CN105281619A - Servo driver - Google Patents
Servo driver Download PDFInfo
- Publication number
- CN105281619A CN105281619A CN201510187090.4A CN201510187090A CN105281619A CN 105281619 A CN105281619 A CN 105281619A CN 201510187090 A CN201510187090 A CN 201510187090A CN 105281619 A CN105281619 A CN 105281619A
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- China
- Prior art keywords
- servo
- power supply
- driver
- motor
- motion control
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Abstract
The present invention discloses a servo driver. The servo driver comprises a motion control unit, a power supply and protection unit and a servo drive unit, wherein the motion control unit, the power supply and protection unit and the servo drive unit are connected in turn through internal buses; the motion control unit is used for planning movements of a motor; the power supply and protection unit is used for providing a proper power supply for the whole servo driver, converting motor control signals, collecting motor current-limiting and position-limiting signals, and providing current-limiting and position-limiting protection for the servo driver; and the servo drive unit is used for direct driving of a direct current motor and pre-treatment of armature current and coded disc signals. According to the servo driver provided by the present invention, electrical connection of a controller and a driver inside a board is realized through the internal buses, thereby reducing wiring, lowering a system size and power consumption, and raising an antijamming capability of a system at the same time.
Description
Technical field
The present invention relates to Drive technology field, particularly a kind of servo-driver.
Background technology
Servo-driver in the market generally adopts the mode of a driver control motor, and controller and driver separately realize.The problem brought is that in control cabinet, wiring is complicated, and controller will be electrically connected with the driver of each motor respectively.Each motor driver too increases size and the power consumption of whole control system virtually simultaneously.
In addition, to control and the design that is driven apart adds the difficulty of system development, user must be familiar with controller and driver using method simultaneously, adds development cost.
Summary of the invention
The object of the invention is to provide a kind of servo-driver.
For achieving the above object, the present invention implements according to following technical scheme:
A kind of servo-driver, comprise motion control unit, power supply and protected location and servo drive unit, and motion control unit, power supply and protected location is connected by internal bus successively with servo drive unit, wherein:
Described motion control unit, for planning the motion of motor;
Described power supply and protected location, for providing suitable power source, conversion motor control signal and gathering motor current-limiting and limit signal, for servo-driver provides current limliting, position limitation protection for whole servo-driver;
Described servo drive unit, for the Direct driver of direct current machine and the preliminary treatment of armature supply and code-disc signal.
Further, described motion control unit comprises dsp chip and fpga chip, and the two is interconnected by internal bus, and described fpga chip is for storing motor code-disc operational factor.
Further, described power supply and protected location comprise power management module and CPLD chip; Wherein, power management module provides power supply, simultaneously for motion control unit and servo drive unit provide power supply for CPLD chip.
Compared with prior art, servo-driver provided by the invention, achieves electrical connection by controller and driver by internal bus bus, decreases wiring in plate, reduces system dimension and power consumption, improves system rejection to disturbance ability simultaneously.By this modular design method, both added the number controlling motor, and made again user directly can carry out effective control of programming realization direct current machine to controller, and need not consider how internal system realizes, reduce use difficulty.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of servo-driver of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, the invention will be further described, is used for explaining the present invention in illustrative examples of this invention and explanation, but not as a limitation of the invention.
A kind of servo-driver as shown in Figure 1, comprise motion control unit, power supply and protected location and servo drive unit, and motion control unit, power supply and protected location are connected by internal bus successively with servo drive unit, wherein: motion control unit, for planning the motion of motor; Motion planning mainly carries out inner track planning and interpolation operation, and obtain expecting the difference between the desired locations of motor and current run location by the internal bus motor code-disc operational factor read in FPGA, forming position closed loop, by reading armature current value and comparing with the armature current value expected, form current closed-loop, obtain the speed needed for the operation of each motor and direction signal; Power supply and protected location, for providing suitable power source, conversion motor control signal and gathering motor current-limiting and limit signal, for servo-driver provides current limliting, position limitation protection for whole servo-driver; Servo drive unit, for the Direct driver of direct current machine and the preliminary treatment of armature supply and code-disc signal.Motion control unit comprises dsp chip and fpga chip, and the two is interconnected by internal bus, and described fpga chip is for storing motor code-disc operational factor; Dsp chip is connected with internal bus by its inner A/D modular converter, fpga chip is connected with internal bus by its inner I/O module; Power supply and protected location comprise power management module and CPLD chip; Wherein, power management module provides power supply, simultaneously for motion control unit and servo drive unit provide power supply for CPLD chip.
This servo-driver adopts modular method to design, and is divided into three unit: motion control unit, power supply and protected location and servo drive unit.Realize connecting by internal bus between three unit.Its order of connection is that first motion control unit connects power supply and protected location by internal bus, and then power supply and protected location connect servo drive unit by internal bus again.
Wherein, motion control unit comprises dsp chip and fpga chip, and the two is interconnected by internal bus, and described fpga chip is for storing motor code-disc operational factor; Power supply and protected location comprise power management module and CPLD chip, and power management module provides power supply, simultaneously for motion control unit and servo drive unit provide power supply for CPLD chip; Servo drive unit comprises motor-drive circuit and the code-disc signal gathering unit that is connected with motor-drive circuit and armature signal gathering unit.
The operation principle of this servo-driver is as follows:
After dsp chip in motion control unit receives the motion control instruction that host computer transmits, carry out inner track planning and interpolation operation, and obtain expecting the difference between the desired locations of motor and current run location by the internal bus motor code-disc operational factor read in fpga chip, forming position closed loop, also can by reading armature current value and comparing with the armature current value expected, form current closed-loop, thus the speed obtained needed for the operation of each motor and direction signal, be transferred to power supply and protected location through internal bus; The CPLD chip of power supply and protected location decomposes and logical calculated the motor speed received and position signalling, generate pulse width modulation (PWM) signal being applicable to servo drive unit, and pass to servo drive unit by internal bus, receive the motor current-limiting signal from servo drive unit and mechanism's limit signal simultaneously, controlled the start and stop of motor by internal logic in time, motor is protected; Servo drive unit receives the pwm signal of self-powered and protected location by internal bus, controls the start and stop of motor, realizes different motor speed requirements.
Technical scheme of the present invention is not limited to the restriction of above-mentioned specific embodiment, the technology distortion that every technical scheme according to the present invention is made, and all falls within protection scope of the present invention.
Claims (3)
1. a servo-driver, is characterized in that, comprises motion control unit, power supply and protected location and servo drive unit, and motion control unit, power supply and protected location are connected by internal bus successively with servo drive unit, wherein:
Described motion control unit, for planning the motion of motor;
Described power supply and protected location, for providing suitable power source, conversion motor control signal and gathering motor current-limiting and limit signal, for servo-driver provides current limliting, position limitation protection for whole servo-driver;
Described servo drive unit, for the Direct driver of direct current machine and the preliminary treatment of armature supply and code-disc signal.
2. servo-driver according to claim 1, is characterized in that: described motion control unit comprises dsp chip and fpga chip, and the two is interconnected by internal bus, and described fpga chip is for storing motor code-disc operational factor.
3. servo-driver according to claim 1, is characterized in that: described power supply and protected location comprise power management module and CPLD chip; Wherein, power management module provides power supply, simultaneously for motion control unit and servo drive unit provide power supply for CPLD chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187090.4A CN105281619A (en) | 2015-04-20 | 2015-04-20 | Servo driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187090.4A CN105281619A (en) | 2015-04-20 | 2015-04-20 | Servo driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105281619A true CN105281619A (en) | 2016-01-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510187090.4A Pending CN105281619A (en) | 2015-04-20 | 2015-04-20 | Servo driver |
Country Status (1)
| Country | Link |
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| CN (1) | CN105281619A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371379A (en) * | 2016-12-07 | 2017-02-01 | 上海电气集团股份有限公司 | Motion control module of robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201118497Y (en) * | 2007-11-23 | 2008-09-17 | 沈阳新松机器人自动化股份有限公司 | Dual electromotor synchronization servo drive |
| CN102437800A (en) * | 2011-12-23 | 2012-05-02 | 中国科学院自动化研究所 | Direct current motor servo driver |
| WO2014094770A2 (en) * | 2012-12-18 | 2014-06-26 | Schaeffler Technologies AG & Co. KG | Servo drive system and method for the regulation thereof |
| CN103901814A (en) * | 2014-03-11 | 2014-07-02 | 中国矿业大学 | Multi-shaft motion numerical control system |
-
2015
- 2015-04-20 CN CN201510187090.4A patent/CN105281619A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201118497Y (en) * | 2007-11-23 | 2008-09-17 | 沈阳新松机器人自动化股份有限公司 | Dual electromotor synchronization servo drive |
| CN102437800A (en) * | 2011-12-23 | 2012-05-02 | 中国科学院自动化研究所 | Direct current motor servo driver |
| WO2014094770A2 (en) * | 2012-12-18 | 2014-06-26 | Schaeffler Technologies AG & Co. KG | Servo drive system and method for the regulation thereof |
| CN103901814A (en) * | 2014-03-11 | 2014-07-02 | 中国矿业大学 | Multi-shaft motion numerical control system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371379A (en) * | 2016-12-07 | 2017-02-01 | 上海电气集团股份有限公司 | Motion control module of robot |
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Application publication date: 20160127 |