CN107276468A - A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor current control device - Google Patents
A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor current control device Download PDFInfo
- Publication number
- CN107276468A CN107276468A CN201710485612.8A CN201710485612A CN107276468A CN 107276468 A CN107276468 A CN 107276468A CN 201710485612 A CN201710485612 A CN 201710485612A CN 107276468 A CN107276468 A CN 107276468A
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- Prior art keywords
- circuit
- module
- permanent magnetic
- step motor
- magnetic spherical
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- 238000005070 sampling Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000011664 signaling Effects 0.000 claims abstract description 7
- 238000000465 moulding Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 3
- 230000005389 magnetism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 241001269238 Data Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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 rotating step by step
- H02P8/12—Control or stabilisation of current
-
- 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 rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The present invention relates to a kind of three-degree-of-freedom-motion permanent magnetic spherical step motor current control device, including master station, control module, drive module, position detecting module, the master station is made up of PC, it is connected with control module, the control module includes microprocessor, it is connected by data/address bus with drive module, the drive module includes inverter circuit, drive circuit, circuit overcurrent protection and current sampling circuit, the output end of drive module is connected with 24 stator coils of permanent magnetic spherical step motor respectively, the position detecting module is connected by position signalling communication bus with control module.The present invention can export high-power, high-precision driving current, have the advantages that simple in construction, response is fast, control efficiency is high.
Description
Technical field
The present invention relates to specific type of electric machine control field, more particularly to a kind of three-degree-of-freedom-motion permanent magnetic spherical step motor
Current control device.
Background technology
With the adjustment and optimization of middle and small motor product structure, extraordinary motor special already turns into what electromechanics trade developed
Emphasis.Three Degree Of Freedom permanent magnetism spherical motor has it not compare as a kind of novel specific type of electric machine in multifreedom motion occasion
The advantage of plan.At the same time, the distribution of the structure of different globular motors, stator coil and rotor magnetic pole, is globular motor
Power control brings new problem.
Permanent magnetic spherical step motor stator coil quantity is more, and each coil needs single power control, tradition
The control device of motor has no longer been applicable for permanent magnetic spherical step motor.At present, need in the industry to develop it is a can be real
When On-line Control, current field amount be big, control accuracy is high and current control device with multiple-channel output, so as to drive globular motor
Realize multivariant motion in three dimensions.
The content of the invention
In order to solve the above-mentioned technical problem there is provided one kind can real-time online control, and with output 24 tunnel size of current
Polarity is controllable, current field amount is big, precision is high, Permanent magnetsphericalsteppermotor current control device that is simple in construction, being easy to maintenance, this
Invention provides following technical scheme:
A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor current control device, including master station, control module, drive
Dynamic model block, position detecting module；The master station is made up of PC, is connected with control module, and the control module includes micro- place
Device is managed, is connected by data/address bus and the input of drive module；The output end of the drive module is walked with permanent magnetism spherical respectively
Enter 24 stator coils connection of motor, the position detecting module input is connected with permanent magnetic spherical step motor, defeated
Go out end by position signalling communication bus with control module to be connected.
The master station is made up of PC, and given, the reception for being on the one hand responsible for input are fed back by the control module
Position signalling and current sampling signal, on the other hand by corresponding control algolithm, calculate in real time corresponding stator coil lead to
Electric current, is sent to the microprocessor of control module.
Further, the drive module includes inverter circuit, drive circuit, circuit overcurrent protection and current sample
Circuit, the input of the inverter circuit is connected with control module, and the input of the drive circuit is connected with inverter circuit, institute
State inverter circuit output end with permanent magnetic spherical step motor to be connected, the current sampling circuit and inverter circuit output end phase
Even, the circuit overcurrent protection is connected with current sampling circuit.
Further, the control module includes microprocessor and communication unit, and the microprocessor passes through communication unit
It is connected with master station.On the one hand it is responsible for receiving the control signal that the master station is sent, and is sent to by data/address bus described
Drive module, on the other hand receives the motor position signal of position detecting module collection and the current sampling signal of drive module,
Feed back to master station.
The beneficial effects of the present invention are：The current sampling signal that can be fed back control module by master station and position
Feedback signal carries out calculation process in real time, realizes electric current and the double-closed-loop control of position；And with current sample and overcurrent
Defencive function, not only protective current control device, and prevent motor to be burned；Simple in construction, performance is stable, with current field
Amount is big, precision is high, the controllable advantage of size of current polarity.
Brief description of the drawings
Fig. 1, the present invention structured flowchart.
Fig. 2, the present invention drive module and main control module, the attachment structure schematic diagram of permanent magnetic spherical step motor.
Current control system control interface figure in Fig. 3, a kind of master station of embodiment of the present invention.
Embodiment
As shown in figure 1, a kind of three-degree-of-freedom-motion permanent magnetic spherical step motor current control device of the invention is specifically real
Apply mode：The device includes：Master station, control module, drive module, position detecting module, master station are made up of PC, with control
Molding block is connected, and control module includes microprocessor, is connected by data/address bus with drive module, driving mould as shown in Figure 2
Block include inverter circuit, drive circuit, circuit overcurrent protection and current sampling circuit, the input of the inverter circuit with
Control module is connected, and the input of the drive circuit is connected with inverter circuit, the inverter circuit output end and permanent magnetism spherical
Stepping motor is connected, and the current sampling circuit is connected with inverter circuit output end, the circuit overcurrent protection and electric current
Sample circuit is connected, and the output end of drive module is connected with 24 stator coils of permanent magnetic spherical step motor respectively, position
Detection module is connected by position signalling communication bus with control module.
Master station is made up of PC in present embodiment, and given, the reception for being on the one hand responsible for input are fed back by control module
The position signalling and sampled current signals returned, on the other hand by corresponding control algolithm, calculate correspondence stator line in real time
Electrical current is enclosed, the microprocessor of control module is sent to, this process can show current electricity in real time by the control interface at PC ends
The state of machine operation, as shown in Figure 3.Permanent magnetic spherical step motor current control system has three kinds of input modes, and the first is defeated
Entering mode is：The positional information of three anglecs of rotation is merely entered, beginning computed push-buttom is clicked, corresponding control torque is calculated automatically
With coil corresponding current；Second of input mode be：Control torque is merely entered, beginning computed push-buttom is clicked, outlet is calculated automatically
Enclose corresponding current；The third input mode is：Directly input coil corresponding current.Complete after input setting, click transmission data
Button, master station sends the data to the microprocessor of control module, completes the motion control of given input.In addition, also setting up
Reset, automatic, exit button, its corresponding function is respectively：Click reset button, all zeros datas；Click it is automatic by
Button, motor real time information column can show the current state of motor, including position, speed and stator coil current information；Click and move back
Go out button, you can exit control system operation interface, when systems are functioning properly, the normal indicator lamp of green is bright, when system occurs
During mistake, red fault led flicker.
In the present embodiment, the microprocessor selection ARM chips of main control module, processor chips are constituted with peripheral circuit
Control module, with 24 road PWM outputs, 24 road inverter circuit H bridges set directions outputs, 24 road ADC current samples inputs and
PORT COM.Wherein, PWM outputs realize that inverter circuit H bridge set directions are defeated by the timer output channel of microprocessor
Go out by the GPIO port of microprocessor to realize, the input of ADC current samples is logical by the ADC current samples input of microprocessor
Realize that PORT COM is realized by the serial ports passage of microprocessor, the specific method of salary distribution of ARM microprocessor pin such as Fig. 3 in road
It is shown.Control module is connected with drive module, 24 road electric current outputs of control drive module.Control module by PORT COM not
The position signalling of position detecting module can be only obtained, and can be communicated with master station, the number that master station is sent is received
According to.
Using above-mentioned foundation desirable embodiment of the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (3)
1. a kind of three-degree-of-freedom-motion permanent magnetic spherical step motor current control device, it is characterised in that：Including master station, control
Molding block, drive module, position detecting module；The master station is made up of PC, is connected with control module, the control module
Including microprocessor, connected by data/address bus and the input of drive module；The output end of the drive module respectively with forever
24 stator coils connection of magnetic spherical step motor, the position detecting module input and permanent magnetic spherical step motor
Connection, output end are connected by position signalling communication bus with control module.
2. a kind of three-degree-of-freedom-motion permanent magnetic spherical motor current control device as claimed in claim 1, it is characterised in that：
The drive module includes inverter circuit, drive circuit, circuit overcurrent protection and current sampling circuit, the inverter circuit
Input be connected with control module, the input of the drive circuit is connected with inverter circuit, the inverter circuit output end
It is connected with permanent magnetic spherical step motor, the current sampling circuit is connected with inverter circuit output end, the overcurrent protection
Circuit is connected with current sampling circuit.
3. a kind of three-degree-of-freedom-motion permanent magnetic spherical motor current control device as claimed in claim 1, it is characterised in that：
The control module includes microprocessor and communication unit, and the microprocessor is connected by communication unit with master station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710485612.8A CN107276468B (en) | 2017-06-23 | 2017-06-23 | A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor current control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710485612.8A CN107276468B (en) | 2017-06-23 | 2017-06-23 | A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor current control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107276468A true CN107276468A (en) | 2017-10-20 |
| CN107276468B CN107276468B (en) | 2019-03-19 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710485612.8A Active CN107276468B (en) | 2017-06-23 | 2017-06-23 | A kind of three-degree-of-freedom-motion permanent magnetic spherical step motor current control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107276468B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101820240A (en) * | 2009-06-26 | 2010-09-01 | 天津大学 | Spherical planning-based permanent magnetic spherical motor stator winding electrifying method |
| CN104821769A (en) * | 2015-05-15 | 2015-08-05 | 上海电机学院 | Control method for stepping motor of multi-freedom-degree permanent magnet inductor type |
| CN204794775U (en) * | 2015-05-11 | 2015-11-18 | 芜湖卓源自动化技术有限公司 | Spherical motor control means of permanent magnetism direct current |
-
2017
- 2017-06-23 CN CN201710485612.8A patent/CN107276468B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101820240A (en) * | 2009-06-26 | 2010-09-01 | 天津大学 | Spherical planning-based permanent magnetic spherical motor stator winding electrifying method |
| CN204794775U (en) * | 2015-05-11 | 2015-11-18 | 芜湖卓源自动化技术有限公司 | Spherical motor control means of permanent magnetism direct current |
| CN104821769A (en) * | 2015-05-15 | 2015-08-05 | 上海电机学院 | Control method for stepping motor of multi-freedom-degree permanent magnet inductor type |
Non-Patent Citations (1)
| Title |
|---|
| 张西多等: "三自由度球形电机控制系统的设计与实现", 《中国测试》 * |
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| Publication number | Publication date |
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| CN107276468B (en) | 2019-03-19 |
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