CN106487279A - High power density motor servo driver - Google Patents
High power density motor servo driver Download PDFInfo
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- CN106487279A CN106487279A CN201611092608.7A CN201611092608A CN106487279A CN 106487279 A CN106487279 A CN 106487279A CN 201611092608 A CN201611092608 A CN 201611092608A CN 106487279 A CN106487279 A CN 106487279A
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Classifications
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/02—Details of starting control
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a kind of high power density motor servo driver, including：Positioned at the interface card of top layer, multiple communication interfaces and the associated plurality of servomotor feedback information interface of the servomotor and power interface is provided with；Control board positioned at intermediate layer, it is provided with based on the interface message processing module of FPGA, based on the main control module of DSP, SCM Based Communications Processor Module and information storage module, for the signal based on the signal transmitted via the plurality of communication interface and the plurality of servomotor feedback information interface and from power driving circuit plate, output pwm signal；Positioned at the power driving circuit plate of bottom, isolated form power inverting module and fault-tolerant protection module is provided with, for receiving and the pwm signal being processed to control the servomotor.
Description
Technical field
The present invention relates to robot servo's control field, more particularly to a kind of high power density motor servo driver.
Background technology
In order to the development of permanent-magnet material, novel power transistor and digital processing unit technology, high performance motor with
Modern control theory combines, and so that electromechanical servo technology is emerged rapidly.The application of electromechanical servo system is more and more extensive, while right
Its integrated level and reliability requirement also more and more higher.
Servo-drive system includes servomotor and servo-driver, have the advantages that control accuracy height, fast response time.With
The development of robot technology, middle low power motor driver is in light-duty mechanical arm, integrated servo joint, bio-robot and spy
Plant the domain requirements such as robot extensive.
Power density refers to the peak power of driver output and driver quality itself or the ratio of volume, current machine
Device people's relevant industries product has strict demand to power density, volume etc., and existing drive products volume is big, is unfavorable for installing collection
Become.
Content of the invention
For prior art driver can not take into account in terms of control performance and high power density, reliability is not enough asks
Topic, the present invention provide a kind of motor servo driver, and which has, and small volume, power density are high, support multiple motor feedback information
Interface, multi-functional and intelligentized feature, meet robot and mechanical arm to middle low power electromechanical servo system driver Gao Gong
Rate and the requirement of small size, significantly improve power density, integrated level and the reliability of driver.
According to an aspect of the present invention, the high power density motor servo driver, including：
Positioned at the interface card of top layer, it is provided with that multiple communication interfaces are associated plurality of with the servomotor to be watched
Take motor feedback information interface and power interface；
Positioned at the control board in intermediate layer, it is provided with based on the interface message processing module of FPGA, the master control based on DSP
Module, SCM Based Communications Processor Module and information storage module, for being based on via the plurality of communication interface and
The signal of the plurality of servomotor feedback information interface transmission and the signal from power driving circuit plate, output PWM letter
Number；
Positioned at the power driving circuit plate of bottom, isolated form power inverting module and fault-tolerant protection module is provided with, is used for
Receive and the pwm signal is processed to control the servomotor.
According to embodiment, the plurality of communication interface includes:CAN interface, for via CAN in the master control
Transmission signal between module and host computer；USB interface and EtherCAT EBI, for the Communications Processor Module with
Transmission signal between the machine of position；RS232 interface, for via RS232 bus the interface message processing module and host computer it
Between transmission signal, and the plurality of servomotor feedback information interface includes：Encoder interfaces, for will be through the interface
Signal transmission after message processing module process is to the EQEP interface of the main control module；And Hall element interface, it is used for
ECAP interface by the signal transmission after the interface message processing module is processed to the main control module；Jtag interface,
For program on-line debugging and programming of the emulator to the DSP and the single-chip microcomputer；And the power interface is by power supply mould
Block is used for powering to the interface card, the control board and power driving circuit plate.
According to embodiment, the main control module includes：
Dsp chip, is provided with ADC interface, for receive motor current signal, safe torque turn off (STO) signal and
Sine and cosine encoder signal；ECAP interface is provided with, for fault-signal being received with interrupt routine and from the interface message
Processing module receiving position transducing signal；EQEP interface is provided with, for orthogonal volume being received from the interface message processing module
The various code device signals of code device form；General purpose I/O Interface is provided with, for input/output function being executed via light-coupled isolation；
TZ pin is provided with, for receiving from the excessively stream of the fault-tolerant protection module, overvoltage, overheat protector signal；It is provided with SPI to connect
Mouthful, for receiving the control parameter for being stored in described information memory module；XINTF interface is provided with, and institute is stored in for receiving
State the extender of information storage module；And PWM output interface is provided with, for the dsp chip total via the CAN
Under the control of the control signal that line interface is received from the host computer, using from the ADC interface, the ECAP interface, described
EQEP interface, the TZ pin receive signal and from the SPI interface receive control parameter and from the XINTF interface
The extender of reception, executes the servo computing of specific control algolithm, with output pwm signal；
Functional interface circuit, for aid in supporting the CAN interface, the general purpose I/O Interface, the ADC interface,
The ECAP interface, the EQEP interface, the TZ pin and the PWM output interface carry out signal transfer functions；
Power-off reset circuit, for producing reset signal when supply voltage is less than predetermined value；
Clock circuit, for producing the clock signal for the main control module；And
Jtag interface circuit, for aiding in supporting the emulator interface.
According to embodiment, the interface message processing module includes：
Signal collection modulation circuit, is provided with digital I/0 module, for transmitting with fpga chip via optical coupling isolation circuit
Signal；Hall element input module is provided with, for hall signal to be input into after Schmidt's shaping filter fpga chip；
Incremental encoder signal input module is provided with, for via differential receiver circuit in the main control module and fpga chip
Between transmission signal；Serial absolute value encoder signal input module is provided with, for through RS485 transceiver in the master control
Transmission signal between module and fpga chip；STO module is provided with, for enabling and being input into STO signal；
Fpga chip, for transmission signal between the signal collection modulation circuit and the main control module；And
Clock circuit, for generating the clock signal for the interface message processing module；
Jtag interface circuit, for aiding in supporting the emulator interface.
According to embodiment, the Communications Processor Module includes：
Usb circuit, connects the USB interface and singlechip chip via EMI filtering and protection circuit, in institute
State transmission signal between Communications Processor Module and host computer；
EtherCAT bus interface circuit, connects via ethernet PHY transceiver and EtherCAT slave station controller chip
The EtherCAT EBI and singlechip chip is connect, for transmission letter between the Communications Processor Module and host computer
Number；
Singlechip chip, for via the usb circuit and the EtherCAT bus interface circuit and host computer
Transmission signal；
Clock circuit, for generating the clock signal for the Communications Processor Module；And
Jtag interface circuit, for aiding in supporting the emulator interface；
Wherein, the singlechip chip is connected with the main control module also by spi bus, for host computer and driver
Real-time control and information exchange；And also be connected with the interface message processing module by iic bus, for host computer with
The online updating of the program of the interface message processing module information exchange and the interface message processing module.
According to embodiment, described information memory module includes：
Flash storage, connects the main control module via spi bus, solidifies operation program for the main control module；
And
SRAM memory, connects the main control module and the interface message processing module via XINTF bus, for carrying
The main control module program operation speed and capacity is risen, and the master control mould is realized by way of sharing part memory space
The information exchange of block and the interface message processing module.
According to embodiment, the isolated form power inverting module includes：
Pwm signal filter circuit, for being filtered to the pwm signal, and by filtered pwm signal transmit to every
From drive circuit；
Isolated drive circuit, for carrying out isolation amplification to filtered pwm signal, and is transmitted to H bridge inversion
Circuit；Boostrap circuit in isolated drive circuit be used for provide conducting be located at upper brachium pontis the MOSFET as power device from
Lift voltage；
H-bridge inverter circuit, receives, for the MOSFET by lower brachium pontis disposed thereon, the pwm signal amplified through isolation, its
In positioned at lower brachium pontis MOSFET source ground；And
Current sampling circuit, for gathering the electric current of the servomotor and transmitting to the ADC of the main control module
Interface, for electric current loop closed-loop control of the main control module to the servomotor.
According to embodiment, the fault-tolerant protection module includes：
Current foldback circuit, the power electricity for gathering the isolated form power inverting module by current monitoring circuit are defeated
Enter current signal, and the current signal for being gathered is compared with predetermined threshold by excessively stream comparator circuit, and will compare
As a result transmit to the TZ pin of the main control module；
Overvoltage crowbar, for gathering the power electricity electricity of the isolated form power inverting module by voltage monitoring circuit
The voltage signal for being gathered and is compared with predetermined threshold by pressure signal by overvoltage comparator circuit, and by comparative result
Transmit to the TZ pin of the main control module；
Thermal-shutdown circuit, for being detected the temperature of the power driving circuit plate by temperature monitoring circuit, and is led to
The temperature for being detected is compared by excess temperature comparator circuit with predetermined threshold, and comparative result is transmitted to the main control module
The TZ pin；And
Safe torque breaking circuit, for being transferred to institute by safe torque shutoff (STO) signal via optical coupling isolation circuit
The ADC interface of main control module is stated,
Wherein, when comparative result is unsatisfactory for the requirement of protection mechanism, the main control module stops the output PWM letter
Number.
According to embodiment, the power module includes digital power translation circuit, for producing the numeral that powers to interface
Digital 3.3V that 5V, the interface to the main control module, the interface message processing module and the Communications Processor Module are powered,
The digital 1.8V powered to the dsp chip of the main control module and the driving core to the power driving circuit plate
The digital 12V that piece is powered；Analog power translation circuit, for producing analog voltage based on digital voltage, with to the master control mould
Block, the interface message processing module, the fault-tolerant protection module provide simulation 3.3V, provide mould to the fault-tolerant protection module
Intend 3.0V, simulation 1.85V is provided to the Communications Processor Module, simulation 1.5V is provided to the interface message processing module；With
And power supply electrifying sequential control circuit, for the self- recoverage after the main control module fault.
Description of the drawings
Fig. 1 is the general structure schematic diagram of high power density servo-driver according to embodiments of the present invention.
Fig. 2 is the operation principle schematic diagram of high power density servo-driver according to embodiments of the present invention.
Fig. 3 is the structure of the main control module based on DSP of high power density servo-driver according to embodiments of the present invention
Schematic diagram.
Fig. 4 is that the interface message based on FPGA of high power density servo-driver according to embodiments of the present invention processes mould
The structural representation of block.
Fig. 5 is the SCM Based Communications Processor Module of high power density servo-driver according to embodiments of the present invention
Structural representation.
Fig. 6 is the structure of the isolated form power inverting module of high power density servo-driver according to embodiments of the present invention
Schematic diagram.
Fig. 7 is the structural representation of the fault-tolerant protection module of high power density servo-driver according to embodiments of the present invention
Figure.
Specific embodiment
According to embodiments of the present invention high power density servo-driver is illustrated referring to the drawings.
Fig. 1 illustrates the general structure of high power density servo-driver according to embodiments of the present invention.As shown in figure 1, being
Meet the requirement of motor servo driver small size and high power density, in an embodiment of the present invention, by driver according to
Function is divided and is designed as three pieces of pcb board superimposed patterns.Specifically, the high power density motor servo driver of the present embodiment, bag
Include：Positioned at the interface card of top layer, multiple communication interfaces and the associated plurality of servomotor feedback of servomotor is provided with
Information interface and power interface；Positioned at the control board in intermediate layer, it is provided with based on the interface message processing module of FPGA, base
Main control module, SCM Based Communications Processor Module and information storage module in DSP, for being based on via the plurality of
The signal and the signal from power driving circuit plate of communication interface and the transmission of the plurality of servomotor feedback information interface,
Output pwm signal；And the power driving circuit plate positioned at bottom, it is provided with isolated form power inverting module and fault-tolerant protection mould
Block, for receiving and processing pwm signal to control servomotor.For example, signal is transmitted by contact pin between each layer circuit board
Be mechanically fixed.Heat conductive silica gel is filled between drive circuit board and metal fin.
Specifically, the plurality of communication interface includes:CAN interface, for via CAN main control module with
Transmission signal between the machine of position；USB interface and EtherCAT EBI, for transmitting between Communications Processor Module and host computer
Signal；RS232 interface, for via RS232 bus between interface message processing module and host computer transmission signal, and institute
Stating multiple servomotor feedback information interfaces includes：Encoder interfaces, for by after interface message processing module is processed
Signal transmission is to the EQEP interface of main control module；And Hall element interface, for will be at interface message processing module
Signal transmission after reason is to the ECAP interface of main control module；Jtag interface, online to the program of DSP and single-chip microcomputer for emulator
Debugging and programming；And power interface is used for interface card, control board and power driving circuit from power module
Plate is powered.
Also, control board is using the multiprocessor Cooperative Mode of DSP+FPGA+ single-chip microcomputer, with various control side
Formula, including torque control model, speed control mode, current control mode so that driver control high precision, response speed
Hurry up；For the high feature of the power drive part big and the degree of heat of interference, power driving circuit plate is using driving chip and metal-oxide-semiconductor
Man-to-man isolation drive pattern, and heat dissipation design is optimized to PCB, with the excellent of small volume strong antijamming capability and rapid heat dissipation
Point.Fixed by row's pin between interface card and control board and signal transmission is carried out, main including control, communication, tune
Examination and sensor feedback information.Fixed by row's pin between control board and power driving circuit plate and signal transmission carried out,
For example include pwm signal, motor three-phase signal, motor three-phase current collection signal, excessively stream, overvoltage, overheat protector signal.
Present embodiment describes a kind of driver for supporting AC servo motor, but the invention is not restricted to this, according to this
The driver of invention can support multiple motor form, including DC brushless motor, permagnetic synchronous motor, brush direct current motor.
Fig. 2 illustrates the operation principle of high power density servo-driver according to embodiments of the present invention.As shown in Fig. 2 by
Interface message processing module collection based on FPGA and the input signals such as conditioning encoder, Hall, numeral I/O and STO signal, adjust
Encoder after reason and hall signal output are communicated with DSP by XINTF external bus to DSP, FPGA and exchange other data.On
Position machine is connected with DSP by CAN, is connected with FPGA by RS232, is connected with single-chip microcomputer with EtherCAT by USB, single
Piece machine is connected with DSP by spi bus, is connected with FPGA by iic bus.Host computer exchanges number with DSP, FPGA and single-chip microcomputer
Real-time control and parameter modification are completed according to instruction.Specifically, the main control module based on DSP is used according to the instruction of host computer
The heat transfer agent of FPGA, the interface message such as ADC, I/O of itself collection, the excessively stream by fault-tolerant protection module real-time detection, overvoltage,
Gentle STO signal is crossed, is executed according to the control data of information storage module storage and the application program of the specific control algolithm of reflection
Servo computing, to export PWM output signal, so as to complete the control of the position ring of high speed, speed ring, electric current loop.PWM output letter
Direct drive servovalve motor operation number after isolated form power inverting module.Meanwhile, power module provides institute for modules
Need power supply and electrifying timing sequence control.
Referring to Fig. 3 to 7 and with reference to Fig. 2 detailed description high power density servo-drive according to embodiments of the present invention
The structure and working principle of the modules of device.
Fig. 3 illustrates the knot of the main control module based on DSP of high power density servo-driver according to embodiments of the present invention
Structure.As shown in figure 3, the main control module includes dsp chip, for example with TMS20F28335 chip, dominant frequency reaches 150MHz,
Floating-point operation is held, is the special chip for being suitable for motor control.
Wherein, as shown in Figures 2 and 3, dsp chip is provided with lower interface, and main control module is included for aiding in these
Interface carries out the power interface circuit of signal transfer functions, and interface includes：
1st, ADC interface, for receiving motor current signal for control signal vector；Receive safe torque to turn off
(STO) signal, to judge outside enabled state；And sine and cosine encoder signal is received via differential amplifier circuit, wherein poor
Amplifying circuit is divided to be made up of amplifier chip and some peripheral resistance capacitances, three groups of differential signals of sine and cosine encoder are through each
Differential amplifier circuit become single-ended signal, this three road signal enters the ADC process of DSP；
2nd, ECAP interface, for receiving fault-signal with interrupt routine and passing from interface message processing module receiving position
Sense signal；
3rd, EQEP interface, for receiving the various code device signals of orthogonal encoder form from interface message processing module；
4th, general purpose I/O Interface, for executing input/output function via light-coupled isolation, specifically, which supports 6 railway digitals
Amount input, two-way digital output, 1 road analog input.The isolating difference that differential analog signal constitutes through amplifier chip is put
Big circuit becomes single-ended signal and enters DSP process；
5th, TZ pin, for receiving from the excessively stream of fault-tolerant protection module, overvoltage, overheat protector signal；
6th, SPI interface, for receiving the control parameter for being stored in information storage module；
7th, XINTF interface, for receiving the extender for being stored in information storage module；And
8th, PWM output interface, for dsp chip the control signal received from host computer via CAN interface control
Control under system, using the signal received from ADC interface, ECAP interface, EQEP interface, TZ pin and from SPI interface reception
Parameter and the extender from XINTF interface, execute the servo computing of specific control algolithm, with output pwm signal.And
And, it is used for power inverting module after pwm signal output, using the tetra- road signal of PWM1, PWM2, PWM3, PWM6 of DSP, wherein
PWM1, PWM2, PWM3 are used for power inverting module, and PWM6 is reserved.
Preferably, power interface circuit also supports that CAN communicates, for example, select SN65HVD232DR conduct
CAN transceiver.CAN is mainly used in communicating with host computer, changes two aspect contents including real-time control and control parameter.Control
Parameter processed is stored in the FLASH of SPI interface, is stored for controller control parameter and is read.Real-time control is mainly DSP master
The modification of variable and feedback of the information in program.
As shown in figure 3, main control module also includes power-off reset circuit, multiple for producing when supply voltage is less than predetermined value
Position signal.Specifically, using power supply of microprocessor monitoring chip as DSP reset chip, produce when supply voltage is less than 2.32V
Raw reset signal.
Main control module also includes clock circuit, for producing the clock signal for the main control module, for example with
The active crystal oscillating circuit of 25MHZ that 3.3V powers；And jtag interface circuit, for aiding in supporting emulator interface.
Fig. 4 illustrates the knot of the isolated form power inverting module of high power density servo-driver according to embodiments of the present invention
Structure.In an embodiment, the signal processing module based on FPGA mainly complete encoder input signal collection filtering, to DSP two-way
Code device signal is nursed one's health output, RS232 serial communication, STO signal enable and input, PWM input validation and always passes through outside
The function that line is communicated with DSP.
As shown in figure 4, interface message processing module includes signal collection modulation circuit, which is provided with：
1st, numeral I/0 module, for via optical coupling isolation circuit and fpga chip transmission signal；
2nd, Hall element input module, for hall signal is input into fpga chip after Schmidt's shaping filter,
Such as Digital Hall signal processing circuit is processed to signal using the Schmidt trigger chip with three-level buffering, is improved
Compatibility to Hall element, Hall input circuit connects pull-up resistor and voltage-regulator diode protection is processed；
3rd, incremental encoder signal input module, for via differential receiver circuit in main control module and fpga chip
Between transmission signal, for example in an embodiment, support increment by a high speed four road differential receiver chips and its peripheral circuit
Differential input signal is converted to single-ended signal by formula encoder, the chip；
4th, serial absolute value encoder signal input module, for through RS485 transceiver the main control module with
Transmission signal between fpga chip, for example, support serial absolute encoder by -485 transceiver of half-duplex RS of two low-power consumption
Device；Using RS485 level mode, with two data lines, two clock line connections, data wire and clock line each account for being received with one
Send out device chip process circuit；And
5th, STO module, for enabling and being input into STO signal.
Preferably, to be additionally provided with RS232 interface defeated to support RS232 to communicate and execute PWM for signal collection modulation circuit
Enter verification.
In an embodiment, interface message processing module also includes fpga chip, for via signal collection modulation electricity
Transmission signal between road and the main control module, the such as signal processing module based on FPGA select Lattice company LCMxxx
For master chip, this chip starting time is less than 1 millisecond；
Clock circuit, for generating the clock signal for interface message processing module；And
Jtag interface circuit, for aiding in supporting emulator interface.
Fig. 5 illustrates the SCM Based communication process mould of high power density servo-driver according to embodiments of the present invention
The structure of block.As shown in figure 5, Communications Processor Module includes singlechip chip, for total via usb circuit and EtherCAT
Interface circuit and host computer transmission signal.For example, singlechip chip is Atmel company AT91XXX single-chip microcomputer, supports Thumb
Instruction set, neumann architecture of dominant frequency maximum 55MHz, RISC (Reduced Instruction Set Computer) based on ARMv4T kernel.
As shown in figure 5, Communications Processor Module also includes usb circuit, connect USB via EMI filtering and protection circuit
Interface and singlechip chip, for transmission signal between Communications Processor Module and host computer.For example, the usb circuit is propped up
Holding USB 2.0 to communicate, the USB interface of AT91xxx single-chip microcomputer being sent to after EMI cake resistancet electrostatic protection chip is processed, this connects
The existing usb communication of cause for gossip and FPGA program online updating function.
As shown in figure 5, Communications Processor Module also includes EtherCAT bus interface circuit, receive and dispatch via ethernet physical layer
Device and EtherCAT slave station controller chip connection EtherCAT EBI and singlechip chip, in Communications Processor Module
Transmission signal between host computer.Specifically, for example, EtherCAT EBI is by EtherCAT ethernet PHY transceiver
The EtherCAT slave station controller chip ET1100 of KSZ8041NL chip and Bei Fu company of Germany constitutes, and two EtherCAT connect
Mouth respectively as input and is exported.EtherCAT technology be proposed in 2003 by German times good fortune (Beckoff) company based on
The open real-time industrial field bus technique of standard ethernet technology, EtherCAT adopt master-slave mode technology, can adopt many
Flexible topology type structure is planted, constitutes multiple-axis servo kinetic control system.System utilizes EtherCAT network, using ET1100 as from
Stand communication controler, the controlled quentity controlled variable that main website PC is produced completes the control to servomotor by single-chip microcomputer and DSP, and motor shape
State information is again by feeding back to main website PC after DSP and single-chip microcomputer digitized processing.
Connected by MII interface between the ET1100 and KSZ8041NL, MII interface can pass through EPA net
Line is connected with PC, farthest effectively 100 meters of transmission, and fault-tolerant ability is good, can be applicable to high speed data transfer and occasion farther out.
(Media Independent Interface (Media Independent Interface) MII layer is defined in 100BASE MII, including using respectively
Two independent channels in transmitters and receivers.Every channel has data, clock and the control signal of oneself.
In addition, singlechip chip is connected with main control module also by spi bus, for the real-time control of host computer and driver
System and information exchange；And also be connected with interface message processing module by iic bus, process with interface message for host computer
The online updating of the program of module information interaction and interface message processing module, such as singlechip chip are processed with interface message
Communicate between the fpga chip of module and realized by the TWI interface of iic bus, TWI interface includes a clock line TWCK and
Data lines TWD.
As shown in figure 5, Communications Processor Module also includes clock circuit, the clock for generating for Communications Processor Module is believed
Number；And jtag interface circuit, for aiding in supporting emulator interface.
Fig. 2-4 also show the information storage module of high power density servo-driver according to embodiments of the present invention.Such as
Shown in Fig. 2-4, information storage module includes：Flash storage, connects main control module via spi bus, solid for main control module
Change operation program.Specifically, from FLASH chip for spi bus interface serial FLASH memory, memory capacity is
8Mbit, storage organization are (1M*8), are directly connected with the SPI interface of DSP.Flash memory interface is used as operation program binary system
Storage and power down parameter storage.
Information storage module also includes SRAM memory, processes via XINTF bus connection main control module and interface message
Module, for lifting main control module program operation speed and capacity, and realizes master by way of sharing part memory space
Control module and the information exchange of interface message processing module.Specifically, sram chip is 4 megabits (256K × 16) static state RAM, uses
Load with application program after processing data and upper electricity to store.Sram chip is shared by DSP and FPGA, and SRAM is connected entirely with DSP
Connect, entirely controlled DSP, for lifting main control module program operation speed and capacity.The partial address line of SRAM and data wire with
FPGA connects, and realizes the information exchange of main control module and interface message processing module by way of sharing part memory space,
Participate in read-write register work.
Fig. 6 illustrates the knot of the isolated form power inverting module of high power density servo-driver according to embodiments of the present invention
Structure.In an embodiment, isolated form power inverting module mainly completes the conducting control to high voltage, high current by control signal
System, while the electric current to each winding output of motor can be gathered.
As shown in fig. 6, isolated form power inverting module includes：Pwm signal filter circuit, for filtering to pwm signal
Ripple, and filtered pwm signal is transmitted to isolated drive circuit.
Isolated form power inverting module also includes：Isolated drive circuit, puts for carrying out isolation to filtered pwm signal
Greatly, and H-bridge inverter circuit is transmitted to；Boostrap circuit in isolated drive circuit is used for providing conducting positioned at upper brachium pontis
The bootstrap voltage mode of the MOSFET as power device, such as boostrap circuit are made up of bootstrap diode and bootstrap capacitor.For example, select
The N-channel MOS fet chip IPD12CN10NG of company of Infineon is selected, drain-source voltage maximum can reach 100V, drain electrode continues electricity
Stream reaches 67A, and with low-down conducting resistance, is suitable for HF switch application.In addition, selecting company of Infineon
1EDI20N12AF chip as MOSFET driving chip to constitute isolated drive circuit, 1EDI20N12AF is isolated form high pressure
Grid level drives IC, with iron-core-free transformer technology, it is ensured that work and will not receive in the case of offset voltage up to +/- 1200V
It is 100kV/ μ s to common mode transient state suppression (CMTI) for disturbing and exporting input.
Isolated form power inverting module also includes：H-bridge inverter circuit, receives for the MOSFET by lower brachium pontis disposed thereon
Through the pwm signal that isolation is amplified, the source ground of the MOSFET of lower brachium pontis is wherein located at, as long as the grid in metal-oxide-semiconductor is added
Certain voltage can conducting.
In an embodiment, isolated form power inverting module takes the isolation drive mould of driving chip and MOSFET " one-to-one "
Formula, i.e., one MOSFET of 1EDI20N12AF chip drives is fast have the advantages that strong antijamming capability and response.
As shown in fig. 6, isolated form power inverting module also includes：Current sampling circuit, for gathering the electricity of servomotor
Flow and transmit to the ADC interface of main control module, for electric current loop closed-loop control of the main control module to servomotor.For example, three-phase
Current acquisition is completed by the Precise Alloy sampling resistor of milliohm level, and the voltage of sampling resistor is after operational amplifier amplifies 10 times
It is sent to the ADC interface of dsp chip.
The PCB heat dissipation design of feature power inverting module selects the big sheet material of high TG and thermal conductivity factor, manages in MOSFET
Every layer of the underface region PCB of chip spreads copper, increases dissipating for drive circuit board using the big advantage of the thermal conductivity factor of copper product
Hot area and efficiency, power circuit board are connected with heat radiating metal shell by heat conductive silica gel.
Fig. 7 illustrates the structure of the fault-tolerant protection module of high power density servo-driver according to embodiments of the present invention.Such as
Shown in Fig. 7, fault-tolerant protection module includes：Current foldback circuit, for gathering isolated form power inverting by current monitoring circuit
The power electricity input current signal of module, and by excessively stream comparator circuit by the current signal for being gathered and predetermined threshold ratio
Relatively, and by comparative result transmit to the TZ pin of main control module.For example, current foldback circuit is sampled by milliohm level Precise Alloy
The Width funtion input electricity of resistance, high-side current monitor chip, RC filter circuit and Zener diode and PNP triode composition
The comparator circuit composition that road, Micro Energy Lose BiCMOS comparator chip are constituted.Sampling resistor collection current information is through high-end electricity
Monitor for flowing chip is converted into the voltage threshold value predetermined with comparator and compares, and the result of comparator is sent to the TZ pin of DSP, once
There is excessively stream and then pwm signal is closed, realize overcurrent protection mechanism.
Fault-tolerant protection module also includes：Overvoltage crowbar, inverse for gathering isolated form power by voltage monitoring circuit
Become the power piezoelectric voltage signal of module, and by overvoltage comparator circuit by the voltage signal for being gathered and predetermined threshold ratio
Relatively, and by comparative result transmit to the TZ pin of main control module.For example, overvoltage crowbar is by pressure sampling circuit, filtering
The CMOS comparator circuit composition that the single channel CMOS comparator chip of circuit and recommending output mode is constituted.The voltage of bleeder circuit collection
Signal is given to the threshold determination process with comparator after processing after filtering, the result of judgement is sent to the TZ pin of DSP, DSP root
Whether export according to overvoltage protection mechanism control pwm signal.
Fault-tolerant protection module also includes：Thermal-shutdown circuit, for detecting power driving circuit by temperature monitoring circuit
The temperature of plate, and the temperature for being detected is compared with predetermined threshold by excess temperature comparator circuit, and comparative result is passed
Transport to the TZ pin of main control module.For example, overheat protector electricity is made up of NTC type thermistor and Micro Energy Lose voltage reference chip
Road, the resistance of thermistor can decline with the rising resistance of temperature rapidly, when drive circuit plate temperature is raised, thermosensitive resistance
Rapid decline.Overheat protector mechanism is judged by the voltage at collection thermistor two ends, when thermistor both end voltage is less than
During default threshold value, it is believed that drive circuit plate temperature is too high, need to stop protection, then DSP cut-out PWM output, drive control system
System quits work.
Fault-tolerant protection module also includes：Safe torque turns off (STO, Safe Torque Off) circuit, for by Security Force
Square turns off the ADC interface that (STO) signal is transferred to main control module via optical coupling isolation circuit.Specifically, safe torque turns off electricity
Road needs external 24 volts to power just can make motor run well, and the function effectively prevent the accident that motor does not connect driver
Rotation.Safe torque breaking circuit is made up of optical coupling isolation circuit, Schmitt plastic filter circuit and logical AND gate protection circuit.
The two-way STO signal of outside input first passes through opto-coupler chip is isolated, and carries out STO signals collecting by DSP after isolation and amplifier,
While the STO signal after isolation is sent into Schmidt trigger, the STO signal after FPGA collection Schmitt shaping filter is patrolled
Collect and process.STO signal needs in gatherer process to be enabled by FPGA.Two-way STO signal after Schmitt shaping filter
With multi-channel PWM signal input to logical AND gate circuit, pwm signal is cut off in time when STO is turned off, used is four tunnels with door chip
2 input just with door chip.Two-way STO signal STO1 and STO2 controls the output of PWM*A and PWM*B respectively.
As shown in figure 1, power module is mainly used in DSP, FPGA, single-chip microcomputer, power drive chip and peripheral interface
Chip etc. is powered.Power supply is produced by power electricity input, and power electricity input range is 12～100V.Power module mainly includes simulation
Power unit, digital power part and power-on time sequence control circuit.Wherein, digital power translation circuit is used for producing and supplies to interface
The digital 5V of electricity, the digital 3.3V powered to the interface of main control module, interface message processing module and Communications Processor Module, to master
Digital 1.8V and the digital 12V powered to the driving chip of power driving circuit plate that the dsp chip of control module is powered.Example
Such as, the BUCK circuit that digital 5V is consisted of with MOSFET LM5116 chip input power electricity is produced, for each interface core
Piece is powered.Digital 5V produces conversion by TPS62420 and produces numeral 1.8V and numeral 3.3V, digital 1.8V to DSP core confession
Electricity, digital 3.3V are powered to interfaces such as DSP, FPGA, single-chip microcomputers；The booster circuit output that digital 5V consists of DC-DC chip
Digital 12V, powers for power driving device MOSFET driving chip.Encoder powers 5V by digital 5V filtering output.
Analog power translation circuit is used for producing analog voltage based on digital voltage, with main control module, interface message
Reason module, fault-tolerant protection module provide simulation 3.3V, provide simulation 3.0V to fault-tolerant protection module, provide to Communications Processor Module
Simulate 1.85V, simulation 1.5V is provided to interface message processing module.For example, simulation 3.3V is produced by filtering by digital 3.3V；
Simulation 1.5V is produced by partial pressure by 3.3V is simulated, and is biased for amplifier application and to input signal etc.；1.85V is by list for simulation
Piece machine is produced, and is that the Schmidt trigger that single-chip microcomputer itself kernel and crystal oscillator are input into is powered；Simulation 3.0V is passed through by 3.3V is simulated
Micro Energy Lose voltage reference chip is produced, and is used for thermo-sensitive resistor.
Power-on time sequence control circuit is used for the self- recoverage after main control module fault.Specifically, power-on time sequence control circuit by
Over-pressed and under-voltage detection chip, 5V/3.3V analog switch chip, Schmitt trigger chip, power conversion chip TPS62420
Constitute with peripheral circuit.
Power-on time sequence control circuit realization mechanism：Logic electricity over-and under-voltage detection chip detection numeral 3.3V, when there is overvoltage
Or under-voltage fault is resetted when occurring, detection signal is given to switch chip with schmitt trigger chip signal, and triggering TPS62420 makes
1 port of energy, digital 1.8V electric power network are set up, first to electricity on numeral 1.8V kernel, triggering TPS62420 after electricity on digital 1.8V
Chip enables 2 ends, then sets up digital 3.3V power supply.
In sum, the invention provides a kind of motor servo driver, which has small volume, power density height, supports
Multiple motor feedback information interfaces, multi-functional and intelligentized feature, meet robot and mechanical arm and middle low power electromechanics are watched
Dress system driver high power and the requirement of small size, significantly improve power density, integrated level and the reliability of driver.
Obviously, above-described embodiment is only intended to clearly illustrate example of the present invention, and be not to the present invention
The restriction of embodiment.For those of ordinary skill in the field, which can also be made on the basis of the above description
The change of its multi-form or variation.There is no need to be exhaustive to all of embodiment.And these belong to this
Obvious change or change among still in protection scope of the present invention that bright spirit is extended out.
Claims (9)
1. a kind of high power density motor servo driver, including：
Positioned at the interface card of top layer, multiple communication interfaces and the associated plurality of servo electricity of the servomotor is provided with
Machine feedback information interface and power interface；
Positioned at the control board in intermediate layer, it is provided with based on the interface message processing module of FPGA, the master control mould based on DSP
Block, SCM Based Communications Processor Module and information storage module, for being based on via the plurality of communication interface and institute
State signal and the signal from power driving circuit plate of the transmission of multiple servomotor feedback information interfaces, output pwm signal；
Positioned at the power driving circuit plate of bottom, isolated form power inverting module and fault-tolerant protection module is provided with, for receiving
And the pwm signal is processed to control the servomotor.
2. high power density motor servo driver as claimed in claim 1, wherein, the plurality of communication interface includes:CAN
EBI, for via CAN between the main control module and host computer transmission signal；USB interface and EtherCAT
EBI, for transmission signal between the Communications Processor Module and host computer；RS232 interface, for total via RS232
Line transmission signal between the interface message processing module and host computer, and the plurality of servomotor feedback information interface
Including：Encoder interfaces, for by the signal transmission after the interface message processing module is processed to the main control module
EQEP interface；And Hall element interface, for by through the interface message processing module process after signal transmission
ECAP interface to the main control module；Jtag interface, is adjusted to the program of the DSP and the single-chip microcomputer online for emulator
Examination and programming；And the power interface is used for the interface card, the control board and work(from power module
Rate drive circuit board is powered.
3. high power density motor servo driver as claimed in claim 2, wherein, the main control module includes：
Dsp chip, is provided with ADC interface, turns off (STO) signal and just remaining for receiving motor current signal, safe torque
String code device signal；ECAP interface is provided with, for fault-signal being received with interrupt routine and processing from the interface message
Module receiving position transducing signal；EQEP interface is provided with, for orthogonal encoder being received from the interface message processing module
The various code device signals of form；General purpose I/O Interface is provided with, for input/output function being executed via light-coupled isolation；Arrange
There is TZ pin, for receiving from the excessively stream of the fault-tolerant protection module, overvoltage, overheat protector signal；It is provided with SPI interface,
For receiving the control parameter for being stored in described information memory module；XINTF interface is provided with, and the letter is stored in for receiving
The extender of breath memory module；And PWM output interface is provided with, connecing via the CAN for the dsp chip
Under the control of mouthful control signal received from the host computer, using from the ADC interface, the ECAP interface, the EQEP
Interface, the TZ pin receive signal and from the SPI interface receive control parameter and from the XINTF interface
Extender, execute the servo computing of specific control algolithm, with output pwm signal；
Functional interface circuit, for aiding in supporting the CAN interface, general purpose I/O Interface, the ADC interface, described
ECAP interface, the EQEP interface, the TZ pin and the PWM output interface carry out signal transfer functions；
Power-off reset circuit, for producing reset signal when supply voltage is less than predetermined value；
Clock circuit, for producing the clock signal for the main control module；And
Jtag interface circuit, for aiding in supporting the emulator interface.
4. high power density motor servo driver as claimed in claim 2, wherein, the interface message processing module bag
Include：
Signal collection modulation circuit, is provided with digital I/0 module, for via optical coupling isolation circuit and fpga chip transmission letter
Number；Hall element input module is provided with, for hall signal to be input into after Schmidt's shaping filter fpga chip；If
Be equipped with incremental encoder signal input module, for via differential receiver circuit the main control module and fpga chip it
Between transmission signal；Serial absolute value encoder signal input module is provided with, for through RS485 transceiver in the master control mould
Transmission signal between block and fpga chip；STO module is provided with, for enabling and being input into STO signal；
Fpga chip, for transmission signal between the signal collection modulation circuit and the main control module；And
Clock circuit, for generating the clock signal for the interface message processing module；
Jtag interface circuit, for aiding in supporting the emulator interface.
5. high power density motor servo driver as claimed in claim 2, wherein, the Communications Processor Module includes：
Usb circuit, connects the USB interface and singlechip chip via EMI filtering and protection circuit, for described logical
Transmission signal between letter processing module and host computer；
EtherCAT bus interface circuit, connects institute via ethernet PHY transceiver and EtherCAT slave station controller chip
EtherCAT EBI and singlechip chip is stated, for transmission signal between the Communications Processor Module and host computer；
Singlechip chip, for transmitting with host computer via the usb circuit and the EtherCAT bus interface circuit
Signal；
Clock circuit, for generating the clock signal for the Communications Processor Module；And
Jtag interface circuit, for aiding in supporting the emulator interface；
Wherein, the singlechip chip is connected with the main control module by spi bus, real-time with driver for host computer
Control and information exchange；And it is connected with the interface message processing module by iic bus, for host computer and the interface
The online updating of the program of message processing module information exchange and the interface message processing module.
6. high power density motor servo driver as claimed in claim 2, wherein, described information memory module includes：
Flash storage, connects the main control module via spi bus, solidifies operation program for the main control module；And
SRAM memory, connects the main control module and the interface message processing module via XINTF bus, for being lifted
State main control module program operation speed and capacity, and realized by way of sharing part memory space the main control module with
The information exchange of the interface message processing module.
7. high power density motor servo driver as claimed in claim 2, wherein, the isolated form power inverting module bag
Include：
Pwm signal filter circuit, for being filtered to the pwm signal, and filtered pwm signal is transmitted to isolation drive
Dynamic circuit；
Isolated drive circuit, for carrying out isolation amplification to filtered pwm signal, and is transmitted to H-bridge inverter circuit；
Boostrap circuit in isolated drive circuit is used for providing the bootstrapping electricity of the MOSFET as power device that conducting is located at upper brachium pontis
Pressure；
H-bridge inverter circuit, receives the pwm signal amplified through isolation, its middle position for the MOSFET by lower brachium pontis disposed thereon
Source ground in the MOSFET of lower brachium pontis；And
Current sampling circuit, for gathering the electric current of the servomotor and transmitting to the ADC interface of the main control module,
For electric current loop closed-loop control of the main control module to the servomotor.
8. high power density motor servo driver as claimed in claim 2, wherein, the fault-tolerant protection module includes：
Current foldback circuit, for gathering the power electricity input electricity of the isolated form power inverting module by current monitoring circuit
The current signal for being gathered and is compared with predetermined threshold by stream signal by excessively stream comparator circuit, and by comparative result
Transmit to the TZ pin of the main control module；
Overvoltage crowbar, the power piezoelectric voltage for being gathered the isolated form power inverting module by voltage monitoring circuit are believed
Number, and the voltage signal for being gathered is compared with predetermined threshold by overvoltage comparator circuit, and comparative result is transmitted
The TZ pin to the main control module；
Thermal-shutdown circuit, for being detected the temperature of the power driving circuit plate by temperature monitoring circuit, and was passed through
The temperature for being detected is compared by warm comparator circuit with predetermined threshold, and comparative result is transmitted to the institute of the main control module
State TZ pin；And
Safe torque breaking circuit, for being transferred to the master by safe torque shutoff (STO) signal via optical coupling isolation circuit
The ADC interface of control module,
Wherein, when comparative result is unsatisfactory for the requirement of protection mechanism, the main control module stops the output pwm signal.
9. high power density motor servo driver as claimed in claim 2, wherein, the power module includes digital power
Translation circuit, for producing the digital 5V powered to interface, to the main control module, the interface message processing module and described
Digital 3.3V that the interface of Communications Processor Module is powered, the digital 1.8V powered to the dsp chip of the main control module with
And the digital 12V powered to the driving chip of the power driving circuit plate；Analog power translation circuit, for based on number
Word voltage produces analog voltage, to provide to the main control module, the interface message processing module, the fault-tolerant protection module
Simulation 3.3V, provide to the fault-tolerant protection module simulation 3.0V, simulation 1.85V is provided to the Communications Processor Module, to institute
State interface message processing module and simulation 1.5V is provided；And power supply electrifying sequential control circuit, for the main control module fault
Self- recoverage afterwards.
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