated form multichannel according to claim 1 exports SERVO CONTROL driver, it is characterised in that：It is described to watch
Shock absorber (6) is additionally provided with each flange of clothes control driver lower house (2) bottom surface, each shock absorber includes two vibration dampings
Pad (61), a banking stop (62) and a limiting bush (63), cushion blocking (61) is the round rubber with cylinder boss
Pad, limiting bush (63) is the circular metal pad with cylinder boss, and cushion blocking (61) and limiting bush (63) center are equal
Through hole is provided with, limiting bush (63) through hole external diameter is identical with cushion blocking (61) through hole internal diameter, cushion blocking (61) boss external diameter and method
Blue internal diameter is identical, and two cushion blockings (61) are inserted respectively positioned at the upper and lower ends of flange, and the boss of two cushion blockings (61)
In flange, limiting bush (63) passes through from the bottom up two cushion blockings (61), places spacing on flange upper end cushion blocking (61)
Piece (62), banking stop (62), limiting bush (63) and two cushion blockings (61) are fastenedly connected by screw and flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621147178.XU CN206165027U (en) | 2016-10-21 | 2016-10-21 | Integrated form multichannel output servo control driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621147178.XU CN206165027U (en) | 2016-10-21 | 2016-10-21 | Integrated form multichannel output servo control driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206165027U true CN206165027U (en) | 2017-05-10 |
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ID=58655849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621147178.XU Active CN206165027U (en) | 2016-10-21 | 2016-10-21 | Integrated form multichannel output servo control driver |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107896031A (en) * | 2017-10-30 | 2018-04-10 | 北京自动化控制设备研究所 | A kind of modularization servo drive control device |
| CN109870076A (en) * | 2017-12-05 | 2019-06-11 | 北京自动化控制设备研究所 | A kind of SERVO CONTROL and electrical control combine the unit |
| CN110461124A (en) * | 2019-07-04 | 2019-11-15 | 诺丁汉(余姚)智能电气化研究院有限公司 | Electric machine controller |
| CN114115081A (en) * | 2021-12-31 | 2022-03-01 | 北京中航智科技有限公司 | High-power-density servo driver |
-
2016
- 2016-10-21 CN CN201621147178.XU patent/CN206165027U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107896031A (en) * | 2017-10-30 | 2018-04-10 | 北京自动化控制设备研究所 | A kind of modularization servo drive control device |
| CN109870076A (en) * | 2017-12-05 | 2019-06-11 | 北京自动化控制设备研究所 | A kind of SERVO CONTROL and electrical control combine the unit |
| CN109870076B (en) * | 2017-12-05 | 2021-09-14 | 北京自动化控制设备研究所 | Servo control and electrical control combination device |
| CN110461124A (en) * | 2019-07-04 | 2019-11-15 | 诺丁汉(余姚)智能电气化研究院有限公司 | Electric machine controller |
| CN114115081A (en) * | 2021-12-31 | 2022-03-01 | 北京中航智科技有限公司 | High-power-density servo driver |
| CN114115081B (en) * | 2021-12-31 | 2024-04-05 | 北京中航智科技有限公司 | High-power density servo driver |
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