CN101697467A - Driver of linear motor and driving method thereof - Google Patents
Driver of linear motor and driving method thereof Download PDFInfo
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- CN101697467A CN101697467A CN200910197818A CN200910197818A CN101697467A CN 101697467 A CN101697467 A CN 101697467A CN 200910197818 A CN200910197818 A CN 200910197818A CN 200910197818 A CN200910197818 A CN 200910197818A CN 101697467 A CN101697467 A CN 101697467A
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Abstract
The invention discloses a driver of a linear motor and a driving method thereof. The driver comprises a DSP, a switch power supply, a drive circuit, a motor feedback position acquisition unit, a motor feedback rotary speed computing unit, a motor feedback current acquisition unit, a position ring computing unit, a speed ring computing unit, and a vector control unit, wherein the DSP controls a position ring circuit, a speed ring circuit and a current ring circuit of a linear motor; the motor feedback position acquisition unit obtains the actual position of a motor rotor; the motor feedback rotary speed computing unit works out the actual rotary speed of the motor according to the actual position of the motor rotor and the measuring time; and the motor feedback current acquisition unit samples by a resistor, sends the sample to an AD converter through linear opto coupling insulation, and sends the sampling signal to the DSP through a serial port after converting analog signal to digital signal. The driver can complete the drive control of the linear motor, and the cost is low; and the driver is suitably applied in fields where mass data need to be processed at a high speed and in real time, and can fully meet the requirements of the linear motor on mass data and high processing speed.
Description
Technical field
The invention belongs to the industrial test technical field, relate to a kind of linear electric motors, relate in particular to a kind of linear motor driver; In addition, the invention still further relates to the driving method of above-mentioned linear motor driver.
Background technology
At present, the production technology and the application technology of linear electric motors and driver thereof are in developing stage in industrially developed country, and presenting great vitality as a kind of brand-new feeding mode, existing more than ten the famous companies of western countries produce the linear electric motors and the driver of variety classeses and model.
U.S. An orad company is one of maximum in the world linear electric motors supplier, develop linear electric motors since the early 1980s, leading products are sine wave permanent magnet linear AC motor and square wave brushless direct-current linear electric motors, the representative instance of its application is to be that its maximum feed speed of HVM600. that the high-speed horizontal machining center HVM800 that produces of American I ngersoll milling machine company and X.Y.Z axle all adopt magneto synchronous linear servomotor to drive is 76.2m/min nineteen nineties, and acceleration is 1-1.5g.This has caused a sensation International Machine Tool circle at that time, is described as the new height of world's machine tool technology.
The Kollmorgen company of the U.S. is a famous in the world industrial motion control producer, the permanent-magnet linear servomotor that it provides has two major types. and a kind of is that mover does not have core construction, have high dynamic property, still can smooth motion when speed is lower than 60um/min.Another kind is that mover has core construction, can obtain the thrust up to 8000N.Because permanent magnet has adopted modularized design, the length of stator can reach more than the 1000mm according to user's needs lengthening, and maximum speed can reach 300m/min.The high-speed tool grinding machine that the smart machine of Mitsui company produces adopts linear motor driving Z axle, and its frequency that moves up and down can reach 400 times/min (stroke is 25mm), and high acceleration is 2.3g.
Japan sodick company is applied to spark-erosion machine tool with linear electric motors, has released the AQ series spark-erosion sinking machine and the wire cutting machine of assembling linear electric motors.Can under the condition of the control equivalent of 0.0001mm the movement velocity of axle be brought up to 36m/min, peak acceleration reaches 1.2g.Such technical indicator makes the spark-erosion sinking machine of a new generation have high-speed and accurately machined integrated condition concurrently, and the performance of spark-erosion sinking processing is enhanced, and has caused very big repercussion in electric machining circle.
The maximum translational speed of the permanent-magnet linear synchronous machine of the Siemens company of Germany can reach 200m/min, and maximum thrust can reach 6600N, and maximum displacement 504mm is applicable to high-speed milling machine, crankshaft toothed wheel, super precision lathe, grinding machine, laser lathe etc.
The develop rapidly that linear electric motors directly drive is cooperated some producers that do not produce linear electric motors control system and drive unit and motor manufactory, the drive unit of Development and Production linear electric motors corollary system. the cooperative relationship between Fanuc company and the Anoard Inc of U.S. motor manufactory for example.Other company cooperates as U.S. Anorad company and German Siemens company, and they have defined the performance and the interface features of CNC and servo system and linear electric motors specially.Germany Indramat company has introduced advanced internationalization, open SERCOS (Serial Real-timeCommunication System) interface standard in its digital intelligent linear electric motors servo-driver, make position closed loop be controlled at internal drive and finish.
Generally speaking, the linear electric motors servo techniques as a new generation of high-speed machining center has entered the commercial Application stage abroad.But the research of domestic linear electric motors and use and still to be in the starting stage, great majority research rests on emulation and experimental stage, and test data is very limited, lacks correlation data and knowhow, has a long way to go with abroad comparing.Because crucial linear electric motors servo techniques is mainly grasped in minority linear electric motors and Servocontrol device manufacturer hand, and is considered as trade secret, the data that blockade on new techniques and technical know-how allow to consult is few; Develop the high-speed machining center and the rapid transit of China, set up related industry, just must walk the road of oneself researching and developing.Therefore, the independent research of linear electric motors and testing apparatus thereof and method of testing is imperative.
Summary of the invention
Technical problem to be solved by this invention is: a kind of driver of linear electric motors is provided, can finish the drive controlling to linear electric motors, and cost is lower.
Simultaneously, the present invention also provides the driving method of the driver of above-mentioned linear electric motors.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of linear motor driver, this driver comprises:
Digital signal processor DSP changes road, current loop in order to position loop, the speed of control linear electric motors;
Switching Power Supply is connected with described digital signal processor DSP;
Drive circuit comprises automatic protected location;
Motor feedback position acquisition unit is in order to obtain the physical location of rotor; Motor rotor position is delivered to interface circuit by encoder, is regularly read by data/address bus by DSP, and data obtain the physical location of rotor through digital filtering and analyzing and processing;
Motor feedback revolution speed calculating unit is in order to the physical location of the rotor that obtains according to described motor feedback position acquisition unit, the actual speed that Measuring Time calculates motor;
Motor feedback current acquisition unit is utilized resistance sampling, isolates by the linear light lotus root and gives AD converter, and analog signal conversion is that digital quantity is after serial port is given DSP;
The position ring arithmetic element adopts the negative feedback control model, and motor position pulse command and rotor physical location participate in the proportional controller computing as input variable, and speed command is exported as operation result, the computing of completing place ring program;
The speed ring arithmetic element adopts the negative feedback control model, and speed command and motor actual speed participate in the proportional and integral controller computing as input variable, and torque command is exported as operation result, finishes the computing of speed ring subprogram;
Vector control unit, its controlling object are synchronous machine, and under the situation of Id=Iq rotor structure symmetry, the electromagnetic torque of permanent magnet synchronous motor and Id are irrelevant: electromagnetic torque Te=(1/ ω) E
oI
qWherein, E0 is the induced potential that rotor magnetic pole produces in stator winding, and Id, Iq are stator rectangular axis electric current, and Ld, Lq are stator rectangular axis inductance, and R is a stator winding resistance, and ω is the synchro angle frequency.
As a preferred embodiment of the present invention, in the described motor feedback position acquisition unit, motor rotor position is delivered to special interface circuit by encoder, and by the hardware quadruple, then to 16 add/down counter counts, regularly read by data/address bus by DSP, data obtain the physical location of rotor through digital filtering and analyzing and processing.
As a preferred embodiment of the present invention, in the described motor feedback current acquisition unit, obtain ia, ib among three-phase current component ia, ib, the ic, calculate third phase current i c value according to ia, ib value.
As a preferred embodiment of the present invention, described DSP comprises ALU computing unit, MAC computing unit, SHIFTER computing unit; ALU carries out the standard series of algebraical sum logical operation; MAC carries out monocyclic multiplication, takes advantage of/add, and takes advantage of/reducing; The SHIFTER actuating logic and displacement arithmetic, standard, off-gauge and index operation, SHIFTER is used as effective actual figure character form control and comprises multiword and floating point representation bulk.
As a preferred embodiment of the present invention, described drive circuit is that automatic protected location comprises Overvoltage protecting unit, under-voltage protection unit, over-current protecting unit, overtemperature protection unit; Described Switching Power Supply comprises temperature protection unit, outside overcurrent protection unit, output overloading protected location, Overvoltage protecting unit, under-voltage locking unit.
As a preferred embodiment of the present invention, the motor position pulse command has some kinds of modes, according to the different counting mode of the different switchings of parameter, by 16 add/down counter counts, and regularly read by data/address bus by DSP, data are through digital filtering and analyzing and processing, under position control mode, as the calculating of the P-pulse instruction participant position ring of motor; The motor speed dummy instruction makes bipolarity become unipolarity by hardware by adder, and be converted to digital quantity signal by AD converter, and the serial port by DSP reads in, and data are through digital filtering and analyzing and processing, under speed control mode, participate in the calculating of speed ring as speed command.
As a preferred embodiment of the present invention, before the software initialization stage, pwm signal was sent, DSP read ia, ib feedback current value earlier as zero current value, and the later value that reads is fiducial value comparison therewith all, i.e. software zeroing; Zero current value is very crucial data, for guaranteeing that fiducial value is correct, reads ia, ib value for several times at initial phase, and handles through digital filtering, finishes correctly reading of zero current value.AD converter links to each other with the serial port of DSP, and data directly enter internal memory by the DMA passage of DSP, do not interrupt the operation of DSP program.
The driving method of above-mentioned linear motor driver, this method comprises the steps:
Motor feedback position acquisition unit is obtained the physical location of rotor; Motor rotor position is delivered to interface circuit by encoder, is regularly read by data/address bus by DSP, and data obtain the physical location of rotor through digital filtering and analyzing and processing;
The physical location of the rotor that motor feedback revolution speed calculating unit obtains according to described motor feedback position acquisition unit, the actual speed that Measuring Time calculates motor;
Motor feedback current acquisition unit is utilized resistance sampling, isolates by the linear light lotus root and gives AD converter, and analog signal conversion is that digital quantity is after serial port is given DSP;
The position ring arithmetic element adopts the negative feedback control model, and motor position pulse command and rotor physical location participate in the proportional controller computing as input variable, and speed command is exported as operation result, the computing of completing place ring program;
The speed ring arithmetic element adopts the negative feedback control model, and speed command and motor actual speed participate in the proportional and integral controller computing as input variable, and torque command is exported as operation result, finishes the computing of speed ring subprogram;
The controlling object of vector control unit is a synchronous machine, and under the situation of Id=Iq rotor structure symmetry, the electromagnetic torque of permanent magnet synchronous motor and Id are irrelevant: electromagnetic torque Te=(1/ ω) E
oI
qWherein, E0 is the induced potential that rotor magnetic pole produces in stator winding, and Id, Iq are stator rectangular axis electric current, and Ld, Lq are stator rectangular axis inductance, and R is a stator winding resistance, and ω is the synchro angle frequency;
Position loop, the speed of digital signal processor DSP control linear electric motors are changed road, current loop.
As a preferred embodiment of the present invention, the motor position pulse command has some kinds of modes, according to the different counting mode of the different switchings of parameter, by 16 add/down counter counts, and regularly read by data/address bus by DSP, data are through digital filtering and analyzing and processing, under position control mode, as the calculating of the P-pulse instruction participant position ring of motor; The motor speed dummy instruction makes bipolarity become unipolarity by hardware by adder, and be converted to digital quantity signal by AD converter, and the serial port by DSP reads in, and data are through digital filtering and analyzing and processing, under speed control mode, participate in the calculating of speed ring as speed command.
As a preferred embodiment of the present invention, before the software initialization stage, pwm signal was sent, DSP read ia, ib feedback current value earlier as zero current value, and the later value that reads is fiducial value comparison therewith all, i.e. software zeroing; Zero current value is very crucial data, for guaranteeing that fiducial value is correct, reads ia, ib value for several times at initial phase, and handles through digital filtering, finishes correctly reading of zero current value.AD converter links to each other with the serial port of DSP, and data directly enter internal memory by the DMA passage of DSP, do not interrupt the operation of DSP program.
Beneficial effect of the present invention is: linear motor driver and driving method that the present invention proposes, can finish the drive controlling to linear electric motors, and cost is lower.The present invention is fit to be applied to the high speed of big data quantity, real-time application scenario, can fully satisfy the demand of the required big data quantity of linear electric motors, high processing rate.Linear motor driver of the present invention is the structure of a current collection source, driving, control one, the strong and weak electricity control signal is mixed, for preventing the interference between the various types of signal such as strong and weak electricity, Switching Power Supply, layout to printed wiring board is carried out detailed mature consideration, take a series of anti-tampering, interference protection measures, in the power drives plate, the strong and weak electricity cabling separate as far as possible away from, and zero line, earth connection rational deployment.
Description of drawings
Fig. 1 is the composition schematic diagram of linear motor driver of the present invention.
Fig. 2 is the schematic diagram of feedback current sampling of the present invention.
Fig. 3 is the composition schematic diagram of keyboard of the present invention and display circuit.
Fig. 4 is a driving method parameter management operational block diagram of the present invention.
Fig. 5 is a driving method parameter management function definition schematic diagram of the present invention.
Fig. 6 is a driving method parameter setting operation block diagram of the present invention.
Embodiment
Describe the preferred embodiments of the present invention in detail below in conjunction with accompanying drawing.
Embodiment one
See also Fig. 1, the present invention has disclosed a kind of linear motor driver, and this driver comprises digital signal processor 1, Switching Power Supply 2, motor feedback position acquisition unit 3, motor feedback revolution speed calculating unit 4, motor feedback current acquisition unit 5, position ring arithmetic element 6, speed ring arithmetic element 7, vector control unit 8, drive circuit 9.Digital signal processor 1, Switching Power Supply 2 are connected with other unit respectively.
[digital signal processor DSP]
Digital signal processor DSP changes road, current loop in order to position loop, the speed of control linear electric motors.The Harvard structure that the inside of dsp chip adopts program and data to separate has special hardware multiplier, extensively adopts pile line operation, and special DSP instruction is provided, and can be used for realizing apace various digital signal processing algorithms.In the present embodiment, DSP adopts three-bus structure: external data bus, and outer address bus and dma bus, inner program internal memory data/address bus and data storage data/address bus are shared an external data bus; Inner program internal memory address bus and data memory addresses bus are shared an outer address bus.In addition, in the present embodiment, DSP supports new instruction, comprises the new arithmetic logic unit constant of bit operation (position setting, bit clear, position switching, bit test), and new multi-functional operation and displacement are rounded off.
Simultaneously, DSP comprises three independently computing unit: ALU, MAC, SHIFTER; ALU carries out the standard series of algebraical sum logical operation; MAC carries out monocyclic multiplication, takes advantage of/add, and takes advantage of/reducing (accumulating 40); The operation of the SHIFTER actuating logic and displacement arithmetic, standard, off-gauge and index, SHIFTER can be used as effective actual figure character form control and comprise multiword and floating point representation bulk.
In the present embodiment, DSP can respond 13 interrupt signals: 6 external interrupt (edge inductions, the induction of two level and three can reset) and 7 internal interrupt, they are respectively by timer, serial port, BDMA, POWER-DOWN and reset circuit generation.DSP provides the sign pin of 13 conventional purposes, and the input and output pin among the SPROT1 can be arranged to input sign or output identification.In addition, 8 programmable I/O signs and 3 output identifications are arranged.Programmable timer internal can produce the interruption in cycle.
[Switching Power Supply]
In the digital ac servo drive system, need multichannel control power supply, the reliability of control power supply is very crucial in the whole system operate as normal, the needs+5V of system ,-the 5V power supply, multichannel in the power drive+15V power supply.Because system bulk is less, the designing requirement miniaturization of power supply, difficulty is higher.This power supply is designed to Switching Power Supply, selects the Switching Power Supply with following characteristics for use:
(1), volume is little, in light weight, cost is low, built-in current detects MOSFET, has self-protection function.
(2), gate-drive efficient is higher, can reduce switching loss, maximum duty cycle 70% can reduce loss.
(3), described Switching Power Supply comprises temperature protection unit, outside overcurrent protection unit, output overloading protected location, Overvoltage protecting unit, under-voltage locking unit.Make Switching Power Supply 2 that the kinds of protect function specifically be arranged: temperature protection, outside overcurrent protection, output overloading protection, overvoltage protection, functions such as under-voltage locking.
(4), input voltage range is wide: AC85V-AC265V.
(5), soft start function.
[drive circuit]
In the digital ac servo drive system, power driving circuit has automatic protection functions, itself has intelligent IPM (the Intelligent Power Module) module of driving.This module has overvoltage, under-voltage, overcurrent, automatic protection functions such as overheated, and driving interface only needs the high speed photo coupling isolation drive, simplifies peripheral circuit greatly, improves system reliability.
The new unit of selecting for use on the power drives plate has all been done a large amount of tests, as continuous operation, overlond running, high temperature ageing etc., has guaranteed the application safely and reliably on product of these new units.
[motor feedback position acquisition unit]
Motor feedback position acquisition unit 3 is in order to obtain the physical location of rotor; Motor rotor position is delivered to interface circuit by encoder, is regularly read by data/address bus by DSP, and data obtain the physical location of rotor through digital filtering and analyzing and processing.In the present embodiment, motor rotor position is delivered to special interface circuit by encoder, and by the hardware quadruple, then to 16 add/down counter counts, regularly read by data/address bus by DSP, data obtain the rotor physical location of motor through digital filtering and analyzing and processing, calculate the actual speed of motor according to the Measuring Time value.
The motor position pulse command has three kinds of modes, according to the different counting mode of the different switchings of parameter, by 16 add down counter count, and regularly read by data/address bus by DSP, data are through digital filtering and analyzing and processing, under position control mode, as the calculating of the P-pulse of motor instruction participant position ring.
[motor feedback revolution speed calculating unit]
Motor feedback revolution speed calculating unit 4 is in order to the physical location of the rotor that obtains according to described motor feedback position acquisition unit, the actual speed that Measuring Time calculates motor.
The velocity simulate instruction makes bipolarity become unipolarity by hardware by adder, and be converted to digital quantity signal by AD converter, and the serial port by DSP reads in, and data are through digital filtering and analyzing and processing, under speed control mode, participate in the calculating of speed ring as speed command.
[motor feedback current acquisition unit]
Motor feedback current acquisition unit 5 is utilized resistance sampling, isolates by the linear light lotus root and gives AD converter, and analog signal conversion is that digital quantity is after serial port is given DSP.In the present embodiment, after utilizing resistance sampling, give AD converter by the isolation of linear light lotus root, analog signal conversion is that digital quantity is after serial port is given DSP, zero-bit is adjusted setting automatically by software, feedback factor also can be provided with flexibly by parameter, has so just save potentiometer and other discrete device in the analog circuit, makes full use of digitized advantage.By experiment, realize that the employing resistance sampling replaces HALL element, the more approaching desirable current waveform of the actual current of motor, show that mainly tracking response is faster, the current feedback loop lag time is shorter, thereby analyzes theoretically, and it is quiet, dynamic property should be better.
See also Fig. 2, in the present embodiment, in order to guarantee not reduce the prerequisite decline low production cost of performance, described motor feedback current acquisition unit 5 is obtained ia, the ib among three-phase current component ia, ib, the ic, then passes through computed in software third phase current i c value according to ia, ib value.Can not only reduce cost, reduce hardware like this, the software overhead time that can also reduce by an A/D passage and read the A/D passage.
[position ring arithmetic element]
Position ring arithmetic element 6 adopts the negative feedback control model, and motor position pulse command and rotor physical location participate in the proportional controller computing as input variable, and speed command is exported as operation result, the computing of completing place ring program.
Because HALL element cost is higher, as a kind of feedback element, its stability, sensitivity and the linearity is all had higher requirement.In the present embodiment, position ring adopts the negative feedback control model, in order to improve dynamic responding speed, has also added feedfoward control.Motor position pulse command and rotor physical location participate in proportional controller computing (P pattern) as input variable, and speed command is exported as operation result, the computing of completing place ring program.
[speed ring arithmetic element]
Speed ring arithmetic element 7 adopts the negative feedback control model, and speed command and motor actual speed participate in the proportional and integral controller computing as input variable, and torque command is exported as operation result, finishes the computing of speed ring subprogram.
In the present embodiment, speed ring also adopts the negative feedback control model.Speed command and motor actual speed participate in proportional and integral controller computing (PI pattern) as input variable, and torque command is exported as operation result, finishes the computing of speed ring subprogram.
For reducing speed overshoot, the pi regulator that in the computing of speed ring subprogram, adopts the band integration to separate.The integration burble point of setting speed ring pi regulator, when velocity error surpasses the value of setting, speed regulator becomes the P adjuster by pi regulator.
[vector control unit]
Vector control unit 8 its controlling object are synchronous machine, at I
d=I
qUnder the situation of rotor structure symmetry, the electromagnetic torque of permanent magnet synchronous motor and I
dIrrelevant: electromagnetic torque Te=(1/ ω) E
oI
qWherein, E
0Be the induced potential that rotor magnetic pole produces, I in stator winding
d, I
qBe stator rectangular axis electric current, L
d, L
qBe stator rectangular axis inductance, R is a stator winding resistance, and ω is the synchro angle frequency.
Because controlling object is a synchronous machine, at I
d=I
qUnder the situation of rotor structure symmetry, the electromagnetic torque of permanent magnet synchronous motor and I
dIrrelevant: electromagnetic torque TE=(1/ ω) E
oI
qWherein, E0 is the induced potential that rotor magnetic pole produces in stator winding; I
d, I
qBe stator rectangular axis electric current; L
d, L
qBe stator rectangular axis inductance; R is a stator winding resistance; ω is the synchro angle frequency.
Because the stator direct-axis current does not influence the electromagnetic torque of permanent magnet synchronous motor, thereby can control I
d=0, make not produce excitation component in its stator current, only produce moment components, can keep air-gap flux constant in the same old way.
Like this, under same electromagnetic torque situation, minimum stator current can obtain, i.e. I
q=I, I are current of electric, and its stator voltage has following relational expression:
Principle of vector control all has argumentation in many monographs, only provide the Direct Transform formula of three-phase current component ia, ib, ic here, wherein θ
2Be rotor intermittent angle position:
For the autocontrol (native system employing) of θ=90 °, i
d=0, i
q=I
1, I
1Be current of electric.
See also Fig. 1, Fig. 3, linear motor driver of the present invention also comprises keyboard and display circuit, keyboard and display circuit make full use of the serial port structure of DSP, utilize two strings-and chip, directly finish timing scan to keyboard and display with software, read key assignments and video data by matrix-scanning, saved special-purpose keyboard and display device, make hardware configuration succinct, reliable.
More than introduced the driver of the linear electric motors of the present invention's announcement, the present invention also discloses its driving method when disclosing above-mentioned linear motor driver.The driving method of above-mentioned linear motor driver mainly comprises the steps:
Steps A, motor feedback position acquisition unit are obtained the physical location of rotor; Motor rotor position is delivered to interface circuit by encoder, is regularly read by data/address bus by DSP, and data obtain the physical location of rotor through digital filtering and analyzing and processing;
The physical location of the rotor that step B, motor feedback revolution speed calculating unit obtains according to described motor feedback position acquisition unit, the actual speed that Measuring Time calculates motor;
Step C, motor feedback current acquisition unit are utilized resistance sampling, isolate by the linear light lotus root and give AD converter, and analog signal conversion is that digital quantity is after serial port is given DSP;
Step D, position ring arithmetic element adopt the negative feedback control model, and motor position pulse command and rotor physical location participate in the proportional controller computing as input variable, and speed command is exported as operation result, the computing of completing place ring program;
Step e, speed ring arithmetic element adopt the negative feedback control model, and speed command and motor actual speed participate in the proportional and integral controller computing as input variable, and torque command is exported as operation result, finishes the computing of speed ring subprogram;
The controlling object of step F, vector control unit is a synchronous machine, and under the situation of Id=Iq rotor structure symmetry, the electromagnetic torque of permanent magnet synchronous motor and Id are irrelevant: electromagnetic torque Te=(1/ ω) E
oI
qWherein, E0 is the induced potential that rotor magnetic pole produces in stator winding, and Id, Iq are stator rectangular axis electric current, and Ld, Lq are stator rectangular axis inductance, and R is a stator winding resistance, and ω is the synchro angle frequency;
Position loop, the speed of step G, digital signal processor DSP control linear electric motors are changed road, current loop.
In sum, the driver and the driving method of the linear electric motors that the present invention proposes can finish the drive controlling to linear electric motors, and cost are lower.The present invention is fit to be applied to the high speed of big data quantity, real-time application scenario, can fully satisfy the demand of the required big data quantity of linear electric motors, high processing rate.Linear motor driver of the present invention is the structure of a current collection source, driving, control one, the strong and weak electricity control signal is mixed, for preventing the interference between the various types of signal such as strong and weak electricity, Switching Power Supply, layout to printed wiring board is carried out detailed mature consideration, take a series of anti-tampering, interference protection measures, in the power drives plate, the strong and weak electricity cabling separate as far as possible away from, and zero line, earth connection rational deployment.
Embodiment two
In the present embodiment, for the position and the speed that can read mover, in the linear motor stator electric side increment type grating chi LS1378C of HEIDENHAIN has been installed, the signal period is 1um, and promptly the mover stroke of 1mm can feed back 1000 pulses.The pole span of linear electric motors is 32mm, then just corresponding 32000 pulses of electrical distance.
In order to read the initial stop state of mover, also installed and the relatively-stationary hall device of mover coil mechanical location in the mover side at power-up state.
Speed detects generally M method, T method, and four kinds of M/T method and change M/T methods are wherein the highest with last a kind of detection method precision especially.
Become pulse M1 and high-frequency clock pulse M2 that the M/T method promptly not only measures encoder, and Measuring Time TC is also changing, purpose is that to remain TC be complete encoder pulse signal period sum, therefore, no matter in low speed and high regime, all can both obtain precision preferably, but need the complicated hardware structure to support some logic determines.
If adopt the M method, then
N=60*ml/P*Tc, unit: rice/minute
Wherein: P=106 is the 1 meter received umber of pulse of advancing
In practical programs, get Tc=50*10-6 second as interrupting the time in sampling period, also be time interrupt cycle of electric current loop, thereby guarantee real-time control and calculating current of electric and rotor position.
The present invention uses extensive logical circuit FPGA, utilize its flexibly, the design feature of software implementation, the logical construction of complexity is solidified in wherein, and combines with software, finished high-precision test to speed.
Embodiment three
See also Fig. 3-Fig. 6, the difference of present embodiment and above embodiment is that in the present embodiment, system of the present invention comprises the administration module of parameter.The servo-driver parameter is divided into customer parameter (table 1 is the customer parameter table of present embodiment), system parameters and development parameters, by the different rank of Password Management.High-level password can also be operated the low level parameter equally except that observing and revise this rank parameter.
| Sequence number | Title | Applicable pattern | Parameter area | Factory-said value | Unit |
| ??0 | Password | ??P，S | ??0～9999 | ??315 | |
| ??1 | Drive model | ??P，S | ??0～19 | ??0* | |
| ??2 | Software version (read-only) | ??P，S | ??* | ??* | |
| ??3 | Initial show state | ??P，S | ??0～20 | ??0 | |
| ??4 | Control mode is selected | ??P，S | ??0～5 | ??0 | |
| ??5 | The speed proportional gain | ??P，S | ??5～2000 | ??100* | ??Hz |
| Sequence number | Title | Applicable pattern | Parameter area | Factory-said value | Unit |
| ??6 | The rate integrating time constant | ??P，S | ??1～1000 | ??20* | ??mS |
| ??7 | The acceleration and deceleration time constant | ??P，S | ??1～10000 | ??1 | ??mS |
| ??8 | Speed detects low pass filter | ??P，S | ??20～500 | ??100 | ??％ |
| ??9 | The position proportional gain | ??P | ??1～1000 | ??40 | ??1/S |
| ??10 | The position feed-forward gain | ??P | ??0～100 | ??0 | ??％ |
| ??11 | The position feed-forward low pass filter cutoff frequency | ??P | ??1～1200 | ??300 | ??Hz |
| ??12 | Position command pulse frequency division molecule | ??P | ??1～32767 | ??1 | |
| ??13 | Position command pulse frequency division denominator | ??P | ??1～32767 | ??1 | |
| ??14 | Position command pulse input mode | ??P | ??0～2 | ??0 | |
| ??15 | The negate of position command pulse direction | ??P | ??0～1 | ??0 | |
| ??16 | Scope is finished in the location | ??P | ??0～30000 | ??20 | Pulse |
| ??17 | The overproof detection range in position | ??P | ??0～30000 | ??400 | * 100 pulses |
| ??18 | The overproof mistake in position is invalid | ??P | ??0～1 | ??0 | |
| ??19 | Keep | ||||
| ??20 | It is invalid that driving is forbidden importing | ??P，S | ??0～1 | ??0 | |
| ??21 | The JOG speed of service | ??S | ??-3000～30 ??00 | ??120 | ??r/min |
| ??22 | Keep | ||||
| ??23 | The maximum speed restriction | ??P，S | ??0～3000 | ??2000 | ??r/min |
| Sequence number | Title | Applicable pattern | Parameter area | Factory-said value | Unit |
| ??24 | Internal speed 1 | ??S | ??-3000～30 ??00 | ??0 | ??r/min |
| ??25 | Internal speed 2 | ??S | ??-3000～30 ??00 | ??100 | ??r/min |
| ??26 | Internal speed 3 | ??S | ??-3000～30 ??00 | ??300 | ??r/min |
| ??27 | Internal speed 4 | ??S | ??-3000～30 ??00 | ??-100 | ??r/min |
| ??28 | Arrival rate | ??S | ??0～3000 | ??500 | ??r/min |
| ??29 | Keep | ||||
| ??30 | Space rate conversion molecule | ??P，S | ??1～32767 | ??10 | |
| ??31 | Space rate conversion denominator | ??P，S | ??1～32767 | ??1 | |
| ??32 | The space rate scaling position | ??P，S | ??0～5 | ??3 | |
| ??33 | Keep | ||||
| ??34 | Inner CCW torque limit | ??P，S | ??0～300 | ??300* | ??％ |
| ??35 | Inner CW torque limit | ??P，S | ??-300～0 | ??-300* | ??％ |
| ??36 | Outside CCW torque limit | ??P，S | ??0～300 | ??100 | ??％ |
| ??37 | Outside CW torque limit | ??P，S | ??-300～0 | ??-100 | ??％ |
| ??38 | Speed trial run, JOG move torque limit | ??S | ??0～300 | ??100 | ??％ |
| ??40 | Output electronic gear molecule | ??P，S | ??1～16383 | ??1 | |
| ??41 | Output electronic gear denominator | ??P，S | ??1～16383 | ??1 |
| Sequence number | Title | Applicable pattern | Parameter area | Factory-said value | Unit |
| ??42 | Inside and outside speed command is selected | ??S | ??0～1 | ??1 | |
| ??43 | Analog rate instruction gain | ??S | ??10～3000 | ??300 | ??(r/min)/ ??V |
| ??44 | The negate of analog rate command direction | ??S | ??0～1 | ??0 | |
| ??45 | Analog rate instruction zero offset compensation | ??S | ??-5000～50 | ??0 | |
| ??00 | |||||
| ??46～ ??59 | Keep |
Table 1
Parameter management has 5 kinds of patterns:
Parameter writes, and expression writes the parameter in the internal memory parameter region of EEPROM.User's modification parameter, only make that parameter value has changed in the internal memory, power on next time and can revert to original numerical value.If think forever to change parameter value, just need the execution parameter write operation, parameter in the internal memory is written in the parameter region of EEPROM, power on later on and will use amended parameter.
Parameter reads, and expression is read the data of the parameter region of EEPROM in the internal memory.This process can automatically perform once when powering on, and during beginning, is the same in the parameter region of memory parameters value and EEPROM.But user's modification parameter, will change parameter value in the internal memory, when the user to amended parameter dissatisfied or parameter transferred when random, the execution parameter read operation can be read data in the parameter region of EEPROM in the internal memory once more, reverts to the parameter that has just powered on.
Parameter backup, expression write the parameter in the internal memory backup area of EEPROM.Whole EEPROM is divided into parameter region and two zones of backup area, can store two cover parameters.System powers on, parameter writes and the parameter region of parameter read operation use EEPROM, and the backup area of EEPROM is then used in parameter backup and recovery backup.In the parameter setting up procedure, if the user is satisfied to one group of parameter, but also want to continue to revise, can first execution parameter backup operation, preserve the backup area of memory parameters to EEPROM, and then the modification parameter, if deleterious, can be with recovering backup operation, the parameter that will be kept at the backup area of EEPROM last time is read in the internal memory, can revise once more or finish then.In addition, after the user sets parameter, can execution parameter write and two operations of parameter backup, make the data of the parameter region of EEPROM and backup area just the same, parameter is modified accidentally after preventing, can also enable the recovery backup operation, and the data of the backup area of EEPROM are read in the internal memory, use the parameter write operation again, memory parameters is written in the parameter region of EEPROM.
Recover backup, expression is read the data of the backup area of EEPROM in the internal memory.This operation does not have the execution parameter write operation, still is that the data of parameter region of EEPROM are read in the internal memory when power on next time.If the user wants to make the parameter of the backup area of permanent use EEPROM, also need to carry out the primary parameter write operation.
Recover default value, expression is read the default value (factory-said value) of all parameters in the internal memory, and is written in the parameter region of EEPROM, and next electricity will use default parameter.When the user transfers parameter disorderly, in the time of can't operate as normal, use this operation, all parameters can be reverted to factory state.
Here description of the invention and application is illustrative, is not to want with scope restriction of the present invention in the above-described embodiments.Here the distortion of disclosed embodiment and change are possible, and the various parts of the replacement of embodiment and equivalence are known for those those of ordinary skill in the art.Those skilled in the art are noted that under the situation that does not break away from spirit of the present invention or substantive characteristics, and the present invention can be with other form, structure, layout, ratio, and realize with other assembly, material and parts.Under the situation that does not break away from the scope of the invention and spirit, can carry out other distortion and change here to disclosed embodiment.
Claims (10)
1. the driver of linear electric motors is characterized in that, this driver comprises:
Digital signal processor DSP changes road, current loop in order to position loop, the speed of control linear electric motors;
Switching Power Supply is connected with described digital signal processor DSP;
Drive circuit comprises automatic protected location;
Motor feedback position acquisition unit is in order to obtain the physical location of rotor; Motor rotor position is delivered to interface circuit by encoder, is regularly read by data/address bus by DSP, and data obtain the physical location of rotor through digital filtering and analyzing and processing;
Motor feedback revolution speed calculating unit is in order to the physical location of the rotor that obtains according to described motor feedback position acquisition unit, the actual speed that Measuring Time calculates motor;
Motor feedback current acquisition unit is utilized resistance sampling, isolates by the linear light lotus root and gives AD converter, and analog signal conversion is that digital quantity is after serial port is given DSP;
The position ring arithmetic element adopts the negative feedback control model, and motor position pulse command and rotor physical location participate in the proportional controller computing as input variable, and speed command is exported as operation result, the computing of completing place ring program;
The speed ring arithmetic element adopts the negative feedback control model, and speed command and motor actual speed participate in the proportional and integral controller computing as input variable, and torque command is exported as operation result, finishes the computing of speed ring subprogram;
Vector control unit, its controlling object are synchronous machine, rotor structure symmetry I
d=I
q, the electromagnetic torque of permanent magnet synchronous motor and I
dIrrelevant: electromagnetic torque Te=(1/ ω) E
oI
qWherein, E
0Be the induced potential that rotor magnetic pole produces, I in stator winding
d, I
qBe stator rectangular axis electric current, L
d, L
qBe stator rectangular axis inductance, R is a stator winding resistance, and ω is the synchro angle frequency.
2. the driver of linear electric motors according to claim 1 is characterized in that:
In the described motor feedback position acquisition unit, motor rotor position is delivered to special interface circuit by encoder, and by the hardware quadruple, then to 16 add/down counter counts, regularly read by data/address bus by DSP, data obtain the physical location of rotor through digital filtering and analyzing and processing.
3. the driver of linear electric motors according to claim 1 is characterized in that:
In the described motor feedback current acquisition unit, obtain ia, ib among three-phase current component ia, ib, the ic, calculate third phase current i c value according to ia, ib value.
4. the driver of linear electric motors according to claim 1 is characterized in that:
Described DSP comprises ALU computing unit, MAC computing unit, SHIFTER computing unit;
ALU carries out the standard series of algebraical sum logical operation;
MAC carries out monocyclic multiplication, takes advantage of/add, and takes advantage of/reducing;
The SHIFTER actuating logic and displacement arithmetic, standard, off-gauge and index operation, SHIFTER is used as effective actual figure character form control and comprises multiword and floating point representation bulk.
5. the driver of linear electric motors according to claim 1 is characterized in that:
Described drive circuit is that automatic protected location comprises Overvoltage protecting unit, under-voltage protection unit, over-current protecting unit, overtemperature protection unit;
Described Switching Power Supply comprises temperature protection unit, outside overcurrent protection unit, output overloading protected location, Overvoltage protecting unit, under-voltage locking unit.
6. the driver of linear electric motors according to claim 1 is characterized in that:
The motor position pulse command has some kinds of modes, according to the different counting mode of the different switchings of parameter, by 16 add/down counter counts, and regularly read by data/address bus by DSP, data are through digital filtering and analyzing and processing, under position control mode, as the calculating of the P-pulse of motor instruction participant position ring;
The motor speed dummy instruction makes bipolarity become unipolarity by hardware by adder, and be converted to digital quantity signal by AD converter, and the serial port by DSP reads in, and data are through digital filtering and analyzing and processing, under speed control mode, participate in the calculating of speed ring as speed command.
7. the driver of linear electric motors according to claim 1 is characterized in that:
Before the software initialization stage, pwm signal was sent, DSP read ia, ib feedback current value earlier as zero current value, and the later value that reads is fiducial value comparison therewith all, i.e. software zeroing; Zero current value is very crucial data, for guaranteeing that fiducial value is correct, reads ia, ib value for several times at initial phase, and handles through digital filtering, finishes correctly reading of zero current value;
AD converter links to each other with the serial port of DSP, and data directly enter internal memory by the DMA passage of DSP, do not interrupt the operation of DSP program.
8. the driving method of the driver of the described linear electric motors of one of claim 1 to 7 is characterized in that, this method comprises the steps:
Motor feedback position acquisition unit is obtained the physical location of rotor; Motor rotor position is delivered to interface circuit by encoder, is regularly read by data/address bus by DSP, and data obtain the physical location of rotor through digital filtering and analyzing and processing;
The physical location of the rotor that motor feedback revolution speed calculating unit obtains according to described motor feedback position acquisition unit, the actual speed that Measuring Time calculates motor;
Motor feedback current acquisition unit is utilized resistance sampling, isolates by the linear light lotus root and gives AD converter, and analog signal conversion is that digital quantity is after serial port is given DSP;
The position ring arithmetic element adopts the negative feedback control model, and motor position pulse command and rotor physical location participate in the proportional controller computing as input variable, and speed command is exported as operation result, the computing of completing place ring program;
The speed ring arithmetic element adopts the negative feedback control model, and speed command and motor actual speed participate in the proportional and integral controller computing as input variable, and torque command is exported as operation result, finishes the computing of speed ring subprogram;
The controlling object of vector control unit is a synchronous machine, I
d=I
qThe rotor structure symmetry, the electromagnetic torque of permanent magnet synchronous motor and I
dIrrelevant: electromagnetic torque Te=(1/ ω) E
oI
qWherein, E
0Be the induced potential that rotor magnetic pole produces, I in stator winding
d, I
qBe stator rectangular axis electric current, L
d, L
qBe stator rectangular axis inductance, R is a stator winding resistance, and ω is the synchro angle frequency;
Position loop, the speed of digital signal processor DSP control linear electric motors are changed road, current loop.
9. driving method according to claim 8 is characterized in that:
The motor position pulse command has some kinds of modes, according to the different counting mode of the different switchings of parameter, by 16 add/down counter counts, and regularly read by data/address bus by DSP, data are through digital filtering and analyzing and processing, under position control mode, as the calculating of the P-pulse of motor instruction participant position ring;
The motor speed dummy instruction makes bipolarity become unipolarity by hardware by adder, and be converted to digital quantity signal by AD converter, and the serial port by DSP reads in, and data are through digital filtering and analyzing and processing, under speed control mode, participate in the calculating of speed ring as speed command.
10. driving method according to claim 8 is characterized in that:
Before the software initialization stage, pwm signal was sent, DSP read ia, ib feedback current value earlier as zero current value, and the later value that reads is fiducial value comparison therewith all, i.e. software zeroing; Zero current value is very crucial data, for guaranteeing that fiducial value is correct, reads ia, ib value for several times at initial phase, and handles through digital filtering, finishes correctly reading of zero current value;
AD converter links to each other with the serial port of DSP, and data directly enter internal memory by the DMA passage of DSP, do not interrupt the operation of DSP program.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910197818A CN101697467A (en) | 2009-10-28 | 2009-10-28 | Driver of linear motor and driving method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910197818A CN101697467A (en) | 2009-10-28 | 2009-10-28 | Driver of linear motor and driving method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102664569A (en) * | 2012-05-07 | 2012-09-12 | 上海电机学院 | Sliding-mode-variable-structure-based control method and device for permanent-magnet synchronous linear motor |
| CN103235619A (en) * | 2013-04-18 | 2013-08-07 | 浙江工业大学 | Automatic control system for electric clamping jaw and special device of automatic control system |
| CN107863918A (en) * | 2016-09-21 | 2018-03-30 | 广明光电股份有限公司 | Protection method for motor control command |
| CN113848499A (en) * | 2021-09-28 | 2021-12-28 | 珠海格力电器股份有限公司 | Parameter monitoring method and device of driving power supply and driving power supply system |
-
2009
- 2009-10-28 CN CN200910197818A patent/CN101697467A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102664569A (en) * | 2012-05-07 | 2012-09-12 | 上海电机学院 | Sliding-mode-variable-structure-based control method and device for permanent-magnet synchronous linear motor |
| CN103235619A (en) * | 2013-04-18 | 2013-08-07 | 浙江工业大学 | Automatic control system for electric clamping jaw and special device of automatic control system |
| CN107863918A (en) * | 2016-09-21 | 2018-03-30 | 广明光电股份有限公司 | Protection method for motor control command |
| CN107863918B (en) * | 2016-09-21 | 2021-03-23 | 达明机器人股份有限公司 | Protection method for motor control command |
| CN113848499A (en) * | 2021-09-28 | 2021-12-28 | 珠海格力电器股份有限公司 | Parameter monitoring method and device of driving power supply and driving power supply system |
| CN113848499B (en) * | 2021-09-28 | 2022-11-11 | 珠海格力电器股份有限公司 | Parameter monitoring method and device of driving power supply and driving power supply system |
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