CN101090246A - Three-in-one AC servo driver - Google Patents

Three-in-one AC servo driver Download PDF

Info

Publication number
CN101090246A
CN101090246A CNA2006100871900A CN200610087190A CN101090246A CN 101090246 A CN101090246 A CN 101090246A CN A2006100871900 A CNA2006100871900 A CN A2006100871900A CN 200610087190 A CN200610087190 A CN 200610087190A CN 101090246 A CN101090246 A CN 101090246A
Authority
CN
China
Prior art keywords
order
servo motor
current
digital signal
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CNA2006100871900A
Other languages
Chinese (zh)
Other versions
CN100511962C (en
Inventor
蔡清雄
陈建达
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taida Electronic Industry Co Ltd
Delta Optoelectronics Inc
Original Assignee
Delta Optoelectronics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delta Optoelectronics Inc filed Critical Delta Optoelectronics Inc
Priority to CNB2006100871900A priority Critical patent/CN100511962C/en
Publication of CN101090246A publication Critical patent/CN101090246A/en
Application granted granted Critical
Publication of CN100511962C publication Critical patent/CN100511962C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Control Of Multiple Motors (AREA)

Abstract

This invention relates to a three-in-one AC servo driver including a master controller, a control module, a supply module and multiple servo motors, in which, one driver can connect with multiple motors, a supply module needed by the multiple motors and the control module are put in a same module, thus, a repeat part is saved for the control unit part such as communication interface, a display unit and input/output unit and the bus volume of the IGBT module on the supply module can be shared and reduced.

Description

Three-in-one AC servo driver
Technical field
The present invention relates to a kind of AC servo driver, particularly a kind of three-in-one AC servo driver.
Background technology
The system architecture of multiaxial motion control at present belongs to centralized control, just all comprises master controller, by modes such as traditional type distribution or high-speed communications, realizes that with the control servo-driver multiaxises such as straight line/circular arc of servo motor move between mending.
AC servomotor is usually used in the processing machine more than three or the work system of multiaxis, and present design mostly is that a driver connects a motor.Even the design of one-to-many can connect many motor at present, also is to belong to the modular design that expands kenel in design, just to connect more motors, then expand power module in order to CD-ROM drive motor.In the saving on usefulness, cost and the volume, too big effect be can not produce so yet, and distribution and set-up time do not saved in fact.
Summary of the invention
In order to overcome above-mentioned the problems of the prior art, the object of the present invention is to provide a kind of three-in-one AC servo driver, it comprises master controller, control module, power module and a plurality of servo motor.Wherein, this control module comprises:
Communication interface, in order to these order of master controller transmitted in both directions and data;
I/O unit, in order to the input/output signal of this main controller transmitted in both directions digital-to-analog;
Current detector corresponds respectively to a plurality of current signals of servo motor in order to reception, and is converted to the output of digital current signal;
On-the-spot programmable gate array, in order to detect the position of rotation and the speed of servo motor, with output position of rotation digital signal and rotary speed digital signal, and correspond respectively to the pulse width modulating signal of the electric current of servo motor with generation according to pulse width modulation amount position signal; And
Digital signal processor, in order to receive the speed command of sending by this master controller via this communication interface, position command and torque command, receive the input/output signal of digital-to-analog that this I/O unit is sent, receive the digital current signal that this current detector is exported, receive position of rotation digital signal and rotary speed digital signal that this scene programmable gate array is exported, to calculate the pulse width modulation amount position signal of the electric current of corresponding servo motor respectively, and export this scene programmable gate array to, transmit the mode of operation of each servo motor via this coffret; And
This power module comprises:
Transducer is in order to be converted to DC power supply with AC power;
Power bus is in order to the DC power supply that provides this transducer to change;
Electric capacity is in order to the DC power supply on this power bus of voltage stabilizing;
A plurality of converters, in order to the DC power supply on this power bus is converted to AC power, and the pulse width modulating signal of being exported according to this scene programmable gate array produces alternating voltage and the electric current of exporting to corresponding servo motor respectively; And
A plurality of current sensors be supplied to the electric current of servo motor in order to sensing converter respectively, and the current signal of output institute sensing are to this current detector.
The present invention with said structure, provide the driver just can linking number platform motor merely, several required power module and the control modules of motor are placed in the same module, can save repeating part for the control unit part, as communication interface, display unit, I/O unit, the bus capacitance amount of the IGBT module on the power module also can be shared and reduce, also therefore the cumulative volume of more former given figure platform is little for volume, and can effectively save cost, minimizing distribution and set-up time, realize the AC servo driver of tool cost competitiveness.
Description of drawings
Fig. 1 is the circuit block diagram of the three-in-one AC servo driver of the present invention.
In the accompanying drawing, the list of parts of each label representative is as follows:
10 three-in-one AC servo driver
12 master controllers, 14 control modules
16 power modules, 18 servo motors
20 communications connect 22 I/O units
24 current detectors, 26 on-the-spot programmable gate arrays
28 digital signal processors, 30 display units
32 location/velocity detectors, 34 Pwm controllers
36 transducers, 38 power buss
40 electric capacity, 42 brake units
44 converters, 46 current sensors
48 three-phase alternating-current supplies
Embodiment
Followingly the preferred embodiments of the present invention are described with reference to accompanying drawing.
Fig. 1 is the circuit block diagram of the three-in-one AC servo driver of the present invention.In Fig. 1, three-in-one AC servo driver 10 comprises master controller 12, control module 14, power module 16 and a plurality of servo motor 18.
Control module 12 comprises communication interface (Communication Interface) 20, I/O unit 22, current detector 24, on-the-spot programmable gate array (Field ProgrammableGate Array, FPGA) 26, digital signal processor (Digital Signal Processor, DSP) 28 and display unit 30.Wherein, on-the-spot programmable gate array 26 has location/velocity detector 32 and Pwm controller (Phase Width Modulation, PWM) 34.
Power module 16 comprises transducer (Converter) 36, power bus 38, electric capacity 40, brake unit 42, a plurality of converter (Inverter) 44 and a plurality of current sensor 46.
Communication interface 20 and master controller 12 transmitted in both directions order and data, for example master controller 12 rate of delivery orders, position command and torque command are to communication interface 20, and communication interface 20 is sent the mode of operation of each servo motor 18 of being exported by digital signal processor 28.Wherein, coffret 20 can be RS-485, RS232, Modbus and CAN-open.
The input/output signal of I/O unit 22 and main controller 12 transmitted in both directions digital-to-analogs, this I/O unit 22 have the function of analog/digital conversion and digital-to-analog conversion, and have the function of digital I/O (DI/DO).
Current detector 24 receives and corresponds respectively to a plurality of current signals of servo motor 18, and is converted to the digital current signal to export digital signal processor 28 to.Wherein, current sensor 46 sensing converter 44 respectively is supplied to the electric current of servo motor, and the current signal of output institute sensing is to current detector 24.
The location/velocity detector 32 of on-the-spot programmable gate array 26 detects the position of rotation and the speed of servo motor 18, to export position of rotation digital signal and rotary speed digital signal to digital signal processor 28.The Pwm controller 34 of on-the-spot programmable gate array 26 corresponds respectively to the pulse width modulating signal of the electric current of servo motor 18 with generation according to the pulse width modulation amount position signal of being exported by digital signal processor 28.
Digital signal processor 28 receives the speed command of being sent by master controller 12 via communication interface 20, position command and torque command, receive the input/output signal of I/O unit 22 analog/digital of sending, the digital current signal that received current detector 24 is exported, receive position of rotation digital signal and rotary speed digital signal that the location/velocity detector 32 of on-the-spot programmable gate array 26 is exported, according to those signals, calculate the pulse width modulation amount position signal of the electric current of corresponding servo motor 18 respectively with the digital signal processor 28 that uses the high-speed computation ability, and export the Pwm controller 34 of on-the-spot programmable gate array 26 to.Digital signal processor 28 transmits the mode of operation of each servo motor 18 to main controller 12 via coffret 20.
The data of display unit 30 receiving digital signals processors 28 show voltage, electric current, position, speed and the error message etc. of each servo motor 18.Wherein, display unit 30 can be a seven-segment display.
Transducer 36 is converted to DC power supply with three-phase alternating-current supply 48.The DC power supply that power bus 38 provides transducer 36 to be changed.Electric capacity 40 is in order to carry out voltage stabilizing to the DC power supply on the power bus 38, to reduce the mains ripple (Ripple) on the power bus 38.Wherein, transducer 36 is a bridge rectifier, and it is converted to DC power supply with three-phase alternating-current supply 48.
Converter 44 is converted to AC power with the DC power supply on the power bus 38, and the pulse width modulating signal of being exported according to the Pwm controller 34 of on-the-spot programmable gate array 26 produces alternating voltage and the electric current of exporting to corresponding servo motor 18 respectively.Wherein, converter 44 is a full-bridge type three-phase converter, and it is converted to the DC power supply on the power bus 38 in three-phase alternating voltage and the electric current with frequency conversion and luffing voltage.Use six bridge converters 44 in IGBT (the Insulated Gate Bipolar Transistor) module, by six bridge converters the direct voltage on the power bus 38 is exported frequency conversion and the luffing voltage of wanting to switch (switching) mode exactly, it is the device that the direct current of a kind of big voltage and big electric current is converted to interchange, as seen from Figure 1, the three group of six bridge converter 44 that promotes these three servo motors 18 can be shared same group direct voltage source, and the energy that spendable brake unit 42 discharges on the power bus 38 when power bus 38 overtensions, so power module 16 just can save shared part than original 1 pair 1 driver.
Can obviously find out by above-mentioned framework, by sharing the voltage on identical transducer 36 (being bridge rectifier), power bus 38 and the electric capacity 40, can significantly reduce the assembly reused such as brake unit 42, electric capacity 40, transducer 36, use the volume of the fin (not shown) on transducer 36 also can dwindle.These situations can be found on control module 14 too, also can significantly reduce as repetitive components such as display unit 30, communication interface 20, I/O units 22.The digital signal processor of high-speed computation (Hi-Speed DSP) is even select for use the DSP of higher level also to have more cost competitiveness than the DSP summation of three general arithmetic speeds, so this product is needing in the system of multiaxis as all significantly raisings of three competitiveness that above processing machine represented (cost, volume).
The invention has the advantages that provides the driver just can linking number platform motor merely, several required power module and the control modules of motor are placed in the same module, can save repeating part for the control unit part, as communication interface, display unit, I/O unit, the bus capacitance amount of the IGBT module on the power module also can be shared and reduce, volume also therefore the sum total volume of more former given figure platform to come for a short time, and can effectively save cost, reduction distribution and set-up time, realize having the AC servo driver of cost competitiveness.
Though, more than invention has been described with reference to preferred specific embodiment and exemplary accompanying drawing, the present invention is not limited thereto.Will be understood by those skilled in the art that the content of form of the present invention and specific embodiment can be carried out various modifications, omission and variation, these modifications, omission and variation all belong to scope of the present invention.

Claims (6)

1. a three-in-one AC servo driver comprises master controller, control module, power module and a plurality of servo motor,
Described control module comprises:
Communication interface, in order to order of described master controller transmitted in both directions and data;
I/O unit, in order to the input/output signal of described main controller transmitted in both directions digital-to-analog;
Current detector corresponds respectively to a plurality of current signals of described servo motor in order to reception, and is converted to the output of digital current signal;
On-the-spot programmable gate array, in order to position of rotation and the speed that detects described servo motor, with output position of rotation digital signal and rotary speed digital signal, and correspond respectively to the pulse width modulating signal of the electric current of more described servo motor with generation according to pulse width modulation amount position signal; And
Digital signal processor, in order to receive the speed command of sending by described master controller via described communication interface, position command and torque command, receive the input/output signal of digital-to-analog that described I/O unit is sent, receive the digital current signal that described current detector is exported, receive position of rotation digital signal and rotary speed digital signal that described on-the-spot programmable gate array is exported, to calculate the pulse width modulation amount position signal of the electric current of corresponding described servo motor respectively, and export described on-the-spot programmable gate array to, transmit the mode of operation of each servo motor via described coffret; And
Described power module comprises:
Transducer is in order to be converted to DC power supply with AC power;
Power bus is in order to the DC power supply that provides described transducer to change;
Electric capacity is in order to the DC power supply on the described power bus of voltage stabilizing;
A plurality of converters, in order to the DC power supply on the described power bus is converted to AC power, and the pulse width modulating signal of being exported according to described on-the-spot programmable gate array produces alternating voltage and the electric current of exporting to corresponding servo motor respectively; And
A plurality of current sensors are supplied to the electric current of servo motor in order to sensing converter respectively, and export the current signal of institute's sensing to described current detector.
2. three-in-one AC servo driver as claimed in claim 1, wherein, described coffret is any of RS-485, RS232, Modbus and CAN-open.
3. three-in-one AC servo driver as claimed in claim 1, wherein, described control module also comprises display, in order to receive the data of described digital signal processor, shows voltage, electric current, position, speed and the error message of described each servo motor.
4. three-in-one AC servo driver as claimed in claim 1, wherein, described on-the-spot programmable gate array comprises:
The location/velocity detector is in order to position of rotation and the speed that detects described servo motor, to export position of rotation digital signal and rotary speed digital signal to described digital signal processor; And
Pwm controller is in order to correspond respectively to the pulse width modulating signal of the electric current of described servo motor with generation according to the pulse width modulation amount position signal of being exported by described digital signal processor.
5. three-in-one AC servo driver as claimed in claim 1, wherein, described power module also comprises brake unit, in order to when the overtension of described power bus to release energy.
6. three-in-one AC servo driver as claimed in claim 1, wherein, described transducer is a bridge rectifier, it is converted to DC power supply with three-phase alternating-current supply, described converter is a full-bridge type three-phase converter, and it is converted to DC power supply in three-phase alternating voltage and the electric current with frequency conversion and luffing voltage.
CNB2006100871900A 2006-06-15 2006-06-15 Three-in-one AC servo driver Active CN100511962C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2006100871900A CN100511962C (en) 2006-06-15 2006-06-15 Three-in-one AC servo driver

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2006100871900A CN100511962C (en) 2006-06-15 2006-06-15 Three-in-one AC servo driver

Publications (2)

Publication Number Publication Date
CN101090246A true CN101090246A (en) 2007-12-19
CN100511962C CN100511962C (en) 2009-07-08

Family

ID=38943447

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2006100871900A Active CN100511962C (en) 2006-06-15 2006-06-15 Three-in-one AC servo driver

Country Status (1)

Country Link
CN (1) CN100511962C (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101860290A (en) * 2009-04-13 2010-10-13 深圳市科姆龙电气技术有限公司 Multifunctional alternating current servo driver
CN102201766A (en) * 2010-03-22 2011-09-28 东元电机股份有限公司 Motor driver
CN102468790A (en) * 2010-10-28 2012-05-23 东元电机股份有限公司 Motor driving device
CN102468791A (en) * 2010-11-01 2012-05-23 住友重机械工业株式会社 Injection molding machine
CN102611366A (en) * 2011-01-25 2012-07-25 南京普爱射线影像设备有限公司 Alternating-current servo control system with single driver and multiple motors
CN103199773A (en) * 2012-01-06 2013-07-10 沈阳新松机器人自动化股份有限公司 Servo driving system based on bus technology
CN103744376A (en) * 2013-12-26 2014-04-23 清能德创电气技术（北京）有限公司 Servo driver and multi-shaft control system using the same
CN103812392A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Motor driving controller and dual-motor control method thereof
CN104410334A (en) * 2014-11-07 2015-03-11 北京精密机电控制设备研究所 Three-channel servo control driver
CN104506090A (en) * 2014-12-22 2015-04-08 清能德创电气技术（北京）有限公司 Servo driver with motor encoder disconnection detection circuit
CN105846733A (en) * 2016-05-30 2016-08-10 科德数控股份有限公司 Integrated six-shaft driving device of industrial robot
CN108566125A (en) * 2018-06-14 2018-09-21 杭州贝格达自动化技术有限公司 Three axis servo-driver of integrated form
CN110165945A (en) * 2019-05-15 2019-08-23 广东伊莱斯电机有限公司 A kind of integrated AC servo-driver
CN114221598A (en) * 2021-12-09 2022-03-22 武汉华中数控股份有限公司 Pluggable multi-shaft integrated servo driving device

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101860290A (en) * 2009-04-13 2010-10-13 深圳市科姆龙电气技术有限公司 Multifunctional alternating current servo driver
CN102201766A (en) * 2010-03-22 2011-09-28 东元电机股份有限公司 Motor driver
CN102468790A (en) * 2010-10-28 2012-05-23 东元电机股份有限公司 Motor driving device
CN102468791A (en) * 2010-11-01 2012-05-23 住友重机械工业株式会社 Injection molding machine
CN102611366A (en) * 2011-01-25 2012-07-25 南京普爱射线影像设备有限公司 Alternating-current servo control system with single driver and multiple motors
CN103199773B (en) * 2012-01-06 2016-06-22 沈阳新松智能驱动股份有限公司 Servo drive system based on bussing technique
CN103199773A (en) * 2012-01-06 2013-07-10 沈阳新松机器人自动化股份有限公司 Servo driving system based on bus technology
CN103812392A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Motor driving controller and dual-motor control method thereof
CN103744376A (en) * 2013-12-26 2014-04-23 清能德创电气技术（北京）有限公司 Servo driver and multi-shaft control system using the same
CN104410334A (en) * 2014-11-07 2015-03-11 北京精密机电控制设备研究所 Three-channel servo control driver
CN104506090A (en) * 2014-12-22 2015-04-08 清能德创电气技术（北京）有限公司 Servo driver with motor encoder disconnection detection circuit
CN104506090B (en) * 2014-12-22 2018-08-17 清能德创电气技术（北京）有限公司 A kind of servo-driver of translator encoder break detection circuit
CN105846733A (en) * 2016-05-30 2016-08-10 科德数控股份有限公司 Integrated six-shaft driving device of industrial robot
CN108566125A (en) * 2018-06-14 2018-09-21 杭州贝格达自动化技术有限公司 Three axis servo-driver of integrated form
CN110165945A (en) * 2019-05-15 2019-08-23 广东伊莱斯电机有限公司 A kind of integrated AC servo-driver
CN114221598A (en) * 2021-12-09 2022-03-22 武汉华中数控股份有限公司 Pluggable multi-shaft integrated servo driving device
CN114221598B (en) * 2021-12-09 2023-10-31 武汉华中数控股份有限公司 Pluggable multi-shaft integrated servo driving device

Also Published As

Publication number Publication date
CN100511962C (en) 2009-07-08

Similar Documents

Publication Publication Date Title
CN100511962C (en) Three-in-one AC servo driver
US7268515B1 (en) Three-in-one AC servo drive
JP4851250B2 (en) Three-unit AC servo drive unit
CN101860290A (en) Multifunctional alternating current servo driver
CN102005960B (en) Inverter with three bridge arms and nine switches for dual-alternating-current motor drive and control method thereof
CN103389684A (en) Multifunctional double-shaft servo driver
CN103199773B (en) Servo drive system based on bussing technique
CN109391175A (en) Control device of electric motor and machine tool system
JP2008228548A (en) Power converter and power conversion method for performing parallel operation of inverters
CN202771219U (en) Multifunctional biaxial servo driver
US9979327B2 (en) Robot control system
US9361260B2 (en) Master device that changes data communication speed when preparation to drive motor is completed
CN103378786A (en) Synchronous motor control device
JP6619404B2 (en) Motor drive system with servo motor for multiple winding buffers
CN110165945A (en) A kind of integrated AC servo-driver
US9588508B2 (en) Master device that changes data communication speed in accordance with the number of slave devices
US8575884B2 (en) Motor drive control system enabling connection of direct current/alternating current conversion device
EP1871000A1 (en) AC servo drive
CN103988409A (en) Electric power conversion device
CN110739897A (en) AC servo driver and AC servo driving system
US8952636B2 (en) Data communication device that carries out serial communication in order to control motor
JP5447400B2 (en) Motor drive device, motor drive system
TWI308819B (en) Three-in-one ac servo drive
CN205363925U (en) Servo drive of arm
CN107592018A (en) Modularized frequency converter

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant