CN104749997A - Driving control circuit used for laser tracker precision servo system - Google Patents

Driving control circuit used for laser tracker precision servo system Download PDF

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Publication number
CN104749997A
CN104749997A CN201510114084.6A CN201510114084A CN104749997A CN 104749997 A CN104749997 A CN 104749997A CN 201510114084 A CN201510114084 A CN 201510114084A CN 104749997 A CN104749997 A CN 104749997A
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China
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signal
synchronous motor
drive
control
master control
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CN201510114084.6A
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Chinese (zh)
Inventor
林心龙
董登峰
周维虎
刘鑫
张滋黎
劳达宝
纪荣祎
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中国科学院光电研究院
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Priority to CN201510114084.6A priority Critical patent/CN104749997A/en
Publication of CN104749997A publication Critical patent/CN104749997A/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428Safety, monitoring
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/26Pc applications
    • G05B2219/2656Instrumentation

Abstract

The invention provides a driving control circuit used for a laser tracker precision servo system. The driving control circuit comprises a data collection board used for collecting data of a permanent magnetic synchronous motor, a main control board connected with an upper computer and the data collection board and used for acquiring a target state command and reference input signals from the upper computer, acquiring data of the permanent magnetic synchronous motor from the data collection board and processing the target state command, the reference input signals and the data of the permanent magnetic synchronous motor to generate a control signal and a power driving board connected with the main control board and used for conducting power amplifying on the control signal output by the main control board and outputting a control voltage signal to drive the permanent magnetic synchronous motor to work. The circuit is formed by combining three circuit boards of the main control board, the data collection board and the power driving board in terms of hardware, configuration can be conducted according to the specific application requirements, and the flexibility is higher.

Description

For the Drive and Control Circuit of laser tracker Servo System Based

Technical field

The present invention relates to laser tracker technical field, particularly relate to a kind of Drive and Control Circuit for laser tracker Servo System Based.

Background technology

Laser tracker has the features such as measurement range is large, precision is high, dynamic property is good, real-time live measurement, is widely applied in high-end intelligence manufacture industry such as Aero-Space, track traffic, shipbuildings.It not only can carry out high precision three-dimensional measurement to space static object, but also can carry out tracking measurement to moving target.

Building high performance Servo System Based is the basis that laser tracker realizes tracking and precision measurement.Drive and Control Circuit is as the core component of Servo System Based, and the quality of its design directly affects control accuracy and the tracking performance of servo-drive system, and it is generally made up of signals collecting and arithmetic unit, driving and control circuit.

Permagnetic synchronous motor has that moment coefficient is large, overload capacity is strong, reliability is high, control the advantages such as flexible, meet the serviceability requirement of laser tracker, but its control strategy and algorithm is more complicated, Drive and Control Circuit at present based on DSP or ARM cannot realize higher controlled frequency, and it directly affects the tracking performance of permagnetic synchronous motor.The stability that Drive and Control Circuit demand fulfillment is higher simultaneously and dirigibility, meet the stable working method flexibly of laser tracker.

At present, the Drive and Control Circuit of the laser tracker Servo System Based of domestic independent research has following deficiency:

(1) affect by hardware and control algolithm, controlled frequency is lower, and low speed control performance is poor;

(2) image data reliability is lower;

(3) circuit structure is comparatively simple, and function is more single, very flexible.

Therefore, a kind of Drive and Control Circuit for laser tracker Servo System Based that can overcome above-mentioned deficiency is needed in the industry badly.

Summary of the invention

(1) technical matters that will solve

In view of above-mentioned technical matters, the invention provides a kind of Drive and Control Circuit for laser tracker Servo System Based.

(2) technical scheme

The Drive and Control Circuit that the present invention is used for laser tracker Servo System Based comprises: data acquisition board, for gathering the data of permagnetic synchronous motor; Master control borad, be connected with host computer and data acquisition board, for obtaining dbjective state instruction and reference-input signal from host computer, the data of permagnetic synchronous motor are obtained from data acquisition board, the data of this dbjective state instruction, reference-input signal and permagnetic synchronous motor are processed, produces control signal; And power driving device, be connected with master control borad, after the control signal for being exported by master control borad carrying out power amplification, export control voltage signal and driving permagnetic synchronous motor work.

(3) beneficial effect

As can be seen from technique scheme, the Drive and Control Circuit that the present invention is used for laser tracker Servo System Based has following beneficial effect:

(1) on hardware, Drive and Control Circuit is formed by master control borad, data acquisition board and power driving device three circuit board compositions, can require flexible configuration according to embody rule.When less demanding to tracking performance, only can be carried out the drived control of permagnetic synchronous motor by master control borad and power driving device two circuit board compositions; When to tracking performance require higher time, can by master control borad, data acquisition board and power driving device three plate combine build Drive and Control Circuit; In addition, by increasing power driving device, forming four plate Drive and Control Circuit by master control borad, data acquisition board and two power driving devices, realizing Dual-motors Driving and controlling;

(2) in master control borad, DSP28335 is adopted to replace original ARM chip, by improving efficiency of algorithm, utilize simultaneously the data-handling capacity of DSP and operational efficiency higher than ARM chip, thus the controlled frequency of three rings-electric current loop, speed ring and position ring is all had significantly promote;

(3) in master control borad, utilization extends out SDRAM, by take in control algolithm operation time longer CLARK & PARK convert needed for function table be stored in the SDRAM extended out, adopt look-up table value, reduce the operand of dsp chip, improve servo system control frequency;

(4) in master control borad, carried out Redundancy Design, set up one group of PWM output interface, made Drive and Control Circuit possess Dual-motors Driving control ability; Preset grating signal acquisition interface, current signal acquisition interface and hall sensor signal acquisition interface, made master control borad in the less demanding occasion of tracking performance, can separately and power driving device combine the drived control carrying out permagnetic synchronous motor;

(5) transfer in FPGA by a part of computing of DSP in Drive and Control Circuit, FPGA gathers data and transfers to DSP again after carrying out preliminary computing, reduces the operand of DSP in this way, and then improves the efficiency of whole Drive and Control Circuit;

(6) master control borad and data acquisition board adopt the backboard mode of PC104 structure to be connected, and transmission path is shorter, possesses higher stability;

(7) Drive and Control Circuit has multiple communication interface-analog to digital converter (AD), serial ports, network interface, CAN mouth, can with each quasi-driver and upper machine communication, improve the communication dirigibility of Drive and Control Circuit.

(8) Drive and Control Circuit can be used as a driver element module and host computer forms Servo System Based jointly, also independently can form a Servo System Based, simplify Servo System Based structure.

Accompanying drawing explanation

Fig. 1 is the structural representation of the embodiment of the present invention for the Drive and Control Circuit of laser tracker Servo System Based;

Fig. 2 is the structural representation of master control borad in Drive and Control Circuit shown in Fig. 1;

Fig. 3 is the structural representation of data acquisition board in Drive and Control Circuit shown in Fig. 1;

Fig. 4 is the structural representation of the power driving device of Drive and Control Circuit shown in Fig. 1.

Embodiment

The present invention is compared with control system hardware circuit in the past, increase the higher fpga chip of cost performance and Large Copacity sram chip, substantially increase the operational efficiency of control algolithm, and the real-time of image data, organize communication, acquisition interface by increasing more simultaneously, and the form adopting many plates to combine, considerably increase the functional of Drive and Control Circuit and dirigibility.For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.

In one embodiment of the invention, provide a kind of Drive and Control Circuit for laser tracker Servo System Based, for driving and controlling high-performance permanent magnet synchronous motor.

Fig. 1 is the structural representation of the embodiment of the present invention for the Drive and Control Circuit of laser tracker Servo System Based.As shown in Figure 1, the present embodiment is used for the Drive and Control Circuit of laser tracker Servo System Based and comprises: the master control borad based on dsp chip, the data acquisition board based on fpga chip, based on the power driving device of IPM module and power panel.Wherein, the backboard mode of master control borad and data acquisition board employing PC104 structure is connected carries out data transmission, and transmission path is shorter, possesses higher stability.Master control borad and power driving device are connected by winding displacement and carry out Signal transmissions, are fixed between plate and plate by stud.

Please refer to Fig. 1, master control borad passes through analog to digital converter (AD) and CAN mouth and host computer (Communication Control plate) and carries out communication, obtain dbjective state instruction and reference-input signal, calculation process is carried out to the data of data acquisition board input simultaneously and produce 6 road pwm control signals, deliver to the input end of power driving device, control signal, after the IPM module of power driving device carries out power amplification conversion, exports UVW tri-tunnel control voltage signal and drives permagnetic synchronous motor work.The simultaneously current signal of permagnetic synchronous motor that records of data acquisition board synchronous acquisition current sensor, the position signalling of the permagnetic synchronous motor that increment type circular raster sensor records, and the position signalling of permagnetic synchronous motor that hall position sensor records passes to through preliminary conversion the feedback signal that master control borad carries out calculation process generation current, speed, position, the dbjective state instruction provided in conjunction with host computer and reference-input signal form three closed loop Servo System Baseds.In addition whether power driving device Real-Time Monitoring driving circuit breaks down, and carries out circuit protection when a failure occurs it immediately and fault-signal is passed to master control borad simultaneously and carry out fault handling.

Fig. 2 is the structural representation of master control borad in Drive and Control Circuit shown in Fig. 1.Please refer to Fig. 2, master control borad is responsible for the steering order of sending and receiving host computer, process computing is carried out to the data of data acquisition board collection, output a control signal to power amplification plate, it mainly designs based on a dsp chip-DSP28335, comprising: dsp chip, SDRAM, analog to digital converter (AD), EQEP interface, expansion I/O mouth, network interface, serial ports and CAN mouth.

Wherein, control algolithm stores and runs in dsp chip.Had the control algolithm of multiple maturation in prior art, the present invention there is no and too much relates to herein, and it probably comprises following three partial contents:

(1) phase current signal of data acquisition board collection is carried out Clark and Park coordinate transform computing and convert quadrature axis current under rotating coordinate system and direct-axis current to, respectively as the feedback current of electric current loop magnetic linkage electric current and torque current, carry out electric current loop PI after doing difference with the reference input electric current of electric current loop magnetic linkage and torque to regulate and generate quadrature-axis voltage and direct-axis voltage, two phase voltages under generating rest frame through Park coordinate inversion, draw six tunnel control signals finally by SVPWM modulation algorithm, power input amplification board carries out power amplification; Wherein, six tunnel control signals refer to the PWM modulation signal that six roads are complementary between two, carry out through power driving device the three-phase voltage input quantity being motor after power amplification;

(2) the hall position sensor signal gathered by data acquisition board can try to achieve the rough position of motor through transforming, for startup and the coarse positioning of motor, look for by zero-bit the position that backoff algorithm can try to achieve the mechanical zero of motor simultaneously, and then try to achieve increment type grating angle measurement offset;

(3) as the position ring of control system and the feedback signal of speed ring while of the stop position signal gathered by data acquisition board, by doing difference with the reference-input signal of position ring and speed ring and regulate the reference-input signal that can obtain speed ring and electric current loop respectively through PI respectively.Stop position information after over-compensation is also for the coordinate transform of electric current loop.

In addition, about corresponding conversion chip, based on same reason not at detailed description.

As shown in Figure 2, master control borad receives the steering order of host computer (Communication Control version) by AD and CAN two kinds of patterns.Wherein, AD pattern is host computer provides analog form to master control borad reference-input signal and dbjective state instruction by analog to digital converter (AD) chip, and advantage to realize higher speeds control frequency.CAN pattern is host computer provides position digital form to master control borad reference-input signal and dbjective state instruction by CAN mouth, line parameter of going forward side by side setting and initialization, receive the data message of Drive and Control Circuit, advantage is that CAN communication possesses higher reliability and stability simultaneously.This reference by location input signal input dsp chip is as the reference input of position ring and speed ring.

In addition, serial ports and network interface are reserved expansion communication interface, can be used for debugging in early stage and for realizing multiple drived control and communication modes provides hardware interface, such as Drive and Control Circuit can depart from Communication Control version as independently servo-drive system, by network interface directly and industrial computer carry out communication.

SDRAM is the storer extended out, and the XINTF7 Peripheral Interface carried by dsp chip controls, and it is responsible for storing the trigonometric function operation table needed in Clark and Park coordinate transform computing, obtains corresponding trigonometric function value by look-up table.The present embodiment utilizes and extends out SDRAM, be stored in the SDRAM extended out adopt look-up table value by taking longer CLARK & PARK conversion operation time in control algolithm, reduce the operand of dsp chip, improve servo system control frequency, and then improve motor control accuracy under the low speed.

Master control borad has preset the acquisition interface of current signal, hall sensor signal and grating signal, wherein current signal is by analog to digital converter (AD) chip: AD8556 gathers, AD8556 is the high-precision adc of 16 four-ways, wherein 1 passage is used for carrying out communication with host computer, and 2,3 passages are for gathering the phase current signal of permagnetic synchronous motor; Hall sensor signal is gathered by three I/O mouths that DSP is reserved, and the EQEP capture module that grating signal is carried by dsp chip gathers.By presetting corresponding acquisition interface, dsp chip being possessed independently carry out the ability of data acquisition and computing, can data acquisition board have been saved in the less demanding occasion of tracking performance, simplify Drive and Control Circuit structure.

Master control borad has preset two groups of pwm control signal output interfaces, can export 12 road pwm control signals simultaneously and drive two permanent magnet synchronous motors simultaneously, master control borad is possessed drive the ability of two permanent magnet synchronous motors simultaneously.

Master control borad devises serial communication and network interface communication two kinds carries out the pattern of communication with host computer (industrial computer).Wherein serial communication mainly convenient circuit debugging in earlier stage.Network interface is with serial ports ratio, and message transmission rate is fast, reliable and stable, can be used for the trace command uploading and accept large amount of complex of carrying out a large amount of tracking data.By configuration network interface, Drive and Control Circuit is possessed and has independently carried out servo-controlled ability, namely can not send instruction by Communication Control plate, but directly be controlled by industrial computer.

Data acquisition board make use of the efficient parallel processing capability of FPGA, is responsible for gathering grating encoder, hall position sensor and phase current sampling data simultaneously.

Fig. 3 is the structural representation of data acquisition board in Drive and Control Circuit shown in Fig. 1.As shown in Figure 3, data acquisition circuit mainly designs based on a fpga chip-FPGA XC3S500E, comprising: fpga chip, feed circuit, serial ports, grating sensor, current acquisition (AD), and hall position sensor and interlock circuit are formed.Please refer to Fig. 3, fpga chip is connected to computing machine by serial ports, and for debugging use, in addition, feed circuit are used for providing operation level for this fpga chip.This serial ports and feed circuit are this area proven technique, are not described in detail herein.

Please refer to Fig. 3, fpga chip gathers phase current signal-a phase current signal and the c phase current signal of permagnetic synchronous motor by operational amplifier and A/D converter.Meanwhile, fpga chip is arranged on hall signal-hall signal A, hall signal B and the hall signal C of the hall position sensor on permagnetic synchronous motor by voltage conversion chip collection, and these three hall signals embody the region residing for permagnetic synchronous motor.Meanwhile, this fpga chip turns by difference grating signal-grating signal A+ & A-, grating signal B+ & B-, the grating signal Z+ & Z-that single-ended collection is arranged on the grating sensor output on permagnetic synchronous motor.This six raster roads signal embodies the exact position residing for permagnetic synchronous motor.

Wherein, FPGA is responsible for carrying out filtering, drift compensation and pre-computation (analog voltage signal of the phase current after drift being compensated converts the digital signal of phase current to) to phase current signal, and filtering is carried out to grating signal, the signal carried out after these process can directly be utilized by dsp chip, decreases the operand of dsp chip to a certain extent.

Power driving device is responsible for carrying out Phototube Coupling, integer and power amplification to six road pwm control signals, and final input permagnetic synchronous motor carries out driving the detection and treatment of horizontal drive circuit fault of going forward side by side.

Fig. 4 is the structural representation of power driving device in Drive and Control Circuit shown in Fig. 1.Please refer to Fig. 4, this power driving device comprises: three-state transceiver, Phototube Coupling & Shaping Module, IPM module (Intelligent Power Module), failure detector circuit.Wherein, IPM module adopts PM10CSJ060 chip.Three-state transceiver adopts 74LV245 chip, and it is for the output according to failure detector circuit and dsp chip, the opening or turning off of control IPM module.Above-mentioned Phototube Coupling & Shaping Module comprises: optocoupler and Schmidt trigger.

The six road pwm control signals that master control borad exports are before input IPM module carries out power amplification; first need to carry out Phototube Coupling by optocoupler; in order to protect front end circuit; simultaneously because optocoupler can cause the distortion of control signal; therefore also need to carry out shaping through Schmidt trigger through the signal of Phototube Coupling; finally input IPM module carry out power send out large after export three road UVW motor control signals, enter permagnetic synchronous motor and carry out drived control.

IPM module is the abbreviation of Intelligent Power Module, be integrate gate-drive, gate leve controls, driving malfunction detects and the IGBT power device of defencive function, it mainly carries out power amplification and the fault detect effect of control signal in power driving device.

As shown in Figure 4, the protection circuit of power driving circuit adopts the mode of software and hardware combining, the fault detection capability of IPM module can occur under-voltage at circuit, overheated, when overcurrent and the arbitrary fault of short circuit, block 6 inner IGBT, export four tunnels independently fault-signal F1-F4 simultaneously, the fault-signal duration exported because of IPM module is very short, therefore four road fault-signals carry out Phototube Coupling respectively through low speed optocoupler after by rejection gate synthesize one road signal FG input JK flip-flop latch, in order to maintain fault-signal, simultaneously by time base chip provide detection clock for JK flip-flop, when detection clock falling edge is interim, if fault-signal is low level, then JK flip-flop exports high level and turns off three-state transceiver, then three-state transceiver exports and is set to high-impedance state, IPM module is turned off and realizes hardware protection function.When trouble shooting, dsp chip exports fault clearance signal FCLR makes JK flip-flop reset, then JK flip-flop again output low level enable three-state transceiver IPM module is normally worked.

In addition, power driving device also comprises: adjustable boost module and power isolation module.This is adjustable boost module and power isolation module and above-mentioned power panel form IPM power circuit jointly.Wherein, 220V civil power is exported the burning voltage of 5V/8W by power panel after step-down, rectification, voltage stabilizing and filtering, 20V is boosted to through adjustable boost module, input power isolation module (M57140-01) produces the 15V power supply of 4 tunnel isolation, and four integrated chips being respectively IPM inside modules are powered.The 15V power quality requirements that IPM module is isolated 4 tunnels is higher, and fluctuation range requires as 15V ± 10%, otherwise can affect the stability of IPM module work.

After tested, the load regulation of the 4 road 15V voltages that designed IPM power circuit exports is less than 3%, and voltage regulation factor is less than 1%, and ripple factor is less than 0.3%, possess higher degree of stability and lower ripple characteristics, meet the requirement of IPM power circuit quality completely.

So far, by reference to the accompanying drawings the present embodiment has been described in detail.Describe according to above, the Drive and Control Circuit that those skilled in the art should be used for laser tracker Servo System Based to the present invention has had clearly to be familiar with.

In addition, the above-mentioned definition to each element and method is not limited in various concrete structures, shape or the mode mentioned in embodiment, those of ordinary skill in the art can change simply it or replace, such as: DSP, FPGA and IPM module can replace by other similar models.

In sum, the present invention, compared with control system hardware circuit in the past, increases the higher fpga chip of cost performance and Large Copacity sram chip, substantially increases the operational efficiency of control algolithm, and the real-time of image data.Meanwhile, by the improvement to control circuit, data acquisition circuit and power driving circuit, improve the dirigibility of circuit structure, its function perfect, can better drive laser tracker Servo System Based and control.

Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. for a Drive and Control Circuit for laser tracker Servo System Based, it is characterized in that, for driving and controlling permagnetic synchronous motor, comprising:
Data acquisition board, for gathering the data of described permagnetic synchronous motor;
Master control borad, be connected with host computer and described data acquisition board, for obtaining dbjective state instruction and reference-input signal from described host computer, the data of permagnetic synchronous motor are obtained from described data acquisition board, the data of this dbjective state instruction, reference-input signal and permagnetic synchronous motor are processed, produces control signal; And
Power driving device, is connected with described master control borad, after the control signal for being exported by described master control borad carrying out power amplification, exporting control voltage signal and driving described permagnetic synchronous motor work.
2. Drive and Control Circuit according to claim 1, is characterized in that:
Residing for the sign permagnetic synchronous motor that the grating signal of the sign permagnetic synchronous motor position that the current signal of the permagnetic synchronous motor that described data acquisition board synchronous acquisition current sensor records, increment type circular raster sensor record, hall position sensor record, the hall signal in region, inputs master control borad after three tentatively being changed;
Described master control borad utilizes this three and obtains dbjective state instruction and reference-input signal from described host computer, produces the pwm control signal on six tunnels, delivers to described power driving device;
Described power driving device utilizes the pwm control signal on described six tunnels, exports the UVW motor control signal on three tunnels, drives described permagnetic synchronous motor work.
3. Drive and Control Circuit according to claim 2, is characterized in that, described master control borad comprises: main control chip and outer extension memory, wherein:
Process the data of this dbjective state instruction, reference-input signal and permagnetic synchronous motor and the control algolithm producing control signal is stored in described main control chip, described control algolithm comprises Clark and Park coordinate transform computing;
Described outer extension memory is controlled by the Peripheral Interface of described main control chip, and for storing the trigonometric function operation table needed in Clark and Park coordinate transform computing, described main control chip obtains corresponding trigonometric function value by look-up table.
4. Drive and Control Circuit according to claim 3, is characterized in that, described main control chip is dsp chip, and described outer extension memory is SDRAM storer.
5. Drive and Control Circuit according to claim 3, is characterized in that:
Described master control borad also comprises: for as the serial ports of reserved expanding communication interface and network interface;
Described master control borad has preset two groups of pwm control signal output interfaces, can export 12 road pwm control signals simultaneously and drive two permanent magnet synchronous motors simultaneously.
6. Drive and Control Circuit according to claim 2, is characterized in that, described data acquisition board comprises: data acquisition chip, its:
The phase current signal of the permagnetic synchronous motor that current sensor records is gathered by operational amplifier and A/D converter;
The hall signal in the region residing for the sign permagnetic synchronous motor recorded by voltage conversion chip collection hall position sensor;
The grating signal of the sign permagnetic synchronous motor position that single-ended collection increment circular raster sensor records is turned by difference;
This data acquisition chip also for carrying out filtering to phase current signal, drift compensate and and computing, and filtering is carried out to grating signal.
7. Drive and Control Circuit according to claim 2, is characterized in that, described power amplification plate comprises: Phototube Coupling & Shaping Module and IPM module, wherein:
First the six road pwm control signals that master control borad exports carry out Phototube Coupling and shaping by described Phototube Coupling & Shaping Module, then carry out power amplification by IPM module, export the UVW electrode control signals on three tunnels.
8. Drive and Control Circuit according to claim 7, is characterized in that, also comprises: three-state transceiver and failure detector circuit, wherein:
Three-state transceiver, is arranged on described master control borad and power amplification plate between Phototube Coupling & Shaping Module, for the signal according to failure detector circuit or master control borad input, controls opening or turning off of described IPM module;
Failure detector circuit comprises: low speed optocoupler, rejection gate, time base chip, JK flip-flop, wherein, the fault detection capability of IPM module can occur under-voltage at circuit, overheated, when overcurrent and the arbitrary fault of short circuit, block inner IGBT, export four tunnels independently fault-signal (F1-F4) simultaneously, synthesize a road signal (FG) by rejection gate after this four roads fault-signal carries out Phototube Coupling respectively through low speed optocoupler to input JK flip-flop and latch, in order to maintain fault-signal, simultaneously by time base chip provide detection clock for JK flip-flop, when detection clock falling edge is interim, if fault-signal is low level, then JK flip-flop exports high level and turns off three-state transceiver, then three-state transceiver exports and is set to high-impedance state, IPM module is turned off and realizes hardware protection function, when trouble shooting, dsp chip export fault clearance signal (FCLR) JK flip-flop is resetted, then JK flip-flop again output low level enable three-state transceiver IPM module is normally worked.
9. Drive and Control Circuit according to any one of claim 1 to 8, is characterized in that, described master control borad is communicated with host computer by analog to digital converter or CAN mouth;
Under AD pattern, master control borad is obtained reference-input signal and the dbjective state instruction of analog form by host computer by analog to digital converter; Or
Under CAN pattern, master control borad is obtained reference-input signal and the dbjective state instruction of digital form by host computer by CAN mouth.
10. Drive and Control Circuit according to any one of claim 1 to 8, it is characterized in that, described master control borad and data acquisition board adopt the backboard mode of PC104 structure to be connected to carry out data transmission, and described master control borad and power driving device are connected by winding displacement and carry out Signal transmissions.
CN201510114084.6A 2015-03-16 2015-03-16 Driving control circuit used for laser tracker precision servo system CN104749997A (en)

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CN105652691A (en) * 2016-02-24 2016-06-08 中国地质大学(武汉) Power electronic control simulation system
CN106444510A (en) * 2016-10-20 2017-02-22 哈尔滨工业大学 Data collection system based on optical gratings
CN106487279A (en) * 2016-11-30 2017-03-08 航天科工智能机器人有限责任公司 High power density motor servo driver
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CN108983672A (en) * 2018-08-08 2018-12-11 中国科学院长春光学精密机械与物理研究所 A kind of control system applied to high-precision six-freedom degree optical module adjustment mechanism
CN109656233A (en) * 2018-12-25 2019-04-19 哈尔滨工业大学 The return system and method for permanent magnet synchronous motor control loop test data
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