CN207573269U - A kind of Whole Digit AC Servo System based on DSP - Google Patents

Abstract

A kind of Whole Digit AC Servo System based on DSP, including power driver module and control module, it is characterised in that：The power driver module includes Switching Power Supply and major loop, and major loop includes three-phase rectifier, pump liter circuit, IPM inverters, AC permanent magnet synchronous motor and photoelectric encoder, IPM inverter internals integrated drive electronics and fault detect and protection circuit；Control module includes DSP core control circuit, encoder feedback circuit, current sampling circuit and peripheral interface circuit, the key control unit of DSP core control circuit controls chip for DSP, and the DSP controls chip is equipped with GPIO input/output interfaces, ADC analog-to-digital conversions interface, EQEP interfaces, EPWM modules, SPI Serial Peripheral Interface (SPI)s, jtag interface and SCI serial communication interfaces.The servo-drive system integration degree higher, easy to operate and control accuracy higher, while the increased fault detect of the system and protection circuit are effectively guaranteed the safety of its operation, improve the stability of system.

Description

A kind of Whole Digit AC Servo System based on DSP

Technical field

The utility model is related to servo-drive system fields, and in particular to a kind of Whole Digit AC Servo System based on DSP.

Background technology

In industrial control field, due to the progress of semiconductor, material and manufacturing technology, servo control technique also increasingly into It is ripe reliable.Microprocessor is the core of AC servo, and the selection of type often directly affects the control function and effect of system Fruit.Usually there are microcontroller and digital signal processor i.e. two kinds of DSP suitable for the microprocessor of AC servo.It is general next It says, microcontroller is Control-oriented, and in Embedded more I/O interfaces and peripheral components, but arithmetic speed is slow； DSP is handled towards fast signal, the arithmetic speed 1-2 order of magnitude faster than the microcontroller of contemporaneity.However existing base In DSP processing chips AC servo due to lacking corresponding safety detection and control circuit, when occur overvoltage, overcurrent or When overloading the phenomenon that servo motor damage easily occur for person, and often servo-drive system failure when the extremely difficult failure that detects Happening part, and existing servo-drive system still has the problem of function is single, complicated for operation, integration degree is relatively low.

Utility model content

The utility model to solve the above-mentioned problems, devises the Whole Digit AC Servo System based on DSP, the servo system Integration degree of uniting higher, easy to operate and control accuracy higher, while the increased fault detect of the system and protection circuit have It ensure that effect the safety of its operation, improve the stability of system.

In order to realize above-mentioned technical purpose, reach above-mentioned technique effect, the utility model is real by the following technical programs Existing：

A kind of Whole Digit AC Servo System based on DSP, including power driver module and control module, feature exists In：The power driver module includes Switching Power Supply and major loop, and major loop includes three-phase rectifier, pump rises circuit, IPM inversions Device, AC permanent magnet synchronous motor and photoelectric encoder, IPM inverter internals integrated drive electronics and fault detect and protection electricity Road；

The control module includes DSP core control circuit, encoder feedback circuit, current sampling circuit and peripheral interface Circuit, the key control unit of DSP core control circuit control chip for DSP, and it is defeated that the DSP controls chip is equipped with GPIO inputs Outgoing interface, ADC analog-to-digital conversions interface, EQEP interfaces, EPWM modules, SPI Serial Peripheral Interface (SPI)s, jtag interface and SCI serially lead to Believe interface；

DSP control chips are connect by SCI serial communication interfaces with host computer, are connect, passed through with emulator by JTAGA SPI Serial Peripheral Interface (SPI)s are connect with expanding memory EEPRCOM and signal acquisition circuit, pass through GPIO input/output interfaces and failure Detection is connected with protection circuit, is connect by EPWM interfaces with IPM inverters, is passed through ADC analog-to-digital conversions interface and current sample Circuit connects, and is connect by EQEP interfaces with photoelectric encoder, photoelectric encoder is connect with AC permanent magnet synchronous motor, and three-phase is whole Stream device rises circuit by pump and is connect with IPM inverters, and IPM inverters are connect with AC permanent magnet synchronous motor；

Further, the fault detect inside the IPM and protection circuit include over-voltage detection circuit, over-current detection electricity Road and IPM fault detection circuits, the over-voltage detection circuit are made of comparator and optical coupling isolator, the over-current detection circuit Be made of uncontrollable rectifier device, difference amplifier, Schmidt trigger and optical coupling isolator, IPM fault detection circuits by optocoupler every It is formed from device and triode.

Further, DSP controls chip uses model TMS320F2808 chips.

The beneficial effects of the utility model are：Servo-drive system integration degree higher, the easy to operate and control accuracy are more Height, while the increased fault detect of the system and protection circuit are effectively guaranteed the safety of its operation, improve system Stability.

Description of the drawings

In order to illustrate more clearly of the technical solution of the utility model embodiment, make required for being described below to embodiment Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the utility model, For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings Other attached drawings.

Fig. 1 is a kind of structure principle chart of the Whole Digit AC Servo System based on DSP；

Fig. 2 is the circuit structure diagram of the over-current detection circuit；

Fig. 3 is the circuit structure diagram of the over-voltage detection circuit；

Fig. 4 is the circuit structure diagram that the pump rises circuit；

Fig. 5 is the circuit structure diagram of the PIM fault detection circuits.

In attached drawing, parts list represented by the reference numerals are as follows：

1- AC permanent magnet synchronous motors, 2- photoelectric encoders, 3-DSP control chips, 4- three-phase rectifiers, 5- pumps rise electricity Road, 6-IPM inverters, 7- fault detects and protection circuit.

Specific embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without creative efforts The all other embodiment obtained, shall fall within the protection scope of the present invention.

As shown in fig.1, a kind of Whole Digit AC Servo System based on DSP, including power driver module and control mould Block, the power driver module include Switching Power Supply and major loop, major loop includes three-phase rectifier (4), pump rises circuit (5), IPM inverters (6), AC permanent magnet synchronous motor (1) and photoelectric encoder (2), IPM inverters (6) are internally integrated driving circuit With fault detect and protection circuit (7)；

The TMS320F2808 chips that DSP control chips (3) in the present embodiment are produced using TI companies, DSP control chips (3) key control unit of servo system controller is constituted, mainly completes the reception conversion of dummy instruction, AC permanent-magnet is same Walk the stator current AD samplings of motor (1), motor angle, rotating speed and the calculating of position, the realization of complex control algorithm, PWM The generation of drive signal, the detection of fault-signal and the processing of the system failure, the reception of external control signal and with it is serial outer If Communication Control.

For photoelectric encoder (2) in the present embodiment using the incremental optical-electricity encoder of 2500p/rev, it is exporting two-phase just The three road pulse signal of square-wave pulse signal (A, B) and zero pulse (Z) of friendship, from the pulse number and phase of A, B two-phase pulse Lead relationship can obtain the position offset of AC permanent magnet synchronous motor (1).

Fig. 2 show over-current detection circuit, which can generate corresponding voltage by biphase current by sampling resistor believes Number, it was obtained using uncontrollable rectifier device, difference amplifier, the Schmidt trigger with return difference and optical coupling isolator conversion circuit Signal is flowed, once it is that over-current signal and other fault-signals are after CPLD is integrated, directly that overcurrent phenomenon, which occurs, for major loop It is transmitted to DSP control chips (3) and blocks pwm signal, same to alarm.

Position over-voltage detection circuit shown in Fig. 3, Vref are busbar voltages according to 1:The voltage value of 10 scale smaller, works as busbar During overvoltage 30%, Vref is compared with the reference voltage after+15V partial pressures is by comparing device, comparator output low level, light-coupled isolation Device is connected, so as to export low level at OU；OU after CPLD is integrated, directly notifies DSP control cores with other failure models Piece (3) blocks pwm signal and alarms.

With reference to shown in Fig. 4, the IPM inverters (6) in the present embodiment are using FSBB30CH60, when IPM inverters (6) exist When failures, the FO output fault pins of fault detect and protection circuit (7) can drag down for under-voltage, overheat, overcurrent or short circuit Effectively.Since FSBB30CH60 allows FO pin sink currents representative value to be 5mA, and general optical coupling isolator forward conduction electric current is More than ten milliamperes, triode is added in ancient circuit to reduce sink current.

With reference to shown in Fig. 5, pump rises circuit (5) and is made of a braking resistor and a switching tube, works as alternating-current synchronous When motor (1) slows down or brakes and be in dynamic braking work, busbar voltage can rise, and be turned on the switch when busbar voltage is excessively high Pipe by power resistor repid discharge, reduces busbar voltage to protect main circuit.

Network voltage becomes direct current after three-phase rectifier rectification (4), then filtered rear input IPM inverters (6), AC permanent magnet synchronous motor (1) and by IPM inverters (6) is output to, chip (3) is controlled to input mould to DSP by outside Pseudoinstruction is with when driving the AC permanent magnet synchronous motor (1) to complete instruction, while photoelectric encoder (2) is by AC permanent magnet synchronous motor (1) position and velocity information feeds back to DSP control chips (3) to be carried out for the posture of AC permanent magnet synchronous motor (1) Adjustment and control；And the fault detect and protection circuit (7) that IPM inverters (6) integrate are connect with DSP control chips (3), DSP Control chip (3) can monitor the information of three phase mains at any time, and servo-drive system is terminated when appearance overvoltage or overcurrent and runs and sends out Alarm prevents servo-drive system from occurring damaging and causing heavy losses.

In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means At least one of the utility model is contained in reference to the embodiment or example particular features, structures, materials, or characteristics described In embodiment or example.In the present specification, schematic expression of the above terms be not necessarily referring to identical embodiment or Example.

The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously There is no the details that detailed descriptionthe is all, it is only the specific embodiment also not limit the utility model.Obviously, according to this theory The content of bright book can make many modifications and variations.The utility model is only by claims and its four corner and equivalent Limitation.

Claims (3)

1. a kind of Whole Digit AC Servo System based on DSP, including power driver module and control module, it is characterised in that： The power driver module include Switching Power Supply and major loop, major loop include three-phase rectifier, pump rise a circuit, IPM inverters, AC permanent magnet synchronous motor and photoelectric encoder, IPM inverter internals integrated drive electronics and fault detect and protection circuit；

The control module includes DSP core control circuit, encoder feedback circuit, current sampling circuit and peripheral interface electricity Road, the key control unit of DSP core control circuit control chip for DSP, and the DSP controls chip is equipped with GPIO input and output Interface, ADC analog-to-digital conversions interface, EQEP interfaces, EPWM modules, SPI Serial Peripheral Interface (SPI)s, jtag interface and SCI serial communications Interface；

DSP control chips are connect by SCI serial communication interfaces with host computer, are connect by JTAGA with emulator, are passed through SPI Serial Peripheral Interface (SPI) is connect with expanding memory EEPRCOM and signal acquisition circuit, is examined by GPIO input/output interfaces and failure It surveys and is connected with protection circuit, is connect by EPWM interfaces with IPM inverters, pass through ADC analog-to-digital conversions interface and current sample electricity Road connects, and is connect by EQEP interfaces with photoelectric encoder, photoelectric encoder is connect with AC permanent magnet synchronous motor, three phase rectifier Device rises circuit by pump and is connect with IPM inverters, and IPM inverters are connect with AC permanent magnet synchronous motor.

2. a kind of Whole Digit AC Servo System based on DSP according to claim 1, it is characterised in that：The IPM Internal fault detect and protection circuit includes over-voltage detection circuit, over-current detection circuit and IPM fault detection circuits, the mistake Pressure detection circuit be made of comparator and optical coupling isolator, the over-current detection circuit by uncontrollable rectifier device, difference amplifier, apply Schmitt trigger and optical coupling isolator composition, IPM fault detection circuits are made of optical coupling isolator and triode.

3. a kind of Whole Digit AC Servo System based on DSP according to claim 1, it is characterised in that：The DSP Chip is controlled to use model TMS320F2808 chips.