CN102739146A - Servo control system - Google Patents
Servo control system Download PDFInfo
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- CN102739146A CN102739146A CN2011100908018A CN201110090801A CN102739146A CN 102739146 A CN102739146 A CN 102739146A CN 2011100908018 A CN2011100908018 A CN 2011100908018A CN 201110090801 A CN201110090801 A CN 201110090801A CN 102739146 A CN102739146 A CN 102739146A
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Abstract
The invention discloses a servo control system. Because of possessing a plurality of servo motor driving interfaces, the servo control system can control synchronous operation or respective independent operation of a plurality of motors. And one kind can be selected through parameter configuration. Flexible control and good applicability are achieved. Besides, according to the invention, through a position feedback interface circuit, multiform position feedbacks can be compatible. In the current servo control system, a driver can only support one form of encoder. By using the system of the invention, the above disadvantage can be overcome. Usage is convenient and cost is low.
Description
Technical field
The present invention relates to servo system, in particular, the present invention relates to a kind of servo-control system of controlling motor.
Background technology
Servo system: be outputs such as the position that makes object, orientation, state, can follow any variation of input variable (or set-point) and the automatic control system that changes.And in automatic control system, can be called servomechanism with the system of certain accuracy responsive control signal, also claim servo system.
Servo main task is the requirement by control command, to power amplify, processing such as conversion and regulation and control, make moment, speed and the Position Control of drive unit output get very flexible.The development of servo system has been experienced by hydraulic pressure to electric process, and the electrical servo system is divided into direct current (DC) servo system and exchanges (AC) servo system according to institute's drive motors type.
General standard configuration is servomotor of a servo driver drives in the present existing AC servo; In practical application; Drive how many platform motors and must be equipped with how many platform servo-drivers, so just the installing space to servo-driver has bigger requirement; In the practical application in industrial automation field; There are a lot of occasions to need the above servomotor driven in synchronism controlling object operation of Liang Tai and two obtaining motion control effect preferably, say it is difficult from control precision to obtain satisfied control effect and adopt the scheme of a servomotor of a servo driver drives to handle two motor-driven that Synchronization Control requires.
In addition, the present product servo on the industrial automation market, to encoder require increasingly high, main flow or incremental encoder, it has tangible price advantage; The application scenario of high accuracy, fast-response then requires high-resolution absolute type encoder.The encoder feedback interface of various AC servo drivers in the market only is applicable to wherein a kind of, can't realize the compatibility to incremental encoder and absolute type encoder.
Summary of the invention
The technical problem that the present invention solves provides a kind of servo-control system that can drive many servomotors simultaneously and support multiple position feedback; Guarantee high precision synchronous control effect to be implemented in; Also saved the installing space of driver simultaneously, improved and made the assembling man-haur efficiency; Also can support simultaneously the feedback of multiple encoder, possess good practicality.
For addressing the above problem, the present invention adopts following technical scheme:
A kind of servo-control system, external AC power supply, it comprises:
Power control circuit is used to control the required working power of said AC power output;
A plurality of AC-DC-AC power main circuits link to each other with said power control circuit, and the working power of said power control circuit output is carried out the variable-frequency variable-voltage conversion;
A plurality of space vector pulse width modulation integrated circuits link to each other with described a plurality of AC-DC-AC power main circuits respectively, are used for the operating voltage of AC-DC-AC power main circuit is modulated;
A plurality of servomotors, the output with said a plurality of AC-DC-AC power main circuits links to each other respectively;
The position feedback interface circuit that comprises a plurality of position feedback interfaces that links to each other with the encoder of said a plurality of servomotors is used for converting the encoder output of each servomotor into the logical controlling input signal;
Logic control circuit is used for the logic control input signal feedback logical controlling signal according to each servomotor;
Control processing circuit; Link to each other with above-mentioned power control circuit, a plurality of space vector pulse width modulation integrated circuit, logic control circuit respectively; Be used to carry out the control of keyboard scan, demonstration, parameter management, electric current loop/speed ring/position ring; The signal of RL control circuit feedback, the many groups of output modulation signal is given corresponding space vector pulse width modulation integrated circuit, the control power control circuit.
In addition, also comprise: the display circuit that links to each other with above-mentioned control processing circuit.
In addition, also comprise: the current detection circuit that links to each other with each AC-DC-AC power main circuit output.
Wherein, the encoder of each servomotor can comprise incremental encoder and/or absolute type encoder;
The position feedback interface circuit comprises encoder interfaces, incremental encoder interface management circuit, absolute type encoder interface management circuit, differential received testing circuit; The incremental encoder interface is connected with logic control circuit through the differential received testing circuit; The absolute type encoder interface is connected with logic control circuit through the differential interface chip; The external encoder of encoder interfaces, and come chosen position to feed back through the logic control circuit configure hardware and adopt incremental encoder or absolute type encoder.
Wherein, said control processing circuit can be the Digital Signal Processing control circuit.
Wherein, logic control circuit can be the CPLD logic control circuit.
Wherein, said display circuit can adopt the light emitting diode (LED) display screen curtain.
Compared with prior art, the present invention has following beneficial effect:
Servo-control system possesses a plurality of driven by servomotor interfaces among the present invention, can control the synchronous operation or the independent operating separately of multiple electric motors; And can select wherein a kind of through parameter configuration; Control is flexible, and applicability is good, in addition; Position feedback that can compatible various ways among the present invention through the position feedback interface circuit; Overcome driver in the existing servo-control system and can only support a kind of shortcoming of encoder of form, it is easy to use, and cost is also lower.
Description of drawings
Fig. 1 is a kind of specific embodiment block diagram of the servo-control system according to the present invention;
Fig. 2 is a kind of specific embodiment circuit diagram of the servo-control system according to the present invention;
Fig. 3 is a kind of specific embodiment circuit diagram of feedback interface circuit in position among Fig. 2.
Embodiment
Servo-control system of the present invention need realize a plurality of driven by servomotor interfaces, and with the synchronous operation or the independent operating separately of control multiple electric motors, for this reason, with reference to figure 1, the servo-control system of present embodiment is circumscribed with AC power 1, and it mainly comprises;
A plurality of AC-DC-AC power main circuits 3 link to each other with said power control circuit, and the working power of said power control circuit output is carried out the variable-frequency variable-voltage conversion;
A plurality of space vector pulse width modulation integrated circuits 4 link to each other with described a plurality of AC-DC-AC power main circuits respectively, are used for the operating voltage of AC-DC-AC power main circuit is modulated;
A plurality of servomotors 5, the output with said a plurality of AC-DC-AC power main circuits links to each other respectively;
The position feedback interface circuit 6 that comprises a plurality of position feedback interfaces that links to each other with the encoder of said a plurality of servomotors is used for converting the encoder output of each servomotor into the logical controlling input signal;
In addition, also can comprise in the servo-control system: current detection circuit 9 that links to each other with each AC-DC-AC power main circuit output and the display circuit 10 that links to each other with above-mentioned control processing circuit.
Control through control circuit in the foregoing description; Can realize controlling the synchronous operation of multiple electric motors or independent operating separately; And the feedback through position feedback interface circuit and logic control circuit, also can realize the compatibility of multiple encoder, utility model is higher.
Describe with preferred embodiment below.
With reference to figure 2; A kind of AC servo control system that drives two servomotors simultaneously and support two kinds of position feedback of present embodiment; Wherein servomotor is two, and the position feedback interface is two, and logic control circuit adopts the CPLD logic control circuit; Control processing circuit is the Digital Signal Processing control circuit, and display circuit adopts the light emitting diode (LED) display screen curtain.
As shown in Figure 2, servo-control system can be divided into control module, power model and display module according to function in the present embodiment, and power model is connected with control module respectively with display module; Control module comprises processing sub and position feedback interface sub-module; Processing sub comprises DSP and the CPLD that is connected; DSP also is connected with display module with power model respectively; The input of CPLD is connected with two-way position feedback interface sub-module respectively, and CPLD is through the external encoder of position feedback interface sub-module difference.In the present embodiment, the hardware interface of position feedback interface sub-module is provided with primary importance feedback interface and second place feedback interface, and two-way position feedback interface is used for position feedback elements such as encoder or grating chi separately.
As shown in Figure 3; Position feedback interface submodule comprises encoder interfaces, incremental encoder interface management circuit, absolute type encoder interface management circuit, differential received testing circuit in the present embodiment; Incremental encoder interface management circuit is connected with CPLD through the differential received testing circuit; Absolute type encoder interface management circuit is connected with CPLD through the differential interface chip; The external encoder of encoder interfaces, and come chosen position to feed back through CPLD and adopt incremental encoder or absolute type encoder.
As shown in Figure 1; Power model can comprise AC-DC-AC friendship power main circuit, control power circuit and two-way space vector pulse width modulation integrated circuit in the present embodiment; The control power circuit hands over the power main circuit to be connected with AC-DC-AC; DSP hands over the power main circuit to be connected through space vector pulse width modulation integrated circuit and AC-DC-AC, and AC-DC-AC is handed over external two motors of two-way output difference of power main circuit.
Wherein, The control power circuit is connected realization by DC/DC conversion submodule with power supply; The space vector pulse width modulation integrated circuit comprises PWM pulse-width modulation submodule and drive circuit module; PWM pulse-width modulation submodule is used to receive the control signal of DSP generation and export two groups of PWM voltage signals, through drive circuit module two groups of PWM voltage signals is delivered to AC-DC-AC respectively and hands over the power main circuit.
AC-DC-AC hands over the output of power main circuit also to be provided with the two-way current detection circuit; And be connected with DSP through current detection circuit; Monitor the output current that AC-DC-AC is handed over the power main circuit in real time through the current detecting submodule, guarantee two motors operate as normal separately.
In addition, as shown in Figure 2, display module can comprise LED display sub-module and storage submodule in this enforcement, and the LED display sub-module is connected with DSP respectively with the storage submodule.Wherein, the LED display sub-module adopts the LED display curtain.
The AC servo driver that drives two servomotors in the present embodiment and support two kinds of position feedback in use; Control module is its core; Wherein, DSP accomplishes the control of keyboard scan, demonstration, parameter management, completion electric current loop/speed ring/position ring and also exports two groups of pwm signals, and the task of CPLD is to handle the signal that the position feedback interface sub-module obtains and feed back to DSP; The control power circuit provides the AC servo driver working power in the power model; Two groups of pwm signals that the space vector pulse width modulation integrated circuit produces according to DSP modulate two groups of PWM voltage signals; Send AC-DC-AC to through interface circuit and hand over the power main circuit; Hand over the direct voltage in the power main circuit to carry out pulse-width modulation to AC-DC-AC; The alternating current that AC-DC-AC hands over the power main circuit that external ac power source is provided carries out the variable-frequency variable-voltage conversion, exports two motors of two-way AC power driving at last and works simultaneously.
The realization of position feedback is specific as follows in the foregoing description:
As shown in Figure 2, primary importance feedback interface submodule is identical with the interface shape of primary importance feedback interface submodule, all is suitable for incremental encoder, also is applicable to absolute type encoder or grating chi etc.Servo-driver comes the chosen position feedback to adopt incremental encoder or absolute type encoder through parameter configuration CPLD, can only select a kind of position feedback element separately.When the external incremental encoder of position feedback interface sub-module; Through incremental encoder interface management circuit and differential signal detection circuit; High-frequency interferencing signal in the filtering differential signal; Then signal is nursed one's health shaping, convert the internal logic level signal into and be input among the CPLD, count with sensing and handle; When the external absolute type encoder of position feedback interface sub-module; Signal process absolute type encoder interface management circuit and RS485 differential interface chip are input to count among the CPLD with sensing to be handled; RS485 differential interface chip is supported the NRG communications protocol: the NRG agreement by the river company that rubs proposes more, adopt semiduplex communication mode, maximum clock frequency 5MHz; Its agreement comprises mode sensor and the two-part content of register mode, and the communication module of agreement all is based on the CPLD design.
Though preferred embodiment of the present invention has disclosed as above, the present invention is not limited to the foregoing description, and any those skilled in the art are in the scope that does not break away from the present invention and disclosed, when doing a little change and adjustment.
Claims (7)
1. servo-control system, external AC power supply is characterized in that, comprising:
Power control circuit is used to control the required working power of said AC power output;
A plurality of AC-DC-AC power main circuits link to each other with said power control circuit, and the working power of said power control circuit output is carried out the variable-frequency variable-voltage conversion;
A plurality of space vector pulse width modulation integrated circuits link to each other with described a plurality of AC-DC-AC power main circuits respectively, are used for the operating voltage of AC-DC-AC power main circuit is modulated;
A plurality of servomotors, the output with said a plurality of AC-DC-AC power main circuits links to each other respectively;
The position feedback interface circuit that comprises a plurality of position feedback interfaces that links to each other with the encoder of said a plurality of servomotors is used for converting the encoder output of each servomotor into the logical controlling input signal;
Logic control circuit is used for the logic control input signal feedback logical controlling signal according to each servomotor;
Control processing circuit; Link to each other with above-mentioned power control circuit, a plurality of space vector pulse width modulation integrated circuit, logic control circuit respectively; Be used to carry out the control of keyboard scan, demonstration, parameter management, electric current loop/speed ring/position ring; The signal of RL control circuit feedback, the many groups of output modulation signal is given corresponding space vector pulse width modulation integrated circuit, the control power control circuit.
2. system according to claim 1 is characterized in that, also comprises: the display circuit that links to each other with above-mentioned control processing circuit.
3. system according to claim 1 is characterized in that, also comprises: the current detection circuit that links to each other with each AC-DC-AC power main circuit output.
4. system according to claim 1 is characterized in that the encoder of each servomotor comprises incremental encoder and/or absolute type encoder;
The position feedback interface circuit comprises encoder interfaces, incremental encoder interface management circuit, absolute type encoder interface management circuit, differential received testing circuit; The incremental encoder interface is connected with logic control circuit through the differential received testing circuit; The absolute type encoder interface is connected with logic control circuit through the differential interface chip; The external encoder of encoder interfaces, and come chosen position to feed back through the logic control circuit configure hardware and adopt incremental encoder or absolute type encoder.
5. according to each described system of claim 1-4, it is characterized in that said control processing circuit is the Digital Signal Processing control circuit.
6. according to each described system of claim 1-4, it is characterized in that logic control circuit is the CPLD logic control circuit.
7. system according to claim 2 is characterized in that, said display circuit adopts the light emitting diode (LED) display screen curtain.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110090801.8A CN102739146B (en) | 2011-04-12 | 2011-04-12 | Servo-control system |
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| CN201110090801.8A CN102739146B (en) | 2011-04-12 | 2011-04-12 | Servo-control system |
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| CN102739146B CN102739146B (en) | 2015-08-05 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103176450A (en) * | 2013-02-01 | 2013-06-26 | 北京配天大富精密机械有限公司 | Servo drive device and servo control system |
| CN104615015A (en) * | 2014-12-02 | 2015-05-13 | 江苏兆合电气有限公司 | Servo driver integrating rotary transformer and photoelectric encoder signal feedback |
| CN104779869A (en) * | 2014-01-11 | 2015-07-15 | 芜湖铭信机械制造有限公司 | Servo motor controller |
| CN109324541A (en) * | 2018-09-10 | 2019-02-12 | 广东工贸职业技术学院 | Kinetic control system |
| CN109656199A (en) * | 2018-12-26 | 2019-04-19 | 湖南航天机电设备与特种材料研究所 | Method of servo-controlling based on clock drive feedback quantity synchronization process |
| CN110557080A (en) * | 2019-08-06 | 2019-12-10 | 珠海格力电器股份有限公司 | Servo motor control method and device and computer readable medium |
| CN113067524A (en) * | 2021-03-09 | 2021-07-02 | 深圳市弦动科技有限公司 | Position information processing method of hub servo motor |
| CN114002997A (en) * | 2021-09-30 | 2022-02-01 | 武汉钢铁有限公司 | Control system and maintenance method thereof |
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| CN103176450A (en) * | 2013-02-01 | 2013-06-26 | 北京配天大富精密机械有限公司 | Servo drive device and servo control system |
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| CN104779869A (en) * | 2014-01-11 | 2015-07-15 | 芜湖铭信机械制造有限公司 | Servo motor controller |
| CN104615015A (en) * | 2014-12-02 | 2015-05-13 | 江苏兆合电气有限公司 | Servo driver integrating rotary transformer and photoelectric encoder signal feedback |
| CN109324541A (en) * | 2018-09-10 | 2019-02-12 | 广东工贸职业技术学院 | Kinetic control system |
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| CN110557080A (en) * | 2019-08-06 | 2019-12-10 | 珠海格力电器股份有限公司 | Servo motor control method and device and computer readable medium |
| CN113067524A (en) * | 2021-03-09 | 2021-07-02 | 深圳市弦动科技有限公司 | Position information processing method of hub servo motor |
| CN114002997A (en) * | 2021-09-30 | 2022-02-01 | 武汉钢铁有限公司 | Control system and maintenance method thereof |
| CN114002997B (en) * | 2021-09-30 | 2023-08-08 | 武汉钢铁有限公司 | Control system and overhauling method thereof |
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