CN103744376A - Servo driver and multi-shaft control system using the same - Google Patents
Servo driver and multi-shaft control system using the same Download PDFInfo
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- CN103744376A CN103744376A CN201310729725.XA CN201310729725A CN103744376A CN 103744376 A CN103744376 A CN 103744376A CN 201310729725 A CN201310729725 A CN 201310729725A CN 103744376 A CN103744376 A CN 103744376A
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Abstract
The invention aims to provide a servo driver and a multi-shaft control system using the same. The servo driver comprises a centralized control unit, one or more separated inversion units and a rectification unit. The centralized control unit consists of an external communication module, an internal communication module and a motor control module, each inversion unit consists of an internal communication module, a coder signal processing module, a power signal processing module and a PWM circuit, wherein the centralized control unit and the inversion unit(s) communicate through the high-speed industrial Ethernet. The servo driver provided by the invention enables a user to flexibly and conveniently expand and control the number of shafts according to the actual need, and high-precision synchronous coordination control can be realized among multiple shafts.
Description
technical field
The present invention relates to motion control field, be specifically related to the multi-axis control system of a kind of motor servo driver and this servo-driver of use.
background technology
Along with the rapid emergence of manufacturing industry upgrading and emerging industry, intelligence is manufactured and Flexible Production has become a kind of development trend.In order to meet the demand of this factory automation, intelligence equipment (such as industrial robot, high-end numerically-controlled machine etc.) has obtained increasing application.In these practical applications, intelligence equipment has proposed increasing requirement to the servo-driver as intelligence equipment topworks.Such as being easy to the multiaxis control ability of expansion, such as high performance multi-axial Simultaneous is coordinated control ability, meanwhile, total system cost also will reduce as much as possible.
Typical servo-driver comprises: rectification unit, and inversion unit and control module, as shown in Figure 1.Control module receives the command value of host controller and from the value of feedback of motor and scrambler, controls inversion unit after computing, and the DC inverter after rectification unit rectification is become to alternating current, realizes the motion control to motor.This typical servo-driver can only be realized the control of a motor.When controlled device is multiple electric motors, when multiaxis is controlled, there are how many motors, just need the servo-driver of the corresponding number of units of corresponding configuration.It is to be distributed in the middle of each corresponding servo-driver that the motion control of each motor realizes, i.e. so-called distributed control servo-driver.
Fig. 2 is at present modal a kind of system architecture diagram that adopts distributed control servo-driver to realize multiaxis control.Each servo-driver comprises independently rectification unit, inversion unit and a control module.Host controller is handed down to respectively each servo-driver by traditional wiring mode by command value.The feedback signal of the corresponding motor of each servo-driver collection and scrambler completes its control to motor.Control between each servo-driver is completely independently.The shortcoming of this system architecture is: cost is high, and each servo-driver comprises independently rectification unit, inversion unit and a control module.Distribution is complicated: host controller is connected with each servo-driver by one group of traditional distribution.And in every assembly line, all comprise command pulse signal, feedback pulse signal, digital IO signal, order simulating signal, feedback analog signal etc.Extendability is poor: servo-driver of every expansion, just need to increase by an assembly line.And the extendible number of axle is limited to the number of active lanes of cpu performance and the hardware of host controller.Cannot realize multi-axial Simultaneous coordinates to control: because the control between each servo-driver is completely independently, one of them servo-driver cannot be known the status information of other servo-driver, thereby cannot realize multi-axial Simultaneous control and multiaxis coordination control.
summary of the invention
The object of the present invention is to provide a kind of servo-driver, make the user can be according to actual needs, the number of axle be controlled in flexible expansion, and can realize high-precision the synchronized Coordinative Control between multiaxis.
A servo-driver, comprises control module, rectification unit, inversion unit, and described servo-driver comprises a central control unit and one or more separated inversion units.
Preferably, described inversion unit comprises code device signal processing module and pwm circuit composition; Described code device signal processing module receives the signal from scrambler, calculates position and the speed of motor; Described pwm circuit receives the control variable of central control unit, and the conducting of driving power device and shutoff, complete the control to motor.
Preferably, described central control unit comprises external communication module, internal communication module and motor control module;
Wherein said external communication module receives the command value from host controller by communication network, is forwarded to described motor control module after parsing; Simultaneously by the motor movement feedback of status from described motor control module to host controller;
Described motor control module receives the host controller command value through external communication module parses, and receive the internal state information through all inversion units of internal communication module parses by described internal communication module, then after computing, by described internal communication module, control information is sent to rectification unit and described one or more inversion unit;
Described inversion unit comprises internal communication module, code device signal processing module, power signal processing module and pwm circuit;
Wherein said code device signal processing module receives the signal from scrambler, calculates position and the speed of motor, is then uploaded to described internal communication module and transfers to described central control unit;
Voltage signal, the current signal of described power signal processing module real-time sampling motor are uploaded to described internal communication module and transfer to described central control unit after signal condition;
Described pwm circuit receives the control variable from central control unit through internal communication transmission, and conducting and the shutoff of driving power device, complete the control to motor.
Preferably, the internal communication module of described central control unit is carried out communication with the internal communication intermodule of described inversion unit by high-speed industrial Ethernet; The internal communication module of wherein said central control unit is as internal communication main website, and the internal communication module of described each inversion unit is as internal communication slave station.Described high-speed industrial Ethernet adopts distribution clock, makes central control unit and each inversion unit use identical system time.
Preferably, the communication network of the described external communication module support of described central control unit includes but not limited to any one or more in Industrial Ethernet, RS485, CAN.
Preferably, described code device signal processing module can receive and process the signal of absolute type encoder or relative type motor scrambler.
Preferably, described rectification unit can be a concentrated rectification unit; Described concentrated rectification unit also comprises internal communication module.
Preferably, described rectification unit is for quantitatively with inversion module separated rectification unit one to one; The rectification unit of described separation shares internal communication module with corresponding inversion unit.
A multi-axis control system, is characterized in that: make servo-driver of the present invention.
Preferably, described multi-axis control system comprises host controller, servo-driver, a plurality of motor, and wherein said host controller connects with the central control unit of described servo-driver; The scrambler of described motor and motor connects with the inversion unit of controlling it; The inner connection of described servo-driver comprises following two kinds of situations:
Described servo-driver comprises a central control unit, concentrated rectification unit and a plurality of separated inversion units, and wherein each inversion unit is controlled a servomotor; The internal communication module of described central control unit connects by high-speed industrial Ethernet with the internal communication intermodule of described concentrated rectification unit, the internal communication module of described concentrated rectification unit connects by the internal communication module of the same inversion unit of high-speed industrial Ethernet, by high-speed industrial Ethernet, the internal communication module with another inversion unit connects the internal communication module of described inversion unit, connects successively all inversion units.
Or
Described servo-driver comprises the rectification unit and a plurality of separated inversion units of a central control unit, a plurality of separation, wherein each inversion unit and servomotor of each rectification unit co-controlling; The internal communication module of described central control unit is connected with controlling the rectification unit of same motor and the internal communication module of inversion unit by high-speed industrial Ethernet, the rectification unit of same motor of described control and the internal communication module of inversion unit are connected with controlling the rectification unit of another motor and the internal communication module of inversion unit by high-speed industrial Ethernet, connect successively all rectification units and inversion unit.
Servo-driver provided by the invention can be expanded according to number of axle difference in use, can reduce use cost.Servo-driver inside and external communication are all replaced by Industrial Ethernet, and distribution is significantly simplified.Central control unit and real time high-speed Industrial Ethernet have realized multi-axial Simultaneous and have coordinated to control.
accompanying drawing explanation
Servo-driver schematic diagram under Fig. 1 prior art
Multi-axis control system schematic diagram under Fig. 2 prior art
Fig. 3 one embodiment of the invention servo-driver schematic diagram
Fig. 4 the present invention one implements multi-axis control system schematic diagram
Fig. 5 another embodiment of the present invention servo-driver schematic diagram
Another implements multi-axis control system schematic diagram Fig. 6 the present invention
Embodiment
To content of the present invention, be specifically described as follows in conjunction with specific embodiments:
Embodiment 1:
Fig. 3 is one embodiment of the invention servo-driver schematic diagram, servo-driver comprises a central control unit 1 in the present embodiment, the inversion unit 3,4 of concentrated rectification unit 2, a plurality of separation (other inversion units 4 with 3 identical, do not draw in detail) and connect central control unit, concentrate the real time high-speed Industrial Ethernet a of rectification unit and a plurality of inversion units.
Wherein, central control unit 1 is comprised of external communication module 11, internal communication module 12 and motor control module 13; Inversion unit 3 is comprised of internal communication module 31, code device signal processing module 32, power signal processing module 33 and pwm circuit 34.
Wherein central control unit 1 each module is described below:
The command value (such as position command value, speed value, torque instruction value etc.) that external communication module 11 is resolved from host controller, is then forwarded to motor control module 13; Motor movement state from motor control module 13 (such as actual position value, values for actual speed, actual torque value etc.) is fed back to host controller simultaneously.External communication module 11 with host controller by Industrial Ethernet b communication, the communication modes such as also support, RS485, CAN the Industrial Ethernet in accompanying drawing.
Nucleus module as central control unit 1, motor control module 13 receives the host controller command value of resolving through external communication module 11 on the one hand, receive on the one hand the internal state information of all inversion units 3,4 of resolving through internal communication module 12, then through computing, regulate in real time the control variable of each inversion unit 3, inversion unit 4.The motion control of each motor is not only with reference to self motion state, also can be with reference to the motion state of other motors, thus the coordination having realized between multiaxis is controlled.
Wherein inversion unit 3 each modules are described below:
The signal that code device signal processing module 32 receives from scrambler, carries out position calculation and the speed of motor and calculates, and is then uploaded to internal communication module 31.Scrambler can be absolute type encoder, can be also relative type motor scrambler.Voltage signal, the current signal of power signal processing module 33 real-time sampling motors are uploaded to internal communication module 31 after signal condition.The control variable from central control unit 1 that pwm circuit 34 receives through 31 transmission of internal communication module, conducting and the shutoff of driving power device, complete the control to motor.
Concentrate rectification unit 2, comprise internal communication module 21 and rectification circuit 22, rectification circuit 22 is realized the translation function of AC-to DC, for each inversion unit provides direct current input.
Fig. 4 is a kind of multi-axis control system Organization Chart of servo-driver described in employing the present embodiment.In figure, only drawn the relevant connection relation of control system, between each device, circuit connection is not drawn.
This many axis servomotors control system comprises host controller 41, servo-driver 42, a plurality of motor (43,44,45), and wherein servo-driver 42 comprises a central control unit 421, a concentrated rectification unit 422 and a plurality of separated inversion units 423,424,425,426.
Wherein each inversion unit is controlled a servomotor.
The annexation of servo driving 42 each modular member is as follows: the internal communication module of central control unit 421 is with concentrating the internal communication intermodule of rectification unit 422 to connect by high-speed industrial Ethernet; The internal communication module of concentrated rectification unit 422 connects by the internal communication module of the same inversion unit 423 of high-speed industrial Ethernet, by high-speed industrial Ethernet, the internal communication module with inversion unit 424 connects the internal communication module of inversion unit 423, and residue inversion unit connects successively.
The scrambler (431,441,451) of motor (43,44,45) and motor connects with corresponding inversion unit (423,424,425).
Embodiment 2: Fig. 5 is the another kind of embodiment internal structure figure of the present invention, servo-driver comprises a central control unit 1' in the present embodiment, wherein 31' is identical with 21' for rectification unit 21', the 31'(of a plurality of separation, do not draw in detail), wherein 32' is identical with 22' for inversion unit 22', the 32'(of a plurality of separation, do not draw in detail).Difference with embodiment 1 is that rectification unit is separate type, and rectification unit 21' can share a communication module 221' with its corresponding inversion unit 22' in this case, and other guide is consistent with embodiment 1, no longer repeat specification.
Fig. 6 is a kind of multi-axis control system Organization Chart of servo-driver described in employing the present embodiment.In figure, only drawn the relevant connection relation of control system, between each device, circuit connection is not drawn.
This many axis servomotors control system comprises host controller 41', servo-driver 42', a plurality of motor (43', 44', 45'), wherein servo-driver 42' comprises rectification unit 4221', 4231', 4241', 4251' and a plurality of separated inversion unit 4222', 4232', 4242', the 4252' of a central control unit 421', a plurality of separation, wherein each inversion unit and servomotor of each rectification unit co-controlling.
Wherein host controller 41' connects with the central control unit 421' of servo-driver 42'.
The annexation of each modular member of servo driving 42' is as follows: the internal communication module of central control unit 421' is connected with controlling the rectification unit 4221' of same motor and the internal communication module of inversion unit 4222' by high-speed industrial Ethernet, control the rectification unit 4221' of same motor and the internal communication module of inversion unit 4222' and be connected with controlling the rectification unit 4231' of another motor and the internal communication module of inversion unit 4232' by high-speed industrial Ethernet, the like.
The scrambler (431', 441', 451') of motor (43', 44', 45') and motor connects with corresponding inversion unit (4222', 4232', 4242').
Although described the preferred embodiments of the present invention, once those skilled in the art obtain the basic creative concept of cicada, can make other change and modification to these embodiment.So claims are intended to all changes and the modification that are interpreted as comprising preferred embodiment and fall into the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (12)
- A servo-driver, comprises control module, rectification unit, inversion unit, it is characterized in that:Described servo-driver comprises a central control unit and one or more separated inversion units.
- A kind of servo-driver as described in claim 1, is characterized in that:Described inversion unit comprises code device signal processing module and pwm circuit forms; Described code device signal processing module receives the signal from scrambler, calculates position and the speed of motor; Described pwm circuit receives the control variable of central control unit, and the conducting of driving power device and shutoff, complete the control to motor.
- A kind of servo-driver as claimed in claim 2, is characterized in that:Described central control unit comprises external communication module, internal communication module and motor control module;Wherein said external communication module receives the command value from host controller by communication network, is forwarded to described motor control module after parsing; Simultaneously by the motor movement feedback of status from described motor control module to host controller;Described motor control module receives the host controller command value through external communication module parses, and receive the internal state information through all inversion units of internal communication module parses by described internal communication module, then after computing, by described internal communication module, control information is sent to rectification unit and described one or more inversion unit;Described inversion unit comprises internal communication module, code device signal processing module, power signal processing module and pwm circuit;Wherein said code device signal processing module receives the signal from scrambler, calculates position and the speed of motor, is then uploaded to described internal communication module and transfers to described central control unit;Voltage signal, the current signal of described power signal processing module real-time sampling motor are uploaded to described internal communication module and transfer to described central control unit after signal condition;Described pwm circuit receives the control variable from central control unit through internal communication transmission, and conducting and the shutoff of driving power device, complete the control to motor.
- A kind of servo-driver as claimed in claim 3, is characterized in that:The internal communication module of described central control unit is carried out communication with the internal communication intermodule of described inversion unit by high-speed industrial Ethernet; The internal communication module of wherein said central control unit is as internal communication main website, and the internal communication module of described each inversion unit is as internal communication slave station.
- Described high-speed industrial Ethernet adopts distribution clock, makes central control unit and each inversion unit use identical system time.
- A kind of servo-driver as claimed in claim 3, is characterized in that: the communication network of the described external communication module support of described central control unit includes but not limited to any one or more in Industrial Ethernet, RS485, CAN.
- A kind of servo-driver as claimed in claim 2, is characterized in that: described code device signal processing module can receive and process the signal of absolute type encoder or relative type motor scrambler.
- A kind of servo-driver as claimed in claim 1, is characterized in that: described rectification unit can be a concentrated rectification unit; Described concentrated rectification unit also comprises internal communication module.
- A kind of servo-driver as claimed in claim 1, is characterized in that: described rectification unit is for quantitatively with inversion module separated rectification unit one to one; The rectification unit of described separation shares internal communication module with corresponding inversion unit.
- A multi-axis control system, is characterized in that: right to use requires the servo-driver described in 1-8 any one.
- A kind of multi-axis control system as claimed in claim 9, is characterized in that:Described multi-axis control system comprises the servo-driver described in host controller, claim 1-8 any one, a plurality of motor, and wherein said host controller connects with the central control unit of described servo-driver; The scrambler of described motor and motor connects with the inversion unit of controlling it; The inner connection of described servo-driver comprises following two kinds of situations:Described servo-driver comprises a central control unit, concentrated rectification unit and a plurality of separated inversion units, and wherein each inversion unit is controlled a servomotor; The internal communication module of described central control unit connects by high-speed industrial Ethernet with the internal communication intermodule of described concentrated rectification unit, the internal communication module of described concentrated rectification unit connects by the internal communication module of the same inversion unit of high-speed industrial Ethernet, by high-speed industrial Ethernet, the internal communication module with another inversion unit connects the internal communication module of described inversion unit, connects successively all inversion units.
- OrDescribed servo-driver comprises the rectification unit and a plurality of separated inversion units of a central control unit, a plurality of separation, wherein each inversion unit and servomotor of each rectification unit co-controlling; The internal communication module of described central control unit is connected with controlling the rectification unit of same motor and the internal communication module of inversion unit by high-speed industrial Ethernet, the rectification unit of same motor of described control and the internal communication module of inversion unit are connected with controlling the rectification unit of another motor and the internal communication module of inversion unit by high-speed industrial Ethernet, connect successively all rectification units and inversion unit.
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| CN108279617A (en) * | 2018-03-29 | 2018-07-13 | 珠海松下马达有限公司 | A kind of multiple-axis servo driver with Industrial Ethernet communication |
| CN109188988A (en) * | 2018-10-26 | 2019-01-11 | 苏州安驰控制系统有限公司 | A kind of integrated control device |
| CN109496178A (en) * | 2017-06-01 | 2019-03-19 | 深圳配天智能技术研究院有限公司 | Multiaxis driver, numerical control system and multi-axis robot |
| CN109600076A (en) * | 2018-11-22 | 2019-04-09 | 固高伺创驱动技术(深圳)有限公司 | Multiple-axis servo driver |
| CN109698642A (en) * | 2019-02-21 | 2019-04-30 | 广东工业大学 | A kind of control method of servo motor and system |
| CN111045392A (en) * | 2019-12-06 | 2020-04-21 | 广东工业大学 | Servo motion control card interface circuit based on FPGA |
| CN111203886A (en) * | 2020-02-12 | 2020-05-29 | 浙江禾川科技股份有限公司 | Multi-axis driving and controlling system |
| CN113204221A (en) * | 2021-04-29 | 2021-08-03 | 中电科机器人有限公司 | Multi-joint motor driving control and communication system based on optical communication |
| CN113960972A (en) * | 2021-11-09 | 2022-01-21 | 广东科伺智能科技有限公司 | Open type driving and controlling system |
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| CN113204221A (en) * | 2021-04-29 | 2021-08-03 | 中电科机器人有限公司 | Multi-joint motor driving control and communication system based on optical communication |
| CN113960972A (en) * | 2021-11-09 | 2022-01-21 | 广东科伺智能科技有限公司 | Open type driving and controlling system |
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