CN204389985U - A kind of servo-drive system - Google Patents
A kind of servo-drive system Download PDFInfo
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- CN204389985U CN204389985U CN201420837789.1U CN201420837789U CN204389985U CN 204389985 U CN204389985 U CN 204389985U CN 201420837789 U CN201420837789 U CN 201420837789U CN 204389985 U CN204389985 U CN 204389985U
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Abstract
The utility model embodiment provides a kind of servo-drive system, comprising: host computer; The first drive control module connected with described host computer respectively and the second drive control module; Connect with described first drive control module and the second drive control module respectively, the motor-driven assembly operated under the driving of described first drive control module or the second drive control module; With described motor-driven attached components, the antenna of action under the drive of described motor-driven assembly.Drive control module of the present utility model adopts multiple degrees of freedom to arrange, and makes drive control module possess redundant ability.
Description
Technical field
The utility model relates to servo techniques field, is specifically related to a kind of servo-drive system.
Background technology
Servo-drive system, also known as servomechanism, is used to the feedback control system accurately following or reappear certain process; Its main task be by control command requirement, the process such as power is amplified, convert and regulates and controls, the moment that drive unit is exported, speed and position control are very flexible.
Servo-drive system adopts full closed loop control usually, multi freedom design.Fig. 1 shows the structural representation of existing servo-drive system, reference can be carried out, this servo-drive system comprises: host computer 01, drive control module 02, motor-driven assembly 03, antenna 04, incremental encoder 05, absolute position transducer 06, wherein, drive control module 02 can comprise control circuit and driving circuit, and motor-driven assembly 03 can comprise motor and speed reduction unit; Host computer 01 sending controling instruction is to drive control module 02, and drive control module 02 resolves this steering order, and drive motor transmission component 03 operates, thus drives antenna 06 action; Incremental encoder 05 feeds back the working order of motor-driven assembly 03 to drive control module 02, and the action situation of absolute position transducer 06 feeding back antenna 04, to drive control module 02, makes drive control module 02 carry out FEEDBACK CONTROL.
Can be found out by servo-drive system shown in Fig. 1, the drive control module of this servo-drive system is single-degree-of-freedom, does not possess redundant ability, if drive control module breaks down, then servo-drive system cannot normally work.
Utility model content
In view of this, the utility model embodiment provides a kind of servo-drive system, to solve the drive control module of existing servo-drive system for single-degree-of-freedom, does not possess the problem of redundant ability.
For achieving the above object, the utility model embodiment provides following technical scheme:
A kind of servo-drive system, comprising:
Host computer;
The first drive control module connected with described host computer respectively and the second drive control module;
Connect with described first drive control module and the second drive control module respectively, the motor-driven assembly operated under the driving of described first drive control module or the second drive control module;
With described motor-driven attached components, the antenna of action under the drive of described motor-driven assembly.
Wherein, described first drive control module comprises: the first control circuit connected with described host computer, the first driving circuit connected with described first control circuit;
Described second drive control module comprises: the second control circuit connected with described host computer, the second driving circuit connected with described second control circuit;
Described motor-driven assembly comprises:
Connect with described first driving circuit and described second driving circuit respectively, the azimuth-drive motor operated under the driving of described first driving circuit or described second driving circuit;
The orientation speed reduction unit connected with described azimuth-drive motor, described orientation speed reduction unit connects with described antenna, controls the action in the azimuth direction of described antenna under the drive of described azimuth-drive motor;
Connect with described first driving circuit and described second driving circuit respectively, the pitching motor operated under the driving of described first driving circuit or described second driving circuit;
The pitching speed reduction unit connected with described pitching motor, described pitching speed reduction unit connects with described antenna, controls the action in the pitch direction of described antenna under the drive of described pitching motor.
Wherein, described servo-drive system also comprises:
Respond to the angular movement of described antenna, feed back the position angle of described antenna and the first absolute type encoder of the angle of pitch to described first control circuit;
Respond to the angular movement of described antenna, feed back the position angle of described antenna and the second absolute type encoder of the angle of pitch to described second control circuit.
Wherein, described servo-drive system also comprises:
Receive the optocoupler interface of external signal, described first control circuit and described second control circuit connect with described optocoupler interface respectively;
Described first driving circuit comprises:
Receive the first orientation power driving circuit of the A phase pwm signal of described first control circuit;
Receive the second orientation power driving circuit of the B phase pwm signal of described first control circuit;
Receive the first pitching power driving circuit of the A phase pwm signal of described first control circuit;
Receive the second pitching power driving circuit of the B phase pwm signal of described first control circuit;
Described second driving circuit comprises:
Receive the third party position power driving circuit of the A phase pwm signal of described second control circuit;
Receive the 4th orientation power driving circuit of the B phase pwm signal of described second control circuit;
Receive the 3rd pitching power driving circuit of the A phase pwm signal of described second control circuit;
Receive the 4th pitching power driving circuit of the B phase pwm signal of described second control circuit.
Wherein, described first driving circuit also comprises:
The first analog to digital converter connected with described first orientation power driving circuit;
The second analog to digital converter connected with described second orientation power driving circuit;
The 3rd analog to digital converter connected with described first pitching power driving circuit;
The 4th analog to digital converter connected with described second pitching power driving circuit;
Described second driving circuit also comprises:
The 5th analog to digital converter connected with described third party position power driving circuit;
The 6th analog to digital converter connected with described 4th orientation power driving circuit;
The 7th analog to digital converter connected with described 3rd pitching power driving circuit;
The 8th analog to digital converter connected with described 4th pitching power driving circuit.
Wherein, described first drive control module also comprises:
Secondary power supply process is carried out to externally fed, be converted to described first drive control module can the first secondary power supply of all kinds of power supply signals;
Described second drive control module also comprises:
Secondary power supply process is carried out to externally fed, be converted to described second drive control module can the second secondary power supply of all kinds of power supply signals.
Wherein, described first drive control module also comprises:
The first wave guide control circuit connected with described first control circuit, the first scrambler sample circuit, the first gating circuit, the first FLASH memory, Fisrt fault signal acquisition circuit and the first drive current testing circuit;
Described second drive control module also comprises:
The the second waveguide control circuit connected with described second control circuit, the second scrambler sample circuit, the second gating circuit, the second FLASH memory, the second Collection circuit and the second drive current testing circuit.
Wherein, described first gating circuit comprises:
The first impact damper connected with described first control circuit;
The first relay connected with described first impact damper and described first driving circuit respectively;
Described second gating circuit comprises:
The second impact damper connected with described second control circuit;
The second relay connected with described second impact damper and described second driving circuit respectively;
Described first drive control module also comprises:
Connect with described first control circuit, import the 3rd impact damper of the voltage of the first drive control module and the second drive control module to described first control circuit;
The 4th impact damper connected with described first control circuit and described first driving circuit respectively;
Described second drive control module also comprises:
Connect with described second control circuit, import the 5th impact damper of the voltage of the first drive control module and the second drive control module to described second control circuit;
The hex buffer connected with described second control circuit and described second driving circuit respectively.
Wherein, described first drive control module and described second drive control module are arranged in transmitter, and the first drive control module is fixed on the left side of the scanner base of transmitter, and the second drive control module is fixed on the right side of the scanner base of transmitter.
Wherein, described first control circuit and second control circuit are FPGA processor; Described first driving circuit and the second driving circuit are the combination of MSK4201 chip and analog to digital converter.
Based on technique scheme, the servo-drive system that the utility model embodiment provides, comprising: host computer; The first drive control module connected with described host computer respectively and the second drive control module; Connect with described first drive control module and the second drive control module respectively, the motor-driven assembly operated under the driving of described first drive control module or the second drive control module; With described motor-driven attached components, the antenna of action under the drive of described motor-driven assembly.The utility model embodiment passes through the setting of the Dual Drive control module of the first drive control module and the second drive control module, the multiple degrees of freedom achieving drive control module is arranged, drive control module is made to possess redundant ability, can when a drive control module breaks down wherein, carry out work by another drive control module, ensure the normal work of servo-drive system.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiment of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
Fig. 1 is the structural representation of existing servo-drive system;
The structural representation of the servo-drive system that Fig. 2 provides for the utility model embodiment;
Another structural representation of the servo-drive system that Fig. 3 provides for the utility model embodiment;
A structural representation again of the servo-drive system that Fig. 4 provides for the utility model embodiment;
The another structural representation of the servo-drive system that Fig. 5 provides for the utility model embodiment;
Another structural representation again of the servo-drive system that Fig. 6 provides for the utility model embodiment;
The structural representation more again of the servo-drive system that Fig. 7 provides for the utility model embodiment;
The structural representation of the gating circuit that Fig. 8 provides for the utility model embodiment;
The logical flow chart of the gating circuit that Fig. 9 provides for the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
The structural representation of the servo-drive system that Fig. 2 provides for the utility model embodiment, with reference to Fig. 2, this servo-drive system can comprise: host computer 10, the first drive control module 20, second drive control module 30, motor-driven assembly 40 and antenna 50;
Wherein, first drive control module 20 and the second drive control module 30 connect with host computer 10 respectively, first drive control module 20 or the second drive control module 30 can receive the steering order that host computer 10 issues, and resolve this steering order, and export corresponding driving instruction;
Obviously, the first drive control module 20 and the second drive control module 30 all have the steering order receiving host computer 10 and issue, and resolve this steering order, and export the ability of corresponding driving instruction; In order to the Redundant Control of equipment, the utility model embodiment can control the first drive control module 20 and the second drive control module 30 same time only have one in running order, another not in running order drive control module, as redundance unit, is enabled when in running order drive control module fault;
Two existing drive control modules simply can be interpreted as the first drive control module 20 and the second drive control module 30, also there is the place made improvements existing drive control module in the first drive control module 20 of obvious the utility model embodiment and the second drive control module 30, hereafter will illustrate;
Optionally, the first drive control module 20 and the second drive control module 30 can be arranged in transmitter, are fixed on the scanner base of transmitter, two redundancy cold standby, left and right each; Concrete, the first drive control module 20 can be fixed on the left side of the scanner base of transmitter, and the second drive control module 30 can be fixed on the right side of the scanner base of transmitter.
Motor-driven assembly 40 can connect with described first drive control module 20 and the second drive control module 30 respectively, due to same time first drive control module 20 and the second drive control module 30 only have one in running order, motor-driven assembly 40 can receive the driving instruction that the first drive control module 20 or the second drive control module 30 export, and operates under the driving of the first drive control module 20 or the second drive control module 30;
Antenna 50 connects with motor-driven assembly 40, can action under the drive of motor-driven assembly 40.
The servo-drive system that the utility model embodiment provides, comprising: host computer; The first drive control module connected with described host computer respectively and the second drive control module; Connect with described first drive control module and the second drive control module respectively, the motor-driven assembly operated under the driving of described first drive control module or the second drive control module; With described motor-driven attached components, the antenna of action under the drive of described motor-driven assembly.The utility model embodiment passes through the setting of the Dual Drive control module of the first drive control module and the second drive control module, the multiple degrees of freedom achieving drive control module is arranged, drive control module is made to possess redundant ability, can when a drive control module breaks down wherein, carry out work by another drive control module, ensure the normal work of servo-drive system.
Another structural representation of the servo-drive system that Fig. 3 provides for the utility model embodiment, Fig. 3 shows a kind of alternate configurations of the first drive control module 20, second drive control module 30 and motor-driven assembly 40, shown in composition graphs 2 and Fig. 3,
First drive control module 20 can comprise: first control circuit 21 and the first driving circuit 22; Wherein, first control circuit 21 can connect with host computer 10, and the first driving circuit 22 can connect with motor-driven assembly 40; Concrete, first control circuit 21 can resolve the steering order that host computer 10 issues, and controls the first driving circuit 22 and exports corresponding driving instruction;
Second drive control module 30 can comprise: second control circuit 31 and the second driving circuit 32; Wherein, second control circuit 31 can connect with host computer 10, and the second driving circuit 32 can connect with motor-driven assembly 40; Concrete, second control circuit 31 can resolve the steering order that host computer 10 issues, and controls the second driving circuit 32 and exports corresponding driving instruction;
In the utility model embodiment, first control circuit 21 and the first driving circuit 22, second control circuit 31 and the second driving circuit 32 can only have the same time one group in running order, another group is arranged as redundancy;
The motor-driven assembly 40 that the utility model embodiment provides can adopt stepper motor mate gear to slow down and design, and coordinates reserved scanner mounting interface, containing azimuthal channel and pitch channel; Concrete, motor-driven assembly 40 can comprise: azimuth-drive motor 41, orientation speed reduction unit 42, pitching motor 43 and pitching speed reduction unit 44;
Wherein, azimuth-drive motor 41 can connect with the first driving circuit 22 and the second driving circuit 32 respectively, operates in the azimuth direction under the driving of the first driving circuit 22 or the second driving circuit 32; Orientation speed reduction unit 42 can connect with azimuth-drive motor 41 and antenna 50 respectively, drives antenna 50 action in the azimuth direction under the running of azimuth-drive motor 41;
Pitching motor 43 can connect with the first driving circuit 22 and the second driving circuit 32 respectively, operates in the pitch direction under the driving of the first driving circuit 22 or the second driving circuit 32; Pitching speed reduction unit 44 can connect with pitching motor 43 and antenna 50 respectively, drives antenna 50 action in the pitch direction under the running of pitching motor 43.
Servo-drive system shown in Fig. 3 by first control circuit 21, the first driving circuit 22, the setting of second control circuit 31 and the second driving circuit 32, realize drive control module multiple degrees of freedom arrange, there is redundant ability; Simultaneously, motor-driven assembly 40 adopts azimuth-drive motor 41, orientation speed reduction unit 42, the setting of pitching motor 43 and pitching speed reduction unit 44, servo-drive system is made to have azimuthal channel and pitch channel, on azimuth direction and pitch orientation, action control can be carried out to antenna 50, make the action control of antenna more meticulous.
Optionally, the utility model embodiment can arrange absolute type encoder, for responding to the angular movement of radar antenna, and export antenna azimuth in real time to radar processor and the angle of pitch (can feed back not directly to radar processor, but signal is decoded, by angle information group bag, the control circuit of drive control module is fed back to according to fixing communication protocol, by RS-422 bus etc., angle information is fed back to radar processor by control circuit, as aerial angle position feedback); Meanwhile, the signal of absolute type encoder also can be used as drive control module control feedback signal.Corresponding, Fig. 4 shows a structure again of the servo-drive system that the utility model embodiment provides, and shown in composition graphs 3 and Fig. 4, this servo-drive system can also comprise: the first absolute type encoder 60 and the second absolute type encoder 70;
Wherein, the first absolute type encoder 60 can the angular movement of induction antenna 50, to position angle and the angle of pitch of first control circuit 21 feeding back antenna 50;
Second absolute type encoder 70 can the angular movement of induction antenna 50, to position angle and the angle of pitch of second control circuit 31 feeding back antenna 50.
Optionally, the feedback information that absolute type encoder is supplied to control circuit (comprises the feedback information that the first absolute type encoder 60 is supplied to first control circuit 21, second absolute type encoder 70 feeds back to the feedback information of second control circuit 31) can first judge to use as initial angle, simultaneously, control circuit utilizes this feedback information to carry out Systematical control, and by antenna position information Real-time Feedback to radar processor.
The servo-drive system that the utility model embodiment provides, can as shown in Figure 5 on concrete azimuthal channel and pitch channel control, driving circuit can by power driving circuit and after AD (modulus) converter that connects form; The another structural representation of the servo-drive system that Fig. 5 provides for the utility model embodiment, with reference to Fig. 5, the servo-drive system that the utility model embodiment provides can also comprise: optocoupler interface 80;
First control circuit 21 and second control circuit 31 can connect with optocoupler interface 80 respectively, and optocoupler interface 80 can receive external signal, and the external signal received can import in first control circuit 21 and second control circuit 31; The external signal that optocoupler interface 80 receives can comprise: bearing signal, Pitch signal, RS422 acknowledge(ment) signal etc.; Obviously, the signal of first control circuit 21 and second control circuit 31 is also exported by optocoupler interface 80, and the signal of output can comprise RS422 and send signal etc.;
First driving circuit 22 can comprise: first orientation power driving circuit 221, second orientation power driving circuit 222, first pitching power driving circuit 223, second pitching power driving circuit 224, first analog to digital converter 225, second analog to digital converter the 226, three analog to digital converter 227 and the 4th analog to digital converter 228;
Wherein, first orientation power driving circuit 221 connects with first control circuit 21, can receive A phase PWM (Pulse Width Modulation, the pulse-length modulation) signal of first control circuit 21; Be connected to first orientation power driving circuit 221 after first analog to digital converter 225, analog to digital conversion can be carried out to the output signal of first orientation power driving circuit 221;
Second orientation power driving circuit 222 connects with first control circuit 21, can receive the B phase pwm signal of first control circuit 21; Be connected to second orientation power driving circuit 222 after second analog to digital converter 226, analog to digital conversion can be carried out to the output signal of second orientation power driving circuit 222;
First pitching power driving circuit 223 connects with first control circuit 21, can receive the A phase pwm signal of first control circuit 21; Be connected to the first pitching power driving circuit 223 after 3rd analog to digital converter 227, analog to digital conversion can be carried out to the output signal of the first pitching power driving circuit 223;
Second pitching power driving circuit 224 connects with first control circuit 21, can receive the B phase pwm signal of first control circuit 21; Be connected to the second pitching power driving circuit 224 after 4th analog to digital converter 228, analog to digital conversion can be carried out to the output signal of the second pitching power driving circuit 224;
Second driving circuit 32 can comprise: third party position power driving circuit 321,4th orientation power driving circuit 322,3rd pitching power driving circuit 323,4th pitching power driving circuit 324,5th analog to digital converter 325,6th analog to digital converter the 326, seven analog to digital converter 327 and the 8th analog to digital converter 328;
Wherein, third party position power driving circuit 321 connects with second control circuit 31, can receive the A phase pwm signal of second control circuit 31; Be connected to third party position power driving circuit 321 after 5th analog to digital converter 325, analog to digital conversion can be carried out to the output signal of third party position power driving circuit 321;
4th orientation power driving circuit 322 connects with second control circuit 31, can receive the B phase pwm signal of second control circuit 31; Be connected to the 4th orientation power driving circuit 322 after 6th analog to digital converter 326, analog to digital conversion can be carried out to the output signal of the 4th orientation power driving circuit 322;
3rd pitching power driving circuit 323 connects with second control circuit 31, can receive the A phase pwm signal of second control circuit 31; Be connected to the 3rd pitching power driving circuit 323 after 7th analog to digital converter 327, analog to digital conversion can be carried out to the output signal of the 3rd pitching power driving circuit 323;
4th pitching power driving circuit 324 connects with second control circuit 31, can receive the B phase pwm signal of second control circuit 31; Be connected to the 4th pitching power driving circuit 324 after 8th analog to digital converter 328, analog to digital conversion can be carried out to the output signal of the 4th pitching power driving circuit 324;
Optionally, the signal after each analog to digital converter analog to digital conversion can transfer to azimuth-drive motor and pitching motor, realizes controlling the running of azimuth-drive motor and pitching motor.
Optionally, in the utility model embodiment, first control circuit and second control circuit can be FPGA (Field Programmable Gate Array, field programmable gate array) processor, are chosen as EP3S110F780 chip; Each power driving circuit (comprises first orientation power driving circuit 221, second orientation power driving circuit 222, first pitching power driving circuit 223, second pitching power driving circuit 224, third party position power driving circuit 321,4th orientation power driving circuit the 322, three pitching power driving circuit the 323, four pitching power driving circuit 324) MSK4201 chip can be; Corresponding, Fig. 6 shows another structure again of the servo-drive system that the utility model embodiment provides, and can carry out reference.
Fig. 7 shows the structure more again of the servo-drive system that the utility model embodiment provides, shown in composition graphs 3 and Fig. 7, the first drive control module can also comprise: the first secondary power supply 23, first wave guide control circuit 24, first scrambler sample circuit 25, first gating circuit 26, first FLASH memory 27, Fisrt fault signal acquisition circuit 28 and the first drive current testing circuit 29; Wherein, first wave guide control circuit 24, first scrambler sample circuit 25, first gating circuit 26, first FLASH memory 27, Fisrt fault signal acquisition circuit 28 and the first drive current testing circuit 29 all connect with first control circuit 21;
First secondary power supply 23 can carry out secondary power supply process to externally fed, be converted to the first drive control module 20 can all kinds of power supply signals;
Second drive control module can also comprise: the second secondary power supply 33, second waveguide control circuit 34, second scrambler sample circuit 35, second gating circuit 36, second FLASH memory 37, second Collection circuit 38 and the second drive current testing circuit 39; Wherein, the second waveguide control circuit 34, second scrambler sample circuit 35, second gating circuit 36, second FLASH memory 37, second Collection circuit 38 and the second drive current testing circuit 39 all connect with second control circuit 31;
Wherein, the second secondary power supply 33 can carry out secondary power supply process to externally fed, be converted to the second drive control module 30 can all kinds of power supply signals,
In the utility model embodiment, secondary power supply: specifically can receive externally fed, the power supply requirement according to drive control module inside carries out secondary power supply process, as isolated by power supply, nurses one's health as different electrical power types such as 5V, 3.3V, 1.9V;
Main control circuit part, as DSP+FPGA framework and master control peripheral circuit, comprises control circuit, crystal oscillator, FLASH memory, UART interface chip etc., main body control function concentrates on control circuit (FPGA processor), and dsp chip and peripheral circuit carry out coordinate system transformation process etc.;
Driving circuit section: simultaneously comprise orientation and pitching two paths, comprises universal circuit details such as driving full-bridge circuit, current sampling circuit, signal conditioning circuit;
Scrambler sample circuit: scrambler corresponding interface Circnit Layout, sampling communication interface circuits etc., as adopted 422 communication interface chips in product, support BISS protocol communication;
Waveguide control circuit: the signal that puts in place fed back by waveguide switch, the output realizing DC voltage controls, and the waveguide switch realizing system controls; Waveguide switch is actual is that the rotation of a control brush direct current motor realizes, and when electric machine rotation is to target location, namely realizes after switch closed, feeding back to the signal that puts in place, realizing motor stalls;
Collection circuit: the Collection that can carry out servo-drive system, feeds back to control circuit;
Drive current testing circuit: can detect the drive current of driving circuit, feed back to control circuit.
Fig. 8 shows the structural representation of gating circuit, with reference to Fig. 8, first gating circuit can comprise: the first impact damper 261 and the first relay 262, first impact damper 261 connect with first control circuit 21, and the first relay 262 connects with the first impact damper 261 and the first driving circuit 22 respectively;
Corresponding, the second gating circuit can comprise: the second impact damper connected with second control circuit; The second relay (not shown) connected with described second impact damper and described second driving circuit respectively.
In Fig. 8, the first drive control module can also comprise: connect with first control circuit 21, imports the 3rd impact damper 291 of the voltage of the first drive control module and the second drive control module to first control circuit 21; The 4th impact damper 292 connected with first control circuit 21 and the first driving circuit 22 respectively.
Corresponding, the second drive control module also comprises: connect with second control circuit 31, imports the 5th impact damper of the voltage of the first drive control module and the second drive control module to second control circuit 31; The hex buffer (not shown) connected with second control circuit 31 and the second driving circuit 32 respectively.
Fig. 9 shows the logical flow chart of gating circuit, can carry out reference, Figure 9 shows that the gating circuit logic flow of one-sided drive control module; The utility model embodiment can monitor the 5V operating voltage of mutually redundant two-way drive control module (the first drive control module and the second drive control module) simultaneously, send into after peripheral processes in control circuit and carry out XOR judgement, the shutoff of+28V driving voltage is carried out when the malfunction that appearance two plate is simultaneously charged, and it is enable to turn off drive control module, carry out duplicate protection; When judging that offside drive control module working power voltage is 1V, power amplifier module 28V power supply must not electricity, simultaneously control circuit detection failure signal node state at any time, and level state is reported to radar machine and carry out comprehensive descision and process; When gate circuit judges that offside drive control module working power voltage is 0, then export high level, enable power amplifier 28V power supply relay, now power amplifier module is in standby starting state.
In the servo-drive system that the utility model embodiment provides, drive control module adopts multiple degrees of freedom to arrange, and has redundant ability.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Claims (10)
1. a servo-drive system, is characterized in that, comprising:
Host computer;
The first drive control module connected with described host computer respectively and the second drive control module;
Connect with described first drive control module and the second drive control module respectively, the motor-driven assembly operated under the driving of described first drive control module or the second drive control module;
With described motor-driven attached components, the antenna of action under the drive of described motor-driven assembly.
2. servo-drive system according to claim 1, is characterized in that, described first drive control module comprises: the first control circuit connected with described host computer, the first driving circuit connected with described first control circuit;
Described second drive control module comprises: the second control circuit connected with described host computer, the second driving circuit connected with described second control circuit;
Described motor-driven assembly comprises:
Connect with described first driving circuit and described second driving circuit respectively, the azimuth-drive motor operated under the driving of described first driving circuit or described second driving circuit;
The orientation speed reduction unit connected with described azimuth-drive motor, described orientation speed reduction unit connects with described antenna, controls the action in the azimuth direction of described antenna under the drive of described azimuth-drive motor;
Connect with described first driving circuit and described second driving circuit respectively, the pitching motor operated under the driving of described first driving circuit or described second driving circuit;
The pitching speed reduction unit connected with described pitching motor, described pitching speed reduction unit connects with described antenna, controls the action in the pitch direction of described antenna under the drive of described pitching motor.
3. servo-drive system according to claim 2, is characterized in that, also comprises:
Respond to the angular movement of described antenna, feed back the position angle of described antenna and the first absolute type encoder of the angle of pitch to described first control circuit;
Respond to the angular movement of described antenna, feed back the position angle of described antenna and the second absolute type encoder of the angle of pitch to described second control circuit.
4. servo-drive system according to claim 3, is characterized in that, also comprises:
Receive the optocoupler interface of external signal, described first control circuit and described second control circuit connect with described optocoupler interface respectively;
Described first driving circuit comprises:
Receive the first orientation power driving circuit of the A phase pwm signal of described first control circuit;
Receive the second orientation power driving circuit of the B phase pwm signal of described first control circuit;
Receive the first pitching power driving circuit of the A phase pwm signal of described first control circuit;
Receive the second pitching power driving circuit of the B phase pwm signal of described first control circuit;
Described second driving circuit comprises:
Receive the third party position power driving circuit of the A phase pwm signal of described second control circuit;
Receive the 4th orientation power driving circuit of the B phase pwm signal of described second control circuit;
Receive the 3rd pitching power driving circuit of the A phase pwm signal of described second control circuit;
Receive the 4th pitching power driving circuit of the B phase pwm signal of described second control circuit.
5. servo-drive system according to claim 4, is characterized in that, described first driving circuit also comprises:
The first analog to digital converter connected with described first orientation power driving circuit;
The second analog to digital converter connected with described second orientation power driving circuit;
The 3rd analog to digital converter connected with described first pitching power driving circuit;
The 4th analog to digital converter connected with described second pitching power driving circuit;
Described second driving circuit also comprises:
The 5th analog to digital converter connected with described third party position power driving circuit;
The 6th analog to digital converter connected with described 4th orientation power driving circuit;
The 7th analog to digital converter connected with described 3rd pitching power driving circuit;
The 8th analog to digital converter connected with described 4th pitching power driving circuit.
6. the servo-drive system according to any one of claim 2-5, is characterized in that, described first drive control module also comprises:
Secondary power supply process is carried out to externally fed, be converted to described first drive control module can the first secondary power supply of all kinds of power supply signals;
Described second drive control module also comprises:
Secondary power supply process is carried out to externally fed, be converted to described second drive control module can the second secondary power supply of all kinds of power supply signals.
7. the servo-drive system according to any one of claim 2-5, is characterized in that, described first drive control module also comprises:
The first wave guide control circuit connected with described first control circuit, the first scrambler sample circuit, the first gating circuit, the first FLASH memory, Fisrt fault signal acquisition circuit and the first drive current testing circuit;
Described second drive control module also comprises:
The the second waveguide control circuit connected with described second control circuit, the second scrambler sample circuit, the second gating circuit, the second FLASH memory, the second Collection circuit and the second drive current testing circuit.
8. servo-drive system according to claim 7, is characterized in that, described first gating circuit comprises:
The first impact damper connected with described first control circuit;
The first relay connected with described first impact damper and described first driving circuit respectively;
Described second gating circuit comprises:
The second impact damper connected with described second control circuit;
The second relay connected with described second impact damper and described second driving circuit respectively;
Described first drive control module also comprises:
Connect with described first control circuit, import the 3rd impact damper of the voltage of the first drive control module and the second drive control module to described first control circuit;
The 4th impact damper connected with described first control circuit and described first driving circuit respectively;
Described second drive control module also comprises:
Connect with described second control circuit, import the 5th impact damper of the voltage of the first drive control module and the second drive control module to described second control circuit;
The hex buffer connected with described second control circuit and described second driving circuit respectively.
9. the servo-drive system according to any one of claim 2-5, it is characterized in that, described first drive control module and described second drive control module are arranged in transmitter, and the first drive control module is fixed on the left side of the scanner base of transmitter, the second drive control module is fixed on the right side of the scanner base of transmitter.
10. servo-drive system according to claim 2, is characterized in that, described first control circuit and second control circuit are FPGA processor; Described first driving circuit and the second driving circuit are the combination of MSK4201 chip and analog to digital converter.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104952476A (en) * | 2015-07-08 | 2015-09-30 | 山东中孚信息产业股份有限公司 | Reliable mobile storage medium and implementing method |
| CN106610612A (en) * | 2016-12-01 | 2017-05-03 | 北京遥测技术研究所 | Antenna drive control unit |
| CN106647826A (en) * | 2016-12-27 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Two-dimensional photoelectric tracking rotary table driving control system and control method thereof |
| US20220059932A1 (en) * | 2015-12-22 | 2022-02-24 | Taoglas Group Holdings Limited | Directional antenna with signal strength feedback and methods |
| CN114337462A (en) * | 2022-01-07 | 2022-04-12 | 深圳市大族机器人有限公司 | Servo drive circuit, drive method and apparatus |
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- 2014-12-25 CN CN201420837789.1U patent/CN204389985U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104952476A (en) * | 2015-07-08 | 2015-09-30 | 山东中孚信息产业股份有限公司 | Reliable mobile storage medium and implementing method |
| US20220059932A1 (en) * | 2015-12-22 | 2022-02-24 | Taoglas Group Holdings Limited | Directional antenna with signal strength feedback and methods |
| US11688940B2 (en) * | 2015-12-22 | 2023-06-27 | Taoglas Group Holdings Limited | Directional antenna with signal strength feedback and methods |
| CN106610612A (en) * | 2016-12-01 | 2017-05-03 | 北京遥测技术研究所 | Antenna drive control unit |
| CN106647826A (en) * | 2016-12-27 | 2017-05-10 | 中国科学院长春光学精密机械与物理研究所 | Two-dimensional photoelectric tracking rotary table driving control system and control method thereof |
| CN114337462A (en) * | 2022-01-07 | 2022-04-12 | 深圳市大族机器人有限公司 | Servo drive circuit, drive method and apparatus |
| CN114337462B (en) * | 2022-01-07 | 2023-08-29 | 深圳市大族机器人有限公司 | Servo driving circuit, driving method and device |
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