CN105320039A - Scara servo control system - Google Patents
Scara servo control system Download PDFInfo
- Publication number
- CN105320039A CN105320039A CN201510756998.2A CN201510756998A CN105320039A CN 105320039 A CN105320039 A CN 105320039A CN 201510756998 A CN201510756998 A CN 201510756998A CN 105320039 A CN105320039 A CN 105320039A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Inverter Devices (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention discloses a SCARA servo control system, only comprising a servo centralized driver which receives external instructions and motor feedback signals, generates PWM control signals after processing, and outputs signals to control cooperative operation of at least one motor. The SCARA servo control system can employ one servo centralized driver to meanwhile control a plurality of motors, has the advantages of strong operability, simple construction, small size, simple structure, high reliability, great versatility, and high assembling efficiency, and can meet requirements of extreme environments such as aerospace aviation and deep sea detection.
Description
Technical field
The present invention relates to a kind of servo-control system, particularly a kind of SCARA servo-control system.
Background technology
Control system occupies very important status at SCARA robot research with in using, SCARA robot control system is combined by the servo-control system of four motors, be that servo module, power model and power module piece together respectively in the SCARA robot serve control system that present research field and market occur, and each servo unit can only control a motor.This control system causes that controller volume is large, complex structure, reliability are low, poor universality.The development of present every a SCARA robot all will redesign corresponding servo-control system, the manpower and materials of at substantial, seriously constrains SCARA machine man-based development.This is the place that the application needs to improve emphatically.
Summary of the invention
Technical matters to be solved by this invention is the SCARA servo-control system that a kind of servo focus actuator will be provided simultaneously to control the operation of multiple motor.
In order to solve above technical matters, the invention provides a kind of SCARA servo-control system, this servo-control system only comprises a servo focus actuator, this servo focus actuator receives outside instruction and the feedback signal of motor, treated generation pwm control signal, exports the synthetic operation controlling at least one motor.
Described servo focus actuator comprises control main circuit, signal processing module, power conversion system, position transducer decoding circuit and temperature acquisition and control module, control main circuit and signal processing module are bi-directionally connected, receive outside instruction, control main circuit to be connected with position transducer decoding circuit, receive the position signalling of motor, control the treated generation pwm control signal of main circuit, export and control the synthetic operation of at least one motor, the pulse received by each motor or QEP signal is separate does not interfere with each other.
The position signalling that described position transducer decoding circuit feeds back electromechanical transducer or rate signal are decoded, and decoded signal transmission is given control main circuit.
Described control main circuit is the chip producing 1-24 road pwm signal, or the main circuit be made up of multi-plate chip.
The chip of described generation 1-24 road pwm signal is Infineon's chip.
Described multi-plate chip is dsp chip.
Described temperature acquisition and control module and control main circuit and be bi-directionally connected, temperature acquisition and control module receive temperature signal that temperature sensor transmits and decode, the temperature signal of reception is passed to control main circuit, and according to the instruction controlling main circuit, control system is heated.
Described signal processing module and external communication model calling, receive the signal of communication line transmission, and give control main circuit the signal transmission received.
Described power conversion system and external power source model calling, the supply voltage of reception is converted to the magnitude of voltage controlled needed for main circuit, acceptable voltage range is between 3.3V to 15V.
Superior effect of the present invention is:
1) SCARA servo-control system of the present invention, can reach and realize the function that a servo focus actuator can control multiple motor simultaneously, and workable, builds simple;
2) the present invention has that volume is little, structure is simple, reliability is high, the advantage of highly versatile;
3) the present invention can meet the requirement of the extreme environment such as space flight and aviation and deep-sea detecting, and the packaging efficiency of SCARA servo-control system is high.
Accompanying drawing explanation
The Figure of description forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic block circuit diagram of the embodiment of the present invention one;
Fig. 2 is the schematic block circuit diagram of the embodiment of the present invention two;
Fig. 3 is the schematic block circuit diagram of the embodiment of the present invention three;
Fig. 4 is the schematic block circuit diagram of the embodiment of the present invention four;
Number in the figure explanation
1-external communication module; 2-servo focus actuator;
3-signal processing module; 4-control main circuit;
5-power model 1; 6-power model 2;
7-motor 1; 8-motor 2;
9-motor 3; 10-external power source module;
11-power conversion system; 12-position transducer decoding circuit;
13-power model 4; 14-power model 3;
15-motor 4; 16-temperature sensor;
17-temperature acquisition and control module.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
Embodiments of the invention are described in detail below in conjunction with accompanying drawing.
Embodiment one:
Fig. 1 shows the schematic block circuit diagram of the embodiment of the present invention one.As shown in Figure 1, the invention provides a kind of SCARA servo-control system, external power source module 10 is to by signal processing module 3, power conversion system 11, control main circuit 4, the servo focus actuator 2 that position transducer decoding circuit 12 is formed provides power supply, external communication module 1 is to servo focus actuator 2 sending controling instruction, by the position transducer of not shown motor, motor speed signal is passed to position transducer decoding circuit 12, by signal decoding by signal transmission to servo focus actuator 2, the rotating speed of the instruction that servo focus actuator 2 sends outside and feedback is analyzed and PID arithmetic, thus produces 24 road pwm control signals and control motor 7 simultaneously, motor 8, motor 9 and motor 15 run, and in working control, servo focus actuator 2 is according to the instruction of external communication module 1, regulate motor 7, motor 8, the ruuning situation of motor 9 and motor 15, makes motor 7, motor 8, motor 9 and the collaborative running of motor 15, motor 7, motor 8, motor 9 and the pulse received by motor 15 or QEP signal is separate does not interfere with each other.Temperature sensor 16 can pass to temperature acquisition and control module 17 the temperature signal gathered, and then pass to control main circuit 4, control main circuit 4 pairs of temperature informations to analyze, instruction is sent to temperature acquisition and control module when temperature is too low, it is made to heat servo focus actuator 2, to maintain normal working temperature.
External communication module 1 adopts RS23, RS485, RS422 and CAN communication mode.
External power source module 2 adopts the DC current that can provide between 3.3V-15V, as Switching Power Supply.
Signal processing module 3 adopts the functional circuit as MAX3232 communication chip is formed.
Power conversion system 11 adopts power conversion chip, as the functional circuit of TP7333 power conversion chip composition.
Control main circuit 4 adopt one piece of Infineon chip to form function that main control circuit realizes servo module Systematical control multiple electric motors, the main circuit that polylith chip also can be adopted to form realizes control multiple electric motors function, chip as similar in DSP etc.
The temperature of temperature sensor 16 acquisition control system, and temperature signal is fed back to temperature acquisition and control module 17.
Temperature acquisition and control module 17 receive temperature signal that temperature sensor 16 transmits and decode, and are passed to by the temperature signal of acceptance and control main circuit 4, and heat control system according to the instruction controlling main circuit 4.
Position transducer decoding circuit 12 be for Hall or rotary transformer feedback position or rate signal decode, AD2S1210, ADS1205 can be adopted to realize decoding circuit.
Power model 1-4 realizes the control of pwm control signal to motor, adopts the functional circuit of IPM constant power module composition.
Embodiment two:
Fig. 2 shows the schematic block circuit diagram of the embodiment of the present invention two.As shown in Figure 2, the invention provides a kind of SCARA servo-control system, external power source module 10 is to by signal processing module 3, power conversion system 11, control main circuit 4, the servo focus actuator 2 that position transducer decoding circuit 12 is formed provides power supply, external communication module 1 is to servo focus actuator 2 sending controling instruction, by the position transducer of not shown motor, motor speed signal is passed to position transducer decoding circuit 12, by signal decoding by signal transmission to servo focus actuator 2, the rotating speed of the instruction that servo focus actuator 2 sends outside and feedback is analyzed and PID arithmetic, thus generation 18 road pwm control signals control motor 7 simultaneously, motor 8 and motor 14 run, in working control, servo focus actuator 2 is according to the instruction of external communication module 1, regulate motor 7, the ruuning situation of motor 8 and motor 9, make motor 7, motor 8 and the collaborative running of motor 9, motor 7, motor 8 and the pulse received by motor 9 or QEP signal is separate does not interfere with each other.Temperature sensor 16 can pass to temperature acquisition and control module 17 the temperature signal gathered, and then pass to control main circuit 4, control main circuit 4 pairs of temperature informations to analyze, instruction is sent to temperature acquisition and control module 17 when temperature is too low, it is made to heat servo focus actuator 2, to maintain normal working temperature.
External communication module 1 adopts RS23, RS485, RS422 and CAN communication mode.
External power source module 2 adopts the DC current that can provide between 3.3V-15V, such as Switching Power Supply.
Signal processing module 3 adopts the functional circuit as MAX3232 communication chip is formed.
The functional circuit that power conversion system 11 adopts power conversion chip to form as TP7333 power conversion chip.
Controlling main circuit 4 adopts one piece of Infineon's chip to form the function that main control circuit realizes servo module Systematical control multiple electric motors, and the main circuit that polylith chip also can be adopted to form realizes controlling multiple electric motors function, as dsp chip.
The temperature of temperature sensor 16 acquisition control system, and temperature signal is fed back to temperature acquisition and control module 17.
Temperature acquisition and control module 17 can receive temperature signal that temperature sensor 16 transmits and decode, and the temperature signal of acceptance can be passed to and control main circuit 4, and heat control system according to the instruction controlling main circuit 4.
Position transducer decoding circuit 12 for Hall or rotary transformer feedback position or rate signal decode, adopt AD2S1210, ADS1205 realize decoding circuit.
Power model 1-3 realizes the control of PWM to motor, adopts the functional circuit of IPM constant power module composition.
Embodiment three:
Fig. 3 shows the schematic block circuit diagram of the embodiment of the present invention three.As shown in Figure 3, the invention provides a kind of SCARA servo-control system, external power source module 10 is to by signal processing module 3, power conversion system 11, control main circuit 4, the servo focus actuator 2 that position transducer decoding circuit 12 is formed provides power supply, external communication module 1 is to servo focus actuator 2 sending controling instruction, by the position transducer of not shown motor, motor speed signal is passed to position transducer decoding circuit 12, by signal decoding by signal transmission to servo focus actuator 2, the rotating speed of the instruction that servo focus actuator 2 sends outside and feedback is analyzed and PID arithmetic, thus generation 12 road pwm control signals control motor 7 and motor 8 runs simultaneously, in working control, servo focus actuator 2 is according to the instruction of external communication module 1, regulate the ruuning situation of motor 7 and motor 8, make motor 7 and the collaborative running of motor 8, motor 7 and the pulse received by motor 8 or QEP signal is separate does not interfere with each other.Temperature sensor 16 can pass to temperature acquisition and control module 17 the temperature signal gathered, and then pass to control main circuit 4, control main circuit 4 pairs of temperature informations to analyze, instruction is sent to temperature acquisition and control module 17 when temperature is too low, it is made to heat servo focus actuator 2, to maintain normal working temperature.
External communication module 1 adopts RS23, RS485, RS422 and CAN communication mode.
External power source module 2 adopts the DC current that can provide between 3.3V-15V, as Switching Power Supply.
Signal processing module 3 adopts the functional circuit as MAX3232 communication chip is formed.
Power conversion system 11 adopts power conversion chip, as the functional circuit of TP7333 power conversion chip composition.
Controlling main circuit 4 adopts one piece of Infineon's chip to form the function that main control circuit realizes servo module Systematical control multiple electric motors, and the main circuit that polylith chip also can be adopted to form realizes controlling multiple electric motors function, as dsp chip.
The temperature of temperature sensor 16 acquisition control system, and temperature signal is fed back to temperature acquisition and control module.
Temperature acquisition and control module 17 receive temperature signal that temperature sensor 16 transmits and decode, and are passed to by the temperature signal of acceptance and control main circuit 4, and heat control system according to the instruction controlling main circuit 4.
Position transducer decoding circuit 12 for Hall or rotary transformer feedback position or rate signal decode, adopt AD2S1210, ADS1205 realize decoding circuit.
Power model 1 and power model 2 realize the control of PWM to motor, adopt the functional circuit of IPM constant power module composition.
Embodiment four:
Fig. 4 shows the schematic block circuit diagram of the embodiment of the present invention four.As shown in Figure 4, the invention provides a kind of SCARA servo-control system, by external power source module 10 to by signal processing module 3, power conversion system 11, control main circuit 4, the servo focus actuator 2 that position transducer decoding circuit 12 is formed provides power supply, external communication module 1 is to servo focus actuator 2 sending controling instruction, by the position transducer of not shown motor, motor speed signal is passed to position transducer decoding circuit 12, by signal decoding by signal transmission to servo focus actuator 2, the rotating speed of the instruction that servo focus actuator 2 sends outside and feedback is analyzed and computing, thus produce 6 road pwm control signals and control motor 7 simultaneously and run, in working control, servo focus actuator 2 can according to the instruction of external communication module 1, regulate the ruuning situation of motor 7.Temperature sensor 16 can pass to temperature acquisition and control module 17 the temperature signal gathered, and then pass to control main circuit 4, control main circuit 4 pairs of temperature informations to analyze, instruction is sent to temperature acquisition and control module when temperature is too low, it is made to heat control system 2, to maintain normal working temperature.
External communication module 1 adopts RS23, RS485, RS422 and CAN communication mode.
External power source module 2 adopts the DC current that can provide between 3.3V-15V, as Switching Power Supply.
Signal processing module 3 adopts the functional circuit as MAX3232 communication chip is formed.
Power conversion system 11 adopts power conversion chip, as the functional circuit of TP7333 power conversion chip composition.
Controlling main circuit 4 adopts one piece of Infineon's chip to form the function that main control circuit realizes servo module Systematical control multiple electric motors, and the main circuit that polylith chip also can be adopted to form realizes controlling multiple electric motors function, as dsp chip.
The temperature of temperature sensor 16 acquisition control system, and temperature signal is fed back to temperature acquisition and control module 17.
Temperature acquisition and control module 17 receive temperature signal that temperature sensor 16 transmits and decode, and are passed to by the temperature signal of acceptance and control main circuit 4, and heat control system according to the instruction controlling main circuit 4.
Position transducer decoding circuit 12 for Hall or rotary transformer feedback position or rate signal decode, adopt AD2S1210, ADS1205 realize decoding circuit.
Power model 1 realizes the control of PWM to motor, adopts the functional circuit of IPM constant power module composition.
Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a SCARA servo-control system, it is characterized in that: this servo-control system only comprises a servo focus actuator, this servo focus actuator receives outside instruction and the feedback signal of motor, and treated generation pwm control signal exports the synthetic operation controlling at least one motor.
2. SCARA servo-control system according to claim 1, it is characterized in that: described servo focus actuator comprises control main circuit, signal processing module, power conversion system, position transducer decoding circuit and temperature acquisition and control module, control main circuit and signal processing module are bi-directionally connected, receive outside instruction, control main circuit to be connected with position transducer decoding circuit, receive the position signalling of motor, control the treated generation pwm control signal of main circuit, export the synthetic operation controlling at least one motor.
3. SCARA servo-control system according to claim 2, is characterized in that: the position signalling that described position transducer decoding circuit feeds back electromechanical transducer or rate signal are decoded, and decoded signal transmission is given controls main circuit.
4. SCARA servo-control system according to claim 2, is characterized in that: described control main circuit is the chip producing 1-24 road pwm signal, or the main circuit be made up of multi-plate chip.
5. SCARA servo-control system according to claim 4, is characterized in that: the chip of described generation 1-24 road pwm signal is Infineon's chip.
6. SCARA servo-control system according to claim 4, is characterized in that: described multi-plate chip is dsp chip.
7. SCARA servo-control system according to claim 2, it is characterized in that: described temperature acquisition and control module and control main circuit and be bi-directionally connected, temperature acquisition and control module receive temperature signal that temperature sensor transmits and decode, the temperature signal of reception is passed to control main circuit, and according to the instruction controlling main circuit, control system is heated.
8. SCARA servo-control system according to claim 2, is characterized in that: described signal processing module and external communication model calling, receives the signal of communication line transmission, and gives control main circuit the signal transmission received.
9. SCARA servo-control system according to claim 2, is characterized in that: described power conversion system and external power source model calling, the supply voltage of reception is converted to the magnitude of voltage controlled needed for main circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510756998.2A CN105320039A (en) | 2015-11-10 | 2015-11-10 | Scara servo control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510756998.2A CN105320039A (en) | 2015-11-10 | 2015-11-10 | Scara servo control system |
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| CN105320039A true CN105320039A (en) | 2016-02-10 |
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| CN201510756998.2A Pending CN105320039A (en) | 2015-11-10 | 2015-11-10 | Scara servo control system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249658A (en) * | 2016-08-31 | 2016-12-21 | 中国船舶重工集团公司第七〇二研究所 | A kind of motor monolithic control device and method based on SoC FPGA |
| CN107508502A (en) * | 2017-08-18 | 2017-12-22 | 迪百仕电机科技（苏州）有限公司 | A kind of motor multi-level control system |
| CN108508811A (en) * | 2018-05-09 | 2018-09-07 | 浙江大学 | A kind of four axis robot servo control circuits of the between centers without communication |
| CN111367239A (en) * | 2020-03-17 | 2020-07-03 | 东菱技术有限公司 | Automatic control method, system and equipment of servo driver |
| CN113485251A (en) * | 2021-07-15 | 2021-10-08 | 湖北泰和电气有限公司 | Server control system |
| CN114123932A (en) * | 2020-08-31 | 2022-03-01 | 上汽通用汽车有限公司 | Motor control system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249658A (en) * | 2016-08-31 | 2016-12-21 | 中国船舶重工集团公司第七〇二研究所 | A kind of motor monolithic control device and method based on SoC FPGA |
| CN107508502A (en) * | 2017-08-18 | 2017-12-22 | 迪百仕电机科技（苏州）有限公司 | A kind of motor multi-level control system |
| CN108508811A (en) * | 2018-05-09 | 2018-09-07 | 浙江大学 | A kind of four axis robot servo control circuits of the between centers without communication |
| CN108508811B (en) * | 2018-05-09 | 2020-09-11 | 浙江大学 | Four-axis robot servo control circuit without communication between axes |
| CN111367239A (en) * | 2020-03-17 | 2020-07-03 | 东菱技术有限公司 | Automatic control method, system and equipment of servo driver |
| CN114123932A (en) * | 2020-08-31 | 2022-03-01 | 上汽通用汽车有限公司 | Motor control system |
| CN113485251A (en) * | 2021-07-15 | 2021-10-08 | 湖北泰和电气有限公司 | Server control system |
| CN113485251B (en) * | 2021-07-15 | 2024-04-05 | 湖北泰和电气有限公司 | Control system of server |
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Application publication date: 20160210 |