CN106160611A - A kind of servomotor integrated control system based on STM32 and method - Google Patents
A kind of servomotor integrated control system based on STM32 and method Download PDFInfo
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- CN106160611A CN106160611A CN201610557061.7A CN201610557061A CN106160611A CN 106160611 A CN106160611 A CN 106160611A CN 201610557061 A CN201610557061 A CN 201610557061A CN 106160611 A CN106160611 A CN 106160611A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract
A kind of servomotor integrated control system based on STM32, is characterized in that, including main control module (1), servo-driver module (2)；Described main control module (1), including limit on the left sensor input circuit (3), origin sensor input interface circuit (4), limit on the right-right-hand limit sensor input circuit (5), the STM32 main control processor (Uc12) of band DSP function, pulse output interface circuit (6), direction output interface circuit (7)；Described servo-driver module (2), including three-phase commutation bridge (8), three-phase bridge inverter circuit (9), servo-drive main control processor STM32 chip (U15), optical coupling isolation circuit (U8), pulse/direction input interface circuit (U13), IGBT drive circuit (U7), motor body (U1), Hall element (U2), (U3).The present invention has that with low cost, easy to use, good stability, reliability are high, work feature flexibly.
Description
Technical field
The present invention relates to a kind of control system and the method for servomotor, more specifically, it relates to one is based on STM32
Servomotor integrated control system and method, belong to the control technical field of servomotor.
Background technology
At industrial control field, PLC occupies the biggest market share in low and middle-end automation equipment, in the world main flow
PLC brand (such as Siemens, Omron) suffers from the technological accumulation of richness, and PLC has that the construction cycle is short, reliability is high, compiles
Cheng Yuyan (such as ladder diagram) is prone to the advantages such as engineers and technicians' acceptance.Therefore, PLC is at the batch nonstandard, non-of low and middle-end
Industrial automation product has the advantage being difficult to surmount.
Although PLC occupies the biggest market share, large batch of in main low and middle-end industrial automation product
In control task, PLC is with high costs.Additionally, the control program of the servo-driver of current PLC mainly uses DSP+FPGA, its
Cost is the highest.
Therefore, considering with application angle from cost, price is less expensive, use more easily servomotor integrated to be badly in need of one
Networked control systems and method meet the use demand of large batch of control task.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of servo based on STM32 cheap, easy to use
Motor integrated control system and method, it, based on STM32 core, can conveniently realize the control to servomotor kinestate
System, thus in the case of not subtracting performance, it is substantially reduced cost, user's use of being more convenient for.
For achieving the above object, the technical solution used in the present invention is:
A kind of servomotor integrated control system based on STM32 and method, including main control module 1, servo-driver
Module 2；
Described main control module 1, including limit on the left sensor Uc1, origin sensor Uc4, limit on the right-right-hand limit sensor Uc7, with a left side
Limit sensor Uc1 collectively forms the resistance Rc1 of limit on the left sensor input circuit 3, commutator Uc2, resistance Rc2, electricity
Hold Cc1, photoelectrical coupler Uc3, resistance Rc3, collectively form origin sensor input interface circuit 4 with origin sensor Uc4
Resistance Rc4, commutator Uc5, resistance Rc5, electric capacity Cc2, photoelectrical coupler Uc6, resistance Rc6, common with limit on the right-right-hand limit sensor Uc7
Constitute the resistance Rc7 of limit on the right-right-hand limit sensor input circuit 5, commutator Uc8, resistance Rc8, electric capacity Cc3, photoelectrical coupler
Uc9, resistance Rc9；With the STM32 main control processor Uc12 of DSP function, the STM32 main control processor Uc12 of tape splicing DSP function is defeated
Go out photoelectrical coupler Uc19, Uc22 of end, with the resistance that photoelectrical coupler Uc19 collectively forms pulse output interface circuit 6
Rc10, audion Q1, resistance Rc11, with photoelectrical coupler Uc22 collectively form the resistance Rc12 of direction output interface circuit 7, three
Pole pipe Q2, resistance Rc13, the touch screen module Uc10 being connected with the STM32 main control processor Uc12 of band DSP function, button or
Person's button module Uc11；
Described servo-driver module 2, including the three-phase commutation bridge being made up of 6 diodes D1, D2, D3, D4, D5, D6
8, the three-phase bridge inverter circuit 9 being made up of insulated gate bipolar transistor T1, T2, T3, T4, T5, T6, servo-drive master control processes
Device STM32 chip U15, the optical coupling isolation circuit U8 being connected with servo-drive main control processor U15, operation keyboard U9, pulse/
Direction input interface circuit U13, the relay U4 being connected with optical coupling isolation circuit U8, busbar voltage testing circuit U5, IGBT
Drive circuit U7, motor body U1, two Hall elements U2, the U3 being connected with motor body U1 and three-phase bridge inverter circuit 9,
The divider resistance R4 being connected with busbar voltage testing circuit U5, input circuit.
User sets motor by button or button module Uc11 to the STM32 main control processor Uc12 of band DSP function
The operational factor of body U1: the number of turns of motor body U1 rotation, the velocity of rotation of motor body U1, the direction letter of motor body U1
Number, touch screen module Uc10 shows above-mentioned parameter.
In described limit on the left sensor input circuit 3, when motor body U1 rotates to limit on the left position, limit on the left
Sensor input circuit 3 exports limit on the left signal, flows to the STM32 main control processor Uc12 of band DSP function.
In described origin sensor input interface circuit 4, when motor body U1 rotates to origin position, origin sensor
Input interface circuit 4 exports initial point signal, flows to the STM32 main control processor Uc12 of band DSP function.
In described limit on the right-right-hand limit sensor input circuit 5, when motor body U1 rotates to limit on the right-right-hand limit position, limit on the right-right-hand limit
Sensor input circuit 5 exports limit on the right-right-hand limit signal, flows to the STM32 main control processor Uc12 of band DSP function.
Then the STM32 main control processor Uc12 of band DSP function combine user set motor body U1 operational factor and
Limit on the left signal, initial point signal, limit on the right-right-hand limit signal, outwards output " motor pulses signal " and " motor drive direction signal ".
Pulse output interface circuit 6 passes through photoelectrical coupler Uc19 defeated for the STM32 main control processor Uc12 of band DSP function
" the motor pulses signal " that go out isolates, and obtains more stable pure " motor pulses signal ", and this signal is again through audion
After Q1 is amplified, it is directly fed to servo-driver module 2.
Direction output interface circuit 7 passes through photoelectrical coupler Uc22 defeated for the STM32 main control processor Uc12 of band DSP function
" the motor drive direction signal " that go out isolates, and obtains more stable pure " motor drive direction signal ", and this signal is again through audion
After Q2 is amplified, it is directly fed to servo-driver module 2.
" motor pulses signal " and " motor drive direction signal " input servo-driver module 2, specifically, are input servos
Pulse in Drive Module 2/direction input interface circuit U13.
Described pulse/direction input interface circuit U13 accesses servo-drive main control processor STM32 chip U15, " motor
Pulse signal " pass through pulse/direction input interface circuit U13 with " motor drive direction signal ", eventually arrive at servo-drive master control
Reason device STM32 chip U15.
Described three-phase commutation bridge 8 is made up of diode D1, D2, D3, D4, D5, D6, and the negative pole of diode D1, D3, D5 is connected
Connecing, output ripple galvanic positive pole DC+, the positive pole of diode D2, D4, D6 is connected, the galvanic negative pole of output ripple
DC-。
Three-phase bridge inverter circuit 9, insulated gate bipolar is formed by insulated gate bipolar transistor T1, T2, T3, T4, T5, T6
Transistor T1 and T2 forms U phase bridge wall, and wherein T1 is upper brachium pontis, and T2 is lower brachium pontis, and the point of contact of T1 Yu T2 is referred to as point of contact U；
Insulated gate bipolar transistor T3 and T4 forms V phase bridge wall, and wherein T3 is upper brachium pontis, and T4 is lower brachium pontis, the point of contact of T3 Yu T4
It is referred to as point of contact V；Insulated gate bipolar transistor T5 and T6 forms W phase bridge wall, and wherein T5 is upper brachium pontis, and T6 is lower brachium pontis, T5
It is referred to as point of contact W with the point of contact of T6；Three bridge walls collectively form three-phase bridge inverter circuit 9.
Three-phase or single-phase alternating current are inputted by the power input port of servo-driver module 2, through three-phase commutation bridge 8
Output ripple unidirectional current, galvanic the most extremely DC+, negative pole are DC-, and then this Rectified alternating current is through three-phase bridge inverter circuit 9
Carry out inversion, be reverse into three-phase alternating current and supply electricity to motor body U1 and power.
Servo-drive main control processor STM32 chip U15 uses space vector pulse width modulation technology (SVPWM), defeated
Going out 3 groups of PWM ripples, three bridge walls of these 3 groups of PWM ripple correspondence three-phase bridge inverter circuits 9, as controlling insulated gate bipolar transistor
" the IGBT control signal " of T1, T2, T3, T4, T5, T6, is delivered to IGBT drive circuit U7 by optical coupling isolation circuit U8, thus
Control the on or off of insulated gate bipolar transistor T1, T2, T3, T4, T5, T6, and then to U phase, V phase, W this three-phase of phase
Voltage and current is controlled, thus adjusts three-phase alternating current, and then realizes the control of the rotation to motor body U1.
3 groups of PWM wavelength-divisions do not control insulated gate bipolar transistor T1, T2, T3, T4, T5, T6 and switch, by controlling
ON time, switch time, switching sequence output three phase AC sine wave voltage are powered to the stator of motor body U1, thus shape
Becoming rotating excitation field, the rotor of drive motor body U1 rotates, the effective current size of the resultant vector of its three phase AC sine wave
Determine the size of the actual output torque of motor body U1；The rotary speed of the resultant vector of three phase AC sine wave determines motor
The running speed of body U1；Total anglec of rotation of the resultant vector of three phase AC sine wave determine the operating of motor body U1 away from
From；The direction of rotation of the resultant vector of three phase AC sine wave is determined as the rotation direction of motor body U1.
The size of current of three-phase alternating current controls the size of the rotation strength of motor body U1, the i.e. electric current of three-phase alternating current
Size is proportional with the output torque of motor, so servo-drive main control processor STM32 chip U15 can pass through three-phase
The size of alternating current, according to the direct ratio proportionality coefficient of motor body U1, calculates the current actual output torque of motor body U1.
Wherein, direct proportion coefficient is given by system model.
Two input ports of described Hall element U2 are connected in series in U phase, two input ports of Hall element U3
Being connected in series in V phase, the output of two Hall elements is all connected with optical coupling isolation circuit U8, and Hall element U2 is used for detecting
The electric current of U phase in three-phase alternating current, Hall element U3 is used for detecting the electric current of V phase in three-phase alternating current.Servo-drive master control
Processor STM32 chip U15 is zero electric current calculating W phase according to three-phase current vector sum, thus learns as motor body
The size of the three-phase alternating current that U1 powers；Further, Hall element U2, U3 also plays a part the excessive protection of electric current.
Feedback device within described motor body U1 is connected with servo-drive main control processor STM32 chip U15, will
Comprise the current rotating speed of motor, direction of rotation, target exports torque, " motor feedback signals " output of positional information is driven to servo
Dynamic main control processor STM32 chip U15.
U phase that servo-drive main control processor STM32 chip U15 records according to Hall element U2, U3, the electric current of V phase,
Calculate the electric current of W phase, according to direct proportion coefficient, calculate the current actual output torque of motor body U1, then servo
Drive main control processor STM32 chip U15 comparison object torque and actual output torque, utilize pid algorithm to adjust 3 groups of PWM ripples
Pulse width, thus regulate the size of current of three-phase alternating current, and then reality is exported torque adjust to target torque；
Servo-drive main control processor STM32 chip U15 is by " the current rotating speed of motor, the rotation in " motor feedback signals "
Turn direction, positional information " use SVPWM method comparison with " U phase that Hall element U2, U3 record, the electric current of V phase ", will be through
The 3 groups of PWM ripples crossing pid algorithm adjustment extra pulse width are adjusted again, thus when adjusting the conducting of three-phase bridge inverter circuit 9
Between, switch time and switching sequence.
Described optical coupling isolation circuit U8 for by Hall element U2, U3, relay U4, busbar voltage testing circuit U5,
The signal of IGBT drive circuit U7 carries out insulation blocking.
Described relay U4 series resistance in the loop, when motor body U1 just starts, whole servo-driver module 2
Operating current is bigger, carries out current limliting by relay U4.When motor body U1 just starts, servo-drive main control processor
It is off-state that STM32 chip U15 controls the normally opened contact of relay U4, the state of normally opened contact is cut after having started again
It is changed to normally closed.
Described busbar voltage testing circuit U5 detection bus DC voltage after dividing potential drop, output has higher driving energy
The d. c. voltage signal of power is to servo-drive main control processor STM32 chip U15, servo-drive main control processor STM32 chip
U15 carries out A/D collection, obtains the magnitude of voltage of DC bus-bar voltage, so that it is determined that the direct current supply electricity of servo-driver module 2
Pressure.When direct current supply voltage is excessive, servo-drive main control processor STM32 chip U15 control system automatically shuts down protects
Protect；When direct current supply voltage is too small, servo-drive main control processor STM32 chip U15 output alarm signal.
STM32 is as control chip in employing, with low cost；Leave DLL, it is easy to adjust specific procedure by programming,
Flexibly, autgmentability is strong in work；Leave communications interface simultaneously, large-scale job network can be built, be conveniently applied to big
In the control task of batch.
In the transmitting procedure of control signal, use and organize photoelectrical coupler more, it is ensured that the stability of transmission signal；
Busbar voltage testing circuit U5 is used the DC voltage in servo-driver module 2 circuit to be detected, when directly
When stream supply voltage is excessive, system automatically shuts down, and improves the reliability of system；
Therefore, it is relatively low that the present invention has cost, applied widely；Ease for use is higher, and work is flexibly；Good stability, reliable
Property high；Autgmentability is strong, can build large-scale job network, advantage easy to use in large batch of control task.
As preferably, in described limit on the left sensor input circuit 3, when motor body U1 rotates to limit on the left position
Time, limit on the left sensor Uc1 responds, and limit on the left sensor input circuit 3 exports limit on the left signal, and this limit on the left signal leads to
Cross after photoelectrical coupler Uc3 isolates, flow to the STM32 main control processor Uc12 of band DSP function；
In described origin sensor input interface circuit 4, when motor body U1 rotates to origin position, origin sensor
Uc4 respond, origin sensor input interface circuit 4 exports initial point signal, this initial point signal by photoelectrical coupler Uc6 carry out every
From afterwards, flow to the STM32 main control processor Uc12 of band DSP function；
In described limit on the right-right-hand limit sensor input circuit 5, when motor body U1 rotates to limit on the right-right-hand limit position, limit on the right-right-hand limit
Sensor Uc7 responds, and limit on the right-right-hand limit sensor input circuit 5 exports limit on the right-right-hand limit signal, and this limit on the right-right-hand limit signal passes through light thermocouple
After clutch Uc9 isolates this limit on the right-right-hand limit signal, flow to the STM32 main control processor Uc12 of band DSP function.
As preferably, the input of described busbar voltage testing circuit U5 terminates bus DC voltage divider resistance R4.Through R4
DC voltage after dividing potential drop, through busbar voltage testing circuit U5, obtains the d. c. voltage signal with more high driving ability, so
After this signal by optical coupling isolation circuit U8 export to servo-drive main control processor STM32 chip U15, at servo-drive master control
Reason device STM32 chip U15 carries out A/D collection, obtains the magnitude of voltage of DC bus-bar voltage, so that it is determined that servo-driver module 2
Direct current supply voltage.
A kind of servomotor integrated control system based on STM32, comprises the steps:
User sets motor by button or button module Uc11 to the STM32 main control processor Uc12 of band DSP function
The operational factor of body U1: the number of turns of motor body U1 rotation, the velocity of rotation of motor body U1, the direction letter of motor body U1
Number.
When motor body U1 rotates to limit on the left position, limit on the left sensor Uc1 responds, and the input of limit on the left sensor connects
Mouth circuit 3 exports limit on the left signal, after this limit on the left signal is isolated by photoelectrical coupler Uc3, flows to band DSP merit
The STM32 main control processor Uc12 of energy.
When motor body U1 rotates to origin position, origin sensor Uc4 responds, origin sensor input interface circuit
4 output initial point signals, after this initial point signal is isolated by photoelectrical coupler Uc6, flow to the STM32 of band DSP function
Main control processor Uc12.
When motor body U1 rotates to limit on the right-right-hand limit position, limit on the right-right-hand limit sensor Uc7 responds, and the input of limit on the right-right-hand limit sensor connects
Mouth circuit 5 exports limit on the right-right-hand limit signal, and this limit on the right-right-hand limit signal carries out this limit on the right-right-hand limit signal to isolate it by photoelectrical coupler Uc9
After, flow to the STM32 main control processor Uc12 of band DSP function.
STM32 main control processor Uc12 with DSP function is according to the above-mentioned operational factor of motor body U1, limit on the left letter
Number, initial point signal and limit on the right-right-hand limit signal, outwards export accordingly " motor pulses letter by pulse output interface circuit 6 respectively
Number ", outwards exported corresponding " motor drive direction signal " by direction output interface circuit 7.
Pulse output interface circuit 6 passes through photoelectrical coupler Uc19 defeated for the STM32 main control processor Uc12 of band DSP function
" the motor pulses signal " that go out isolates, and obtains more stable pure " motor pulses signal ", and this signal is again through audion
After Q1 is amplified, it is directly fed to servo-driver module 2.STM32 main control processor Uc12 output with DSP function
Number of pulses in " motor pulses signal " can control the number of turns that motor body U1 rotates, the pulse in " motor pulses signal "
Frequency can control the velocity of rotation of motor body U1.
Direction output interface circuit 7 passes through photoelectrical coupler Uc22 defeated for the STM32 main control processor Uc12 of band DSP function
" the motor drive direction signal " that go out isolates, and obtains more stable pure " motor drive direction signal ", and this signal is again through audion
After Q2 is amplified, it is directly fed to servo-driver module 2.STM32 main control processor Uc12 output with DSP function
High level signal in " motor drive direction signal " can control motor body U1 and rotate forward, the low electricity in " motor drive direction signal "
Ordinary mail number can control motor body U1 and rotate backward.
" motor pulses signal " and " motor drive direction signal " input servo-driver module 2, specifically, are input servos
Pulse in Drive Module 2/direction input interface circuit U13.
Three-phase or single-phase alternating current are inputted by the power input port of servo-driver module 2, through three-phase commutation bridge
8, output ripple unidirectional current, system starts.
The three-phase bridge inversion electricity that Rectified alternating current is then made up of insulated gate bipolar transistor T1, T2, T3, T4, T5, T6
Road 9 carries out inversion, is reverse into three-phase alternating current and supplies electricity to motor body U1 and power, and motor body U1 opens.
Servo-drive main control processor STM32 chip U15 receive from main control module 1 " motor pulses signal " with
" motor drive direction signal ", servo-drive main control processor STM32 chip U15, according to above-mentioned signal, uses space vector pulse width
Degree modulation technique (SVPWM), exports 3 groups of PWM ripples, and three bridge walls of these 3 groups of PWM ripple correspondence three-phase bridge inverter circuits 9, as control
" the IGBT control signal " of insulated gate bipolar transistor T1, T2, T3, T4, T5, T6 processed, this signal passes through optical coupling isolation circuit
U8 is delivered to IGBT drive circuit U7；IGBT drive circuit U7, according to " IGBT control signal ", directly controls insulated gate bipolar
Transistor T1, T2, T3, T4, T5, T6 on or off, is adjusted to the U phase of the three-phase alternating current that motor body U1 powers, V phase, W
The voltage and current of phase, motor body U1 starts to rotate.
Feedback device within motor body U1 is connected with servo-drive main control processor STM32 chip U15, will comprise
The output torque of the current rotating speed of motor, direction of rotation, target, " motor feedback signals " of positional information export to servo-drive master
Control processor STM32 chip U15.
U phase that servo-drive main control processor STM32 chip U15 records according to Hall element U2, U3, the electric current of V phase,
Calculate the electric current of W phase, according to direct proportion coefficient, calculate the current actual output torque of motor body U1, then servo
Drive main control processor STM32 chip U15 comparison object torque and actual output torque, utilize pid algorithm to adjust 3 groups of PWM ripples
Pulse width, thus regulate the size of current of three-phase alternating current, and then reality is exported torque adjust to target torque.
Servo-drive main control processor STM32 chip U15 is by " the current rotating speed of motor, the rotation in " motor feedback signals "
Turn direction, positional information " use SVPWM method comparison with " U phase that Hall element U2, U3 record, the electric current of V phase ", will be through
The 3 groups of PWM ripples crossing pid algorithm adjustment extra pulse width are adjusted again, thus when adjusting the conducting of three-phase bridge inverter circuit 9
Between, switch time and switching sequence；
Through repeatedly adjusting, the parameter stability operating that motor body U1 is set by user.
In system operation, the feedback module within U1 is defeated by comprising the current rotating speed of motor, direction of rotation, target
Go out torque, positional information " motor feedback signals " real-time Transmission to servo-drive main control processor STM32 chip U15, servo
Main control processor STM32 chip U15 is driven to adjust in real time, it is ensured that the stability of system；
Owing to using STM32 core, system can provide the user abundant application function interface API, and user needs to realize
During certain function, it is only necessary to call corresponding power function, and carry out simply arranging to its parameter, it is possible to touch screen
It is programmed with primary control program, the construction cycle can be greatly shortened, effectively reduce the professional standards requirement to user；
Based on STM32 servo control system is carried out integrated after, it is easy to user develops use, can be significantly
Reduce development time and research cost, user familiar with after can realize construction cycle of comparing favourably with PLC.
Therefore, the present invention have stablize, reliability high；Ease for use is higher, and work is flexibly, it is easy to promote；Development time
The advantage relatively low with research cost.
Arteries and veins as preferably, in " the motor pulses signal " of the STM32 main control processor Uc12 output of described band DSP function
Strokes per minute amount controls the number of turns that motor body U1 rotates, and the pulse frequency in " motor pulses signal " controls the rotation of motor body U1
Speed.
High level signal in " the motor drive direction signal " of the STM32 main control processor Uc12 output of described band DSP function
Controlling motor body U1 to rotate forward, the low level signal in " motor drive direction signal " controls motor body U1 and rotates backward.
As preferably, in described main control module 1, the STM32 main control processor Uc12 of band DSP function is also associated with: RS-
232 interface circuit Uc13, jtag interface circuit U c14, indicating circuit Uc15, RS-485 interface circuit Uc16, reset circuit Uc17
With crystal oscillating circuit Uc18；
RS-232 interface circuit U c13 and RS-485 interface circuit Uc16 are respectively intended to carry out communication, JTAG with external device
Interface circuit Uc14 provides download program and the interface of on-line debugging, and indicating circuit Uc15 is used for carrying out the duty of system
Display, reset circuit Uc17 is used for carrying out the STM32 main control processor Uc12 and liquid crystal screen module Uc10 of band DSP function again
Position, crystal oscillating circuit Uc18 produces oscillator signal, provides clock reference to the STM32 main control processor Uc12 of band DSP function.
As preferably, the servo-drive main control processor STM32 chip U15 in described servo-driver module 2 is also connected with
Have: D/A change-over circuit U10, communication interface circuit U11, A/D change-over circuit U12, other I/O interface circuit U14；
Operation keyboard U9 is mainly used to be configured the running parameter of servo-drive main control processor STM32 chip U15,
D/A change-over circuit U10 provides digital quantity to be converted to the interface of analog quantity, and communication interface U11 provides servo-drive main control processor
STM32 chip U15 and miscellaneous equipment carry out the interface of communication, and A/D change-over circuit U10 provides analog quantity to be converted to connecing of digital quantity
Mouthful, other I/O is the function that system is reserved, in order to carry out Function Extension or secondary development.
As preferably, described " IGBT control signal " is: servo-drive main control processor STM32 chip U15 uses space
3 groups of PWM ripples that vector pulse width modulating technology (SVPWM) exports with pid algorithm, these 3 groups of PWM ripple correspondence three-phase bridge inversions electricity
Three bridge walls on road 9, directly control insulated gate bipolar transistor T1, T2, T3, T4, T5, T6 on or off, and then to giving
The U phase of the three-phase alternating current that motor body U1 powers, V phase, the voltage and current of W phase are controlled.
As preferably, the feedback device within described motor body U1 and servo-drive main control processor STM32 chip U15
Be connected, by comprise the current rotating speed of motor, direction of rotation, target output torque, positional information " motor feedback signals " defeated
Go out to servo-drive main control processor STM32 chip U15；
U phase that servo-drive main control processor STM32 chip U15 records according to Hall element U2, U3, the electric current of V phase,
Calculate the electric current of W phase, according to direct proportion coefficient, calculate the current actual output torque of motor body U1, then servo
Drive main control processor STM32 chip U15 comparison object torque and actual output torque, utilize pid algorithm to adjust output last time
The pulse width of 3 groups of PWM ripples；
Servo-drive main control processor STM32 chip U15 is by " the current rotating speed of motor, the rotation in " motor feedback signals "
Turn direction, positional information " use SVPWM method comparison with " U phase that Hall element U2, U3 record, the electric current of V phase ", will be through
The 3 groups of PWM ripples crossing pid algorithm adjustment extra pulse width are adjusted again, thus when adjusting the conducting of three-phase bridge inverter circuit 9
Between, switch time and switching sequence.
Therefore, there is advantages that
(1) good stability, reliability height；
(2) cost is relatively low, applied widely；
(3) ease for use is higher, and work is flexibly, it is easy to promote；
(4) development time is relatively low with research cost.
Accompanying drawing explanation
Fig. 1 is a kind of schematic diagram of the present invention；
Fig. 2 is a kind of structural representation of the main control module 1 of the present invention；
Fig. 3 is a kind of structural representation of the servo-driver module 2 of the present invention；
Fig. 4 is that a kind of of the three-phase bridge inverter circuit 9 of the present invention connects circuit diagram.
In figure: limit on the left sensor Uc1, commutator Uc2, photoelectrical coupler Uc3, origin sensor Uc4, commutator Uc5,
Photoelectrical coupler Uc6, limit on the right-right-hand limit sensor Uc7, commutator Uc8, photoelectrical coupler Uc9, touch screen module Uc10, button or
Button module Uc11, the STM32 main control processor Uc12 of band DSP function, RS-232 interface circuit U c13, jtag interface circuit
Uc14, indicating circuit Uc15, RS-485 interface circuit Uc16, reset circuit Uc17 and crystal oscillating circuit Uc18, photoelectrical coupler
Uc19, photoelectrical coupler Uc22, resistance Rc1, resistance Rc2, resistance Rc3, resistance Rc4, resistance Rc5, resistance Rc6, resistance Rc10,
Resistance Rc11, resistance Rc12, resistance Rc13, electric capacity Cc1, electric capacity Cc2, audion Q1, audion Q2；
6 diode D1, D2, D3, D4, D5, D6,6 insulated gate bipolar transistor T1, T2, T3, T4, T5, T6, electricity
Machine body U1, Hall element U2, Hall element U3, relay U4, busbar voltage testing circuit U5, IGBT drive circuit
U7, optical coupling isolation circuit U8, operation keyboard U9, D/A change-over circuit U10, communication interface circuit U11, A/D change-over circuit U12, arteries and veins
Punching/direction input interface circuit U13, other I/O interface circuit U14, servo-drive main control processor STM32 chip U15, dividing potential drop
Resistance R4.
Detailed description of the invention
Below by specific embodiment, and combine accompanying drawing, technical scheme be further described specifically:
As shown in Figure 1, Figure 2, the embodiment shown in Fig. 3 and Fig. 4 is a kind of servomotor integrated control system based on STM32
And method, including main control module 1, servo-driver module 2；
Main control module 1 includes limit on the left sensor Uc1, origin sensor Uc4, limit on the right-right-hand limit sensor Uc7, senses with the limit
Device Uc1 collectively forms the resistance Rc1 of limit on the left sensor input circuit 3, commutator Uc2, resistance Rc2, electric capacity Cc1, light
Electric coupler Uc3, resistance Rc3, with origin sensor Uc4 collectively form origin sensor input interface circuit 4 resistance Rc4,
Commutator Uc5, resistance Rc5, electric capacity Cc2, photoelectrical coupler Uc6, resistance Rc6, collectively form right pole with limit on the right-right-hand limit sensor Uc7
Limit the resistance Rc7 of sensor input circuit 5, commutator Uc8, resistance Rc8, electric capacity Cc3, photoelectrical coupler Uc9, resistance
Rc9；With the STM32 main control processor Uc12 of DSP function, the light of the STM32 main control processor Uc12 outfan of tape splicing DSP function
Electric coupler Uc19, Uc22, collectively form the resistance Rc10 of pulse output interface circuit 6, audion with photoelectrical coupler Uc19
Q1, resistance Rc11, collectively form the resistance Rc12 of direction output interface circuit 7, audion Q2, resistance with photoelectrical coupler Uc22
Rc13, touch screen module Uc10, button or the button module being connected with the STM32 main control processor Uc12 of band DSP function
Uc11；
Servo-driver module 2 includes the three-phase commutation bridge 8 being made up of 6 diodes D1, D2, D3, D4, D5, D6, by absolutely
The three-phase bridge inverter circuit 9 of edge grid bipolar transistor T1, T2, T3, T4, T5, T6 composition, servo-drive main control processor
STM32 chip U15, the optical coupling isolation circuit U8 being connected with servo-drive main control processor U15, operation keyboard U9, pulse/side
Drive to input interface circuit U13, the relay U4 being connected with optical coupling isolation circuit U8, busbar voltage testing circuit U5, IGBT
Galvanic electricity road U7, motor body U1, two Hall elements U2, the U3 being connected with motor body U1 and three-phase bridge inverter circuit 9, with
The divider resistance R4 that busbar voltage testing circuit U5, input circuit connect.
Pulse/direction input interface circuit U13 accesses servo-drive main control processor STM32 chip U15.
Three-phase commutation bridge 8 is made up of diode D1, D2, D3, D4, D5, D6, and the negative pole of diode D1, D3, D5 is connected,
Output ripple galvanic positive pole DC+, the positive pole of diode D2, D4, D6 is connected, output ripple galvanic negative pole DC-.
Three-phase bridge inverter circuit 9, insulated gate bipolar is formed by insulated gate bipolar transistor T1, T2, T3, T4, T5, T6
Transistor T1 and T2 forms U phase bridge wall, and wherein T1 is upper brachium pontis, and T2 is lower brachium pontis, and the point of contact of T1 Yu T2 is referred to as point of contact U；
Insulated gate bipolar transistor T3 and T4 forms V phase bridge wall, and wherein T3 is upper brachium pontis, and T4 is lower brachium pontis, the point of contact of T3 Yu T4
It is referred to as point of contact V；Insulated gate bipolar transistor T5 and T6 forms W phase bridge wall, and wherein T5 is upper brachium pontis, and T6 is lower brachium pontis, T5
It is referred to as point of contact W with the point of contact of T6；Three bridge walls collectively form three-phase bridge inverter circuit 9.
Two input ports of Hall element U2 are connected in series in U phase, two input port series connection of Hall element U3
In V phase, the output of two Hall elements is all connected with optical coupling isolation circuit U8.
Feedback module within motor body U1 is connected with servo-drive main control processor STM32 chip U15.
Optical coupling isolation circuit U8 connects Hall element U2, U3, and relay U4, busbar voltage testing circuit U5 with IGBT drive
Galvanic electricity road U7.
STM32 main control processor Uc12 with DSP function is also associated with: RS-232 interface circuit U c13, jtag interface electricity
Road Uc14, indicating circuit Uc15, RS-485 interface circuit Uc16, reset circuit Uc17 and crystal oscillating circuit Uc18.
Servo-drive main control processor STM32 chip U15 is also associated with: D/A change-over circuit U10, communication interface circuit
U11, A/D change-over circuit U12, other I/O interface circuit U14；
A kind of control method of servomotor integrated system based on STM32, work process is as follows:
With a motor body U1 normal workflow citing:
Three-phase or single-phase alternating current are inputted by the power input port of servo-driver module 2, through three-phase commutation bridge
8, output ripple unidirectional current, galvanic the most extremely DC+, negative pole are DC-, system starts.
The three-phase bridge inversion electricity that Rectified alternating current is then made up of insulated gate bipolar transistor T1, T2, T3, T4, T5, T6
Road 9 carries out inversion, is reverse into three-phase alternating current and supplies electricity to motor body U1 and power, and motor body U1 is activated.
When motor body U1 needs to position, bringing onto load is needed to carry out once " looking for initial point " operation.
User is by the button pushed button or in button module Uc11, to the STM32 main control processor of band DSP function
Uc12 sends the instruction allowing motor body U1 " look for initial point ".
Setting in " looking for initial point " work the most in advance in the STM32 main control processor Uc12 of band DSP function, motor is originally
The operational factor of body U1: the velocity of rotation of motor body U1 is 100PPS, the rotation direction signal of motor body U1 is clockwise.
Number of pulses in " the motor pulses signal " of the STM32 main control processor Uc12 output with DSP function controls electricity
The number of turns that machine body U1 rotates, the pulse frequency in " motor pulses signal " controls the velocity of rotation of motor body U1；Uc12 is defeated
High level signal in " the motor drive direction signal " that go out controls motor body U1 and rotates forward, the low electricity in " motor drive direction signal "
Ordinary mail number controls motor body U1 and rotates backward.
STM32 main control processor Uc12 with DSP function exports " motor arteries and veins by pulse output interface circuit 63 the most respectively
Rush signal ": constant frequency is the square wave of 100Hz；Exported " motor drive direction signal " by direction output interface circuit 7: high level
Signal.
Owing to motor body U1 looks for initial point function to need not arrange the operating number of turns, set the STM32 master of band DSP function herein
Control processor Uc12 sends signal to pulse/direction input interface circuit U13, until motor body U1 rotates to initial point position always
When putting, origin sensor input interface circuit 4 exports at the STM32 master control as feedback signal to band DSP function of the initial point signal
Reason device Uc12, after the STM32 main control processor Uc12 of band DSP function receives initial point signal, stops connecing to pulse/direction input
Mouth circuit U 13 sends signal.
Pulse output interface circuit 6 passes through photoelectrical coupler Uc19 band DSP function
" the motor pulses signal " of STM32 main control processor Uc12 output isolates, and obtains more stable pure " motor
Pulse signal ", this signal, again after audion Q1 is amplified, is directly fed to servo-driver module 2.
Direction output interface circuit 7 passes through photoelectrical coupler Uc22 defeated for the STM32 main control processor Uc12 of band DSP function
" the motor drive direction signal " that go out isolates, and obtains more stable pure " motor drive direction signal ", and this signal is again through audion
After Q2 is amplified, it is directly fed to servo-driver module 2；Specifically, it is the arteries and veins in input servo-driver module 2
Punching/direction input interface circuit U13.
Servo-drive main control processor STM32 chip U15 receives " motor pulses signal " from main control module 1: permanent
Determine the square wave that frequency is 100Hz, and " motor drive direction signal ": high level signal, servo-drive main control processor STM32 chip
U15 is according to above-mentioned signal, it is judged that user indication motor body U1 in a clockwise direction, velocity of rotation be that the state of 100PPS is carried out
Operating.
Servo-drive main control processor STM32 chip U15 uses space vector pulse width modulation technology (SVPWM), defeated
Go out 3 groups of PWM ripples, three bridge walls of these 3 groups of PWM ripple correspondence three-phase bridge inverter circuits 9, brilliant as controlling each insulated gate bipolar
" the IGBT control signal " of body pipe, this signal is delivered to IGBT drive circuit U7 by optical coupling isolation circuit U8；IGBT drives electricity
Road U7, according to " IGBT control signal ", directly controls insulated gate bipolar transistor T1, T2, T3, T4, T5, T6 on or off,
And then the U phase of the three-phase alternating current powered to motor body U1, V phase, the voltage and current of W phase are controlled, motor body
U1 starts to rotate.
Feedback device within motor body U1 will comprise the current rotating speed of motor, direction of rotation, target output torque, position
" motor feedback signals " of confidence breath exports to servo-drive main control processor STM32 chip U15.
U phase that servo-drive main control processor STM32 chip U15 records according to Hall element U2, U3, the electric current of V phase,
Calculate the electric current of W phase, the direct proportion coefficient be given according to system model, calculate the current actual output of motor body U1
Torque, then servo-drive main control processor STM32 chip U15 comparison object torque and actual output torque, utilize pid algorithm
Adjust the pulse width of 3 groups of PWM ripples, thus regulate the size of current of three-phase alternating current, so reality is exported torque adjust to
Target torque；
Servo-drive main control processor STM32 chip U15 is by " the current rotating speed of motor, the rotation in " motor feedback signals "
Turn direction, positional information " use SVPWM method comparison with " U phase that Hall element U2, U3 record, the electric current of V phase ", will be through
The 3 groups of PWM ripples crossing pid algorithm adjustment extra pulse width are adjusted again, thus when adjusting the conducting of three-phase bridge inverter circuit 9
Between, switch time and switching sequence.
Through repeatedly adjusting, servo-drive main control processor STM32 chip U15 controls motor body U1 with side clockwise
Carry out looking for initial point to operate to the state that, velocity of rotation is 100PPS.
Motor body U1 first rotates clockwise, and once runs into limit on the left sensor or limit on the right-right-hand limit sensing at rotation process
Device, shows that motor body U1 rotates to limit on the left position or limit on the right-right-hand limit position:
When motor body U1 rotates to limit on the left position, limit on the left sensor Uc1 responds, and limit on the left sensor is defeated
Incoming interface circuit 3 exports the voltage an of+0V as limit on the left signal, this limit on the left signal by photoelectrical coupler Uc3 this
After limit on the right-right-hand limit signal is isolated, flow to Uc12；
When motor body U1 rotates to limit on the right-right-hand limit position, limit on the right-right-hand limit sensor Uc7 responds, and limit on the right-right-hand limit sensor is defeated
Incoming interface circuit 5 exports the voltage of a 0V as limit on the right-right-hand limit signal, this limit on the right-right-hand limit signal by photoelectrical coupler Uc9 this right side
After limit signal is isolated, flow to the STM32 main control processor Uc12 of band DSP function.
After STM32 main control processor Uc12 with DSP function receives limit on the left signal or limit on the right-right-hand limit signal, pass through immediately
Direction output interface circuit 7 exports reverse " motor drive direction signal ": low level signal.
Direction output interface circuit 7 is isolated new " motor drive direction signal " by photoelectrical coupler Uc22, this letter
Number again after audion Q2 is amplified, directly input the pulse in servo-driver module 2/direction input interface circuit
U13。
Servo-drive main control processor STM32 chip U15 receives " motor pulses signal " from main control module 1: permanent
Determine the square wave that frequency is 100Hz, and new " motor drive direction signal ": low level signal, servo-drive main control processor STM32 core
Sheet U15 is according to above-mentioned signal, it is judged that user indication motor body U1 in a counterclockwise direction, velocity of rotation be that the state of 100PPS is entered
Row operating.
Servo-drive main control processor STM32 chip U15 uses space vector pulse width modulation technology (SVPWM), defeated
Going out 3 groups of PWM ripples, these 3 groups of PWM ripples lead to as " the IGBT control signal " of each insulated gate bipolar transistor of control, this signal
Cross optical coupling isolation circuit U8 and be delivered to IGBT drive circuit U7；IGBT drive circuit U7, according to " IGBT control signal ", is directly controlled
Insulated gate bipolar transistor T1, T2, T3, T4, T5, T6 on or off processed, and then to the three-phase powered to motor body U1
The U phase of alternating current, V phase, the voltage and current of W phase are controlled, control motor body U1 in a counterclockwise direction, velocity of rotation be
The state of 100PPS proceeds to look for initial point to operate.
Motor body U1 once runs into origin sensor Uc4 at rotation process, shows that motor body U1 rotates to initial point position
Put:
When motor body U1 rotates to origin position, origin sensor Uc4 responds, origin sensor input interface circuit
The voltage of 4 one+0V of output, as initial point signal, after this initial point signal is isolated by photoelectrical coupler Uc6, flows to
STM32 main control processor Uc12 with DSP function.
After STM32 main control processor Uc12 with DSP function receives initial point signal, stop outside output signal immediately.
Servo-drive main control processor STM32 chip U15 do not receive from main control module 1 " motor pulses signal " with
" motor drive direction signal ", it is judged that allow motor body U1 stop motion.
Servo-drive main control processor STM32 chip U15 stop output 3 groups of PWM ripples, transistor T1, T2, T3, T4, T5,
T6 ends, and makes motor body U1 shut down, and completes " looking for initial point " operation.
After motor body U1 finds initial point, being in holding state, user can pass through button or button module Uc11,
To band DSP function STM32 main control processor Uc12 set motor body U1 running parameter: arrange motor body U1 with
The speed of 500PPS rotates forward 10 circles.
Assume that motor body U1 turns around and need 1000 pulses, owing in " motor pulses signal ", number of pulses controls electricity
The number of turns that machine body U1 rotates, pulse frequency controls the velocity of rotation of motor body U1, so the STM32 master control of band DSP function
Processor Uc12 needs outwards output sum to be 10000, frequency is that the pulse signal of 500Hz is as " motor pulses signal "；
Meanwhile, the signal of telecommunication of output high level is as " motor drive direction signal ".
STM32 main control processor Uc12 with DSP function is defeated to pulse/direction by pulse output interface circuit 6 respectively
Incoming interface circuit U 13 exports " motor pulses signal ": sum is 10000, constant frequency is the pulse of 500Hz；Pass through direction
Output interface circuit 7 exports " motor drive direction signal " to pulse/direction input interface circuit U13: high level signal.
Pulse output interface circuit 6 passes through photoelectrical coupler Uc19 band DSP function
" the motor pulses signal " of STM32 main control processor Uc12 output isolates, and obtains more stable pure " motor
Pulse signal ", this signal, again after audion Q1 is amplified, is directly fed to servo-driver module 2；Specifically,
It is the pulse/direction input interface circuit U13 in input servo-driver module 2.
Direction output interface circuit 7 passes through photoelectrical coupler Uc22 defeated for the STM32 main control processor Uc12 of band DSP function
" the motor drive direction signal " that go out isolates, and obtains more stable pure " motor drive direction signal ", and this signal is again through audion
After Q2 is amplified, it is directly fed to servo-driver module 2；Specifically, it is the arteries and veins in input servo-driver module 2
Punching/direction input interface circuit U13.
Servo-drive main control processor STM32 chip U15 by pulse/direction input interface circuit U13 receive from
" the motor pulses signal " of main control module 1: sum is 10000, frequency is the pulse signal of 500Hz, with " motor drive direction is believed
Number ": high level signal, servo-drive main control processor STM32 chip U15 is according to above-mentioned signal, it is judged that user's indication motor is originally
Body U1 in a clockwise direction, velocity of rotation be 500PPS state operating 10 circle.
Servo-drive main control processor STM32 chip U15 uses space vector pulse width modulation technology (SVPWM), defeated
Go out 3 groups of PWM ripples, three bridge walls of these 3 groups of PWM ripple correspondence three-phase bridge inverter circuits 9, brilliant as controlling each insulated gate bipolar
" the IGBT control signal " of body pipe, this signal is delivered to IGBT drive circuit U7 by optical coupling isolation circuit U8；IGBT drives electricity
Road U7, according to " IGBT control signal ", directly controls insulated gate bipolar transistor T1, T2, T3, T4, T5, T6 on or off,
And then the U phase of the three-phase alternating current powered to motor body U1, V phase, the voltage and current of W phase are controlled, control motor
Body U1 starts to rotate.
Feedback device within motor body U1 will comprise the current rotating speed of motor, direction of rotation, target output torque, position
" motor feedback signals " of confidence breath exports to servo-drive main control processor STM32 chip U15.
U phase that servo-drive main control processor STM32 chip U15 records according to Hall element U2, U3, the electric current of V phase,
Calculate the electric current of W phase, the direct proportion coefficient be given according to system model, calculate the current actual output of motor body U1
Torque, then servo-drive main control processor STM32 chip U15 comparison object torque and actual output torque, utilize pid algorithm
Adjust the pulse width of 3 groups of PWM ripples, thus regulate the size of current of three-phase alternating current, so reality is exported torque adjust to
Target torque；
Servo-drive main control processor STM32 chip U15 is by " the current rotating speed of motor, the rotation in " motor feedback signals "
Turn direction, positional information " use SVPWM method comparison with " U phase that Hall element U2, U3 record, the electric current of V phase ", will be through
The 3 groups of PWM ripples crossing pid algorithm adjustment extra pulse width are adjusted again, thus when adjusting the conducting of three-phase bridge inverter circuit 9
Between, switch time and switching sequence.
Through repeatedly adjusting, servo-drive main control processor STM32 chip U15 controls motor body U1 with side clockwise
To, velocity of rotation in a clockwise direction, velocity of rotation be
The in stable condition operating of 500PPS.
After above-mentioned 3 groups of PWM ripple end of outputs, motor body U1 just operates 10 circles, and U15 no longer exports new PWM ripple, brilliant
Body pipe T1, T2, T3, T4, T5, T6 end, and motor body U1 shuts down, and complete operation.
Above in conjunction with accompanying drawing, embodiments of the present invention are explained in detail, but the present invention is not limited to above-mentioned enforcement
Mode, in the ken that one skilled in the relevant art is possessed, it is also possible in the premise without departing from present inventive concept
It is lower that various changes can be made.
Claims (9)
1. a servomotor integrated control system based on STM32, is characterized in that, including main control module (1), servo-drive
Device module (2)；Described main control module (1), including limit on the left sensor (Uc1), origin sensor (Uc4), limit on the right-right-hand limit sensor
(Uc7), the resistance (Rc1) of limit on the left sensor input circuit (3), rectification are collectively formed with limit on the left sensor (Uc1)
Device (Uc2), resistance (Rc2), electric capacity (Cc1), photoelectrical coupler (Uc3), resistance (Rc3), structure common with origin sensor (Uc4)
Become the resistance (Rc4) of origin sensor input interface circuit (4), commutator (Uc5), resistance (Rc5), electric capacity (Cc2), light thermocouple
Clutch (Uc6), resistance (Rc6), collectively form limit on the right-right-hand limit sensor input circuit (5) with limit on the right-right-hand limit sensor (Uc7)
Resistance (Rc7), commutator (Uc8), resistance (Rc8), electric capacity (Cc3), photoelectrical coupler (Uc9), resistance (Rc9)；Band DSP function
STM32 main control processor (Uc12), the photoelectrical coupler of STM32 main control processor (Uc12) outfan of tape splicing DSP function
(Uc19), photoelectrical coupler (Uc22), with the resistance that photoelectrical coupler (Uc19) collectively forms pulse output interface circuit (6)
(Rc10), audion (Q1), resistance (Rc11), collectively form direction output interface circuit (7) with photoelectrical coupler (Uc22)
Resistance (Rc12), audion (Q2), resistance (Rc13), be connected with the STM32 main control processor (Uc12) of band DSP function touches
Touch panel module (Uc10), button or button module (Uc11)；
Described servo-driver module (2), forms including by 6 diodes (D1), (D2), (D3), (D4), (D5), (D6)
Three-phase commutation bridge (8), the three-phase bridge being made up of insulated gate bipolar transistor (T1), (T2), (T3), (T4), (T5), (T6) is inverse
Power transformation road (9), servo-drive main control processor STM32 chip (U15), with servo-drive main control processor STM32 chip (U15)
The optical coupling isolation circuit (U8) that is connected, operation keyboard (U9), pulse/direction input interface circuit (U13), with light-coupled isolation electricity
Relay (U4) that road (U8) is connected, busbar voltage testing circuit (U5), IGBT drive circuit (U7), motor body (U1),
Two Hall elements (U2), (U3) being connected with motor body (U1) and three-phase bridge inverter circuit (9), detect with busbar voltage
The divider resistance (R4) that circuit (U5), input circuit connect.
Servomotor integrated control system based on STM32 the most according to claim 1, is characterized in that, described left pole
In limit sensor input circuit (3), when motor body (U1) rotates to limit on the left position, limit on the left sensor (Uc1)
Response, limit on the left sensor input circuit (3) output limit on the left signal, this limit on the left signal passes through photoelectrical coupler
(Uc3), after isolating, the STM32 main control processor (Uc12) of band DSP function is flowed to；
In described origin sensor input interface circuit (4), when motor body (U1) rotates to origin position, origin sensor
(Uc4) response, origin sensor input interface circuit (4) output initial point signal, this initial point signal passes through photoelectrical coupler (Uc6)
After isolating, flow to the STM32 main control processor (Uc12) of band DSP function；
In described limit on the right-right-hand limit sensor input circuit (5), when motor body (U1) rotates to limit on the right-right-hand limit position, limit on the right-right-hand limit
Sensor (Uc7) responds, and limit on the right-right-hand limit sensor input circuit (5) output limit on the right-right-hand limit signal, this limit on the right-right-hand limit signal passes through light
After this limit on the right-right-hand limit signal isolated by electric coupler (Uc9), flow to the STM32 main control processor of band DSP function
(Uc12)。
Servomotor integrated control system based on STM32 the most according to claim 1, is characterized in that, described bus
Input termination divider resistance (R4) of voltage detecting circuit (U5)；DC voltage after divider resistance (R4) dividing potential drop is through bus
Voltage detecting circuit (U5), obtains the d. c. voltage signal with more high driving ability, and then this signal is by light-coupled isolation electricity
Road (U8) exports to servo-drive main control processor STM32 chip (U15), servo-drive main control processor STM32 chip (U15)
Carry out A/D collection, obtain the magnitude of voltage of DC bus-bar voltage, so that it is determined that the direct current supply voltage of servo-driver module (2).
4. it is applicable to a control method for servomotor integrated control system based on STM32 described in claim 1, its
Feature is, comprises the steps:
User sets motor by button or button module (Uc11) to the STM32 main control processor (Uc12) of band DSP function
The operational factor of body (U1): the number of turns that motor body (U1) rotates, the velocity of rotation of motor body (U1), motor body (U1)
Direction signal；
When motor body (U1) rotates to limit on the left position, limit on the left sensor (Uc1) responds, and the input of limit on the left sensor connects
Mouth circuit (3) output limit on the left signal, after this limit on the left signal is isolated by photoelectrical coupler (Uc3), flows to band
The STM32 main control processor (Uc12) of DSP function；
When motor body (U1) rotates to origin position, origin sensor (Uc4) responds, origin sensor input interface circuit
(4) output initial point signal, after this initial point signal is isolated by photoelectrical coupler (Uc6), flows to band DSP function
STM32 main control processor (Uc12)；
When motor body (U1) rotates to limit on the right-right-hand limit position, limit on the right-right-hand limit sensor (Uc7) responds, and the input of limit on the right-right-hand limit sensor connects
Mouth circuit (5) output limit on the right-right-hand limit signal, this limit on the right-right-hand limit signal is isolated this limit on the right-right-hand limit signal by photoelectrical coupler (Uc9)
Afterwards, the STM32 main control processor (Uc12) of band DSP function is flowed to；
Then the STM32 main control processor (Uc12) of band DSP function combines the above-mentioned operational factor of motor body (U1), Zuo Ji
Limited signal, initial point signal and limit on the right-right-hand limit signal, by pulse output interface circuit (6) outwards output, " motor pulses is believed respectively
Number ", by direction output interface circuit (7) outwards output " motor drive direction signal "；
Pulse output interface circuit (6) passes through photoelectrical coupler (Uc19) the STM32 main control processor (Uc12) of band DSP function
" the motor pulses signal " of output isolates, and obtains more stable pure " motor pulses signal ", and this signal is again through three poles
After pipe (Q1) is amplified, it is directly fed to servo-driver module (2)；STM32 main control processor (Uc12) with DSP function
Number of pulses in " the motor pulses signal " of output can control the number of turns that motor body (U1) rotates, " motor pulses signal "
In pulse frequency can control the velocity of rotation of motor body (U1)；
Direction output interface circuit (7) passes through photoelectrical coupler (Uc22) the STM32 main control processor (Uc12) of band DSP function
" the motor drive direction signal " of output isolates, and obtains more stable pure " motor drive direction signal ", and this signal is again through three poles
After pipe (Q2) is amplified, it is directly fed to servo-driver module (2)；STM32 main control processor (Uc12) with DSP function
High level signal in " the motor drive direction signal " of output can control motor body (U1) and rotate forward, " motor drive direction signal "
In low level signal can control motor body (U1) and rotate backward；
" motor pulses signal " and " motor drive direction signal " input servo-driver module (2), specifically, be that input servo is driven
Pulse/direction input interface circuit (U13) in dynamic device module (2)；
Three-phase or single-phase alternating current are inputted by the power input port of servo-driver module (2), through three-phase commutation bridge
(8), output ripple unidirectional current, system starts；
The three-phase that Rectified alternating current is then made up of insulated gate bipolar transistor (T1), (T2), (T3), (T4), (T5), (T6)
Bridge inverter circuit (9) carries out inversion, is reverse into three-phase alternating current and supplies electricity to motor body (U1) power supply, and motor body (U1) is opened；
Servo-drive main control processor STM32 chip (U15) receive from main control module (1) " motor pulses signal " with
" motor drive direction signal ", servo-drive main control processor STM32 chip (U15), according to above-mentioned signal, uses space vector pulse
Width modulation technology (SVPWM), exports 3 groups of PWM ripples, three bridge walls of these 3 groups of PWM ripple correspondence three-phase bridge inverter circuit (9), makees
For controlling " the IGBT control signal " of insulated gate bipolar transistor T1, T2, T3, T4, T5, T6, this signal passes through light-coupled isolation
Circuit (U8) is delivered to IGBT drive circuit (U7)；IGBT drive circuit (U7), according to " IGBT control signal ", directly controls absolutely
Edge grid bipolar transistor (T1), (T2), (T3), (T4), (T5), (T6) on or off, be adjusted to motor body (U1) and supply
The U phase of three-phase alternating current of electricity, V phase, the voltage and current of W phase, motor body (U1) starts to rotate；
The feedback device of motor body (U1) inside is connected with servo-drive main control processor STM32 chip (U15), will comprise
The output torque of the current rotating speed of motor, direction of rotation, target, " motor feedback signals " of positional information export to servo-drive master
Control processor STM32 chip (U15)；
U phase that servo-drive main control processor STM32 chip (U15) records according to Hall element (U2), (U3), the electricity of V phase
Stream, calculates the electric current of W phase, according to direct proportion coefficient, calculates the actual output torque that motor body (U1) is current, then
Servo-drive main control processor STM32 chip (U15) comparison object torque and actual output torque, utilize pid algorithm to adjust 3 groups
The pulse width of PWM ripple, thus regulate the size of current of three-phase alternating current, and then reality is exported torque adjust to target and turn
Square；
Servo-drive main control processor STM32 chip (U15) is by " the current rotating speed of motor, the rotation in " motor feedback signals "
Direction, positional information " use SVPWM method comparison with " U phase that Hall element (U2), (U3) record, the electric current of V phase ", will
The 3 groups of PWM ripples adjusting extra pulse width through pid algorithm are adjusted again, thus adjust the conducting of three-phase bridge inverter circuit 9
Time, turn-off time and switching sequence.
The control method of servomotor integrated control system based on STM32 the most according to claim 4, its feature
It is, the number of pulses instruction electricity in " motor pulses signal " that the STM32 main control processor (Uc12) of described band DSP function exports
The number of turns that machine body (U1) rotates, the velocity of rotation of pulse frequency indication motor body (U1) in " motor pulses signal "；
High level signal control in " motor drive direction signal " that the STM32 main control processor (Uc12) of described band DSP function exports
Motor body processed (U1) rotates forward, and low level signal indication motor body (U1) in " motor drive direction signal " rotates backward.
The control method of servomotor integrated control system based on STM32 the most according to claim 4, its feature
It is that the number of pulses in " motor pulses signal " that the STM32 main control processor (Uc12) of described band DSP function exports controls electricity
The number of turns that machine body (U1) rotates, the pulse frequency in " motor pulses signal " controls the velocity of rotation of motor body (U1)；
High level signal control in " motor drive direction signal " that the STM32 main control processor (Uc12) of described band DSP function exports
Motor body processed (U1) rotates forward, and the low level signal in " motor drive direction signal " controls motor body (U1) and rotates backward.
The control method of servomotor integrated control system based on STM32 the most according to claim 4, its feature
It is that described " IGBT control signal " is: servo-drive main control processor STM32 chip (U15) uses space vector pulse duration
3 groups of PWM ripples that modulation technique (SVPWM) exports with pid algorithm, three of these 3 groups of PWM ripple correspondence three-phase bridge inverter circuit (9)
Bridge wall, directly controls insulated gate bipolar transistor (T1), (T2), (T3), (T4), (T5), (T6) on or off, and then right
The U phase of three-phase alternating current powered to motor body (U1), V phase, the voltage and current of W phase are controlled.
The control method of servomotor integrated control system based on STM32 the most according to claim 4, its feature
It is that the feedback device of described motor body (U1) inside is connected with servo-drive main control processor STM32 chip (U15), will
Comprise the current rotating speed of motor, direction of rotation, target exports torque, " motor feedback signals " output of positional information is driven to servo
Dynamic main control processor STM32 chip (U15)；
U phase that servo-drive main control processor STM32 chip (U15) records according to Hall element (U2), (U3), the electricity of V phase
Stream, calculates the electric current of W phase, according to direct proportion coefficient, calculates the actual output torque that motor body (U1) is current, then
Servo-drive main control processor STM32 chip (U15) comparison object torque and actual output torque, utilize pid algorithm to adjust
The pulse width of 3 groups of PWM ripples of secondary output；
Servo-drive main control processor STM32 chip (U15) is by " the current rotating speed of motor, the rotation in " motor feedback signals "
Direction, positional information " use SVPWM method comparison with " U phase that Hall element (U2), (U3) record, the electric current of V phase ", will
The 3 groups of PWM ripples adjusting extra pulse width through pid algorithm are adjusted again, thus adjust the conducting of three-phase bridge inverter circuit 9
Time, turn-off time and switching sequence.
Servomotor integrated control system based on STM32 the most according to claim 1, is characterized in that, described master control
In module (1), the STM32 main control processor (Uc12) of band DSP function is also associated with: RS-232 interface circuit (Uc13), JTAG
Interface circuit (Uc14), indicating circuit (Uc15), RS-485 interface circuit (Uc16), reset circuit (Uc17) and crystal oscillating circuit
(Uc18)；
Servo-drive main control processor STM32 chip (U15) in described servo-driver module (2) is also associated with: D/A changes
Circuit (U10), communication interface circuit (U11), A/D change-over circuit (U12), other I/O interface circuit (U14).
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| CN106697334A (en) * | 2016-11-29 | 2017-05-24 | 上海卫星工程研究所 | Driving control method for satellite solar wing sailboard |
| CN106697334B (en) * | 2016-11-29 | 2019-03-29 | 上海卫星工程研究所 | A kind of satellite sun wing sail plate drive control method |
| CN109857048A (en) * | 2017-11-30 | 2019-06-07 | 四川泛华航空仪表电器有限公司 | Digitize Fuel On Board TT&C system |
| CN110640737A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot for measuring data fusion attitude |
| CN110640738A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform of developments seizure |
| CN109962661A (en) * | 2019-04-21 | 2019-07-02 | 恒荣动力科技（徐州）有限公司 | A kind of lightweight stand-by motor control system framework and control method |
| CN111983943A (en) * | 2019-10-25 | 2020-11-24 | 深圳市安达自动化软件有限公司 | Servo motor control method, controller, device, equipment and storage medium thereof |
| CN112059732A (en) * | 2020-08-31 | 2020-12-11 | 苏州铼铂机电科技有限公司 | PLC control method of polishing machine swing arm stepping motor |
| CN116209132A (en) * | 2023-04-10 | 2023-06-02 | 北京机械工业自动化研究所有限公司 | Automatic frequency control system of X-band light accelerator |
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