CN102739146B - Servo-control system - Google Patents
Servo-control system Download PDFInfo
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- CN102739146B CN102739146B CN201110090801.8A CN201110090801A CN102739146B CN 102739146 B CN102739146 B CN 102739146B CN 201110090801 A CN201110090801 A CN 201110090801A CN 102739146 B CN102739146 B CN 102739146B
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Abstract
The present invention discloses a kind of servo-control system, because servo-control system possesses multiple driven by servomotor interface, can control the synchronous operation of multiple electric motors or respective independent operating; And can be selected wherein a kind of by parameter configuration, control flexibly, applicability is good, in addition, can the position feedback of compatible various ways by position feedback interface circuit in the present invention, overcome driver in 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
Technical field
The present invention relates to servo system, in particular, the present invention relates to a kind of servo-control system controlling motor.
Background technology
Servo system: be the output such as position, orientation, state making object, can follow any change of input variable (or set-point) and the automatic control system changed.And in automatic control system, servomechanism can be called with the system of certain accuracy responsive control signal, also known as servo system.
The main task of servo is the requirement by control command, and process such as amplifying power, convert and regulate and control, the moment that drive unit is exported, speed and Position Control obtain very flexible.The development experience of servo system is by hydraulic pressure to electric process, and electric servo-drive system is divided into direct current (DC) servo system according to institute's drive motors type and exchanges (AC) servo system.
In current existing AC servo, general standard configuration is servo driver drives servomotor, in actual applications, drive how many motors must be equipped with how many servo-drivers, so just have larger requirement to the installing space of servo-driver; In the practical application of industrial automation, have a lot of occasion to need more than Liang Tai and two servomotor synchronous drived control object to run to obtain good motion control effects, and two motors adopting the scheme of a servo driver drives servomotor to process Synchronization Control requirement drive to say it is compare to be difficult to obtain satisfied control effects from control precision.
In addition, the product servo on current industrial automation market, more and more higher to the requirement of encoder, main flow or incremental encoder, it has obvious 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 driver is in the market only applicable to wherein a kind of, cannot realize the compatibility to incremental encoder and absolute type encoder.
Summary of the invention
The technical problem that the present invention solves is to provide and a kind ofly can drives multiple stage servomotor simultaneously and support the servo-control system of multiple position feedback, to realize guaranteeing high-precision Synchronization Control effect, also save the installing space of driver simultaneously, improve and manufacture assembly work efficiency; Also can support the feedback of Multi-encoding device simultaneously, possess good practicality.
For solving the problem, the present invention adopts following technical scheme:
A kind of servo-control system, external AC power supply, it comprises:
Power control circuit, for controlling the working power needed for the output of described AC power;
Multiple AC-DC-AC power main circuit, is connected with described power control circuit, carries out variable-frequency variable-voltage conversion to the working power that described power control circuit exports;
Multiple space vector pulse width modulation integrated circuit, is connected with described multiple AC-DC-AC power main circuits, respectively for modulating the operating voltage in AC-DC-AC power main circuit;
Multiple servomotor, is connected with the output of described multiple AC-DC-AC power main circuit respectively;
The position feedback interface circuit comprising multiple position feedback interface be connected with the encoder of described multiple servomotor, for being converted to corresponding logic control input signal by the encoder output of each servomotor;
Logic control circuit, feeds back corresponding logic control signal for the logic control input signal according to each servomotor;
Control treatment circuit, be connected with above-mentioned power control circuit, multiple space vector pulse width modulation integrated circuit, logic control circuit respectively, for carrying out the control of keyboard scan, display, parameter management, electric current loop/speed ring/position ring, the signal of receive logic control circuit feedback, export many group modulation signals to corresponding space vector pulse width modulation integrated circuit, control power control circuit.
In addition, also comprise: the display circuit be connected with above-mentioned control treatment circuit.
In addition, also comprise: the current detection circuit be connected with each AC-DC-AC power main circuit output.
Wherein, the encoder of each servomotor can comprise incremental encoder and/or absolute type encoder;
Position feedback interface circuit comprises encoder interfaces, incremental encoder interface management circuitry, absolute type encoder interface management circuitry, differential received testing circuit, incremental encoder interface is connected by differential received testing circuit andlogic control circuit, absolute type encoder interface is connected by differential interface chip andlogic control circuit, the external encoder of encoder interfaces, and come chosen position feedback employing incremental encoder or absolute type encoder by logic control circuit configure hardware.
Wherein, described control treatment circuit can be Digital Signal Processing control circuit.
Wherein, logic control circuit can be CPLD logic control circuit.
Wherein, described display circuit can adopt light emitting diode (LED) display screen curtain.
Compared with prior art, the present invention has following beneficial effect:
In the present invention, servo-control system possesses multiple driven by servomotor interface, can control the synchronous operation of multiple electric motors or respective independent operating; And can be selected wherein a kind of by parameter configuration, control flexibly, applicability is good, in addition, can the position feedback of compatible various ways by position feedback interface circuit in the present invention, overcome driver in 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.
Accompanying drawing explanation
Fig. 1 is a kind of specific embodiment block diagram according to servo-control system of the present invention;
Fig. 2 is a kind of specific embodiment circuit diagram according to servo-control system of the present invention;
Fig. 3 is a kind of specific embodiment circuit diagram of feedback interface circuit in position in Fig. 2.
Embodiment
Servo-control system of the present invention needs to realize multiple driven by servomotor interface, and to control the synchronous operation of multiple electric motors or respective independent operating, for this reason, with reference to figure 1, the servo-control system of the present embodiment is circumscribed with AC power 1, and it mainly comprises;
Power control circuit 2, for controlling the working power needed for the output of described AC power;
Multiple AC-DC-AC power main circuit 3, is connected with described power control circuit, carries out variable-frequency variable-voltage conversion to the working power that described power control circuit exports;
Multiple space vector pulse width modulation integrated circuit 4, is connected with described multiple AC-DC-AC power main circuits, respectively for modulating the operating voltage in AC-DC-AC power main circuit;
Multiple servomotor 5, is connected with the output of described multiple AC-DC-AC power main circuit respectively;
The position feedback interface circuit 6 comprising multiple position feedback interface be connected with the encoder of described multiple servomotor, for being converted to corresponding logic control input signal by the encoder output of each servomotor;
Logic control circuit 7, feeds back corresponding logic control signal for the logic control input signal according to each servomotor;
Control treatment circuit 8, be connected with above-mentioned power control circuit, multiple space vector pulse width modulation integrated circuit, logic control circuit respectively, for carrying out the control of keyboard scan, display, parameter management, electric current loop/speed ring/position ring, the signal of receive logic control circuit feedback, export many group modulation signals to corresponding space vector pulse width modulation integrated circuit, control power control circuit.
In addition, also can comprise in servo-control system: the current detection circuit 9 be connected with each AC-DC-AC power main circuit output and the display circuit 10 be connected with above-mentioned control treatment circuit.
By the control of control circuit in above-described embodiment, can realize controlling the synchronous operation of multiple electric motors or respective independent operating, and pass through the feedback of position feedback interface circuit and logic control circuit, also can realize the compatibility of Multi-encoding device, utility model is higher.
Be described with preferred embodiment below.
With reference to figure 2, the present embodiment is a kind of to be driven two servomotors simultaneously and supports the AC servo control system of two kinds of position feedback, wherein servomotor is two, position feedback interface is two, logic control circuit adopts CPLD logic control circuit, control treatment circuit is Digital Signal Processing control circuit, and display circuit adopts light emitting diode (LED) display screen curtain.
As shown in Figure 2, in the present embodiment, servo-control system can be divided into control module, power model and display module according to function, and power model is connected with control module respectively with display module; Control module comprises process submodule and position feedback interface sub-module, process submodule comprises DSP and CPLD be connected, DSP is also connected with power model and display module respectively, the input of CPLD is connected with two-way position feedback interface sub-module respectively, and CPLD is by position feedback interface sub-module external encoder respectively.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 separately for the position feedback elements such as encoder or grating scale.
As shown in Figure 3, in the present embodiment, position feedback interface submodule comprises encoder interfaces, incremental encoder interface management circuitry, absolute type encoder interface management circuitry, differential received testing circuit, incremental encoder interface management circuitry is connected with CPLD by differential received testing circuit, absolute type encoder interface management circuitry is connected with CPLD by differential interface chip, the external encoder of encoder interfaces, and come chosen position feedback employing incremental encoder or absolute type encoder by CPLD.
As shown in Figure 1, in the present embodiment, power model can comprise AC-DC-AC friendship power main circuit, control power circuit and two-way space vector pulse width modulation integrated circuit, controlling power circuit hands over power main circuit to be connected with AC-DC-AC, DSP hands over power main circuit to be connected by space vector pulse width modulation integrated circuit with AC-DC-AC, and AC-DC-AC hands over two-way output external two motors respectively of power main circuit.
Wherein, control power circuit to be connected with power supply by DC/DC transform subblock and to realize, space vector pulse width modulation integrated circuit comprises PWM pulse-width modulation submodule and drive circuit module, two groups of PWM voltage signals, for receiving the control signal of DSP generation and exporting two groups of PWM voltage signals, are delivered to AC-DC-AC respectively by drive circuit module and are handed over power main circuit by PWM pulse-width modulation submodule.
AC-DC-AC hands over the output of power main circuit to be also provided with two-way current detection circuit, and be connected with DSP by current detection circuit, handed over the output current of power main circuit by current detecting submodule Real-Time Monitoring AC-DC-AC, ensure two motor normal work separately.
In addition, as shown in Figure 2, in this enforcement, display module can comprise LED display sub-module and data sub module stored, and LED display sub-module is connected with DSP respectively with data sub module stored.Wherein, LED display sub-module adopts LED display curtain.
Drive two servomotors in the present embodiment and the AC servo driver supporting two kinds of position feedback in use, control module is its core, wherein, DSP complete keyboard scan, display, parameter management, complete electric current loop/speed ring/position ring control and export two groups of pwm signals, the task of CPLD is the signal that obtains of process position feedback interface sub-module and feeds back to DSP; Control power circuit in power model and AC servo driver working power is provided, two groups of pwm signals that space vector pulse width modulation integrated circuit produces according to DSP modulate to obtain two groups of PWM voltage signals, send AC-DC-AC to by interface circuit and hand over power main circuit, the direct voltage in power main circuit is handed over to carry out pulse-width modulation to AC-DC-AC, AC-DC-AC hands over power main circuit to carry out variable-frequency variable-voltage conversion to the alternating current that external ac power source provides, and finally exports two-way AC power and drives two motors to work simultaneously.
In above-described embodiment position feedback realize specific as follows:
As shown in Figure 2, primary importance feedback interface submodule is identical with the interface shape of primary importance feedback interface submodule, is all suitable for incremental encoder, is also applicable to absolute type encoder or grating scale etc.Servo-driver carrys out chosen position feedback by parameter configuration CPLD and adopts incremental encoder or absolute type encoder, can only select a kind of position feedback elements separately.When the external incremental encoder of position feedback interface sub-module, through incremental encoder interface management circuitry and differential signal detection circuit, high-frequency interferencing signal in filtering differential signal, then conditioning shaping is carried out to signal, being converted to internal logic levels signal is input in CPLD, carries out counting and sensing process; When the external absolute type encoder of position feedback interface sub-module, signal is input in CPLD through absolute type encoder interface management circuitry and RS485 differential interface chip and carries out counting and sensing process, RS485 differential interface chip supports NRG communications protocol: the NRG agreement proposed by Duo Mo river company, 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 is all design based on CPLD.
Although preferred embodiment of the present invention has disclosed as above, the present invention has been not limited to above-described embodiment, any those skilled in the art, not departing from the scope disclosed by the present invention, when doing a little change and adjustment.
Claims (4)
1. a servo-control system, external AC power supply, is characterized in that, comprising:
Power control circuit, for controlling the working power needed for the output of described AC power;
Multiple AC-DC-AC power main circuit, is connected with described power control circuit, carries out variable-frequency variable-voltage conversion to the working power that described power control circuit exports;
Multiple space vector pulse width modulation integrated circuit, is connected with described multiple AC-DC-AC power main circuits, respectively for modulating the operating voltage in AC-DC-AC power main circuit;
Multiple servomotor, is connected with the output of described multiple AC-DC-AC power main circuit respectively;
The position feedback interface circuit comprising multiple position feedback interface be connected with the encoder of described multiple servomotor, for being converted to corresponding logic control input signal by the encoder output of each servomotor;
Logic control circuit, feeds back corresponding logic control signal for the logic control input signal according to each servomotor;
Control treatment circuit, be connected with above-mentioned power control circuit, multiple space vector pulse width modulation integrated circuit, logic control circuit respectively, for carrying out the control of keyboard scan, display, parameter management, electric current loop/speed ring/position ring, the signal of receive logic control circuit feedback, export many group modulation signals to corresponding space vector pulse width modulation integrated circuit, control power control circuit;
The encoder of each servomotor comprises incremental encoder and/or absolute type encoder;
Position feedback interface circuit comprises encoder interfaces, incremental encoder interface management circuitry, absolute type encoder interface management circuitry, differential received testing circuit, incremental encoder interface is connected by differential received testing circuit andlogic control circuit, absolute type encoder interface is connected by differential interface chip andlogic control circuit, the external encoder of encoder interfaces, and come chosen position feedback employing incremental encoder or absolute type encoder by logic control circuit configure hardware;
Wherein, described control treatment circuit is Digital Signal Processing control circuit;
In addition, also comprise: the current detection circuit be connected with each AC-DC-AC power main circuit output.
2. system according to claim 1, is characterized in that, also comprises: the display circuit be connected with above-mentioned control treatment circuit.
3. system according to claim 2, is characterized in that, described display circuit adopts light emitting diode (LED) display screen curtain.
4. the system according to any one of claim 1-3, is characterized in that, logic control circuit is CPLD logic control circuit.
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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 true CN102739146B (en) | 2015-08-05 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103176450B (en) * | 2013-02-01 | 2016-08-03 | 北京配天技术有限公司 | Servo drive and servo-control system |
| 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 |
| CN109324541B (en) * | 2018-09-10 | 2020-05-26 | 广东工贸职业技术学院 | Motion control system |
| CN109656199B (en) * | 2018-12-26 | 2021-07-30 | 湖南航天机电设备与特种材料研究所 | Servo control method based on clock excitation feedback quantity synchronous processing |
| 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 |
| 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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