1308819 請揭示最能顯示發明特徵的化 八本案右有化學式時 學式： 九、發明說明： 【發明所屬之技術領域】 特別是關於一種 一本兔月係關於一種交流飼服驅動器 —合一的交流伺服驅動器。 【先前技術】 ::多軸運動控制的系統架構屬於集中式控制，也 :都包卜主控制器，經由傳統式配線或高速通訊等方 控制舰驅動器來達油服馬達之直線/圓弧等多 軸補間運動。 于^ 父流贿馬達常用於三軸以上的加工機或是多轴的工 曰系統，目前的設計大都是一台驅動器接一台馬達，即使 =目前-對多的設計可以連接多台的馬達，在設計上也是1308819 Please reveal the chemical formula of the right eight cases that can best show the characteristics of the invention: IX. Description of the invention: [Technical field of invention] In particular, it relates to a rabbit moon system about a kind of AC feeding drive-in-one AC servo drive. [Prior Art] :: The system architecture of multi-axis motion control belongs to centralized control, and also: the main controller, which controls the ship driver through traditional wiring or high-speed communication to reach the straight line/arc of the oil service motor. Multi-axis tween movement. The parent-browed motor is often used in three-axis or more processing machines or multi-axis industrial systems. The current design is mostly a drive connected to a motor, even if the current-to-many design can connect multiple motors. In design too
於擴充型態的模組設計，也就是要接更多台馬達，則擴 充=驅動馬達的電源模組。這樣在效能、成本及體積二 々筇省上也不會產生太大的效果，並且沒有實質上 線及安裴時間。 【發明型内容】 —本發明之目的在於提供一種三合一的交流伺服驅動 器，單純就提供一台驅動器可以連接數台馬達，將數台馬 達所需的電源模組及控制模組放在同一個模塊裡，對於抑 制單兀部分可以節省重複部分，如通訊介面、顯示單元、 輪入/輪出單元，電源模組上的IGBT模組之匯流排電容量 5 1308819 4 L Χ、用而減；，體積也可因此較原本數台的總合體積要 來仟小，並可右对# 有放即名成本、配線及安裝時間，實現具成 本观f力的交流伺服驅動器。 入 ^月在於提供—種三合—的交流伺服驅動器，其包 2Ti輸、—控制模組、-電源模組及複數個伺服 (、μ—合一的交流伺服驅動器包含： δ亥控制模組包含： ►料.、"面，用以與該主控制器雙向傳輪命令及資 龆比的ί入/輸出單元，用以與該主控器雙向傳輪數位/ 類比的輪入/輪出信號； 、i#個it㈣器’用以接收分別對應於該㈣服馬達之 複數個電流信號，並轉換為數位電流信號輸出； 一現場可程式化閘極陣列，用以 旋轉位置及速度，以於Ψ服馬違的 …號，並根;脈置數位信號及旋轉速度數 ^ ^ An HR =- 見1又凋變數位信號以產生分別對應於 该二何服馬達之電流的脈衝寬度調變信號；以及 主二信Γ理器，用以接收經由該通訊介面而由該 fl制輯达出之速度命令、位置命令及扭矩命令，接收 s亥輪入/輸出單元所送屮 接收該電流檢測器： = 類比的輸入/輸出信號， L- Μ PB , 11之數位電流#號，接收該現場可 轾式化閘極陣列所輪屮 位H ,以、軍管+、 疋轉置數位信號及旋轉速度數 " t /刀別對應該些伺服馬達之電流@ 1彳# f 度調變數位信號，並於φ s > 电概的脈衝見 幸則出至该現場可程式化閘極陣列，經 6 1308819 以及 由該傳輸介面傳送各個伺服馬達的操作狀態 該電源模組包含： 源； 轉換益，用以將交流電源轉換為 一電源匯流排，用以提供該轉換器 直流電源； 所轉換的直流電 :電容’用以穩壓該電源匯流排上的直流電源；In the expansion of the modular design, that is, to connect more motors, expand the power module of the drive motor. This will not have much effect on performance, cost and volume, and there will be no substantial line and ampoule time. [Inventive Content] - The object of the present invention is to provide a three-in-one AC servo driver, which simply provides one driver to connect several motors, and puts the power modules and control modules required for several motors in the same In one module, the repeating part can be saved for suppressing the single-turn part, such as the communication interface, the display unit, the wheel-in/round-out unit, and the busbar capacity of the IGBT module on the power module is 5 1308819 4 L Χ, used instead ;, the volume can also be smaller than the original combined volume of the original number, and right to the right side of the cost, wiring and installation time, to achieve a cost of AC servo drive. Into the month is to provide a three-in-one AC servo drive, which includes 2Ti transmission, - control module, - power module and a plurality of servo (, μ-integrated AC servo drive includes: δ海 control module The method includes: a material, a "face, an input/output unit for bidirectional transmission command and capital ratio with the main controller, and a wheel/wheel for bidirectional transmission/analog with the main controller The output signal; the i# it (four) device is configured to receive a plurality of current signals respectively corresponding to the (four) service motor, and convert to a digital current signal output; a field programmable gate array for rotating the position and speed, In order to take the horse's violation of the number, and root; pulse digital signal and the number of rotation speed ^ ^ An HR = - see 1 and then fade the digital signal to generate a pulse width adjustment corresponding to the current of the two motor a variable signal; and a main two-way processor for receiving a speed command, a position command, and a torque command that are generated by the fl interface via the communication interface, and receiving the current received by the s-wheel input/output unit Detector: = analog input/output signal L- Μ PB, 11 digit current #, receiving the rim position H of the field-programmable gate array, to the military tube +, 疋 transposition digital signal and the number of rotation speeds " t / knife The current of the servo motor @ 1彳# f degree modulation digital signal, and the pulse of φ s > electric power is fortunate to the field programmable gate array, through 6 1308819 and the transmission of each servo by the transmission interface The operating state of the motor includes: a source; a conversion benefit for converting the alternating current power into a power bus to provide the converter DC power; the converted direct current: the capacitor 'to regulate the power sink DC power supply on the line;
換為：ί : : 用以將该電源匯流排上的直流電源轉 並根據該現場可程式化間極陣列所輸出之 j見度心信號分別產生輸出於相對應之伺服馬達的交 仏L -电壓及電流；以及 服 複數個電流感測器，用以分別感測換流器供庫給飼 馬達的電流，並輸出所感測之電流信號至該電流檢測写 【實施方式】 ° 以下參照附圖說明本發明之一較佳實施例。 第1圖為本發明三合一的交流伺服驅動器之電路方塊 圖。在第1圖中，三合一的交流伺服驅動器1〇包含有一主 控制器12、一控制模組14、一電源模組16及複數個伺服馬 達18。 控制模組12包含有一通訊介面（c〇mmunicat;i〇nSwitch to: ί : : to convert the DC power on the power bus and generate the output L to the corresponding servo motor according to the j-point heart signal output from the field programmable inter-array array. Voltage and current; and a plurality of current sensors for respectively sensing the current of the inverter for feeding the feed motor, and outputting the sensed current signal to the current detection and writing [embodiment] ° A preferred embodiment of the invention is illustrated. Fig. 1 is a circuit block diagram of a three-in-one AC servo driver of the present invention. In Fig. 1, the three-in-one AC servo driver 1 includes a main controller 12, a control module 14, a power module 16, and a plurality of servo motors 18. The control module 12 includes a communication interface (c〇mmunicat; i〇n
Interface)20、一輸入/輸出單元22、一電流檢測器24、一 現場可程式化閘極陣列（Field Programmable Gate Array， FPGA)26、一數位信號處理器（Digital Signal Pr〇cess〇r， DSP)28及一顯示單元3〇。其中，現場可程式化閘極陣列26 具有一位置/速度檢測器32及一脈衝寬度調變控制器 7 1308819 (Phase Width Modulation ， PWM)34 。 電源杈組16包含有一轉換器（c〇nverter)36、一電源匯 流排38、一電容40、—煞車單元42、複數個換流器 (Inverter)44及複數個電流感測器仙。 通。fl ”面20與主控制器12雙向傳輸命令及資料，例如 主才工制A 12送出速度命令、位置命令及扭矩命令至通訊介 面20，通5孔介面2〇送出由數位信號處理器28所輸出之各個 •伺服馬達18的刼作狀態。其中，傳輸介面2〇係為一 RS-485、一 RS232、一 Modbus 及一 CAN-open。 »入/輸出單元22與主控器12雙向傳輸數位/類比的 輸入/輪出信號，該輪入/輪出單元22具有類比/數位轉 換及數位/類比轉換的功能，並具有數位輪入/輪出 (DI/DO)的功能。 七电流檢測器24接收分別對應於伺服馬達18之複數個電 流信號，並轉換為數位電流信號以輸出至數位信號處理器 28 中，电流感測器46分別感測換流器44供應給伺服馬 達的電流，並輸出所感測之電流信號至電流檢測器24。 現場可程式化閉極陣列26之位置/速度檢測器犯檢測 飼服馬達18的旋轉位置及速度，以輸出旋轉位置數位信號 及旋轉速度數位信號至數位信號處理器28。現場可程式化 間極陣列26之脈衝寬度調變控制器別根據由數位信號處理 器28所輸出之脈衝寬度調變數位信號以產生分別對應於伺 服馬達18之電流的脈衝寬度調變信號。 數位信號處理器28接收經由通訊介面20而由主控制器 8 Ϊ308819 斤^之速度命令、位置命令及扭矩命令，接收輸入/ 2早元22所送出類比/數位的輸人/輸出信號，接收電 = 124所輸出之數位電流信號，接收現場可程式化閑 味歹]26之位置/速度檢測器32所輸出之旋轉位置數位信 =旋轉速度數位信號，根據該些信號，以使用高速運算 月匕的數位信號處理器28來運算出分別對應飼服馬達此Interface) 20, an input/output unit 22, a current detector 24, a Field Programmable Gate Array (FPGA) 26, a digital signal processor (Digital Signal Pr〇cess〇r, DSP) 28) and a display unit 3〇. The field programmable gate array 26 has a position/speed detector 32 and a pulse width modulation controller 7 1308819 (Phase Width Modulation, PWM) 34 . The power pack 16 includes a converter (c〇nverter) 36, a power bus 38, a capacitor 40, a brake unit 42, a plurality of inverters 44, and a plurality of current sensors. through. The fl ” 20 surface and the main controller 12 transmit commands and data bidirectionally, for example, the main production system A 12 sends a speed command, a position command and a torque command to the communication interface 20, and is sent out by the digital signal processor 28 through the 5-hole interface 2 Each of the outputs includes a state of operation of the servo motor 18. The transmission interface 2 is an RS-485, an RS232, a Modbus, and a CAN-open. The input/output unit 22 and the main controller 12 transmit digital bits bidirectionally. / Analog input/rounding signal, the in/out unit 22 has analog/digital conversion and digital/analog conversion functions, and has digital round/in/out (DI/DO) functions. 24 receiving a plurality of current signals respectively corresponding to the servo motor 18 and converting them into digital current signals for output to the digital signal processor 28, the current sensors 46 respectively sensing the current supplied to the servo motor by the inverter 44, and The sensed current signal is output to the current detector 24. The position/speed detector of the field programmable closed-pole array 26 detects the rotational position and speed of the feeding motor 18 to output a rotational position digital signal and a rotational speed. The digital signal is applied to the digital signal processor 28. The pulse width modulation controller of the field programmable inter-pole array 26 is modulating the digital signal according to the pulse width outputted by the digital signal processor 28 to generate a corresponding servo motor 18, respectively. The pulse width modulation signal of the current. The digital signal processor 28 receives the speed command, the position command and the torque command from the main controller 8 Ϊ 308819 via the communication interface 20, and receives the analog/digital number sent by the input / 2 early 22 Input/output signal, receive electricity = 124 output digital current signal, receive field programmable scent 歹] 26 position / speed detector 32 output rotary position digital signal = rotational speed digital signal, according to these The signal is calculated by using the digital signal processor 28 of the high-speed operation month to calculate the corresponding feeding motor
=的脈衝寬度調變數位信號，並輸出至現場可程式化問 :列26之脈衝寬度調變控制器，。數位信號處理器，經 由傳輪介面20傳送各個伺服馬達18的操作狀態至主控器 12 ° 00 顯示單元30接收數位信號處理器28之資料，顯示各個 司服馬達18的電壓、電流、位置、速度及錯誤訊息等。复 中，顯示單元30可以是七段顯示器。 ’、= pulse width modulation digital signal, and output to the field can be programmed Q: column 26 pulse width modulation controller. The digital signal processor transmits the operation state of each servo motor 18 to the main controller 12° 00, and the display unit 30 receives the data of the digital signal processor 28, and displays the voltage, current, position of each servo motor 18, Speed and error messages, etc. In the meantime, the display unit 30 can be a seven-segment display. ’,
、轉換器36將三相交流電源48轉換為直流電源。電源匯 流排38提供轉換器36所轉換的直流電源。電容_以穩壓 電源匯流排38上的直流電源，以降低電源匯流排38上的電 屢漣波（Ripple)。其中，轉換器36係為橋式整流器，其將 二相交流電源48轉換為直流電源。 、 、換流器44將電源匯流排38上的直流電源轉換為交流電 源，並根據現場可程式化閘轉列26之脈衝寬度調變控制 器34所輸出之脈衝寬度調變信號分別產生輸出於相對^之 伺服馬達18的交流電壓及電流。其中，換流器从係為：橋 式三相換流器，其將電源匯流排38上的直流電源轉換為: 有變頻及變幅電壓的三相交流電壓及電流。使用、^ 9 1308819 IGBT(Insulated Gate Bipolar Transistor)模組中的六橋換流 器44，就是透過六橋開關將電源匯流排38上的直流電壓以 切換（switching)方式輸出想要的變頻及變幅電壓，其是— 種大電壓及大電流的直流轉換為交流的裝置，由圖1可看 出推動這三軸伺服馬達18的三組六橋換流器44，可以共用The converter 36 converts the three-phase AC power source 48 into a DC power source. Power bus 38 provides DC power converted by converter 36. The capacitor _ is the DC power supply on the regulated power bus 38 to reduce the Ripple on the power bus 38. Among them, the converter 36 is a bridge rectifier that converts the two-phase AC power source 48 into a DC power source. The inverter 44 converts the DC power supply on the power bus bar 38 into an AC power source, and generates an output according to the pulse width modulation signal output by the pulse width modulation controller 34 of the field programmable gate transfer column 26, respectively. The AC voltage and current of the servo motor 18 relative to each other. Among them, the inverter is: a bridge type three-phase inverter, which converts the DC power on the power bus 38 into: three-phase AC voltage and current with variable frequency and variable amplitude voltage. The six-bridge inverter 44 in the IGBT (Insulated Gate Bipolar Transistor) module is used to output the desired frequency conversion and change by switching the DC voltage on the power bus 38 through the six-bridge switch. The amplitude voltage, which is a device for converting a direct current of a large voltage and a large current into an alternating current, can be seen from Fig. 1 that the three sets of six-bridge inverters 44 that drive the three-axis servo motor 18 can be shared.
同一組的直流電壓源，以及當電源匯流排3 8電壓過高時可 釋放電源匯流排38上的能量用的煞車單元，如此電源模組 16就可以比原先1對1驅動器可以省掉共用的部分了。 由上述之架構可明顯看出，藉由共用相同的轉換器 36(即橋式整流器）、電源匯流排38及電容仙上的電壓， 可以大幅降低重複使用了的元件如煞車單元42、電容40、 、器36使用在轉換益36上的散熱片（未繪示）的體積 也可，小。此等情況也同樣可以在控制模㈣上發現，如 ▲員丁單π 3G、通訊介面2Q、輸人/輸出單元等重複元件 °巾田減夕。冋速運异的數位信號處理器（Hi-Speed DSP) 即使選用較高箄幼& nQD u , ^ Ρ α 和來得呈^也比三顆—般運算速度的卿總 才口木传具成本競爭 ^ ^ r,,, 斤乂此產σσ在需要多軸的系統上如 一 上加工機所展現的競爭力f # 士 μ 高。 兄日7观肀力（成本、體積）都大幅提 馬達，===;純:提!—台驅動器可以連接數台 模塊裡，對於控制單制模組放在同-個 面、顯示單元、於 刀了乂即名重後部分，如通訊介 之匯流排電容旦二入/輪出單元，電源模組上的IGBT模組 ”也可❹而減少’體積也可因此較原本數 10 1308819 台的總，體積要來得小，並可有效節省成本、配線及安裝 時間，貫現具成本競爭力的交流飼服驅動器。 雖然本發明6參照較佳具體例及舉例性_敘述如 上’惟其應不被視為係限制性者 及具體例之内容做各種修改、省略及變化技：：：編 明之範圍。 句不離開本發 【圖式簡單說明】 第1 【主 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 % 圖為本發日H的交流伺服驅動器 要元件符號說明】 方塊 —5 的父流伺服驅動器 主控制器 控制模組 電源模組 伺服馬達 通訊介面 輪入/輪出單元 電流檢測器 現場可程式化閘極陣列 數位信號處理器 顯示單元 位置/速度檢測器 脈衝I度調變控制器 轉換器 電源匯流排 1308819 $ 40 電容 42 煞車單元 44 換流器 46 電流感測器 48 二相父流電源The DC voltage source of the same group and the brake unit for releasing energy on the power bus 38 when the voltage of the power bus 38 is too high, so that the power module 16 can be saved compared with the original one-to-one driver. Part of it. As is apparent from the above architecture, by sharing the same converter 36 (ie, bridge rectifier), the power bus 38, and the voltage on the capacitor, the reusable components such as the brake unit 42 and the capacitor 40 can be greatly reduced. The volume of the heat sink (not shown) used by the device 36 on the conversion benefit 36 can also be small. These conditions can also be found on the control module (4), such as ▲ 丁 单 π 3G, communication interface 2Q, input / output unit and other repetitive components ° towel field eve. The Hi-Speed DSP, which uses the same speed and different speeds, even if it is higher than the younger & nQD u , ^ Ρ α and it is better than the speed of three ordinary operations. Competition ^ ^ r,,, 乂 乂 This production σσ on a system that requires multiple axes, such as a processing machine, shows the competitiveness f #士μ高. Brother and the 7 7 肀 肀 force (cost, volume) are greatly increased motor, ===; pure: mention! - Taiwan drive can be connected to several modules, for the control of the single module placed on the same side, display unit, In the later part of the knives, such as the communication bus, the capacitance of the capacitors, the IGBT module on the power module can also reduce the volume, so it can be compared with the original number of 10 1308819 The total volume is small, and the cost, wiring and installation time can be effectively saved, and the cost-competitive AC feeding machine driver can be realized. Although the present invention 6 refers to a preferred embodiment and an exemplary example, the above is the case. Various modifications, omissions, and changes are made to the content of the restrictive and specific examples::: The scope of the description. The sentence does not leave the present [simplified description] 1st [Main 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 % Figure is the symbol of the component of the AC servo drive of the date H. The parent flow servo driver main controller control module power module servo motor communication interface wheel in/out unit Current detector site Programmable gate array digital signal processor display unit position/speed detector pulse I degree modulation controller converter power bus 1308819 $ 40 capacitor 42 brake unit 44 inverter 46 current sensor 48 two-phase parent flow power supply