CN101442283A - Dual-motor synchronous servo drive device based on DSP - Google Patents
Dual-motor synchronous servo drive device based on DSP Download PDFInfo
- Publication number
- CN101442283A CN101442283A CNA2007101584880A CN200710158488A CN101442283A CN 101442283 A CN101442283 A CN 101442283A CN A2007101584880 A CNA2007101584880 A CN A2007101584880A CN 200710158488 A CN200710158488 A CN 200710158488A CN 101442283 A CN101442283 A CN 101442283A
- Authority
- CN
- China
- Prior art keywords
- dsp
- interface
- motor
- circuit
- power
- 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.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to a double-motor synchronous servo drive device based on DSP. The device comprises a DSP system control module and a motor power drive module which are connected into a whole through a control interface; a digital signal processor of the DSP system control module is connected with a host computer or a control system through a CAN bus interface and an RS232 interface so as to realize real-time communication; the digital signal processor is synchronously connected with a motor code disc through a code disc interface so as to carry out closed-loop control on a motor; a switch power circuit of the motor power drive module supplies power for the motor power drive module through a power interface; an overcurrent protection circuit and a power drive circuit are communicated with the digital signal processor of the DSP system control module through a control interface; and the output of the power drive circuit is connected with the overcurrent protection circuit and is connected with a direct current motor. The double-motor synchronous servo drive device is used for a double-wheel differential type service robot and motor drive and control with synchronous requirement process in order that double motors synchronously drive and control, thereby effectively improving the capacity for synchronous coordinated movement and control precision of double motors.
Description
Technical field
The present invention relates to the control appliance of electromechanical integration, servodrive, specifically a kind of dual-motor synchronous servo drive device based on DSP, this device are applicable to the motion control product that the mobile robot waits needs motor synchronous to drive.
Background technology
Traditional bi-motor motion control realizes according to motion controller and servo-driver product mix always.Generally be by a motion controller and two servo-driver product composition.Such control mode application component in mobile robot's product is more, is unfavorable for the carrying out of miniaturization and Synchronization Control.High-precision motor synchronous motion control real-time is had relatively high expectations, operand is bigger, and common single-chip microcomputer and general CPU are difficult to finish, and motion controller more can't be realized combining with the servo-driver product.
Making constant progress along with digital signal processor DSP (Digital Signal Processor) technology in recent years, particularly the Electric Machine Control that appears as of the DSP of Electric Machine Control special use provides wide development space, and the arithmetic speed of DSP and special purpose interface advantage realize digital control can being unified in the dsp system of various complexity.Yet utilization DSP technology realizes that high-precision bi-motor Synchronous motion control technique device has not yet to see report.
Summary of the invention
Have relatively high expectations in order to overcome in the prior art motor synchronous motion control real-time, operand is bigger, the deficiency that common single-chip microcomputer and general CPU are difficult to finish, the object of the present invention is to provide a kind of dual-motor synchronous servo drive device based on DSP, make full use of the flexibility of high-speed computation, control ability and the programmable logic chip of DSP, realized the bi-motor Synchronous motion control function of the combination of motion controller and servo-driver.
To achieve these goals, technical scheme of the present invention comprises:
-dsp system control module, comprise digital signal processor, programming device, memory circuit, be furnished with RS232 interface and CAN bus interface, code-disc interface and control interface, wherein: described digital signal processor is connected with host computer or control system by CAN bus interface, RS232 interface, receive the control command of bus, realize real time communication; Digital signal processor also connects the first～two motor code-disc simultaneously by the code-disc interface, receives the real-time speed position feed back signal from the direct current machine of motor code-disc, realizes the closed-loop control to motor;
-power of motor driver module comprises switching power circuit, power driving circuit, current foldback circuit, is furnished with power interface and bi-motor interface, links into an integrated entity by control interface and dsp system control module; Described switching power circuit is the power supply of power of motor driver module by power interface; Current foldback circuit, power driving circuit are communicated by letter with the digital signal processor in the dsp system control module by control interface; power driving circuit output is connected to current foldback circuit on the one hand, is electrically connected with the first～two direct current machine through the bi-motor interface on the other hand.
Wherein: the first～two direct current machine and the first～two code-disc constitute control system, realize the Synchronous motion control to electric current loop, speed ring and the position ring of bi-motor; Dsp system control module inside is provided with central processing unit, and its CAN bus control unit is supported the CAN2.0B agreement;
CAN bus interface circuit in the dsp system control module comprises the first～two high speed optoelectronic coupling isolator and the bus driver, the first～two high speed optoelectronic coupling isolator is connected with host computer with CANRX by pin CANTX on the one hand, isolate on the other hand and be connected to bus driver, form output by bus driver U5, connect the equipment that other has the CAN interface;
Described RS232 interface circuit comprises the bus driver of level shifting circuit, UART, the level shifting circuit of being made up of diode, the 24th resistance, the 25th resistance, the 26th resistance is connected to the digital signal processor in the system control module, export and import through bus driver, be used to connect the equipment that other has the RS232 interface;
Motor code-disc signal adopts the mode of difference to transmit, realize level conversion by interface circuit, deliver in the digital signal processor, the hardware orthogonal signalling input interface of digital signal processor inside is realized the hardware counting of code-disc, obtain the feedback signal of two DC generator speeds and position respectively, thereby realize the speed ring of Electric Machine Control and the controlled function of position ring;
Switching power circuit in the power of motor driver module is core devices with the controller, the 11st optocoupler isolator that also comprises feedback, buffer circuit and transformer, the source electrode of its middle controller and drain electrode and transformer are connected in series, control end is connected to the 11st optocoupler isolator that series connection is provided with in one group of coil of transformer secondary output, and the 11st optocoupler isolator output is by another group coil power supply of transformer secondary output; Transformer secondary output is provided with three road spacing output circuits altogether, for H bridge power output circuit in the power driving circuit provides the control power supply of isolation;
Current foldback circuit is the comparison circuit structure that two operational amplifiers constitute, and input signal is from the current signal in the power driving circuit, and output is connected to digital signal processor through control interface; The current foldback circuit structure of two direct current machines is identical, one of them structure: current sampling signal constitutes comparison circuit by the 12nd operational amplifier, and the output of the 12nd operational amplifier is interrupted to the digital signal processor application;
Power driving circuit in the power of motor driver module is two line structures, comprise the 15th～16 optocoupler isolator, the 16th～17 bridge driver module and H bridge power output circuit, wherein the output of the 15th～16 optocoupler isolator all links to each other with the input of the 16th～17 bridge driver module, the switching tube base stage of the output termination H bridge power output circuit of the 16th～17 bridge driver module.
The present invention is different from traditional mode part and is:
1. compare with the mode of conventional motion controller and two servo-drivers realization controls, because the present invention adopts the control of motion controller and servo-driver to be finished by same digital signal processor, overcome the shared time of transfer of data when carrying out real time communication between traditional motion controller and two servo-drivers, and the Synchronization Control response speed of motor is slow, product design take size greatly, connection therebetween needs deficiencies such as cable, the present invention does not need data transmission period, control response speed is fast in real time, and the motor synchronous effect is very good.In addition, overall dimension of the present invention is little, has reduced the connection of cable, is particularly suitable for the two-wheel differential motion is controlled the application of mobile robot's product that strict demand is arranged.
2. the present invention is core with the digital signal processor, the full digital Electric Machine Control mode of uses advanced, realized the electric current loop of bi-motor, the closed-loop control of speed ring and position ring, can be used for the two-wheel differential motion is controlled the application of mobile robot's product that strict demand is arranged, realize being synchronized with the movement accurately and locating.
3. the present invention is made of dsp system control module and power of motor driver module two parts, has CAN bus network interface and RS232 interface, can connect two direct current machines with photoelectric code disk interface.
4. whole drive unit modularization characteristics of the present invention are remarkable, install, use and safeguard very convenient.
5. also have current foldback circuit in the motor drive module of the present invention, can realize the protection of bi-motor overcurrent.When electric current surpasses the numerical value of setting, the pwm signal output that digital signal processor can turn-off on hardware, thus stop the PWM of motor is exported, realize the real-time guard function of motor.
Description of drawings
Fig. 1 is a general structure block diagram of the present invention.
Fig. 2 is a digital signal processor schematic diagram of the present invention.
Fig. 3 is a programming device schematic diagram of the present invention.
Fig. 4 is a CAN bus interface circuit schematic diagram of the present invention.
Fig. 5 is a RS232 interface circuit schematic diagram of the present invention.
Fig. 6 is data memory circuit theory diagrams of the present invention.
Fig. 7 is code-disc interface circuit figure of the present invention.
Fig. 8 is a switching power circuit schematic diagram of the present invention.
Fig. 9 is a current foldback circuit schematic diagram of the present invention.
Figure 10 is power drive unit circuit theory diagrams of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, the present invention is made of dsp system control module 1 and 2 two modules of power of motor driver module, (present embodiment adopts the socket of 20 pins by control interface for dsp system control module 1 and power of motor driver module 2, the socket signal has interrupt signal, two-way A/D sampled signal and PWM output signal) link into an integrated entity, whole drive unit modularization characteristics are remarkable, install, use and safeguard very convenient.Wherein:
Dsp system control module 1 comprises digital signal processor DSP, programming device CPLD, memory circuit RAM, be furnished with RS232 interface and CAN bus interface, code-disc interface and control interface, digital signal processor DSP can be connected with host computer or control system by CAN bus interface, RS232 interface, receives the control command of bus, realizes real time communication; Digital signal processor DSP connects the first～two motor code-disc E1～E2 simultaneously by the code-disc interface, and digital signal processor DSP receives the real-time speed position feed back signal from the direct current machine of motor code-disc, realizes the closed-loop control to motor.
Power of motor driver module 2 comprises switching power circuit, power driving circuit, current foldback circuit, is furnished with power interface and bi-motor interface, wherein: the control interface of dsp system control module 1 is connected with the control interface of power of motor driver module 2, and the signal that is transmitted has PWM output, electric current and guard signal; Switching power circuit is 2 power supplies of power of motor driver module by power interface; Current foldback circuit, power driving circuit are communicated by letter with the digital signal processor DSP in the dsp system control module 1 by control interface; power driving circuit output is connected to current foldback circuit on the one hand, is electrically connected with the first～two direct current machine M1～M2 through the bi-motor interface on the other hand.
Constitute control system by the first～two direct current machine M1～M2 and the first～two code-disc E1～E2, realize Synchronous motion control electric current loop, speed ring and the position ring of bi-motor.
As shown in Figure 2, the central processing unit U1 of dsp system control module 1 adopts the TMS320LF2407A chip by TI company, can adopt the 10MHz crystal oscillator, and inner DSP clock can be 40MHz.
As shown in Figure 3, programming device CPLD described in the present embodiment dsp system control module 1 adopts the EPM7064 chip, realizes the function of the logical signal processing of address decoding and DSP.Input signal mainly contains address signal A0, A1, A2, the A15 of the control signal from digital signal processor DSP: IS, STRB, PS, DS, RD, WE, WR and DSP.The output signal of handling mainly contains chip select signal SELA15, SELCE1, CS0, CS1.Its programming realizes by the jtag interface P8 of design, can onlinely programme.
As shown in Figure 4, CAN bus interface circuit in the dsp system control module 1 comprises the first～two high speed optoelectronic coupling isolator U3～U4 and bus driver U5, the first～two high speed optoelectronic coupling isolator U3～U4 is by pin CANTX and CANRX with being connected of host computer, isolate pin TxD and the RxD that is connected to bus driver U5 through the first～two high speed optoelectronic coupling isolator U3～U4, CANH and CANL output by bus driver U5, the interface that forms CAN is to socket P4, in order to connect the equipment that other has the CAN interface.There is the CAN bus control unit dsp chip inside, supports the CAN2.0B agreement.
As shown in Figure 5, the RS232 interface comprises the bus driver of level shifting circuit, RS232, the pin SCITXD and the SCIRXD of the digital signal processor DSP in the system control module 1, level shifting circuit through diode D2, the 24th resistance R the 24, the 25th resistance R the 25, the 26th resistance R 26 compositions is connected to pin T1IN and the R1OUT of bus driver U6, T1OUT and R1IN by bus driver U6 export and import, form the RS232 interface and be connected to socket P7, be used to connect the equipment that other has the RS232 interface.
As shown in Figure 6, the data memory RAM in the dsp system control module 1 adopts the IS61LV6416 chip, and it is the storaging chip of 64K*16, as the data-storing of system; Digital signal processor DSP is connected with data memory U7 with 16 bit address buses by 16 bit data bus, and read-write and chip select signal are from control signal RD, WE and decoded signal SELCE1, the SELA15 of digital signal processor DSP.
The code-disc signal of two direct current machines is connected with digital signal processor DSP in the dsp system control module 1 by code-disc interface P3A, the circuit theory diagrams of representing one of them code-disc interface as Fig. 7, motor code-disc signal adopts the mode of difference to transmit, signal is A+, A-, B+, B-, Z+, Z-, total two-way motor code-disc signal.The differential signal of code-disc is realized level conversion by interface circuit U8, pin CAP1, CAP2, CAP3 by digital signal processor DSP deliver in the digital signal processor DSP, the hardware orthogonal signalling input interface of digital signal processor DSP inside is realized the hardware counting of code-disc, obtain the feedback signal of two DC generator speeds and position respectively, thereby realize the speed ring of Electric Machine Control and the controlled function of position ring.
As shown in Figure 8, switching power circuit core devices in the power of motor driver module 2 is the 11st optocoupler isolator U11 of controller U10 and feedback, buffer circuit, also comprise transformer TR1, the S of its middle controller U10 and D end are connected in series with transformer TR1 primary coil, control end is connected to the 11st optocoupler isolator U11 that series connection is provided with in one group of coil of TR1 level of transformer, and the isolation output of the 11st optocoupler isolator U11 connects another group coil of TR1 level of transformer.TR1 level of transformer is provided with three road spacing output circuits altogether, for H bridge power output circuit in the power driving circuit provides the power supply of isolation.
Current foldback circuit is the comparison circuit structure that two operational amplifiers constitute, and input signal is from power driving circuit, and output is connected to digital signal processor DSP through control interface.The current foldback circuit structure of two direct current machines is identical; one of them as shown in Figure 9; current sampling signal constitutes comparison circuit by the 12nd operational amplifier U12; set the threshold value of two comparisons in the reality; it is forward and reverse current maxima; if exceed this peaked setting threshold value; the output of current foldback circuit can produce low-voltage output; interrupt to the digital signal processor DSP application; the pwm signal output of digital signal processor DSP shutoff simultaneously; thereby when guaranteeing that overcurrent occurs, stop PWM output, realize the defencive function of motor motor.
As shown in figure 10, power driving circuit in the power of motor driver module 2 has two-way, comprise the 15th～16 optocoupler isolator U14～U15, the 16th～17 bridge driver module U16, U17 and the H bridge power output circuit that constitutes by the switch mosfet pipe, the output of the 15th～16 optocoupler isolator U14～U15 all links to each other with the input of the 16th～17 bridge driver module U16～U17, the switching tube base stage of the output termination H bridge power output circuit of the 16th～17 bridge driver module U16～U17.
Claims (9)
1. dual-motor synchronous servo drive device based on DSP is characterized in that comprising:
-dsp system control module (1), comprise digital signal processor (DSP), programming device (CPLD), memory circuit (RAM), be furnished with RS232 interface and CAN bus interface, code-disc interface and control interface, wherein: described digital signal processor (DSP) is connected with host computer or control system by CAN bus interface, RS232 interface, receive the control command of bus, realize real time communication; Digital signal processor (DSP) also connects the first～two motor code-disc simultaneously by the code-disc interface, and (E1～E2), receive the real-time speed position feed back signal from the direct current machine of motor code-disc realizes the closed-loop control to motor;
-power of motor driver module (2) comprises switching power circuit, power driving circuit, current foldback circuit, is furnished with power interface and bi-motor interface, links into an integrated entity by control interface and dsp system control module (1); Described switching power circuit is power of motor driver module (2) power supply by power interface; Current foldback circuit, power driving circuit are communicated by letter with the digital signal processor (DSP) in the dsp system control module (1) by control interface; power driving circuit output is connected to current foldback circuit on the one hand, on the other hand through bi-motor interface and the first～two direct current machine (M1～M2) be electrically connected.
2. according to the described dual-motor synchronous servo drive device of claim 1 based on DSP, it is characterized in that: ((E1～E2) constitute control system realizes the Synchronous motion control to electric current loop, speed ring and the position ring of bi-motor for the M1～M2) and the first～two code-disc by the first～two direct current machine.
3. according to the described dual-motor synchronous servo drive device based on DSP of claim 1, it is characterized in that: dsp system control module (1) inside is provided with central processing unit (U1), and its CAN bus control unit is supported the CAN2.0B agreement.
4. according to the described dual-motor synchronous servo drive device of claim 1 based on DSP, it is characterized in that: the CAN bus interface circuit in the dsp system control module (1) comprises the first～two high speed optoelectronic coupling isolator (U3～U4) and bus driver (U5), the first～two high speed optoelectronic coupling isolator (U3～U4) be connected with host computer on the one hand, isolate on the other hand and be connected to bus driver (U5), (U5) forms output by bus driver, connects the equipment that other has the CAN interface.
5. according to the described dual-motor synchronous servo drive device of claim 1 based on DSP, it is characterized in that: described RS232 interface circuit comprises the bus driver of level shifting circuit, UART, the level shifting circuit of being made up of diode (D2), the 24th resistance (R24), the 25th resistance (R25), the 26th resistance (R26) is connected to the digital signal processor (DSP) in the system control module (1), (U6) exports and imports through bus driver, is used to connect the equipment that other has the RS232 interface.
6. according to the described dual-motor synchronous servo drive device of claim 1 based on DSP, it is characterized in that: motor code-disc signal adopts the mode of difference to transmit, realize level conversion by interface circuit, deliver in the digital signal processor (DSP), the inner hardware orthogonal signalling input interface of digital signal processor (DSP) is realized the hardware counting of code-disc, obtain the feedback signal of two DC generator speeds and position respectively, thereby realize the speed ring of Electric Machine Control and the controlled function of position ring.
7. according to the described dual-motor synchronous servo drive device of claim 1 based on DSP, it is characterized in that: the switching power circuit in the power of motor driver module (2) is a core devices with controller (U10), the 11st optocoupler isolator (U11) that also comprises feedback, buffer circuit and transformer (TR1), source electrode of its middle controller (U10) and drain electrode and transformer (TR1) primary coil are connected in series, control end is connected to the 11st optocoupler isolator (U11) that series connection is provided with in one group of secondary coil of transformer (TR1), and the 11st optocoupler isolator (U11) output is by another secondary group coil power supply of transformer (TR1); Secondary three road spacing output circuits that are provided with altogether of transformer (TR1) are for H bridge power output circuit in the power driving circuit provides the control power supply of isolation.
8. according to the described dual-motor synchronous servo drive device of claim 1 based on DSP, it is characterized in that: current foldback circuit is the comparison circuit structure that two operational amplifiers constitute, input signal is from the current signal in the power driving circuit, and output is connected to digital signal processor (DSP) through control interface; The current foldback circuit structure of two direct current machines is identical, one of them structure: current sampling signal constitutes comparison circuit by the 12nd operational amplifier (U12), and the 12nd operational amplifier (U12) output is interrupted to digital signal processor (DSP) application.
9. according to the described dual-motor synchronous servo drive device of claim 1 based on DSP, it is characterized in that: the power driving circuit in the power of motor driver module (2) is two line structures, comprise the 15th～16 optocoupler isolator (U14～U15), the 16th～17 bridge driver module (U16, U17) and H bridge power output circuit, wherein (all (input of U16～U17) links to each other the 15th～16 optocoupler isolator, the 16th～17 bridge driver module (the switching tube base stage of the output termination H bridge power output circuit of U16～U17) with the 16th～17 bridge driver module in the output of U14～U15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101584880A CN101442283A (en) | 2007-11-23 | 2007-11-23 | Dual-motor synchronous servo drive device based on DSP |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101584880A CN101442283A (en) | 2007-11-23 | 2007-11-23 | Dual-motor synchronous servo drive device based on DSP |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101442283A true CN101442283A (en) | 2009-05-27 |
Family
ID=40726573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101584880A Pending CN101442283A (en) | 2007-11-23 | 2007-11-23 | Dual-motor synchronous servo drive device based on DSP |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101442283A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101895243A (en) * | 2010-07-19 | 2010-11-24 | 中国电子科技集团公司第十四研究所 | Moment equilibrium controller in redundant actuation system |
| CN102075137A (en) * | 2010-12-30 | 2011-05-25 | 清华大学 | High-bandwidth servo drive circuit with integral type current amplitude limiter |
| CN102291075A (en) * | 2011-06-24 | 2011-12-21 | 浙江理工大学 | Integrated circuit for driving and control three groups of stepper motors |
| CN102545733A (en) * | 2010-12-30 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | Double-motor synchronous control device and method for silicon chip conveying manipulator |
| CN102739146A (en) * | 2011-04-12 | 2012-10-17 | 王庆华 | Servo control system |
| CN103197540A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Control device and control method based on proportion integration differentiation (PID) self-adaption and robot applying same |
| 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 |
| CN103401486A (en) * | 2013-07-26 | 2013-11-20 | 浙江盛迈电气技术有限公司 | Dual-motor alternating current servo driver with UPS (Uninterrupted Power Supply) power-off information protection |
| CN103499736A (en) * | 2013-10-22 | 2014-01-08 | 重庆长安汽车股份有限公司 | Over-current detection circuit and over-current protection circuit |
| CN103888033A (en) * | 2012-12-21 | 2014-06-25 | 北京奇峰聚能科技有限公司 | Integrated dual-motor control system for magnetic-suspension energy-storing flywheel |
| CN103929099A (en) * | 2012-09-27 | 2014-07-16 | 洛克威尔自动控制亚太业务中心有限公司 | Modular motor drive system and method |
| CN104476547A (en) * | 2014-12-08 | 2015-04-01 | 重庆南方数控设备有限责任公司 | Tree climbing robot control circuit |
| CN105278525A (en) * | 2015-11-13 | 2016-01-27 | 兰州飞行控制有限责任公司 | Parallel steering engine drive circuit with fault monitoring function |
| CN105717843A (en) * | 2016-03-23 | 2016-06-29 | 苏州市正步机器制造有限公司 | Dual-servo synchronous control method and system |
| CN107017804A (en) * | 2017-02-28 | 2017-08-04 | 海航生态科技集团有限公司 | The control system and method for series direct current motor |
| CN107422738A (en) * | 2017-08-17 | 2017-12-01 | 湖南省旭崇智能装备实业有限公司 | Robot control circuit |
| CN107666258A (en) * | 2016-07-29 | 2018-02-06 | 中华映管股份有限公司 | D.c. motor system and its synchronization method |
| CN108199642A (en) * | 2018-01-11 | 2018-06-22 | 安徽龙运智能科技有限公司 | A kind of highly integrated intelligent servo-controller |
| CN108279612A (en) * | 2018-03-19 | 2018-07-13 | 北京钢铁侠科技有限公司 | Servo-driver and robot with the driver |
| CN109379002A (en) * | 2018-09-30 | 2019-02-22 | 深圳市立誉信科技有限公司 | The vehicle-mounted wireless charging device of motor control circuit and application motor control circuit |
| CN109710273A (en) * | 2018-12-07 | 2019-05-03 | 天津津航计算技术研究所 | A kind of DSP2407A serial ports is in line writing circuit |
| CN111682803A (en) * | 2020-06-10 | 2020-09-18 | 四川大学 | Multi-path direct current motor control system of flexible mechanical arm |
| CN113671952A (en) * | 2021-07-30 | 2021-11-19 | 中国科学院合肥物质科学研究院 | Control system of automatic walking type targeted pesticide spraying intelligent trolley |
| CN114488905A (en) * | 2022-02-11 | 2022-05-13 | 浙江禾川科技股份有限公司 | Gantry type dual-drive control device, method and medium |
-
2007
- 2007-11-23 CN CNA2007101584880A patent/CN101442283A/en active Pending
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101895243A (en) * | 2010-07-19 | 2010-11-24 | 中国电子科技集团公司第十四研究所 | Moment equilibrium controller in redundant actuation system |
| CN102075137A (en) * | 2010-12-30 | 2011-05-25 | 清华大学 | High-bandwidth servo drive circuit with integral type current amplitude limiter |
| CN102545733A (en) * | 2010-12-30 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | Double-motor synchronous control device and method for silicon chip conveying manipulator |
| CN102739146B (en) * | 2011-04-12 | 2015-08-05 | 王庆华 | Servo-control system |
| CN102739146A (en) * | 2011-04-12 | 2012-10-17 | 王庆华 | Servo control system |
| CN102291075A (en) * | 2011-06-24 | 2011-12-21 | 浙江理工大学 | Integrated circuit for driving and control three groups of stepper motors |
| CN102291075B (en) * | 2011-06-24 | 2013-05-01 | 浙江理工大学 | Integrated circuit for driving and control three groups of stepper motors |
| CN103197540A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Control device and control method based on proportion integration differentiation (PID) self-adaption and robot applying same |
| 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 |
| 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 |
| US9531314B2 (en) | 2012-09-27 | 2016-12-27 | Rockwell Automation Asia Pacific Business Center Pte. Ltd. | Modular motor drive configuration system and method |
| CN103929099A (en) * | 2012-09-27 | 2014-07-16 | 洛克威尔自动控制亚太业务中心有限公司 | Modular motor drive system and method |
| CN103929099B (en) * | 2012-09-27 | 2016-08-24 | 洛克威尔自动控制亚太业务中心有限公司 | Modular motor drive system and method |
| CN103888033A (en) * | 2012-12-21 | 2014-06-25 | 北京奇峰聚能科技有限公司 | Integrated dual-motor control system for magnetic-suspension energy-storing flywheel |
| CN103401486B (en) * | 2013-07-26 | 2016-01-20 | 浙江盛迈电气技术有限公司 | With the AC servo drive for double motors of UPS power cut-off information protection |
| CN103401486A (en) * | 2013-07-26 | 2013-11-20 | 浙江盛迈电气技术有限公司 | Dual-motor alternating current servo driver with UPS (Uninterrupted Power Supply) power-off information protection |
| CN103499736B (en) * | 2013-10-22 | 2016-08-31 | 重庆长安汽车股份有限公司 | Over-current detection circuit and current foldback circuit |
| CN103499736A (en) * | 2013-10-22 | 2014-01-08 | 重庆长安汽车股份有限公司 | Over-current detection circuit and over-current protection circuit |
| CN104476547B (en) * | 2014-12-08 | 2016-05-04 | 重庆南方数控设备有限责任公司 | A kind of robot capable of climbing trees control circuit |
| CN104476547A (en) * | 2014-12-08 | 2015-04-01 | 重庆南方数控设备有限责任公司 | Tree climbing robot control circuit |
| CN105278525A (en) * | 2015-11-13 | 2016-01-27 | 兰州飞行控制有限责任公司 | Parallel steering engine drive circuit with fault monitoring function |
| CN105717843A (en) * | 2016-03-23 | 2016-06-29 | 苏州市正步机器制造有限公司 | Dual-servo synchronous control method and system |
| CN107666258A (en) * | 2016-07-29 | 2018-02-06 | 中华映管股份有限公司 | D.c. motor system and its synchronization method |
| CN107017804A (en) * | 2017-02-28 | 2017-08-04 | 海航生态科技集团有限公司 | The control system and method for series direct current motor |
| CN107422738A (en) * | 2017-08-17 | 2017-12-01 | 湖南省旭崇智能装备实业有限公司 | Robot control circuit |
| CN108199642A (en) * | 2018-01-11 | 2018-06-22 | 安徽龙运智能科技有限公司 | A kind of highly integrated intelligent servo-controller |
| CN108279612A (en) * | 2018-03-19 | 2018-07-13 | 北京钢铁侠科技有限公司 | Servo-driver and robot with the driver |
| CN109379002A (en) * | 2018-09-30 | 2019-02-22 | 深圳市立誉信科技有限公司 | The vehicle-mounted wireless charging device of motor control circuit and application motor control circuit |
| CN109710273A (en) * | 2018-12-07 | 2019-05-03 | 天津津航计算技术研究所 | A kind of DSP2407A serial ports is in line writing circuit |
| CN111682803A (en) * | 2020-06-10 | 2020-09-18 | 四川大学 | Multi-path direct current motor control system of flexible mechanical arm |
| CN113671952A (en) * | 2021-07-30 | 2021-11-19 | 中国科学院合肥物质科学研究院 | Control system of automatic walking type targeted pesticide spraying intelligent trolley |
| CN114488905A (en) * | 2022-02-11 | 2022-05-13 | 浙江禾川科技股份有限公司 | Gantry type dual-drive control device, method and medium |
| CN114488905B (en) * | 2022-02-11 | 2024-06-07 | 浙江禾川科技股份有限公司 | Gantry type double-drive control device, method and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201118497Y (en) | Dual electromotor synchronization servo drive | |
| CN101442283A (en) | Dual-motor synchronous servo drive device based on DSP | |
| CN201869158U (en) | Alternating current servo drive being compatible with multiple position feedbacks and supporting multiple bus protocols | |
| CN105680735B (en) | Four axis servomotor motion control cards and method based on arm processor | |
| CN106681213B (en) | A kind of real time workshop weighted platform system | |
| CN103901814A (en) | Multi-shaft motion numerical control system | |
| CN101738987A (en) | Five-axis motion control card | |
| CN101369137A (en) | On-chip motor servo-controlled system | |
| CN1753407A (en) | Communication adapter | |
| CN201698574U (en) | Data transmission device of comprehensive online monitoring system for atmospheric environment | |
| CN208128284U (en) | A kind of Ethernet based on S698PM turns Multi-path synchronous serial interface communication apparatus | |
| CN107102965B (en) | Data processing circuit, system and data processing method | |
| CN203849590U (en) | Multi-shaft motion numerical control system | |
| CN201719826U (en) | Soccer robot device based on DSP2407 microprocessor control | |
| CN106533267A (en) | Motor soft start DSP control panel integrating PROFIBUS protocol | |
| CN201876698U (en) | Multi-path isolated programmable controller | |
| CN216162725U (en) | Data network shutdown machine | |
| CN205721225U (en) | A kind of electric power data acquisition and communication system | |
| CN207543138U (en) | A kind of data transmission system of more industrial bus | |
| CN208128466U (en) | A kind of Ethernet based on S698PM turns multichannel CAN interface communication apparatus | |
| CN2919703Y (en) | Communication adapter | |
| CN209105064U (en) | Servo control system based on ZigBee | |
| CN203406907U (en) | CAN communication transition device and communication system | |
| CN202049375U (en) | DSP (Digital Signal Processor)-based multi-interface real-time online monitoring device for frequency converter | |
| CN109818941A (en) | Realize that 10GE interface equipment supports the system and method for 25GE interface |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20090527 |