CN107222142B - A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor driving circuit - Google Patents
A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor driving circuit Download PDFInfo
- Publication number
- CN107222142B CN107222142B CN201710485574.6A CN201710485574A CN107222142B CN 107222142 B CN107222142 B CN 107222142B CN 201710485574 A CN201710485574 A CN 201710485574A CN 107222142 B CN107222142 B CN 107222142B
- Authority
- CN
- China
- Prior art keywords
- circuit
- unit
- control unit
- inversion unit
- inversion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/40—Special adaptations for controlling two or more stepping motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/493—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode the static converters being arranged for operation in parallel
Abstract
The present invention relates to a kind of three-degree-of-freedom-motion permanent magnetic spherical step motor driving circuits, including power supply, inversion unit, driving unit, logic conversion unit, current sample control unit, overcurrent protection control unit；The logic conversion unit is connected with inversion unit, current sample control unit is connected with inversion unit, overcurrent protection control unit is connected with inversion unit, and the inversion unit is connected with driving unit；The driving circuit share four layers, every layer of structure it is identical, be connected in parallel by power cord between every layer.The present invention is according to Three Degree Of Freedom permanent magnetic spherical step motor design feature, and by control circuit and driving circuit separate design, driving circuit can export the driving current of maximum 15A, has many advantages, such as that simple in structure, output current power is big, precision is high.
Description
Technical field
The present invention relates to specific type of electric machine control fields, and in particular to a kind of three-degree-of-freedom-motion permanent magnetic spherical step motor
Driving circuit.
Background technology
In the industrial productions application field such as joint of robot, manipulator, existing multifreedom motion device is mostly by passing
The uniaxial motor and mechanical transmission mechanism of system are constituted, and this attachment device not only reduces control accuracy and response speed, and
It is bulky.In the control system that multifreedom motion control system etc. has requirements at the higher level, traditional multiple degrees of freedom device
It is limited by very large.The appearance of globular motor provides a kind of new thinking to three-degree-of-freedom motion system, it has body
The advantages such as product small, flexibility is high, quick positioning, but in the accurate foundation of torque inversion model, power control strategy, position detection etc.
There is new problem in aspect, this also brings new challenge to the design of globular motor control device.
Since Permanent magnetsphericalsteppermotor can realize the design feature of three-degree-of-freedom motion, stator coil few then more than ten
A at most tens, therefore the driving circuit of conventional motors control device is no longer applicable in permanent magnetism spherical motor.Currently, in the industry
It needs to develop the permanent magnetism spherical current of electric control device that a output current is big, control accuracy is high, to drive spherical electricity
Machine realizes multivariant movement in three dimensions.
Invention content
In order to solve the above-mentioned technical problem, provide one kind can output multi-channel size of current polarity is controllable, output current is big,
High, simple in structure, convenient for debugging and safeguarding the permanent magnetic spherical step motor driving circuit of precision, the present invention provide following technology
Scheme：
A kind of Three Degree Of Freedom permanent magnetic spherical step motor driving circuit, including power supply, inversion unit, driving unit, patrol
Collect converting unit, current sample control unit, overcurrent protection control unit；The logic conversion unit is connected with inversion unit,
Current sample control unit is connected with inversion unit, overcurrent protection control unit is connected with inversion unit, the inversion unit with
Driving unit is connected, and the inversion unit is connected with permanent magnetic spherical step motor；The driving circuit shares four layers, every layer of knot
Structure is identical, is connected in parallel by power cord between every layer, and maximum output current is up to 15 amperes.
Further, the inversion unit includes " H " bridge inverter circuit and current comparison circuit, " H " the bridge inversion electricity
Road is connected with current comparison circuit, the stator coil phase of the output and permanent magnetic spherical step motor of " H " bridge inverter circuit
Even, the output of the current comparison circuit is connected with current sample control unit.
Further, the driving unit includes optical coupling isolation circuit and power amplification circuit, the optical coupling isolation circuit
It is connected with power amplification circuit, the input terminal of the optical coupling isolation circuit is connected by inversion unit with logic conversion unit, institute
The output end for stating power amplification circuit is connected with the switching device of " H " bridge inverter circuit in inversion unit.
Further, the input terminal of the logic conversion unit is connected by data/address bus with host computer, output end passes through
Inversion unit is connected with the input terminal of optical coupling isolation circuit.
Further, the current sample control unit includes microprocessor and communicating circuit, the microprocessor with it is logical
It interrogates circuit to be connected, the input terminal of the microprocessor is connected with inversion unit, and the output end of the communicating circuit is total by data
Line is connected with host computer.
Further, the overcurrent protection control unit includes microprocessor and overcurrent protection circuit, the microprocessor
The input terminal of device is connected with current sample control unit, and the output end of the microprocessor is connected with overcurrent protector circuit, institute
The output for stating current foldback circuit is connected with inversion unit.
The beneficial effects of the present invention are：
1, driving circuit of the invention is controlled by individual microprocessor, reduces the processor work load of main control module,
When load current is excessive, load is automatically cut off, not only protective current control device, but also prevent motor from burning out.
2, driving circuit of the invention has the function of that current sample, inverter circuit design current comparison circuit pass through electric current
Output current is fed back to controller AD sampling channels, realizes closed-loop current control by controlling of sampling unit.
3, driving circuit of the invention uses delamination modularization design philosophy, power supply, inversion unit, driving unit, logic
Converting unit, current sample control unit, overcurrent protection control unit are individually designed, and each unit division of labor is clear, convenient for equipment
Debugging and maintenance
Description of the drawings
The primary structure block diagram of Fig. 1, the present invention.
The driving circuit hierarchical design schematic diagram of Fig. 2, the present invention.
" H " bridge inverter circuit schematic diagram of Fig. 3, the present invention.
The logic control element circuit diagram of Fig. 4, the present invention.
Specific implementation mode
A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor driving circuit, structure diagram such as Fig. 1 institutes of driving circuit
Show, including power supply, inversion unit, driving unit, logic conversion unit, current sample control unit, overcurrent protection control unit.
Logic conversion unit is connect with inversion unit, and driving unit is connect with inversion unit, the input of current sample control unit and inversion
Unit connects, and the input of overcurrent protection control unit is connected with the output of current sample control unit, the output of overcurrent protection control unit
It is connect with inversion unit.Four layers of design of driving circuit point, every layer of structure is identical, is connected by power cord parallel connection between every layer
It connects.The design of driving circuit is using Top-layer Design Method thought from top to bottom, and DUTY-M1 is the 1 road PWM that host computer is sent in Fig. 2
Signal, FLAG-M1 are the current polarity output control signal that host computer is sent, this two paths of signals sends the logic of driving circuit to
Control unit.
Inversion unit includes " H " bridge inverter circuits and current comparison circuit, " H " bridge inverter circuits and current comparison circuit phase
Even, " output of H " bridge inverter circuits is connected with motor stator coil, output and the current sample control unit of current comparison circuit
It is connected." H " bridge inverter circuits schematic diagram it is as shown in Figure 3.The input terminal Vref of inverter circuit provides reference voltage, PWM1 and
PWM4 controls the break-make of VT1 and VT4, and when VT1, VT4 are connected, output voltage out polarity is just, positive electricity to be provided for load
Stream, the break-make of PWM2 and PWM3 controls VT2 and VT3, when VT2, VT3 are connected, output voltage out polarity is negative, is carried for load
For negative current, inductance L1, L2 play the role of output filtering, and capacitance C1, C2 play voltage stabilizing.
Driving unit includes optical coupling isolation circuit and power amplification circuit, optical coupling isolation circuit and power amplification circuit phase
Even, the input of optical coupling isolation circuit is connected by inversion unit with logic control element, the output and inversion of power amplification circuit
In unit " switching devices of H " bridge inverter circuits is connected.
Logic conversion unit includes logical transition circuit, and the input of logical transition circuit passes through data/address bus and host computer phase
Even, the output of logical transition circuit is connected by inversion unit with the input of optical coupling isolation circuit in driving unit.Logic control
Element circuit schematic diagram is low by the PWM3 that logical device U1 is generated as shown in figure 4, when input signal PWM1 is high level
Level, the PWM4 generated by logical device U3 is identical as PWM, and when PWM1 is low level, PWM3 is high level, passes through logic
The PWM2 that device U2 is generated is identical as PWM, and such PWM1 and PWM4 is one group, and PWM2 and PWM3 are one group, pass through logic control
Logical miss will not occur for the output signal that unit generates, so as to avoid the malfunction of inversion unit switching device.
Current sample control unit includes microprocessor and communicating circuit, and microprocessor is connected with communicating circuit, microprocessor
The input of device is connected with inverter circuit, and communicating circuit output is connected by data/address bus with host computer.Current sample control unit
In microprocessor, be on the one hand responsible for the current signal sampled feeding back to host computer by data/address bus, on the one hand will adopt
The overcurrent signal collected sends the microprocessor of overcurrent protection control unit to.
Overcurrent protection control unit includes microprocessor and overcurrent protection circuit, the input of microprocessor and current sample
Control unit is connected, and the output of microprocessor is connected with current foldback circuit, output and the inversion unit phase of current foldback circuit
Even.The overcurrent signal that the microprocessor of overcurrent protection control unit is responsible for receive is handled, once overcurrent occurs,
Inversion unit is cut off immediately, not only protects inversion unit and driving circuit, but also motor is prevented to be burned
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Can various changes and amendments be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (1)
1. a kind of Three Degree Of Freedom permanent magnetic spherical step motor driving circuit, it is characterised in that：Including power supply, inversion unit, drive
Moving cell, logic conversion unit, current sample control unit, overcurrent protection control unit；The logic conversion unit and inversion
Unit is connected, current sample control unit is connected with inversion unit, overcurrent protection control unit is connected with inversion unit, described inverse
Become unit with driving unit to be connected, the inversion unit is connected with permanent magnetic spherical step motor；The driving circuit shares four
Layer, every layer of structure are identical, are connected in parallel by power cord between every layer；
The inversion unit includes " H " bridge inverter circuit and current comparison circuit, and " H " bridge inverter circuit and electric current are more electric
Road is connected, and the output of " H " bridge inverter circuit is connected with the stator coil of permanent magnetic spherical step motor, and the electric current compares
The output of circuit is connected with current sample control unit；
The driving unit includes optical coupling isolation circuit and power amplification circuit, the optical coupling isolation circuit and power amplification circuit
It is connected, the input terminal of the optical coupling isolation circuit is connected by inversion unit with logic conversion unit, the power amplification circuit
Output end be connected with the switching device of " H " bridge inverter circuit in inversion unit；
The input terminal of the logic conversion unit is connected by data/address bus with host computer, output end passes through inversion unit and optocoupler
The input terminal of isolation circuit is connected；
The current sample control unit includes microprocessor and communicating circuit, and the microprocessor is connected with communicating circuit, institute
The input terminal for stating microprocessor is connected with inversion unit, and the output end of the communicating circuit passes through data/address bus and host computer phase
Even；
The overcurrent protection control unit includes microprocessor and overcurrent protection circuit, input terminal and the electricity of the microprocessor
It flows controlling of sampling unit to be connected, the output end of the microprocessor is connected with overcurrent protector circuit, the current foldback circuit
Output be connected with inversion unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710485574.6A CN107222142B (en) | 2017-06-23 | 2017-06-23 | A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor driving circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710485574.6A CN107222142B (en) | 2017-06-23 | 2017-06-23 | A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor driving circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107222142A CN107222142A (en) | 2017-09-29 |
| CN107222142B true CN107222142B (en) | 2018-09-28 |
Family
ID=59950525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710485574.6A Active CN107222142B (en) | 2017-06-23 | 2017-06-23 | A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor driving circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107222142B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08166350A (en) * | 1994-12-14 | 1996-06-25 | Omron Corp | Inspection-indicating apparatus |
| JP2013085408A (en) * | 2011-10-12 | 2013-05-09 | Minebea Co Ltd | Spherical motor controller and spherical motor control method |
| CN204103804U (en) * | 2014-08-29 | 2015-01-14 | 方愿捷 | A kind of permanent magnetism spherical motor control assembly |
| CN104362912A (en) * | 2014-10-10 | 2015-02-18 | 中山市鸿程科研技术服务有限公司 | Motor control device |
-
2017
- 2017-06-23 CN CN201710485574.6A patent/CN107222142B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08166350A (en) * | 1994-12-14 | 1996-06-25 | Omron Corp | Inspection-indicating apparatus |
| JP2013085408A (en) * | 2011-10-12 | 2013-05-09 | Minebea Co Ltd | Spherical motor controller and spherical motor control method |
| CN204103804U (en) * | 2014-08-29 | 2015-01-14 | 方愿捷 | A kind of permanent magnetism spherical motor control assembly |
| CN104362912A (en) * | 2014-10-10 | 2015-02-18 | 中山市鸿程科研技术服务有限公司 | Motor control device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107222142A (en) | 2017-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103248293A (en) | TMS320F2812 based speed regulation controller of brushless DC motor | |
| CN108594267A (en) | The design method of highly integrated integration microsatellite attitude control signal processing unit | |
| CN107509279B (en) | 3D printing light-source control system | |
| CN204660019U (en) | Based on the electric retractable control system of pint-sized airplane undercarriage | |
| CN201928224U (en) | Direct-current brush motor servo driver | |
| CN105226947A (en) | Digitlization DC/DC power module | |
| CN111415794A (en) | Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator and control method thereof | |
| CN107222142B (en) | A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor driving circuit | |
| CN101581924A (en) | High-accuracy general soft-core digital power regulator of ionic accelerator | |
| CN204539592U (en) | A kind of LED luminance adjusting device | |
| CN207083031U (en) | A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor drive circuit | |
| CN107012571B (en) | A kind of embedded woof-selecting controller for rapier loom | |
| CN105373109B (en) | A kind of Delta robots control system | |
| CN107069649A (en) | A kind of electrical load safety operation control system | |
| CN203697012U (en) | Mechanical hand controller having limiting protecting function | |
| CN101581920A (en) | High-accuracy general digital power regulator of ionic accelerator | |
| CN104616575B (en) | A kind of Digital Electric electronic experimental device | |
| CN202258087U (en) | Motor speed regulation digital signal processing (DSP) teaching experiment system | |
| CN101582647B (en) | High-accuracy pulse/direct current digital power of ionic accelerator | |
| CN212161432U (en) | Permanent magnetic chuck magnetizing and demagnetizing controller for manipulator | |
| CN207280304U (en) | A kind of scout missile steering gear control system | |
| CN103248285A (en) | Driver special for direct current motor | |
| CN203658796U (en) | Multi-axis movement control system development platform | |
| CN205647309U (en) | Brushless motor speed regulator | |
| CN201340542Y (en) | Double-shaft drive servo-control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |