CN2678243Y - AC servo drive device based on digital signal processor - Google Patents

Abstract

The utility model provides an alternating current (AC) servo drive based on a digital signal processor, which conducts the independent design through a digital signal processor and a composite programmable logic circuit. As an embedded digital signal processor with high property is mainly used as a core control chip and the control mode of an advanced fully digital motor is used, accordingly, the closed-loop servo control on the current loop, the velocity loop, and the positioning loop of a permanent magnet servo dynamo is realized. The AC servo drive based on a digital signal processor has favorable robustness and self-adaptive capacity, and the AC servo drive based on a digital signal processor can be matched with servo motors with various specifications and can be suitable for various digital control systems of precise rotation speed control and positioning control needing quickly response. The AC servo drive based on a digital signal processor has high reliability, strong functionality, and good stability; the AC servo drive based on a digital signal processor can be widely applied for the fields of the control devices of the AC servo drive devices of the machinery, the digital control equipment, the mechanical-electrical integration, the printing, the textile, the electronic, the light industry, the packing, etc.

Description

AC servo drive unit based on digital signal processor

Technical field:

The utility model provides a kind of AC servo drive unit based on digital signal processor, belongs to the control appliance field of Numeric Control Technology, electromechanical integration, servodrive.

Background technology:

At present, traditional digital servo drive unit all is to adopt to be made up of CPU, exchanges data circuit, PWM output circuit, position of magnetic pole identification circuit, position control circuit etc.; These all are by the synthetic logical circuit of some small-scale chipsets, though have independently Position Control function, but, can only realize simple position, speed, Current Control, development along with Numeric Control Technology, electromechanical integration technology, the AC servo drive unit uses the expansion in field, and traditional digital servo drive unit can't satisfy the multi-functional and high performance requirement of new technical field.Simultaneously, aspect power circuit control, on loop of power circuit startup, discharge loop work and protective circuit, traditional control method directly influences the raising of AC servo drive unit reliability again.

Summary of the invention:

The purpose of this utility model provides a kind of AC servo drive unit based on digital signal processor, it is characterized in that: carry out independent design by digital signal processor and compound Programmable Logic Device.The high performance embedded dsp of main employing is as kernel control chip, the full digital Electric Machine Control mode of uses advanced, electric current loop, the speed ring of permanent-magnet servo motor, the closed loop servo control of position ring have been realized, possess good robustness and adaptive ability, the servomotor that can cooperate plurality of specifications is adapted to the accurate rotating speed control of the quick response of various needs and the digital control system of positioning control.This device reliability height, functional strong, good stability can be widely used in the control appliance field of AC servo drive units such as machinery, numerical control equipment, electromechanical integration, printing, weaving, electronics, light industry, packing.

The purpose of this utility model is achieved in that the utility model is made up of control board, power plate and display panel three parts, is used for driving AC servo motor.In control board, by digital signal processor U7, compound Programmable Logic Device U8, multichannel analog sample conversion circuit U 13, control circuit with line receiving circuit U11, light-coupled isolation U31, U33 and U37, shaping circuit U32 and U15, buffer circuit U34, communication interface circuit U 35, high speed photo coupling U14, interface circuit U38, line drive circuit U12 composition servo drive is characterized in that: adopted digital signal processor U7, compound Programmable Logic Device U8, multichannel analog sample conversion circuit U 13 as core control circuit; In the power plate; form the power circuit by warning treatment loop U43, report to the police interruption output U44, last electric control loop U17, discharge and error protection loop U19, electric machine phase current sensor signal U39, current rectifying and wave filtering circuit U40, IPM (power model) drive circuit U41, optical coupling isolation circuit U42, it is characterized in that: adopted last electric control loop U17, discharge and error protection loop U19 core component as the power circuit.In display panel, have to show and keypad circuit U 36, be prior art.With digital signal processor U7 and compound Programmable Logic Device U8 is core and with multichannel analog sample conversion circuit U 13, the combination of going up electric control loop U17, discharge and error protection loop U19, has realized electric current loop, the speed ring of servomotor, the closed loop servo control (see figure 1) of position ring.

Adopt advantage of the present utility model and effect to be, a kind of reliability height, functional strong, comprehensive practical Digital AC permanent-magnet servo motor control device be provided:

1, traditional digital permanent-magnet servo motor can not realize that P-pulse feeds back continuous frequency division output, even simple divided version is arranged, its method all realizes by discrete component and small scale in circuitry, register etc., on reliability, can there be certain hidden danger like this, simultaneously can't realize multiple parameter setting frequency division, after also can't realizing frequency division, the correctness of A, B phase phase relation and frequency division in the motor positive and inverse process.The utility model, combination by digital signal processor and compound Programmable Logic Device, as long as, just can realize 1～255 continuous frequency division easily by parameter setting, the accuracy of " A, B " phase place motor guarantees divider ratio and frequency division all the time in frequent rotating process after; The setting of this method simultaneously is the data/address bus transmission by digital signal processor, carries out divider ratio by compound Programmable Logic Device and latchs, and finishes division function by compound Programmable Logic Device inside, makes whole device stable simple.

2, traditional various control logics are by simple gate circuit complex combination, and this control logic is subject to disturb, and the utility model is realized various control logics by compound Programmable Logic Device, its integrated level height, and antijamming capability is strong.

3, the traditional major loop no optimal control that powers on, can make loop of power circuit damage, the utility model pass through optimization charging circuit controlling schemes like this, control charging rate and relay-operating time, like this better controlled the generation of when charging major loop surge voltage, make charging safe and reliable.

4, traditional device can't be realized the power control of discharge loop; discharge loop of the present utility model provides detect discharge time, and discharge tube work is turn-offed in the overload back, and the generation alarm signal is given host computer; effective like this discharge loop global reliability of having protected makes loop of power circuit safer.

Description of drawings

Fig. 1 is total principle assumption diagram of the present utility model

Fig. 2 is compound Programmable Logic Device figure

Fig. 3 is a multichannel analog sample conversion circuit diagram

Fig. 4 goes up the electric control loop circuit diagram

Fig. 5 is discharge and error protection loop circuit figure

Embodiment

The utility model is further specified as follows below in conjunction with accompanying drawing:

In the control board of Fig. 1, line receiving circuit U11, light-coupled isolation U31, U33, U37, shaping circuit U32, U15, buffer circuit U34, communication interface circuit U 35, high speed photo coupling U14, interface circuit U38, line drive circuit U12 are prior art.The utility model has adopted digital signal processor U7 and compound Programmable Logic Device U8 and multichannel analog sample conversion circuit U 13 to realize the collection and the core closed-loop control of position ring, speed ring and electric current loop digital quantity, feedback quantity, the control of input and output, keyboard display monitoring function and produce the PWM motor control signal.In control board, P-pulse PLS, DIR input signal receive by high speed photo coupling U14 and shaping circuit U15 earlier, the received signal shaping is synthesized PLS1, PLS2 signal after, be input to the compound Programmable Logic Device of U8, carry out pulse, direction is handled; Code device signal output receives by line receiving circuit U11 and shaping is handled, and forms position feedback, feedback speed signal, is input to the U7 digital signal processor, carries out position, speed closed loop control; Speed and dtc signal and electric machine phase current sensor signal U39 are input to U13 simultaneously, by the U13 conversion, signal are input to the U7 digital signal processor, do speed and current closed-loop computing.U8 and U7 communicate, and finish 6 kinds of P-pulse given ways: 1) pulse, direction positive logic, 2) the pulse direction negative logic, 3) dipulse positive logic, 4) the dipulse negative logic, 5) orthogonal pulses positive logic, 6) the orthogonal pulses negative logic; U8 communicates by letter by U7, determines FA, FB encoder feedback signal output frequency division number, and U8 finishes the continuous division function of frequency division value 1～255, output frequency division signal KA, KB; U8 also has the alarm signal lock function, FA, FB encoder feedback signal burn out detection function, PWM processing capacity, U8 and peripheral unit control signal complex functionality.In the power plate of Fig. 1, warning treatment loop U43, report to the police interruption output U44, electric machine phase current sensor signal U39, current rectifying and wave filtering circuit U40, IPM (power model) drive circuit U41, optical coupling isolation circuit U42 are prior art.The utility model has adopted last electric control loop U17 and discharge and error protection loop U19, has controlled charging rate and relay-operating time, and the generation of major loop surge voltage when having solved charging makes charging safe and reliable.

In Fig. 2 circuit, realize division function, realize 6 kinds of P-pulses processing, realize that fault-signal is handled and pulse-width modulation PWM output is handled.

In Fig. 3 circuit, realize that the analog quantity of current sample I_SU and I_SW is converted into digital quantity, realize that the analog quantity of velocity setting SPD_IN is converted into digital quantity, realize that the analog quantity of the given TRQ_IN of moment is converted into digital quantity.

In Fig. 4 circuit, power supply electrifying slowly raises busbar voltage initially by resistance R P and meet NTC and charge to main capacitance, has reduced surge, has ensured the reliably working of power tube IPM, and for power tube IPM, high surge is the most fragile.Utilize the controllability of relay to finish bus and power on, also will ensure the surge that bus is low.By the way, realized the power supply electrifying control procedure.

In Fig. 5 circuit,, produce the overvoltage signal and finish the bus capacitor discharge by detecting the main power source DC bus-bar voltage; By to detecting discharge time, limit discharge tube discharge time, and form error protection.

Line by Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 elaborates to the technical solution of the utility model:

In Fig. 1, the control signal input is isolated reception through U31, after the U32 shaping, gives digital signal processor U7 again.The speed and the torque instruction of simulate given input send digital signal processor U7 after the U13 sample conversion.Encoder output FA, FB generate motor pole position detection signal, formation speed feedback signal simultaneously after U11 receives processing.Digital signal processor U7 is used for finishing speed closed loop control with feedback speed signal and velocity setting signal process computing formation speed error signal.Electric machine phase current detects through U39, forms the digital current feedback command through the U13 sample conversion again, finishes the current torque closed-loop control through the U7 computing.P-pulse input signal PLS, DIR receive and the U15 shaping through high speed photo coupling U14, generate position command pulse PLS1, PLS2, and send into U7 by U8, the feedback speed signal that encoder output FA, FB generate after U11 receives processing and PLS1, PLS2 finish the servo position closed loop through the U7 computing.U8 has finished the processing of encoder fractional frequency signal, and output frequency division signal KA, KB, KA, KB form encoder frequency division output signal after U12 drives.U37 finishes the open collector OC door output of Z signal.The AC power input generates dc bus through U40 rectifying and wave-filtering and U17 control, powers to U41.The pwm signal of U8 output outputs to the U42 optical coupling isolation circuit through the U38 interface circuit, finishes the control to U41, U41 output three-phase signal drive motors.The discharge of U19 output and error protection signal are given U43 and are handled the back output alarm signal, handle to U8.The alarm signal of U41 output send U7 to finish Interrupt Process after U44 warning Interrupt Process.The communication of U7 and serial line interface RS232 and CAN bus is finished by U35.U36 is used for finishing the setting and the demonstration of parameter for showing and the keypad circuit.By above connected mode, thereby realized computing and logic control, and to the control of servomotor.

In Fig. 2, the address wire A0 of U7, A1 link to each other with address wire A0, the A1 of U8, and the D0 of U7, D1, D2, D3, D4, D5, D6, D7 data wire link to each other with D0, D1, D2, D3, D4, D5, D6, the D7 data wire of U8, the line data of going forward side by side exchange.Six road pwm signal PWM1, PWM2, PWM3, PWM4, PWM5, the PWM6 of U7 output link to each other with PWM1, PWM2, PWM3, PWM4, PWM5, the PWM6 of U8, generate six road pwm signal OPWM1, OPWM2, OPWM3, OPWM4, OPWM5, OPWM6 by the U8 processing of circuit; Encoder feedback signal FA, FB are input to U8 and carry out the burn out detection processing.Position pulse signal is input to the compound Programmable Logic Device of U8 through receiving circuit and synthetic PLS1, the PLS2 signal of shaping circuit, carries out pulse, direction processing.Encoder feedback signal FA, FB handle through U8 and form divided pulse KA, KB, are input to line drive circuit, output coder fractional frequency signal after overdriving.Use compound Programmable Logic Device U8, application hardware descriptive language VHDL programming, increased the flexible Application of device, change is convenient, by with the information exchange of digital signal processor U7, it is slow to have solved digital signal processor U7 sample rate, and the drawback that can not respond fast makes that the on-line system programming of U8 is convenient.Because U7 and the address of U8 and the direct communication of data, produced the receive mode of dipulse mixed logic, pulse mixed logic, 6 kinds of P-pulses of orthogonal pulses mixed logic, easy to use, expanded servo application.Jumbo compound Programmable Logic Device U8 compares with traditional small scale in circuitry logical device, has increased integrated level, has reduced the density of wiring, has improved the anti-interference and the reliability of system.

In Fig. 3, from the C1 of U7 output, the analog quantity conversion that U16, U18, U23, U25 are controlled in the timesharing of C2 control signal.The analog quantity I_SU of current feedback, I_SW import U16 and U18 respectively from U16 the 1st pin and U18 the 1st pin, after U16, U18 amplification, level shift effect, export from U16 the 2nd pin and U18 the 2nd pin respectively, be input to the 13rd pin and the 14th pin of U13 more respectively, form the input signal of U13; U13 produces data value DD0～DD11 by channel sample, from U13 the 1st pin, the 2nd pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the 7th pin, the 8th pin, the 9th pin, the 10th pin, the 11st pin, the output of the 12nd pin, offers digital signal processor U7 respectively.Velocity setting signal SPD_IN imports from U23 the 1st pin, by exporting from U23 the 2nd pin after U23 amplification, the level shift effect, be input to the 15th pin of U13, form the shift signal of U13, U13 passes through channel sample, produce data value DD0～DD11, from U13 the 1st pin, the 2nd pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the 7th pin, the 8th pin, the 9th pin, the 10th pin, the 11st pin, the output of the 12nd pin, offer digital signal processor U7 respectively.The given signal TRQ_IN of moment is from the 1st pin input of U25, by exporting from U25 the 2nd pin after U25 amplification, the level shift effect, be input to the 16th pin of U13, form the input signal of U13, U13 passes through channel sample, produce data DD0～DD11, from U13 the 1st pin, the 2nd pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the 7th pin, the 8th pin, the 9th pin, the 10th pin, the 11st pin, the output of the 12nd pin, offer digital signal processor U7 respectively.Thereby the analog quantity that has realized current sample I_SU and I_SW is converted into digital quantity, and the analog quantity of velocity setting SPD_IN is converted into digital quantity, and the analog quantity of the given TRQ_IN of moment is converted into digital quantity.

In Fig. 4, the 220V power supply is input to 220V main power source input, and connects the ZV2 piezo-resistance, and serial connection is insured FUSE1, is input to the 2nd pin and the 4th pin of unidirectional rectifier bridge BRG2, the 1st pin output+utmost point of unidirectional rectifier bridge BRG2, the 3rd pin output-utmost point.Main power source busbar voltage test point Ud is input to the 3rd pin of comparator V7A, VCC2 is the power supply of comparator V7A, relay pick-up voltage set point is the dividing point Uset of resistance R 45, R46, Uset inserts comparator V7A the 2nd pin, when main power source busbar voltage test point Ud is higher than the voltage of dividing point Uset of R45, R46, comparator V7A the 1st pin upset output high level, triode TR2 conducting this moment also makes optocoupler V6 conducting, relay LAY adhesive; R47 is the pull-up resistor of V7A the 1st pin, and R49 is the current-limiting resistance of optocoupler V6; VCC1+ is a relay LAY positive source, and VCC1-is a relay LAY power cathode.Before relay LAY adhesive, resistance R P and NTC were attempted by on the normal battle 1,2 of relay LAY, BRG2+end by and the resistance R P, the NTC that connect give main capacitance CV1, CV2 power supply, by piezo-resistance ZV1, CBB capacitor C V3 to the dc bus noise filtering, P is the dc bus positive pole, and GP is the dc bus negative pole.The servo output signal that is ready to of V8 output VRDY.Thereby realized the power supply electrifying control procedure.

In Fig. 5; dc bus power supply P obtains actual detected voltage partial pressure value Ud by the dividing potential drop of resistance R P1 and R27 and connecting resistance R27+, and Ud is added in the 4th pin of comparator C P1A; the ZD1 voltage-stabiliser tube is connected on the 5th pin of comparator C P1A; the value of ZD1 is the alarm for high voltage reference voltage, and when Ud value during greater than the ZD1 value, comparator C P1A the 2nd pin becomes low level; optocoupler V3 conducting; output alarm for high voltage signal HV-ALM, R26 is the current-limiting resistance of optocoupler V3, for the operate as normal of optocoupler V3 provides protection.The ZD2 voltage-stabiliser tube is connected on the 7th pin of comparator C P1B by resistance R 29, and the 7th pin of comparator C P1B is the discharge loop reference voltage; Ud is added in the 6th pin of CP1B simultaneously, and when the value of Ud during greater than the magnitude of voltage of CP1B the 7th pin, comparator C P1B, CP1C upset makes the TR3 conducting and makes the TRP1 conducting, makes discharge tube FET work, and dc bus P is by external bleeder resistance discharge.When discharge loop is worked, because the upset of CP1B makes CP1B the 7th pin be connected with GP by R30, R30 and receiving on the R31 at this moment, the 7th pin voltage of CP1B is descended, voltage difference when so just generation discharge conducting to discharge is turn-offed determines discharge band voltage, guarantees to release reliably working.R32 is connected with R33, is connected on the 9th pin of comparator C P1C, the reference voltage of decision comparator C P1C.R53 is the pull-up resistor of comparator C P1C, and the 14th pin of comparator C P1C is a high level during discharge, ZD7, TR3 conducting, and R3 is the protective resistance of TRP1, makes TRP1 output high level.Drive discharge tube FET by resistance R 2, ZD4 also meets R4 and provides protection for the grid of discharge tube FET.When discharge tube FET conducting; optocoupler V4 is by current-limiting resistance RP2 conducting; power supply VCC2 charges to CE17 by R36; R38 serial connection R40 is connected on the 10th pin of comparator C PID jointly; the reference voltage of decision CP1D; when discharge time during overlength; voltage on the CE17 is higher than the voltage of comparator C P1D the 10th pin, comparator C P1D upset this moment, and R39 is the pull-up resistor of comparator C P1D; the 13rd pin output high level of CP1D; make controllable silicon SCR 1 conducting by resistance R 18,, make the TR1 conducting by the conducting of V10 photoelectric coupled circuit; light-emitting diode DC is bright; output low level, and the 6th pin of CP1B dragged down, discharge loop is not worked; the protection discharge loop is for servo reliably working provides safeguard.Above-mentioned connected mode produces the overvoltage signal and finishes the bus capacitor discharge by detecting the main power source DC bus-bar voltage; By to detecting discharge time, limit discharge tube discharge time, and form error protection.

Claims (4)

1, a kind of AC servo drive unit based on digital signal processor is characterized in that: carry out independent design by digital signal processor and compound Programmable Logic Device.Main adopt high performance embedded dsp as kernel control chip, the full digital Electric Machine Control mode of uses advanced has realized electric current loop, the speed ring of permanent-magnet servo motor, the closed loop servo control of position ring.

2, according to claims 1 described AC servo drive unit based on digital signal processor, in control board, it is characterized in that: adopted digital signal processor U7, compound Programmable Logic Device U8, multichannel analog sample conversion circuit U 13 as core control circuit; In the power plate, it is characterized in that: adopted last electric control loop U17, discharge and error protection loop U19 core component as the power circuit.With digital signal processor U7 and compound Programmable Logic Device U8 is core and with multichannel analog sample conversion circuit U 13, the combination of going up electric control loop U17, discharge and error protection loop U19, has realized electric current loop, the speed ring of servomotor, the closed loop servo control of position ring.

3, according to claims 1 described AC servo drive unit based on digital signal processor, it is characterized in that: the address wire A0 of U7, A1 link to each other with address wire A0, the A1 of U8, the D0 of U7, D1, D2, D3, D4, D5, D6, D7 data wire link to each other with D0, D1, D2, D3, D4, D5, D6, the D7 data wire of U8, the line data of going forward side by side exchange.Six road pwm signal PWM1, PWM2, PWM3, PWM4, PWM5, the PWM6 of U7 output link to each other with PWM1, PWM2, PWM3, PWM4, PWM5, the PWM6 of U8, generate six road pwm signal OPWM1, OPWM2, OPWM3, OPWM4, OPWM5, OPWM6 by the U8 processing of circuit; Encoder feedback signal FA, FB are input to U8 and carry out the burn out detection processing.Position pulse signal is input to the compound Programmable Logic Device of U8 through receiving circuit and synthetic PLS1, the PLS2 signal of shaping circuit, carries out pulse, direction processing.Encoder feedback signal FA, FB handle through U8 and form divided pulse KA, KB, are input to line drive circuit, output coder fractional frequency signal after overdriving.

4, according to claims 1 described AC servo drive unit, it is characterized in that: from the C1 of U7 output, the analog quantity conversion that U16, U18, U23, U25 are controlled in the timesharing of C2 control signal based on digital signal processor.The analog quantity I_SU of current feedback, I_SW import U16 and U18 respectively from U16 the 1st pin and U18 the 1st pin, after U16, U18 amplification, level shift effect, export from U16 the 2nd pin and U18 the 2nd pin respectively, be input to the 13rd pin and the 14th pin of U13 more respectively, form the input signal of U13; U13 produces data value DD0～DD11 by channel sample, from U13 the 1st pin, the 2nd pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the 7th pin, the 8th pin, the 9th pin, the 10th pin, the 11st pin, the output of the 12nd pin, offers digital signal processor U7 respectively.Velocity setting signal SPD_IN imports from U23 the 1st pin, by exporting from U23 the 2nd pin after U23 amplification, the level shift effect, be input to the 15th pin of U13, form the input signal of U13, U13 passes through channel sample, produce data value DD0～DD11, from U13 the 1st pin, the 2nd pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the 7th pin, the 8th pin, the 9th pin, the 10th pin, the 11st pin, the output of the 12nd pin, offer digital signal processor U7 respectively.The given signal TRQ_IN of moment is from the 1st pin input of U25, by exporting from U25 the 2nd pin after U25 amplification, the level shift effect, be input to the 16th pin of U13, form the input signal of U13, U13 passes through channel sample, produce data DD0～DD11, from U13 the 1st pin, the 2nd pin, the 3rd pin, the 4th pin, the 5th pin, the 6th pin, the 7th pin, the 8th pin, the 9th pin, the 10th pin, the 11st pin, the output of the 12nd pin, offer digital signal processor U7 respectively.

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