CN106444536A - Flexible servo drive system - Google Patents
Flexible servo drive system Download PDFInfo
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- CN106444536A CN106444536A CN201611019777.8A CN201611019777A CN106444536A CN 106444536 A CN106444536 A CN 106444536A CN 201611019777 A CN201611019777 A CN 201611019777A CN 106444536 A CN106444536 A CN 106444536A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of robots and discloses a flexible servo drive system. The flexible servo drive system comprises a first servo control module, N servo power modules and at most 2N motors, wherein the first servo control module comprises at least N self-adaptive network interfaces; the N servo power modules are in communication connection with the first servo control module respectively through N self-adaptive network interfaces; the N servo power modules communicate with the first servo control module through the Ethernet; each servo power module comprises two groups of independent drive circuits; each group of drive circuits is correspondingly connected with the motors; and the drive circuits are used for driving the motors to work. Through the invention, real-time synchronous control of the flexible configuration of the shaft number, power and IO number of the servo system and multiple servo motors can be realized; and moreover, the servo drive control requirement of the robot is met, the volume of the robot control cabinet is reduced, the wiring is simplified, and the cost of the robot servo system is lowered.
Description
Technical field
The present invention relates to robotics, particularly to a kind of flexibility servo drive system.
Background technology
At present, in the control to robot, frequently with the mode of multiple stage single-axis servo cascade, for the drive of each axle
Dynamic, all include control panel, power amplifier board, peripheral interface and motor respectively, robot controller pass through fieldbus, train of pulse or
The control interfaces such as analog quantity realize the independent control to each motor, and then realize the control to robot pose.
During realizing the present invention, inventor finds that prior art at least has problems with：First, in robot
Control in, every servo-driver all comprises control panel, power amplifier board and peripheral interface, and is each connected with a motor.Its
In, between control panel, power amplifier board and peripheral interface, the self defined interface using nonstandardized technique carries out information exchange, does not possess exchange
Property；When live application demand changes or during certain damage parts, need to change whole servo-driver, maintenance cost
High；Second, in the robot system being cascaded using multiple stage single-axis servo, the encoder of every motor is required to single cable
It is connected to independent servo-driver, longer encoder cable is easily interfered reduction system reliability, and cable cost
Higher.Additionally, every servo is required to single control interface and shell, volume also can be accordingly larger, and wiring is complicated, and system becomes
This is higher.
Content of the invention
The purpose of embodiment of the present invention is to provide a kind of flexibility servo drive system, it is possible to achieve servo-drive system axle
Number, the real-time synchronization of power, the flexible configuration of IO quantity and multiple stage servomotor control, and control meeting robot servo
While requirement, reduce the volume of robot control cabinet, simplify wiring, reduce robot servo's system cost.
For solving above-mentioned technical problem, embodiments of the present invention provide a kind of flexibility servo drive system, including：The
One servo control module, N number of servo power module and at most 2N motor；At least N is included on described first servo control module
Individual adaptive network interface；Described N number of servo power module passes through N number of adaptive network interface and described first servo control respectively
Molding block communicates to connect；Described N number of servo power module passes through ethernet communication with described first servo control module；Wherein,
Each described servo power module comprises the drive circuit of two groups of independences；Described drive circuit is corresponded even with described motor
Connect；Described drive circuit is used for motor and works.
In terms of existing technologies, the first servo control module is led to embodiment of the present invention with N number of servo power module
Letter connects, and each servo power module at most can drive 2 motors.So, flexible servo-drive system can be according to situ machine
The number of axle of people configures the quantity of servo power module, at most can simultaneously drive 2N root axle, is conducive to improving the spirit of servo-drive system
Activity.Embodiment of the present invention, it is possible to achieve the real-time synchronization of multiple stage servomotor controls, and drive meeting robot servo
While control requires, the volume of robot control cabinet can be reduced, simplify wiring, reduce robot servo's system cost.
In addition, in embodiment of the present invention, also including：Encoder interfaces module；On described first servo control module also
Including the N+1 adaptive network interface；Described encoder interfaces module and all described motor connections；Described encoder interfaces
Module connects to described the N+1 adaptive network interface also by Ethernet；Wherein, described motor includes encoder；Described
Encoder interfaces module at least includes 2N encoder interfaces；Described encoder is connected correspondingly with described encoder interfaces
Connect；Described encoder interfaces module receives the feedback data of all described encoders by described encoder interfaces, and will receive
All described feedback data be combined into a frame ethernet data frame, send to described first servo control module.The present invention is real
Apply in mode, encoder interfaces module can be placed on nearly motor side, for example, be placed in the body of robot, so, each motor
Only need very short encoder cable to may be connected to coder module, and encoder interfaces module is with the first servo control module only
By a twisted pair line connection, the interference free performance of encoder can be improved, simplify wiring, reduce cable and be wired as
This.
In addition, in embodiment of the present invention, also including：Described input/output module；On described first servo control module
Also include the N+2 adaptive network interface；Described input/output module is connected to described the N+2 self adaptation by Ethernet
Network interface, for processing all input signals and output signal in described servo drive system, and by result export to
Described first servo control module.In embodiment of the present invention, can select to connect difference according to the needs of robot ancillary equipment
The input/output module of type, including analog input and output module, digital quantity input/output module etc., and can flexibly join
Put quantity and the performance of input and output point, the adaptability of servo-drive system can be improved.Additionally, input/output module and the first servo
Between control module, the data of transmitting-receiving interacts by self-defining ethernet data frame, so, input/output module and the
One servo control module only passes through a twisted pair line connection, can simplify wiring, the structure of servo-drive system is more succinct.
In addition, in embodiment of the present invention, encoder interfaces module passes through first pair with described first servo control module
Twisted wire connects；Described input/output module passes through the second twisted pair line connection with described first servo control module；Described first watches
Taking control module is also described encoder interfaces module, institute by described first twisted-pair feeder, described second twisted-pair feeder respectively
State input/output module to power.In embodiment of the present invention, the N+1 and N+2 network interface in the first servo-control system possesses
POE (Power over Ethernet, PoE) function, can be respectively by the first twisted-pair feeder, the second twisted-pair feeder and compile
Code device interface module, input/output module are powered, this way it is possible to avoid while data transfer, additionally increasing supply line.
Encoder interfaces module and input/output module only need twisted pair line connection first servo control module just can be normal respectively
Work, improves the ease for use of system.
In addition, in embodiment of the present invention, all described network interfaces are adaptive network interface；In described flexibility servo
Drive system initial phase, described first servo control module is joined according to the module type that network interface described with each is connected
Put the mode of operation of each described network interface.In embodiment of the present invention, all adaptive network interfaces can be according to robot
Application needs arbitrarily to configure the module type that interface is connected, and can according to the convenient grafting nearby of distribution, need not check the number into
Seat.
Brief description
Fig. 1 is the structure chart of the flexible servo drive system according to first embodiment of the invention；
Fig. 2 is the structure chart of the flexible servo drive system according to second embodiment of the invention；
Fig. 3 is that the PoE Ethernet according to second embodiment of the invention transmits schematic diagram；
Fig. 4 is the structure chart of the flexible servo drive system according to third embodiment of the invention；
Fig. 5 is the structure chart of the flexible servo drive system according to four embodiment of the invention.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with each reality to the present invention for the accompanying drawing
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the present invention,
In order that reader more fully understands that the application proposes many ins and outs.But, even if there is no these ins and outs and base
In following embodiment many variations and modification it is also possible to realize the application technical scheme required for protection.
The first embodiment of the present invention is related to a kind of flexibility servo drive system, as shown in figure 1, including：First servo
Control module, N number of servo power module and at most 2N motor.
At least N number of adaptive network interface 100 is included on the first servo control module, N number of servo power module is led to respectively
Cross N number of adaptive network interface 100 to be connected by ethernet communication with the first servo control module.Wherein, each servo power
Module comprises the drive circuit of two groups of independences, above-mentioned drive circuit and motor to multi-link 2 motors, each servo power module
Corresponding connection, wherein, drive circuit is used for motor and works.Flexible servo drive system adopts standard industry Ethernet
(PowerLink/EtherCAT) carry out data interaction with robot controller (host node).First servo control module can be adopted
Control framework with SoC (on-chip system) FPGA.Wherein, ethernet communication function is realized by FPGA, and arm processor is mainly used
In completing motor control algorithms.
Arm processor performance used in present embodiment is higher.Specifically, with reference to now with Cortex M4 series
ARM chip, highest frequency 168MHz, there is floating-point operation processor, execute once simple under Keil three-level optimization grade
The calculating of position ring+speed ring+electric current loop needs 20us, and according to simultaneously driving 8 axles, motor control algorithms execution time is less than
35us assesses, and selected arm processor frequency needs higher than 800MHz.Currently, Xilinx- 7000 serial SoC
FPGA can meet requirement, and it is internally integrated Dual-core ARM Cortex-A9 MPCore, and frequency is higher than 800MHz.Due to this
Embodiment builds 6 tunnel complementary output PWM (pulse width modulation) peripheral hardwares, the first servo control in the FPGA of servo power module
On molding block, ARM only needs to carry out the correlation computations of motor control, then exports PWM duty cycle information, to senior on ARM
Timer peripheral hardware does not require.
Specifically, servo power module can adopt Integration Design, integrated two groups of drives in each servo power module
Dynamic circuit, can simultaneously drive two motors.Wherein, fpga chip realizes internal Ethernet, PWM generation, current sample and mistake
The functions such as stream protection, in addition, using an A/D chip or MCU to slow analog such as module temperature, motor temperature, busbar voltages
Amount signal is sampled.First servo control module issues the duty cycle information of each module, servo power mould by Ethernet
This duty cycle information is converted to corresponding pwm signal by block, and the corresponding drive circuit motor of input runs.
The power cell adopting intended by table 1
For the flexibility of strengthening system, drive circuit can be using the combination of AA, BB and AB, i.e. servo power mould
Block is divided into 2 equal-wattage units of installation and the big type of 2 different capacity units two.The AB form combination of close power section selects
The power cell of same package different output current, as listed in table 1.
Because the PIM price that the 6IGBT module of L_B1e encapsulation is encapsulated with L_B1e is more or less the same, for reducing servo power mould
The species of block, can replace FP15R12W1T4/FP10R12W1T4 module Lai the power list of compatible 2KW power with FS25R12W1T4
Unit, the 6IGBT module that is, servo unit of below 3KW is encapsulated using L_B1e, it is designated as A；The servo unit of 3KW-6KW uses L_
The 6IGBT module of B1c encapsulation, is designated as B, then the combining form of power cell, as shown in table 2：
Table 2 power cell combining form
In embodiment of the present invention, the first servo control module is communicated to connect with N number of servo power module, each servo work(
Rate module at most can drive 2 motors.So, servo-drive system can configure servo power mould according to the number of axle of situ machine people
The quantity of block, at most can simultaneously drive 2N root axle, be conducive to improving the flexibility of servo-drive system.Embodiment of the present invention, can
With realize multiple stage servomotor real-time synchronization control, and meet robot servo control require while, can reduce
The volume of robot control cabinet, simplifies wiring, reduces robot servo's system cost.
Second embodiment of the present invention is related to a kind of flexibility servo drive system.Second embodiment is in the first embodiment party
Make further improvement on the basis of formula, mainly theed improvement is that：In second embodiment of the invention, flexible servo-drive
System also includes, encoder interfaces module and input/output module.As shown in Fig. 2 in present embodiment, so that N takes 2 as a example carrying out
Explanation.Flexible servo drive system includes：First servo control module, two servo power modules, (the 1st to 4, four motors
Motor), a coder module and an input/output module.
Include four adaptive network interfaces on first servo control module, be first network interface 101, the second net respectively
Network interface 102, the 3rd network interface 103 and the 4th network interface 104.Two servo power modules pass through first network respectively
Interface 101, the second network interface 102 and the communication connection of the first servo control module.Each servo power module can connect two
Individual motor, wherein, each servo power module can include two groups of drive circuits, and drive circuit is corresponding with motor to be connected.Coding
Device interface module is connected to the 3rd network interface 103 by Ethernet, and input/output module is connected to the 4th net by Ethernet
Network interface 104.
First network interface 101, the second network interface 102, the 3rd network interface 103 and the 4th network interface 104 can
Think internal private network interface, for connecting servo power module, encoder interfaces module and input/output module.These
Interface physical layer is required according to real-time synchronization using the ethernet physical layer meeting IEEE 802.3 consensus standard, data link layer
FPGA is simplified and is changed, communication speed 100Mbps.
Encoder interfaces module also with four motor connections.Wherein, motor includes encoder, and encoder interfaces module can
To include a network interface and four encoder interfaces, the network interface that encoder interfaces module is included by its own and the
3rd network interface 103 of one servo control module connects, the encoder in the encoder in motor and encoder interfaces module
Interface connects one to one.Encoder interfaces module can receive the feedback data of all encoders, example by encoder interfaces
As, the positional information of all encoders, and the feedback data of reception is combined into frame Ethernet data frames, send to the first servo
Control module, wherein, every block encoder interface module at most can gather the information of 8 encoders simultaneously.
Encoder interfaces module in present embodiment, can support the encoder type of existing main flow, including three kinds：
(1) communication-type position coder.The communication-type encoder interfaces such as TAMAGAWA, HEIDENHAIN and Nikon all accord with
Close 485 consensus standards, hardware circuit is identical, only communications protocol is different, therefore this 3 absolute value encoder can share same
Encoder interfaces plate.
(2) rotation is become and sine and cosine encoder is it is impossible to be directly decoded using FPGA, need extra decoding chip, phase
Cannot be compatible between mutually, need to respectively design a encoder interfaces module for both encoders.
Include a network interface in input/output module, connected by Ethernet to the 4th of the first servo control module
Network interface.Input/output module is used for processing all of input signal and output signal in flexible servo drive system, and will
Result exports to the first servo control module.Input/output module is articulated in the first servo control by internal industry ethernet
On molding block, first network interface 101, the second network interface 102, the 3rd network interface 103 and the 4th network interface 104 can
To be used according to the convenient arbitrarily selection of distribution.
Using the framework of FPGA+ADC/DAC inside input/output module, for the module of only digital IO, make
Realize communication and DIO management function with 1 FPGA.Additionally, input/output module as PoE from equipment, can be watched by first
Taking control module provides 24V power supply, is then locally being converted to power supply needed for each road.
Encoder interfaces module passes through the first twisted pair line connection, input/output module and first with the first servo control module
Servo control module passes through the second twisted pair line connection.First servo control module also passes through the first twisted-pair feeder, the second multiple twin respectively
Line is encoder interfaces module, input/output module is powered.Specifically, with reference to IEEE 802af standard, the first SERVO CONTROL
All-network interface in module all can be designed as the main equipment possessing PoE (Power over Ethernet) function, i.e.
Moreover it is possible to the equipment for connecting provides power supply while carrying out data transmission.First servo control module can pass through first pair
Twisted wire, the second twisted-pair feeder are carried out data transmission with coder module, input/output module respectively, can also pass through the first multiple twin
Line, the second twisted-pair feeder be respectively coder module, input/output module provide power supply, and provide power supply process will not to
The transmission of too net signal interferes.So, encoder interfaces module and input/output module each only need to a twisted-pair feeder
Connecting the first servo control module i.e. can be with normal work, as shown in figure 3, power supply provides equipment 301 and power supply application apparatus 302
Connected by empty pin 303 and signal pins 304, data transfer is transmitted by signal pins 304, power supply provides equipment 301 to pass through sky
Pin 303 is powered for power supply application apparatus 302.
In IEEE 802af, the PoE supplied character parameter of defined is：
(1) between 44～57V, representative value is 48V. to voltage
(2) maximum current is allowed to be 550mA, maximum starting current is 500mA.
(3) exemplary operation electric current is 10～350mA, and overload detection electric current is 350～500mA.
(4) under idle condition, maximum demand electric current is 5mA.
(5) provide the electrical power request of five grades of 3.84～12.95W for PD equipment, maximum is less than 13W.
In present embodiment, encoder interfaces module and input/output module according to input and output in existing servo-drive system with
Encoder section carries out power consumption assessment：
In encoder interfaces module, according to used 17, the river multi-turn absolute value encoder TS5667N2300 that rub of servo more
Handbook understands, in the normal mode of operation, this encoder 5V powers, and consumption electric current representative value is 70mA, is 110mA to the maximum, presses
Maximum value calculation, each encoder interfaces module at most can carry 8 encoders, then the peak power that now encoder consumes is 8*
5*110*10-3=4.4W；Encoder decoding chip ADM485 (SOIC encapsulation), according to its handbook, maximum power dissipation is
450mW, then power consumption is 8 axles altogether：3.6W；FPGA, PHY chip, transformer, power conversion chip and other power attenuations etc.
Overall estimate power is pressed 3W and is calculated, then this coder module total power consumption is 4.4+3.6+3=11W.
In input/output module, numeral input, numeral output, analog input and analog output are all calculated by 8 tunnels.Tool
Say, numeral input body：By 3.3V, each road 5mA calculates, then total power consumption is 8*3.3*5*10-3=0.127W；Numeral output：
By 3.3V, each road 10mA calculates, then total power consumption is 8*3.3*10*10-3=0.254W；Simulation input exports：Based on coming by 10V
Calculate, each road is pressed 10mA and calculated, then total power consumption is 4*10*10*10-3=0.4W；FPGA, PHY chip, transformer, Power convert
The overall estimate power such as chip and other power attenuations is pressed 3W and is calculated, then this coder module total power consumption is 0.254+0.127+
0.4+3=3.781W.
In present embodiment, PoE supply voltage can be fixed as 24V, and maximum current can be 500～600ma, according to
Upper Estimation of energy consumption, supplied character specified in IEEE 802af can meet input/output module and the confession of encoder interfaces module
Electricity requires.Additionally, according in IEEE 802af recommend using method, using 5 classes, surpass 5 classes or more preferable twisted-pair feeder when, power supply
The transmission of ethernet signal will not be interfered.
Provide the reference of specific work process in ieee standard, be roughly divided into detection, device class, start power supply, supply
Electricity and 5 processes of power-off, because the equipment in present embodiment is special equipment, and device type is limited and controlled, so this
Powered or power supply-detection-power supply both of which using continuous in embodiment.
The all-network interface of the first servo control module is adaptive network interface, in servo drive system initialization
In the stage, the first servo control module configures the work of each described network interface according to the module type being connected with each network interface
Operation mode.Specifically, in the first servo control module configuration phase, FPGA identifies connected module type first, judges
Link block is powered the need of PoE, and facility information is fed back to robot controller after completing by configuration, and according to feedback letter
Breath automatically configures the mode of operation of interface.In present embodiment, a set of servo drive can simultaneously drive up to 8 axles or
Many 5 input/output modules.
For example, when the first network interface 101 on the first servo control module connects servo power module, first network
Interface 101 can automatically configure the type of its own according to the actual demand of the servo power module being connected, i.e. due to watching
Taking power model does not need to provide power supply, and therefore, first network interface 101 is automatically configured to provide only the function of data transfer.
When the 3rd network interface 103 of the first servo control module connects encoder interfaces module, because encoder interfaces module needs
Power supply to be provided, therefore, the 3rd interface module 103 is automatically configured to both can carry out data transmission, and can provide power supply again
Function.Additionally, in actual disposition, network interface need not can also be sat in the right seat according to the convenient grafting nearby of distribution.
In embodiment of the present invention, the first servo-control system can be respectively by the first twisted-pair feeder, the second twisted-pair feeder
Encoder interfaces module, input/output module provide power supply, it is to avoid additional configuration supply module, have simplified servo drive system
Structure.All-network interface in flexible servo drive system is disposed as adaptive interface, increased the flexibility of interface,
Reduce the complexity of wiring, shorten encoder and the transmission range of input and output primary signal simultaneously, have error and retransmit
Mechanism.And it is possible to realize each interface while carrying out data transmission moreover it is possible to the equipment by being connected provides power supply.So,
Encoder interfaces module and input/output module respectively just can be with normal works by a twisted pair line connection servo control module.
In addition, twisted-pair feeder has more preferable pliability with reliability it is easy to connect up, and advantage of lower cost, meanwhile, twisted-pair feeder is using poor
Sub-signal transmission information, interference to external world has very strong inhibitory action.
Additionally, five, the network interfaces such as six, accordingly, flexible servo can also be included on the first servo control module
Drive system can include three, the servo power modules such as four.Above-mentioned network interface is adaptive interface, can basis
Need the quantity of motor connecting in actual items, automatically configure the quantity of drive circuit, and connect according to actual needs
The quantity of servo power module, automatically configures the quantity connecting required interface.So, improve servo drive system expansible
Property.
Third embodiment of the present invention is related to a kind of flexibility servo drive system.3rd embodiment is in the second embodiment party
Make further improvement on the basis of formula, mainly theed improvement is that：In third embodiment of the invention, flexible servo-drive
System also includes, Active Front End power module.As shown in Figure 4.
Active Front End power module is inputted by digital quantity, output signal is connected with the first servo control module, watches for two
Take power model all to connect to power module by dc bus, when electric power generation runs, power module can will be unnecessary
Energy feedback is to electrical network.Specifically, Active Front End power module includes power power-supply and controls power supply two parts.Wherein, work(
Rate power supply provides suitable busbar voltage for servo power module, improves power factor, meanwhile, also will when electric power generation runs
Unnecessary energy feedback is to electrical network.First servo control module is inputted by digital quantity, output signal controls opening of power module
Stop, notify the first servo control module to take corresponding measure when power module breaks down also by input/output signal.Control
The 24V power supply that power supply processed can be commonly used from industrial circle, is control circuit in servo drive system and motor internal contracting brake is powered.
In embodiment of the present invention, servo power module is connected to Active Front End power module by dc bus, works as electricity
During machine generator operation, system can pass through power module by unnecessary energy feedback to electrical network, need not external braking resistor.This
Sample, can save energy, using electricity wisely cost, improve the control performance of servo-drive system meanwhile.
4th embodiment of the present invention is related to a kind of flexibility servo drive system.4th embodiment is in the 3rd embodiment party
Make further improvement on the basis of formula, mainly theed improvement is that：In four embodiment of the invention, also include second and watch
Take control module and 2N+1 to 4N motor.As shown in figure 5, so that N takes 2 as a example illustrating in present embodiment, i.e. soft
Property servo drive system can also include the second servo control module and the 5th to 8 motor.
5th network interface 105 can also be included on the first servo control module, the second servo control module can wrap
Include the 6th network interface 106.5th network control interface 105 is connected with the 6th network control interface 106.Second servo control
Molding block is used for controlling the 5th to the 8th motor.
5th network interface 105 and the 6th network interface 106 can be standard industry Ethernet interface, will support simultaneously
Two kinds of standard for Fieldbus of PowerLink and EtherCAT.On hardware, EtherCAT link layer is usually used ASIC and realizes, thing
The PHY chip of reason layer cannot be compatible with PowerLink, but under SOC Mode, EtherCAT IP kernel supports RMII interface, compatible
The LAN8710PHY chip that Powerlink communications network interface adopts.Additionally, the FSMC interface of Powerlink/EtherCAT is only
Wait signal, interrupt signal are different, can make compatibility during hardware design.Software aspects, due to being all by SoC FPGA
Logic realization, the inconsistence problems of Powerlink/EtherCAT are easier to realize.According to experience before, EtherCAT after cutting
Resource shared by IP is about 12000～13000 logical blocks, 4 M4K RAM；Resource shared by PowerLink IP is about
8000 logical blocks, the fpga chip selecting respective volume can compatible both buses simultaneously.In application, in configuration rank
Section, selects corresponding bus type according to the bus type that robot controller is used, need not design multiple servo controls
Unit processed.
First servo control module is connected with the 6th network interface by the 5th with the second servo control module.Second watches
Take control module and also include the 7th network interface, the 8th network interface, the 9th network interface and the 10th network interface, wherein, second
Servo control module passes through the 7th network interface, the 8th network interface is connected with two servo power modules, the second servo control molding
Block is connected with addressable port module by the 9th network interface, is connected with input/output module by the 10th network interface.Second watches
Take control module for control the 5th to the 8th motor.
In present embodiment, the first servo control module can cascade the second servo control module, the second servo control molding
Block is similar with the first servo control module, can connect servo power module, encoder interfaces module and input and output mould
Block, and it is used for controlled motor.So, when needing more multiple resource in practical application, can be by the 5th network interface cascade
Second servo control module.And by cascading the second control module, the quantity of network interface can be increased, to meet reality
Demand.
Additionally, according to actual needs, the second servo control module can also cascade the 3rd servo control module, the 4th servo
Control module etc..
Additionally, the whether external ethernet bus or first between the first servo control module and robot controller
Inside industry ethernet between servo control module and servo power module, input/output module, encoder interfaces module, right
Communication time all has certain requirement, specially：Transmission time (includes FPGA process time, PHY process time, signal transmission
Time etc.) it is less than minimum controlling cycle, it is 800us for the 5th network interface 105, the 6th network interface 106, for the 1st
To the 4th network interface, the 7th to the 10th network interface is 50us.Because Ethernet is operated in full-duplex mode, transmission time according to
The upper digit send out/issuing maximum calculates.Transmitting-receiving communication data take CPU time sufficiently small, this time add CPU other
Task time is less than the electric current loop cycle, i.e. 50us.
5th and the 6th EPA network interface can meet requirement on communication time for the present embodiment.Specifically
Say, according to the experience of robot application before, the minimum instruction cycle that robot controller can set, control byte was total as 800us
Number is generally every axle 12 bytes, then plus torque and each 2 bytes of position feed-forward, for every axle 16 byte, then 6 axle+8bit inputs are defeated
The transmission total amount of byte going out is 97 bytes, presses 100 bytes herein and calculates.For transmission time, 100Mbps Ethernet is every
Bit transmission time is 10ns, then the transmission time that robot issues needed for data every time is 10* (100*8+20+60) ns=
14.4us.Wherein, 20ns is frame head frame gap value, and 60ns is the value of SOC bag；For CPU holding time, according to
The CPU holding time of PowerLink is estimated, and transmit CPU shared by above-mentioned data is about 30us total time (with CPU frequency
Rate is unrelated).Be that 50us calculates according to each electric current loop cycle, then averagely arrive time of each electric current loop for 30/ (800/50)=
1.875us.
1st to the 4th network interface, and the transmission time of the 7th to the 10th network interface can meet communication need, but
CPU holding time is long when using Cortex M4ARM, if using integrated Dual-core ARM Cortex-A9MPCore
SoC FPGA, CPU holding time will significantly shorten, and can meet the needs of real-time communication.Specifically, according in existing system
Existing demand signals：For servo power unit, PWM duty cycle precision 16bit, each module 3 tunnel, totally 6 tunnel；Current detecting
Precision 16bit, including U, V, W phase current and bus current 4 tunnel, totally 8 tunnel；In addition some input/output control signals and feedback letter
Number, issue data volume 100bit, upload data volume 140bit.For encoder interfaces module, at most it is simultaneously connected with 8
Individual encoder, calculates according to currently used 17 absolute value encoders of multi-turn, and each encoder at most uploads 17 individual pen letters
Breath, 16 multi-turn information and 8 warning messages, issue 8 bit instruction information.For input/output module, with the 8 of data volume maximum
Road AI and 8 road AO modules are estimated it is assumed that AD/DA precision 16bit, then upload and issue data and be 128bit.For transmission
For time, master control is about 10* (140+20)=1.6us with power cell transmission time, and wherein 20ns is that the agreement of estimation is attached
Plus digit；Master control and encoder interfaces module transfer time are 10* (17+16+8+20) * 8=4.88us；Master control is defeated with input
Going out module transmission time is 10* (128+20)=1.48us.For CPU holding time, the letter of power model and encoder
Breath needs to read and write in electric current loop interrupts and completes, and input/output information can be placed on backstage to execute.To simultaneously drive the pole of 8 motors
End condition is estimated, and to be set to standard outside the FSMC of the 16bit data wire of currently used Cortex M4, execution is once total
The line operating time is about 150ns, and the information for single transmission non-16bit integral multiple needs according to the conversion that rounds up (as compiled
Code device individual pen information 17bit), then CPU holding time is about (4*240+8* (32+16*2+16))/16*0.15=15us.
For improving efficiency of transmission and considering autgmentability, communications protocol adopts：The form of type+data.As shown in table 3, no
The data length of same type is different, but is all fixing.Type is used for indicating the data of disparate modules, also dependent on needing to increase
Plus request-reply type etc..
Table 3：Internal ethernet communication agreement
Agreement needs to support short bag transmission (less than the shortest 60 bytes of standard ethernet), and using simplifying frame head and 8
CRC (restarts communication) after error.Communication mechanism adopts ARM to trigger, and that is, ARM issues data, and triggering master control FPGA sends data, respectively
Daughter card after being connected to frame head on send out data.
By above analysis as can be seen that the transmission range of primary signal is short in present embodiment, it is possible to reduce signal is done
The probability disturbed, and ethernet communication has error retransmission mechanism：Data, after first time receives frame head, postpones the fixing moment
Come into force, be the make-up time in this moment, if CRC error, correct within this time.
It is noted that involved each module in present embodiment is logic module, in actual applications, one
Individual logical block can be a part for a physical location or a physical location, can also be with multiple physics lists
The combination of unit is realized.Additionally, for the innovative part projecting the present invention, will not be with solution institute of the present invention in present embodiment
The unit that the technical problem relation of proposition is less close introduces, but this is not intended that in present embodiment there are not other lists
Unit.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (7)
1. a kind of flexibility servo drive system is it is characterised in that include：First servo control module, N number of servo power module with
At most 2N motor；
At least N number of adaptive network interface is included on described first servo control module；Described N number of servo power module is led to respectively
Cross N number of adaptive network interface and described first servo control module communication connection；Described N number of servo power module and described the
One servo control module passes through ethernet communication；
Wherein, each described servo power module comprises the drive circuit of two groups of independences；Described every group of drive circuit and described electricity
Machine is corresponding to be connected；Described drive circuit is used for motor and works.
2. flexibility servo drive system according to claim 1 is it is characterised in that also include：Encoder interfaces module；Institute
State and the N+1 adaptive network interface is also included on the first servo control module；
Described encoder interfaces module and all described motor connections；Described encoder interfaces module also by Ethernet connect to
Described the N+1 adaptive network interface；
Wherein, described motor includes encoder；Described encoder interfaces module at least includes 2N encoder interfaces；Described coding
Device is connected correspondingly with described encoder interfaces；
Described encoder interfaces module receives the feedback data of all described encoders by described encoder interfaces, and will receive
All described feedback data be combined into a frame ethernet data frame, send to described first servo control module.
3. flexibility servo drive system according to claim 2 is it is characterised in that also include：Described input/output module；
The N+2 adaptive network interface is also included on described first servo control module；
Described input/output module is connected to described the N+2 adaptive network interface by Ethernet, for watching described in processing
Take all input signals and output signal in drive system, and result is exported to described first servo control module.
4. according to claim 3 flexibility servo drive system it is characterised in that described encoder interfaces module with described
First servo control module passes through the first twisted pair line connection；Described input/output module is passed through with described first servo control module
Second twisted pair line connection；
Described first servo control module also passes through described first twisted-pair feeder respectively, described second twisted-pair feeder is described coding
Device interface module, described input/output module are powered.
5. flexibility servo drive system according to claim 4 is it is characterised in that all described network interfaces are self adaptation
Network interface；
In described flexibility servo drive system initial phase, described first servo control module connects according to network described with each
The module type that mouth connects configures the mode of operation of each described network interface.
6. flexibility servo drive system according to claim 5 is it is characterised in that also include Active Front End power module；
Described Active Front End power module is inputted by digital quantity, output signal is connected with described first servo control module；
Described N number of servo power module is connected to described Active Front End power module by dc bus；When described electric power generation
During operation, excess energy is fed back to electrical network by described Active Front End power module.
7. according to claim 6 flexibility servo drive system it is characterised in that also include the second servo control module with
And 2N+1 to 4N motor；
The N+3 network interface is also included on described first servo control module；N is included on described second servo control module
+ 4 network interfaces；Described first servo control module is connected to described second servo control molding by the N+3 network interface
The N+4 network interface of block；
Described second servo control module is used for controlling described 2N+1 to 4N motor.
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| CN106444536B (en) | 2023-08-11 |
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