CN211791344U - Current sampling module for servo drive - Google Patents
Current sampling module for servo drive Download PDFInfo
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- CN211791344U CN211791344U CN201922066811.2U CN201922066811U CN211791344U CN 211791344 U CN211791344 U CN 211791344U CN 201922066811 U CN201922066811 U CN 201922066811U CN 211791344 U CN211791344 U CN 211791344U
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Abstract
The utility model discloses a current sampling module for servo drive, which comprises a sampling circuit, a filter circuit, a first signal conditioning circuit and a second signal conditioning circuit; the sampling circuit comprises a current sampling device and is connected with the filter circuit; the filter circuit comprises a filter resistor R4, a filter resistor R8 and a first integrated operational amplifier, one end of the filter resistor R4 is connected with one end of the current sampling device, the other end of the filter resistor R4 is connected with the reverse input end of the first integrated operational amplifier, one end of the filter resistor R8 is connected with the other end of the current sampling device, and the other end of the filter resistor R8 is connected with the same-direction input end of the first integrated operational amplifier; the first signal conditioning circuit and the second signal conditioning circuit are respectively connected with the output end of the first integrated operational amplifier. Under the condition of hardly increasing the cost, the low-current sampling precision is met to meet the application requirement, and the torque precision of the servo under the condition of small load can be improved.
Description
Technical Field
The embodiment of the utility model provides a relate to motor drive control technical field, concretely relates to a current sampling module for servo drive.
Background
In recent years, with the introduction of industry 4.0, the related field of industrial automation has been rapidly developed, and the servo driver has also been rapidly developed as a basic device of industrial automation. In the servo driver, current sampling is the core influencing the stability of control, and the sampling precision directly influences the stability of the operation of a servo.
For example, in a scene of winding, the starting torque is small, and the ending torque is large; but the accuracy requirements for the moment are consistent throughout the process; therefore, the torque is required to satisfy 5% under a 5% load condition, which is a completely different requirement from the requirement of satisfying 5% in the case of a 100% rated torque range. For the control of the torque, the control of the current of the motor is essential; the premise of accurate current control is accurate current measurement; therefore, the detection of the current and the processing of the signal thereof become important prerequisites for torque control.
At present, the current sampling scheme mainly focuses on special high-precision ADC chip and DSP/MCU sampling; the high-precision ADC chip is high in precision and high in speed, but has the problem of high price, the MCU sampling has the problem of low sampling precision, and the control precision requirement cannot be met under the servo small-load application environment. Particularly, in a DSP/MCU application scene using 12-bit ADC conversion precision, the short-time overload capacity of 300% of servo and the 5% application precision of 5% of small load are required, and for the application in the scene, direct use cannot meet the application requirements, and the current detection precision of the scene is the most bottleneck in the small load condition, so that the application requirements cannot be met.
SUMMERY OF THE UTILITY MODEL
Therefore, the embodiment of the utility model provides a current sampling module for servo drive, under the condition of hardly increasing the cost, satisfy undercurrent sampling precision in order to accord with the application demand, can promote the moment of torsion precision of servo under the undercharge condition.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions: a current sampling module for servo drive comprises a sampling circuit, a filter circuit, a first signal conditioning circuit and a second signal conditioning circuit; the sampling circuit comprises a current sampling device and is connected with the filter circuit; the filter circuit comprises a filter resistor R4, a filter resistor R8 and a first integrated operational amplifier, wherein one end of the filter resistor R4 is connected with one end of the current sampling device, the other end of the filter resistor R4 is connected with the inverting input end of the first integrated operational amplifier, one end of the filter resistor R8 is connected with the other end of the current sampling device, and the other end of the filter resistor R8 is connected with the inverting input end of the first integrated operational amplifier; the first signal conditioning circuit and the second signal conditioning circuit are respectively connected with the output end of the first integrated operational amplifier.
As a preferable scheme of the current sampling module for servo driving, the current sampling device adopts a hall current sensor or a sampling resistor.
As a preferable scheme of the current sampling module for servo driving, a voltage dividing resistor R3 is connected between the filter resistor R4 and the output end of the first integrated operational amplifier; and a voltage division resistor R10 is connected between the filter resistor R8 and the same-direction input end of the first integrated operational amplifier.
As a preferred scheme of the current sampling module for servo driving, the first signal conditioning circuit comprises a bias resistor R7, a second integrated operational amplifier, a grounding resistor R1 and a voltage dividing resistor R2; one end of the bias resistor R7 is connected with the output end of the first integrated operational amplifier, the other end of the bias resistor R7 is connected with the same-direction input end of the second integrated operational amplifier, the grounding resistor R1 is connected with the reverse input end of the second integrated operational amplifier, and the voltage dividing resistor R2 is connected between the grounding resistor R1 and the output end of the second integrated operational amplifier;
the second signal conditioning circuit comprises a bias resistor R12, a third integrated operational amplifier, a grounding resistor R13 and a voltage dividing resistor R14; one end of the bias resistor R12 is connected with the output end of the first integrated operational amplifier, the other end of the bias resistor R12 is connected with the same-direction input end of the third integrated operational amplifier, the grounding resistor R13 is connected with the reverse input end of the third integrated operational amplifier, and the voltage dividing resistor R14 is connected between the grounding resistor R13 and the output end of the third integrated operational amplifier.
As a preferable configuration of the current sampling module for servo driving, a voltage dividing resistor R9 is connected between the bias resistor R7 and the unidirectional input end of the second integrated operational amplifier, a voltage dividing resistor R11 is connected between the bias resistor R12 and the unidirectional input end of the third integrated operational amplifier, and the voltage dividing resistor R9 and the voltage dividing resistor R11 are connected in series.
As a preferable scheme of the current sampling module for servo driving, the output end of the second integrated operational amplifier is connected with a sampling resistor R5, and the second integrated operational amplifier is connected with a first ADC conversion port through the sampling resistor R5; the output end of the third integrated operational amplifier is connected with a sampling resistor R15, and the third integrated operational amplifier is connected with a second ADC conversion port through the sampling resistor R15.
As a preferable scheme of the current sampling module for servo driving, a clipping diode D1 is connected between the sampling resistor R5 and the first ADC conversion port, the clipping diode D1 is connected with a clipping diode D2, and the clipping diode D2 is grounded;
be connected with amplitude limiting diode D3 between sampling resistance R15 and the second ADC conversion mouth, amplitude limiting diode D3 is connected with amplitude limiting diode D4, amplitude limiting diode D4 ground connection.
The utility model discloses can reduce the digit requirement of servo current sampling ADC conversion, in the scheme that uses DSP, use the 12 bit ADC conversion module of DSP chip itself just to make the system satisfy the control accuracy under the small load, the equivalence has promoted 2 bit ADC's conversion precision, under the condition of hardly incremental cost, satisfies the small current sampling precision and accords with the application demand.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
Fig. 1 is a schematic structural diagram of a current sampling module for servo drive according to an embodiment of the present invention.
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, a current sampling module for servo driving is provided, which includes a sampling circuit, a filter circuit, a first signal conditioning circuit, and a second signal conditioning circuit; the sampling circuit comprises a current sampling device, the current sampling device adopts a sampling resistor R6, and the sampling circuit is connected with the filter circuit; the filter circuit comprises a filter resistor R4, a filter resistor R8 and a first integrated operational amplifier, wherein one end of the filter resistor R4 is connected with one end of the current sampling device, the other end of the filter resistor R4 is connected with the inverting input end of the first integrated operational amplifier, one end of the filter resistor R8 is connected with the other end of the current sampling device, and the other end of the filter resistor R8 is connected with the inverting input end of the first integrated operational amplifier; the first signal conditioning circuit and the second signal conditioning circuit are respectively connected with the output end of the first integrated operational amplifier.
Specifically, a voltage dividing resistor R3 is connected between the filter resistor R4 and the output end of the first integrated operational amplifier; and a voltage division resistor R10 is connected between the filter resistor R8 and the same-direction input end of the first integrated operational amplifier. The first signal conditioning circuit comprises a bias resistor R7, a second integrated operational amplifier, a grounding resistor R1 and a voltage dividing resistor R2; one end of the bias resistor R7 is connected with the output end of the first integrated operational amplifier, the other end of the bias resistor R7 is connected with the same-direction input end of the second integrated operational amplifier, the grounding resistor R1 is connected with the reverse input end of the second integrated operational amplifier, and the voltage dividing resistor R2 is connected between the grounding resistor R1 and the output end of the second integrated operational amplifier. The second signal conditioning circuit comprises a bias resistor R12, a third integrated operational amplifier, a grounding resistor R13 and a voltage dividing resistor R14; one end of the bias resistor R12 is connected with the output end of the first integrated operational amplifier, the other end of the bias resistor R12 is connected with the same-direction input end of the third integrated operational amplifier, the grounding resistor R13 is connected with the reverse input end of the third integrated operational amplifier, and the voltage dividing resistor R14 is connected between the grounding resistor R13 and the output end of the third integrated operational amplifier.
Specifically, a voltage dividing resistor R9 is connected between the bias resistor R7 and the equidirectional input end of the second integrated operational amplifier, a voltage dividing resistor R11 is connected between the bias resistor R12 and the equidirectional input end of the third integrated operational amplifier, and the voltage dividing resistor R9 and the voltage dividing resistor R11 are connected in series. The output end of the second integrated operational amplifier is connected with a sampling resistor R5, and the second integrated operational amplifier is connected with a first ADC conversion port through the sampling resistor R5; the output end of the third integrated operational amplifier is connected with a sampling resistor R15, and the third integrated operational amplifier is connected with a second ADC conversion port through the sampling resistor R15. Be connected with amplitude limiting diode D1 between sampling resistance R5 and the first ADC conversion mouth, amplitude limiting diode D1 is connected with amplitude limiting diode D2, amplitude limiting diode D2 ground connection. Be connected with amplitude limiting diode D3 between sampling resistance R15 and the second ADC conversion mouth, amplitude limiting diode D3 is connected with amplitude limiting diode D4, amplitude limiting diode D4 ground connection.
The utility model discloses an use the scene as follows: for a low-voltage servo motor driver, a V, W-phase motor current sampling mode is adopted, 5mR resistance sampling is adopted for current sampling, and the obtained current signal is amplified through low offset and maladjustment and rail-to-rail operational amplification; and the bipolar signal is converted into the unipolar signal by increasing the direct current bias so as to meet the ADC conversion requirement of the DSP. Meanwhile, the unipolar signal is amplified by 4 times in a differential mode, and a small signal 1/4 is intercepted and sent to the DSP, so that the delivery of the small signal is completed. The control chip DSP samples the processed 4 paths of current signals, compares the conversion values of the large signal and the small signal according to the value of the sampling signal, converts and judges that the small signal is in the conversion value of 4096, and uses the small signal to participate in current loop control; and when the small signal exceeds the range, the large signal is used for participating in current loop control.
The signal flow direction of the current sampling module is as follows:
acquiring a current signal from a sampling resistor R5, and amplifying the current signal by 10 times by using a first signal conditioning circuit after the current signal passes through a filter circuit; the operational amplifier output signal is divided into two paths, one path is a large-range signal, and the other path is a small-range signal.
The wide-range signal is converted into a single polarity signal and a signal with the center of 1.5V, 3V being the highest and 0V being the lowest by direct current bias and 5 times signal amplification, and is marked by ADC _1 and sent to an ADC conversion port ADCIN _0 of the DSP.
The small-range signal is converted into a unipolar signal amplified by 16 times through a circuit with the same structure as the large-range signal and only different circuit parameters, and the unipolar signal is sent to an ADC conversion port ADCIN _1 of the DSP by the label of ADC _ 2.
The detection and adjustment of external hardware signals are completed through the processes, and the external hardware signals are sent to an ADC conversion port of the DSP for digitalization of data. The DSP respectively collects, compares and judges the large and small measuring ranges of the current signals in each current loop control period, and uses the digital data of the small measuring ranges as the given data of the current loop control when the small measuring ranges are in the undistorted range; when the small range is distorted and the large range is not distorted, the large range data is used as the current loop to control the given data; and if the large range is distorted, performing over-range data processing.
The utility model discloses obtain current signal from the current sampling device to use filter circuit to handle the signal, the signal after the filtration converts the unipolar nature to through first signal conditioning circuit and second signal conditioning circuit, and first signal conditioning circuit handles the full range of after-test electric current, and the second signal conditioning circuit handles the range of 1/4 of after-test electric current, then sends 2 ways to handle the analog signal of having taken care of simultaneously to control chip's ADC conversion mouth, carries out the ADC conversion to two way signals simultaneously. Comparing and judging the converted result, when the conversion value of the 1/4 current small signal is in a set range, transmitting the value to a current control loop, marking the parameter to indicate that the use data is small-range data, and correspondingly normalizing the data; when the small signal exceeds the range and the full range data does not exceed the range, the value of the small signal is delivered to the current control loop; if the measuring ranges exceed the range, the alarm is directly given and data is delivered to the current control loop according to the maximum set value. Through the steps, the servo system can meet the control precision requirement under the condition of small load. Meanwhile, the number of paths of amplified signals of small signals can be expanded, and the number of the signals to an ADC conversion port is correspondingly increased; flexible precision improvement is realized. In the scheme of using the DSP, the control precision of the system under the small load can be met by using a 12-bit ADC conversion module of the DSP chip, the conversion precision of the 2-bit ADC is equivalently improved, and the requirement that the sampling precision of the small current meets the application requirement under the condition that the cost is hardly increased is met.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. A current sampling module for servo drive is characterized by comprising a sampling circuit, a filter circuit, a first signal conditioning circuit and a second signal conditioning circuit; the sampling circuit comprises a current sampling device and is connected with the filter circuit; the filter circuit comprises a filter resistor R4, a filter resistor R8 and a first integrated operational amplifier, wherein one end of the filter resistor R4 is connected with one end of the current sampling device, the other end of the filter resistor R4 is connected with the inverting input end of the first integrated operational amplifier, one end of the filter resistor R8 is connected with the other end of the current sampling device, and the other end of the filter resistor R8 is connected with the inverting input end of the first integrated operational amplifier; the first signal conditioning circuit and the second signal conditioning circuit are respectively connected with the output end of the first integrated operational amplifier.
2. The current sampling module for servo drive according to claim 1, wherein the current sampling device employs a hall current sensor or a sampling resistor.
3. The current sampling module for servo drive of claim 1, wherein a voltage dividing resistor R3 is connected between the filtering resistor R4 and the output end of the first integrated operational amplifier; and a voltage division resistor R10 is connected between the filter resistor R8 and the same-direction input end of the first integrated operational amplifier.
4. The current sampling module of claim 1, wherein the first signal conditioning circuit comprises a bias resistor R7, a second integrated operational amplifier, a ground resistor R1, and a voltage dividing resistor R2; one end of the bias resistor R7 is connected with the output end of the first integrated operational amplifier, the other end of the bias resistor R7 is connected with the same-direction input end of the second integrated operational amplifier, the grounding resistor R1 is connected with the reverse input end of the second integrated operational amplifier, and the voltage dividing resistor R2 is connected between the grounding resistor R1 and the output end of the second integrated operational amplifier;
the second signal conditioning circuit comprises a bias resistor R12, a third integrated operational amplifier, a grounding resistor R13 and a voltage dividing resistor R14; one end of the bias resistor R12 is connected with the output end of the first integrated operational amplifier, the other end of the bias resistor R12 is connected with the same-direction input end of the third integrated operational amplifier, the grounding resistor R13 is connected with the reverse input end of the third integrated operational amplifier, and the voltage dividing resistor R14 is connected between the grounding resistor R13 and the output end of the third integrated operational amplifier.
5. The current sampling module of claim 4, wherein a voltage dividing resistor R9 is connected between the bias resistor R7 and the unidirectional input terminal of the second integrated operational amplifier, a voltage dividing resistor R11 is connected between the bias resistor R12 and the unidirectional input terminal of the third integrated operational amplifier, and the voltage dividing resistor R9 and the voltage dividing resistor R11 are connected in series.
6. The current sampling module for servo drive as claimed in claim 4, wherein the output terminal of the second integrated operational amplifier is connected with a sampling resistor R5, and the second integrated operational amplifier is connected with the first ADC conversion port via the sampling resistor R5; the output end of the third integrated operational amplifier is connected with a sampling resistor R15, and the third integrated operational amplifier is connected with a second ADC conversion port through the sampling resistor R15.
7. The current sampling module for servo drive as claimed in claim 6, wherein a clipping diode D1 is connected between the sampling resistor R5 and the first ADC conversion port, the clipping diode D1 is connected with a clipping diode D2, and the clipping diode D2 is grounded;
be connected with amplitude limiting diode D3 between sampling resistance R15 and the second ADC conversion mouth, amplitude limiting diode D3 is connected with amplitude limiting diode D4, amplitude limiting diode D4 ground connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922066811.2U CN211791344U (en) | 2019-11-26 | 2019-11-26 | Current sampling module for servo drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922066811.2U CN211791344U (en) | 2019-11-26 | 2019-11-26 | Current sampling module for servo drive |
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| Publication Number | Publication Date |
|---|---|
| CN211791344U true CN211791344U (en) | 2020-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922066811.2U Active CN211791344U (en) | 2019-11-26 | 2019-11-26 | Current sampling module for servo drive |
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| CN (1) | CN211791344U (en) |
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- 2019-11-26 CN CN201922066811.2U patent/CN211791344U/en active Active
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