CN105911928A - Electric motor controller, electric motor system and joint adopting electric motor system - Google Patents

Electric motor controller, electric motor system and joint adopting electric motor system Download PDF

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Publication number
CN105911928A
CN105911928A CN201610451514.8A CN201610451514A CN105911928A CN 105911928 A CN105911928 A CN 105911928A CN 201610451514 A CN201610451514 A CN 201610451514A CN 105911928 A CN105911928 A CN 105911928A
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CN
China
Prior art keywords
motor
cpu
electric machine
electric motor
described cpu
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610451514.8A
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Chinese (zh)
Inventor
温中蒙
禹超
王海荣
苏杰
刘卓斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
(shanghai) Co Ltd Erzhi Robot
Original Assignee
(shanghai) Co Ltd Erzhi Robot
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by (shanghai) Co Ltd Erzhi Robot filed Critical (shanghai) Co Ltd Erzhi Robot
Priority to CN201610451514.8A priority Critical patent/CN105911928A/en
Publication of CN105911928A publication Critical patent/CN105911928A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • G05B19/0423Input/output
    • 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
    • G05B2219/25Pc structure of the system
    • G05B2219/25368Start group of motors, machines in sequence, power up, down sequence

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention relates to an electric motor controller, an electric motor system and a joint adopting the electric motor system. The electric motor controller comprises an FPGA chip, a CPU which is burnt and recorded in the FPGA chip, an electric motor control system which is realized via a hardware programming language and burnt and recorded in the FPGA chip, and an electric motor signal collecting system which is realized via the hardware programming language and burnt and recorded in the FPGA chip. The electric motor control system is connected with the CPU so as to control an electric motor, and the electric motor signal collecting system is connected with the CPU so as to receive electric motor signals. Function modules of the electric motor controller can be realized via programming according to needs, cost for interface expansion and reduction is low, physics base pins can be configured at will, high flexibility of interface positions is realized, convenience of wire arrangement is achieved, a large quantity of external circuits can be arranged inside, board card area can be reduced, and high mechanical and electronic integration can be fulfilled.

Description

A kind of electric machine controller and electric system and use the joint of this electric system
Technical field
The invention belongs to robot control field, particularly to a kind of electric machine controller and electric system, with And use the joint of this electric system.
Background technology
Joint is the elementary cell of mechanical arm, and the control to mechanical arm depends on the control to joint.Generally In the case of, joint is it suffices that require as follows:
(1) needing to embed the controller with polytype interface on joint, described interface at least needs many Planting form, several functions, even need the sensor interface of customization function, motor drives interface and high speed Communication bus interface.
But in prior art, on controller, the usual quantity of interface, position and function are all fixing, as Fruit above-mentioned requirements to be met, then need substantial amounts of peripheral circuit to expand or functions expanding to realize interface, Also need to the interface using software to realize customization function, in addition it is also necessary to substantial amounts of software algorithm goes to realize signal Process.
This can cause peripheral circuit cost to increase, and material and maintenance cost increase;CPU loss is excessive, letter Number transmission cycle is long, low to the control accuracy in joint;For different configuration of joint, it is impossible to realize quickly Transplanting, development cost is high.
(2) volume of this controller is the least, in order to be embedded in joint, and this is conducive to subtracting The volume of gadget arm, improves its integrated level.
But, peripheral circuit area of the prior art is excessive, causes controller to reduce, it is impossible to real The now electromechanical integration of height.
In sum, the interface position of existing controller, quantity are fixed with function.
Summary of the invention
It is an object of the invention to solve the interface position of prior art middle controller, quantity is fixed with function Problem.
For achieving the above object, the present invention provides a kind of electric machine controller, including:
Fpga chip;
CPU, described CPU burning is in described fpga chip;
Electric machine control system, described electric machine control system is realized by hardware program language, and burning is in institute State fpga chip, and be connected with CPU to control motor;
Motor signal acquisition system, described motor signal acquisition system is realized by hardware program language, and Burning is in described fpga chip, and is connected with CPU to receive motor signal.
Further, described fpga chip uses ALTERA EP3C family chip.
Further, described CPU is NIOS II microprocessor.
Further, electric machine control system includes:
Motor drive module, described motor drive module connects described CPU, is used for receiving described cpu instruction To drive motor, and gather motor rotor position;
Motor braking module, described motor braking module connects described CPU, is used for receiving described cpu instruction With braking motor.
Further, motor drive module includes:
PWM generator, is used for sending control signal to drive motor;
Hall signal harvester, is used for gathering motor rotor position.
Further, motor signal acquisition system includes:
Torque sensor receiver module, described torque sensor receiver module connects described CPU, for by power Square information is transferred to described CPU, and receives the instruction that described CPU issues;
Position receiver module, described position receiver module connects described CPU, for being transferred to by positional information Described CPU, and receive the instruction that described CPU issues;
Current acquisition module, described current acquisition module connects described CPU, for being transferred to by current information Described CPU, and receive the instruction that described CPU issues.
Further, position receiver module includes:
Photoelectric encoder receiver module, for receiving the absolute location information of motor;
Magnetic coder receiver module, for receiving the relative position information of motor.
Further, also include:
Upper strata communication module, described upper strata communication module is realized by hardware program language, and burning is in institute Stating fpga chip, described upper strata communication module connects described CPU, is used for transmitting top level control device instruction letter Breath is to described CPU, and receives described CPU feedack.
Further, described fpga chip is additionally provided with On Chip RAM, PIO and JTAG.
Compared with prior art, the technical program has the advantage that
The electric machine controller of the technical program uses fpga chip, and the method for programming can be used to realize merit Energy module, and build corresponding external interface.Theoretically, if the pin of chip and internal logic Resource is enough, it is possible to be programmed the functional module needed for realizing and external interface as required. Which overcome the problem that the interface quantity of prior art middle controller, position, function are fixing;This technical side The electric machine controller functional module of case can be programmed realizing as required;The extension of interface and reduced cost Low;Physical pins can arbitrary disposition, interface position motility is high, it is simple to wiring;Can be by outside substantial amounts of Portion's circuit is built-in, reduces board area, thus realizes the electromechanical integration of height.
Further, functional module can be realized by hardware program language, and the programming of described hardware language can Realizing the hardware handles to signal, its processing mode is parallel mode, and speed is fast.
The present invention also provides for a kind of electric system, including:
Above-mentioned electric machine controller;
Motor, described motor is connected with described electric machine control system and motor signal acquisition system.
Further, also include:
Three-phase inverting circuit, motor is connected with PWM generator by three-phase inverting circuit, and described PWM sends out Raw device controls the driving of motor by controlling three-phase inverting circuit.
Further, also include:
Decelerator, described decelerator is connected with motor;
Band-type brake, described band-type brake is connected with decelerator and motor braking module.
Further, also include:
Magnetic coder, described magnetic coder is connected with motor and magnetic coder receiver module.
Further, also include:
Torque sensor, described torque sensor is connected with torque sensor receiver module, and by slowing down Device is connected with motor.
Further, also include:
Absolute position transducer, described absolute position transducer is connected with motor by decelerator, to gather The absolute location information of motor;
Photoelectric encoder, described photoelectric encoder and absolute position transducer and photoelectric encoder receiver module Connecting, absolute location information is encoded by described photoelectric encoder, and by the absolute position letter after coding Breath sends to photoelectric encoder receiver module.
Compared with prior art, the technical program has the advantage that
The electric system of the technical program includes electric machine controller, and described electric machine controller uses fpga chip, The method of programming can be used to realize functional module, and build corresponding external interface.Theoretically, As long as the pin of chip and internal logical resource are enough, it is possible to be programmed as required realizing institute The functional module needed and external interface.Which overcome the interface quantity of prior art middle controller, position, The problem that function is fixing;The electric machine controller functional module of the technical program can be programmed reality as required Existing;Extension and the reduced cost of interface are low;Physical pins can arbitrary disposition, interface position motility is high, It is easy to wiring;Board area can be reduced by built-in for substantial amounts of external circuit, thus realize the machine of height Electrical integrated.
The present invention also provides for a kind of joint, including: more than one above-mentioned electric system.
Compared with prior art, the technical program has the advantage that
The joint of the technical program includes electric system, and described electric system includes electric machine controller, described Electric machine controller uses fpga chip, the method for programming can be used to realize functional module, and build phase The external interface answered.Theoretically, as long as the pin of chip and internal logical resource are enough, it is possible to It is programmed the functional module needed for realizing and external interface as required.Which overcome prior art The problem that the interface quantity of middle controller, position, function are fixed;The electric machine controller merit of the technical program Can module can be programmed as required realizing;Extension and the reduced cost of interface are low;Physical pins can be appointed Meaning configuration, interface position motility is high, it is simple to wiring;Can reduce built-in for substantial amounts of external circuit Board area, thus realize the electromechanical integration of height.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of electric machine controller in first embodiment of the invention;
Fig. 2 is the schematic diagram of electric system in second embodiment of the invention.
(note: the shown structure in accompanying drawing, simply to illustrate that the signal of feature of present invention, is not intended to According to structure shown in accompanying drawing.)
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, the most right The specific embodiment of the present invention is described in detail.
First embodiment
Present embodiments provide a kind of electric machine controller.
With reference to Fig. 1, the electric machine controller of the present embodiment includes fpga chip, CPU, electric machine control system and Motor signal acquisition system.
Described fpga chip can use the method for programming to realize functional module, and build corresponding externally Interface.Theoretically, as long as the pin of chip and internal logical resource are enough, it is possible to as required It is programmed the functional module needed for realizing and external interface.
In the present embodiment, the method for programming can be hardware program language, such as VHDL language.Function mould Block uses hardware program language to realize, and can realize the hardware handles to signal, and its processing mode is parallel side Formula, speed is fast.
In the present embodiment, described fpga chip uses ALTERA EP3C family chip.
Described CPU is realized by hardware program language, and burning is in described fpga chip, at the present embodiment In, described CPU is NIOS II microprocessor.
Described electric machine control system is realized by hardware program language, and burning is in described fpga chip, and It is connected with CPU to control motor.
With reference to Fig. 1, in the present embodiment, described electric machine control system includes motor drive module and motor system Dynamic model block.
Described motor drive module connects described CPU, is used for receiving described cpu instruction to drive motor, and Gather motor rotor position.
In the present embodiment, motor drive module includes PWM generator and hall signal harvester.
Described PWM generator is used for sending control signal to drive motor;Described hall signal harvester is used In gathering motor rotor position.
Described motor braking module connects described CPU, is used for receiving described cpu instruction with braking motor.
Described motor signal acquisition system is realized by hardware program language, and burning is in described fpga chip, And be connected to receive motor signal with CPU.
In the present embodiment, motor signal acquisition system includes: torque sensor receiver module, position connect Receive module and current acquisition module.
Described torque sensor receiver module connects described CPU, for moment information being transferred to described CPU, And receive the instruction that described CPU issues.
Described position receiver module connects described CPU, for positional information is transferred to described CPU, and connects Receive the instruction that described CPU issues.
In the present embodiment, position receiver module includes that photoelectric encoder receiver module and magnetic coder receive Module.
Described photoelectric encoder receiver module is for receiving the absolute location information of motor;Described magnetic coder Receiver module, for receiving the relative position information of motor.
Described current acquisition module connects described CPU, for current information is transferred to described CPU, and connects Receive the instruction that described CPU issues.
In the present embodiment, described electric machine controller also includes upper strata communication module, described upper strata communication mould Block is realized by hardware program language, and burning connects in described fpga chip, described upper strata communication module Described CPU, is used for transmitting top level control device command information to described CPU, and receives described CPU feedback Information.
In the present embodiment, described fpga chip is additionally provided with On Chip RAM, PIO and JTAG.
The electric machine controller of the present embodiment overcomes the interface quantity of prior art middle controller, position, merit The problem that can fix;Electric machine controller functional module can be programmed realizing as required;The extension of interface Low with reduced cost;Physical pins can arbitrary disposition, interface position motility is high, it is simple to wiring;Can By built-in for substantial amounts of external circuit, reduce board area, thus realize the electromechanical integration of height.
Second embodiment
Present embodiments provide a kind of electric system.
With reference to Fig. 2, the electric system of the present embodiment includes: the motor described in motor and first embodiment controls Device.Described motor is connected with electric machine control system and the motor signal acquisition system of described controller.
Described electric machine controller uses fpga chip, can use the method for programming to realize functional module, And build corresponding external interface.Theoretically, as long as the pin of chip and internal logical resource are enough, Just can be programmed the functional module needed for realizing and external interface as required.
With reference to Fig. 2, in the present embodiment, described electric system also includes: three-phase inverting circuit.
Described motor is connected with PWM generator by three-phase inverting circuit, and described PWM generator is by control Three-phase inverting circuit processed controls the driving of motor.
When joint needs motion, described CPU sends driving instruction to described PWM generator, described PWM Generator controls three-phase inverting circuit makes motor drive, thus realizes the motion in joint.Described PWM occurs Motor activation bit is fed back to described CPU by device.
In the present embodiment, also include: decelerator and band-type brake.
Described decelerator is connected with motor.
Described band-type brake is connected with decelerator and motor braking module.
When joint need braking time, described CPU send braking instruction give described motor braking module, described Braking instruction is sent to described band-type brake and decelerator by motor braking module, is realized by band-type brake and decelerator The braking of motor.
In the present embodiment, also include magnetic coder.
Described magnetic coder is connected with motor and magnetic coder receiver module.
In the present embodiment, also include torque sensor.
Described torque sensor is connected with torque sensor receiver module, and is connected with motor by decelerator.
In the present embodiment, also include absolute position transducer and photoelectric encoder.
Described absolute position transducer is connected with motor by decelerator, to gather the absolute position letter of motor Breath.
Described photoelectric encoder is connected with absolute position transducer and photoelectric encoder receiver module, described light The absolute location information of absolute position transducer collection is encoded by photoelectric coder, and will coding after exhausted Positional information is sent to photoelectric encoder receiver module.
The electric system of the technical program includes electric machine controller, overcomes connecing of prior art middle controller The problem that mouth quantity, position, function are fixed;The electric machine controller functional module of the technical program can basis Needs are programmed realizing;Extension and the reduced cost of interface are low;Physical pins can arbitrary disposition, interface Flexibility in position is high, it is simple to wiring;Board area can be reduced by built-in for substantial amounts of external circuit, from And realize the electromechanical integration of height.
3rd embodiment
Present embodiments provide a kind of pass comprising the electric system described in more than one second embodiment Joint, described intraarticular is provided with described electric system.
Described joint includes that electric system, described electric system include described electric machine controller, described motor Controller uses fpga chip, the method for programming can be used to realize functional module, and build corresponding External interface.Theoretically, as long as the pin of chip and internal logical resource are enough, it is possible to according to Need to be programmed the functional module needed for realizing and external interface.Which overcome in prior art and control The problem that the interface quantity of device processed, position, function are fixed;The electric machine controller function mould of the technical program Block can be programmed realizing as required;Extension and the reduced cost of interface are low;Physical pins can arbitrarily be joined Putting, interface position motility is high, it is simple to wiring;Board can be reduced by built-in for substantial amounts of external circuit Area, thus realize the electromechanical integration of height.
The above, only presently preferred embodiments of the present invention, it is not intended to limit the protection of the present invention Scope, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, Should be included within the scope of the present invention.

Claims (16)

1. an electric machine controller, it is characterised in that including:
Fpga chip;
CPU, described CPU burning is in described fpga chip;
Electric machine control system, described electric machine control system is realized by hardware program language, and burning is in institute State fpga chip, and be connected with CPU to control motor;
Motor signal acquisition system, described motor signal acquisition system is realized by hardware program language, and Burning is in described fpga chip, and is connected with CPU to receive motor signal.
Electric machine controller the most according to claim 1, it is characterised in that described fpga chip uses ALTERA EP3C family chip.
Electric machine controller the most according to claim 1, it is characterised in that described CPU is that NIOS II is micro- Processor.
Electric machine controller the most according to claim 1, it is characterised in that electric machine control system includes:
Motor drive module, described motor drive module connects described CPU, is used for receiving described cpu instruction To drive motor, and gather motor rotor position;
Motor braking module, described motor braking module connects described CPU, is used for receiving described cpu instruction With braking motor.
Electric machine controller the most according to claim 4, it is characterised in that motor drive module includes:
PWM generator, is used for sending control signal to drive motor;
Hall signal harvester, is used for gathering motor rotor position.
Electric machine controller the most according to claim 1, it is characterised in that motor signal acquisition system includes:
Torque sensor receiver module, described torque sensor receiver module connects described CPU, for by power Square information is transferred to described CPU, and receives the instruction that described CPU issues;
Position receiver module, described position receiver module connects described CPU, for being transferred to by positional information Described CPU, and receive the instruction that described CPU issues;
Current acquisition module, described current acquisition module connects described CPU, for being transferred to by current information Described CPU, and receive the instruction that described CPU issues.
Electric machine controller the most according to claim 6, it is characterised in that position receiver module includes:
Photoelectric encoder receiver module, for receiving the absolute location information of motor;
Magnetic coder receiver module, for receiving the relative position information of motor.
Electric machine controller the most according to claim 1, it is characterised in that also include:
Upper strata communication module, described upper strata communication module is realized by hardware program language, and burning is in institute Stating fpga chip, described upper strata communication module connects described CPU, is used for transmitting top level control device instruction letter Breath is to described CPU, and receives described CPU feedack.
Electric machine controller the most according to claim 1, it is characterised in that also set up on described fpga chip There are On Chip RAM, PIO and JTAG.
10. an electric system, it is characterised in that including:
Electric machine controller as described in claim 1-9 is arbitrary;
Motor, described motor is connected with described electric machine control system and motor signal acquisition system.
11. electric systems according to claim 10, it is characterised in that also include:
Three-phase inverting circuit, motor is connected with PWM generator by three-phase inverting circuit, and described PWM sends out Raw device controls the driving of motor by controlling three-phase inverting circuit.
12. electric systems according to claim 10, it is characterised in that also include:
Decelerator, described decelerator is connected with motor;
Band-type brake, described band-type brake is connected with decelerator and motor braking module.
13. electric systems according to claim 10, it is characterised in that also include:
Magnetic coder, described magnetic coder is connected with motor and magnetic coder receiver module.
14. electric systems according to claim 12, it is characterised in that also include:
Torque sensor, described torque sensor is connected with torque sensor receiver module, and by slowing down Device is connected with motor.
15. electric systems according to claim 12, it is characterised in that also include:
Absolute position transducer, described absolute position transducer is connected with motor by decelerator, to gather The absolute location information of motor;
Photoelectric encoder, described photoelectric encoder and absolute position transducer and photoelectric encoder receiver module Connecting, absolute location information is encoded by described photoelectric encoder, and by the absolute position letter after coding Breath sends to photoelectric encoder receiver module.
16. 1 kinds of joints, it is characterised in that including:
The arbitrary described electric system of more than one claim 10-15.
CN201610451514.8A 2016-06-21 2016-06-21 Electric motor controller, electric motor system and joint adopting electric motor system Pending CN105911928A (en)

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CN201610451514.8A CN105911928A (en) 2016-06-21 2016-06-21 Electric motor controller, electric motor system and joint adopting electric motor system

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CN201610451514.8A CN105911928A (en) 2016-06-21 2016-06-21 Electric motor controller, electric motor system and joint adopting electric motor system

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107901044A (en) * 2017-12-29 2018-04-13 上海交通大学 The drive control integral system of joint of robot
CN109445416A (en) * 2018-10-31 2019-03-08 中国科学院合肥物质科学研究院 A kind of highly integrated joint control system of Multi-sensor Fusion
CN112039398A (en) * 2020-08-12 2020-12-04 尔智机器人(珠海)有限公司 Permanent magnet synchronous motor rotor position detection method and mechanical arm system

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107901044A (en) * 2017-12-29 2018-04-13 上海交通大学 The drive control integral system of joint of robot
CN109445416A (en) * 2018-10-31 2019-03-08 中国科学院合肥物质科学研究院 A kind of highly integrated joint control system of Multi-sensor Fusion
CN112039398A (en) * 2020-08-12 2020-12-04 尔智机器人(珠海)有限公司 Permanent magnet synchronous motor rotor position detection method and mechanical arm system

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Application publication date: 20160831