CN107463132A - A kind of servo motor drive controller of a variety of rotor-position feedback devices of compatibility - Google Patents
A kind of servo motor drive controller of a variety of rotor-position feedback devices of compatibility Download PDFInfo
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- CN107463132A CN107463132A CN201710727535.2A CN201710727535A CN107463132A CN 107463132 A CN107463132 A CN 107463132A CN 201710727535 A CN201710727535 A CN 201710727535A CN 107463132 A CN107463132 A CN 107463132A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a kind of servo motor drive controller of a variety of rotor-position feedback devices of compatibility,It includes the signal transacting control module DSP of motor connection,Receive the connection terminal of rotor-position feedback device signal,Signal transacting control module DSP interface module is uploaded to after the signal that connection terminal receives is handled,The host computer connected with signal transacting control module DSP,Connection terminal includes GB V+ pins,GB V pins,REF+/U+ pins,GB W+ pins,REF/U pins,GB W pins,GB Z+ pins,GB Z pins,AGND pins,WF 5V+ pins,SIN+/A+/DATA+ pins,SIN/A/DATA pins,COS/B/CLOK pins and COS+/B+/CLOK+ pins.The function of the signal of compatible a variety of rotor-position feedback devices can be achieved in the present invention, improves the versatility matched with motor, position feedback device.
Description
【Technical field】
The invention belongs to drive and control of electric machine technical field, more particularly to a kind of compatible a variety of rotor-position feedback devices
Servo motor drive controller.
【Background technology】
AC servo motor transmission system is typically by motor, motor rotor position sensor and power electronic drive control device
Composition, extensively in many industries, as robot, lathe, printing equipment, packaging facilities, Weaving device, laser process equipment and from
Dynamic metaplasia producing line etc..Present AC servo will substitute many DC brush servomotors and stepper motor.
There are five kinds of position sensors to select in the market, but their operation principle, performance and cost are all each
Differ, and the signal of various rotor-position sensors is different with interface circuit.According to the property to Electric Drive and motion control
It can require, most of servo motor drive controllers all can only be with a kind of specific position sensor and alternating current in the market
Machine realizes the speed of kinematic system and the accurate control of position together, and different rotor-position sensors can not replace between each other
Change, there is no versatility for end user.
Come therefore, it is necessary to provide a kind of servo motor drive controller of new compatible a variety of rotor-position feedback devices
Solve the above problems.
【The content of the invention】
It is a primary object of the present invention to the servomotor for providing a kind of a variety of rotor-position feedback devices of compatibility to drive control
Device processed, the function of the signal of compatible a variety of rotor-position feedback devices can be achieved, improve and matched with motor, position feedback device
Versatility.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of servo of a variety of rotor-position feedback devices of compatibility
Motor drive controller, its signal for being used to receive rotor-position feedback device and controlled motor driving, the controller include
Signal transacting control module DSP, the connection terminal of the reception rotor-position feedback device signal, the general connected with the motor
The signal that the connection terminal receives be uploaded to after being handled the signal transacting control module DSP interface module,
The host computer connected with signal transacting control module DSP, the connection terminal include GB V+ pins, GB V- pins, REF+/U+
Pin, GB W+ pins, REF-/U- pins, GB W- pins, GB Z+ pins, GB Z- pins, AGND pins, WF 5V+ pins,
SIN+/A+/DATA+ pins, SIN-/A-/DATA- pins, COS-/B-/CLOK- pins and COS+/B+/CLOK+ pins, institute
State interface module include rotation become magnetic end position sensor double nip circuit, increment photoelectric position sensor interface circuit,
Absolute optical electric position sensor interface circuit and Hall element position sensor interface circuitry.
Compared with prior art, a kind of servo motor drive controller of a variety of rotor-position feedback devices of compatibility of the present invention
Beneficial effect be：The characteristics of being whenever only connected using motor drive controller with a rotor-position sensor, lead to
Cross and common connection end for being capable of compatible various rotor-position sensor inputs is set, can be realized respectively by connection terminal
The effect that individual rotor-position sensor connects with interface circuit；Adopted in combination with being provided with respective rotor position sensor
Collect the various interface circuits of signal compatibility, then can be with by selecting the particular type of rotor-position feedback device in host computer
The signal that interface circuit corresponding to unlatching gathers to rotor-position feedback device is handled, and is converted into signal transacting control mould
The acceptable signals of block DSP, so as to realize the position to motor, speed, torque and current control, so as to improve control
The versatility of device and compatibility；The motor drive controller can be with work together with any of five kinds of rotor-position sensors
Make, so as to provide motor servo driver versatility and flexibility for end user, and reduce servo-controlled production cost, carry
High product competitiveness.
【Brief description of the drawings】
Fig. 1 is the modularity control principle schematic of the embodiment of the present invention；
Fig. 2 is the electric signal connecting structure schematic diagram of connection terminal in the embodiment of the present invention；
Fig. 3 is the control principle schematic diagram when embodiment of the present invention works with rotary transformer rotor position sensor；
Fig. 4 is the control principle schematic diagram when embodiment of the present invention works with the rotor-position sensor based on GMR ends magnetic；
Fig. 5 is that the control principle when embodiment of the present invention works with increment photoelectric code disk rotor-position sensor is illustrated
Figure；
Fig. 6 is that the control principle when embodiment of the present invention works with absolute optical encoder rotor-position sensor is illustrated
Figure；
Fig. 7 is the control principle schematic diagram when embodiment of the present invention works with Hall element rotor-position sensor；
Fig. 8 is the connection diagram that rotation becomes magnetic end position sensor double nip circuit in the embodiment of the present invention；
Fig. 9 is the connection diagram of increment photoelectric position sensor interface circuit in the embodiment of the present invention；
Figure 10 is the connection diagram of absolute optical electric position sensor interface circuit in the embodiment of the present invention；
Figure 11 is the connection diagram of Hall element position sensor interface circuitry in the embodiment of the present invention.
【Embodiment】
Embodiment：
Fig. 1 is refer to, the present embodiment is the servo motor drive controller of compatible a variety of rotor-position feedback devices, and it is used
In receive rotor-position feedback device signal and controlled motor driving, it include with the signal of the motor electric signal communication
Reason control module DSP, connection terminal, the signal for receiving the connection terminal for receiving the rotor-position feedback device signal
The interface module of the signal transacting control module DSP is uploaded to after being handled, is connected with signal transacting control module DSP
Logical host computer.
The rotor-position feedback device includes rotary transformer rotor position sensor, the rotor position based on GMR ends magnetic
Put sensor, increment photoelectric code disk rotor-position sensor, absolute optical encoder rotor-position sensor and Hall
Element rotor-position sensor.
Draw as shown in Fig. 2 the connection terminal includes GB V+ pins 1, GB V- pins 9, REF+/U+ pins 2, GB W+
Pin 10, REF-/U- pins 3, DJWD+ pins 11, GB W- pins 4, GB Z+ pins 12, GB Z- pins 5, AGND pins 13, WF
5V+ pins 6, SIN+/A+/DATA+ pins 14, SIN-/A-/DATA- pins 7, COS-/B-/CLOK- pins 15 and COS+/
B+/CLOK+ pins 8.The effect of each pin in the connection terminal is as shown in table 1.
The function corresponding table of the connection terminal pin of table 1
It refer to Fig. 3-Fig. 7, the corresponding pass that each rotor-position feedback device turns on the connection terminal pin
System is as shown in table 2.
The each rotor-position feedback device of table 2 turns on corresponding table with the connection terminal pin
The interface module includes rotation and becomes magnetic end position sensor double nip circuit, increment photoelectric position sensor
Interface circuit, absolute optical electric position sensor interface circuit and Hall element position sensor interface circuitry.
Fig. 8 is refer to, the rotation becomes magnetic end position sensor double nip circuit and is used for the rotary transformer rotor position
Put sensor, the collection signal of the rotor-position sensor based on GMR ends magnetic carries out processing and is transformed into the signal transacting
The signal that control module DSP can be received.Due to motor drive controller whenever only with a rotor-position feedback device
It is connected, therefore when motor is connected with this motor drive controller, it is only necessary in control corresponding to signal transacting control module DSP
Determine connection in software processed is that any rotor-position sensor works together.
The increment photoelectric position sensor interface circuit is used for the increment photoelectric code disk rotor position sensing
The collection signal of device carries out processing and is transformed into the signal that the signal transacting control module DSP can be received.The absolute optical
Electric position sensor interface circuit is used for the collection signal of the absolute optical encoder rotor-position sensor
Reason is transformed into the signal that the signal transacting control module DSP can be received.The Hall element position sensor interface circuitry
It is transformed into the signal transacting control module for carrying out processing to the collection signal of the Hall element rotor-position sensor
The signal that DSP can be received.
The rotation become magnetic end position sensor double nip circuit include with COS-/B-/CLOK- pins 15 and COS+/B+/
Cosine signal process circuit that CLOK+ pins 8 connect, connect with SIN+/A+/DATA+ pins 14 and SIN-/A-/DATA- pins 7
Logical sinusoidal signal process circuit.The cosine signal process circuit is identical with the sinusoidal signal process circuit structural principle.
The cosine signal process circuit includes common mode inductance L303, is connected respectively with two output ends of common mode inductance L303
Electric capacity C336 the resistance R377 that is connected with electric capacity C337, respectively with two output ends of common mode inductance L303 and resistance R378, defeated
It is defeated to enter operational amplifier U305A, one end connection resistance R377 that end is connected with resistance R377 and resistance R378 output end
Go out end and the other end connects the resistance R382 of the operational amplifier U305A output ends.The operational amplifier U305A with it is described
Resistance R382 common output end is the cosine signal COS1 after handling, and the signal output controls mould to the signal transacting
In block DSP.Resistance R378 output end has been arranged in parallel resistance R379, and resistance R379 input input has fixed direct current biasing
Voltage.Common mode inductance L303 two inputs connect with COS-/B-/CLOK- pins 15 and COS+/B+/CLOK+ pins 8 respectively
Connect, and resistance R372 and resistance R373 are respectively arranged with two connection lines.
The sinusoidal signal process circuit includes common mode inductance L304, is connected respectively with two output ends of common mode inductance L304
Electric capacity C338 the resistance R380 that is connected with electric capacity C339, respectively with two output ends of common mode inductance L304 and resistance R376, defeated
It is defeated to enter operational amplifier U305B, one end connection resistance R380 that end is connected with resistance R380 and resistance R376 output end
Go out end and the other end connects the resistance R383 of the operational amplifier U305B output ends.The operational amplifier U305B with it is described
Resistance R383 common output end is the sinusoidal signal SIN1 after handling, and the signal output controls mould to the signal transacting
In block DSP.Resistance R376 output end has been arranged in parallel resistance R381, and resistance R381 input input has fixed direct current biasing
Voltage.Common mode inductance L304 two inputs connect with SIN+/A+/DATA+ pins 14 and SIN-/A-/DATA- pins 7 respectively
Connect, and resistance R374 and resistance R375 are respectively arranged with two connection lines.Resistance R372, resistance R373, resistance R374,
Resistance R375 can use switch to substitute.
It is described rotation become magnetic end position sensor double nip circuit operation principle into：The institute that will be received in the connection terminal
The Cos signals for stating rotary transformer rotor position sensor or the rotor-position sensor collection based on GMR ends magnetic pass through
The filter circuit that common mode inductance L303, electric capacity C336, electric capacity C337 are formed suppresses to common mode disturbances and DM EMI, and
The signal after disturbing will be filtered out and be sent into operational amplifier U305A progress waveform shapings, it is inclined to input fixed direct current by resistance R379
Voltage is put, the cosine wave that positive and negative constant amplitude sinusoid is shaped as to only positive voltage is sent into the signal transacting control module DSP's
A/D ports carry out data acquisition；The filter circuit that Sin signals are formed by common mode inductance L304, electric capacity C338, electric capacity C339
To suppressing for common mode disturbances and DM EMI, and the signal after interference will be filtered out it is sent into operational amplifier U305B and enter traveling wave
Shape shaping, fixed DC offset voltage is inputted by resistance R381, positive and negative constant amplitude sinusoid is shaped as only to positive voltage is being just
The A/D ports that string ripple is sent into the signal transacting control module DSP carry out data acquisition；It is double that the rotation becomes magnetic end position sensor
The sinusoidal signal SIN1 of interface circuit output end differs 90 degree with cosine signal COS1 phases.
Fig. 9 is refer to, although the increment photoelectric position sensor interface circuit interface circuit there are four road connecting pins to be
Shared.But due to whenever only having a rotor-position sensor to be connected to drive control device, so shared pin position
It will not clash.
The increment photoelectric position sensor interface circuit includes parallel first, second, third filter network in three roads,
The signal of first, second, third filter network is transferred to the signal receiver U300 of single ended input by double-width grinding.It is described
The output end signal of increment photoelectric position sensor interface circuit includes A/B pulse signals and zero pulse Z pulse signals,
Wherein 90 degree of the phase difference of A pulse signals and B pulse signals.
First filter network includes the resistance R324 being arranged in parallel and resistance R325, one end and resistance R324 output ends
Connection and the other end be connected with resistance R325 output ends resistance R334, be connected with resistance R324 output ends resistance R333, and
Electric capacity C308 that resistance R333 is arranged in parallel, the resistance R335 being connected with resistance R325 output ends, it is arranged in parallel with resistance R335
Electric capacity C309.Resistance R333 and electric capacity C308 common input end, which is connected, dc source, resistance R335 and electric capacity C309's
Common output end ground connection is set.Resistance R324 input is connected with SIN+/A+/DATA+ pins 14, and is set on connection line
It is equipped with resistance R318.Resistance R325 input is connected with SIN-/A-/DATA- pins 7, and electricity is provided with connection line
Hinder R319.Resistance R334 one end is connected with resistance R333 and the other end is connected with resistance R335.Resistance R333 and electric capacity C308
Input with the signal receiver U300 of common connection end, resistance R335 and electric capacity C309 common connection end connect
Connect.
The setting structure principle phase of second filter network, the 3rd filter network and first filter network
Together, and difference is different from the connection pin in the connection terminal in input.
Second filter network includes the resistance R303 being arranged in parallel and resistance R304, one end and resistance R303 output ends
Connection and the other end be connected with resistance R304 output ends resistance R312, be connected with resistance R303 output ends resistance R308, and
Electric capacity C305 that resistance R308 is arranged in parallel, the resistance R313 being connected with resistance R304 output ends, it is arranged in parallel with resistance R313
Electric capacity C302.Resistance R308 and electric capacity C305 common input end, which is connected, dc source, resistance R313 and electric capacity C302's
Common output end ground connection is set.Resistance R303 input is connected with COS+/B+/CLOK+ pins 8, and is set on connection line
It is equipped with resistance R300.Resistance R304 input is connected with COS-/B-/CLOK- pins 15, and electricity is provided with connection line
Hinder R301.Resistance R312 one end is connected with resistance R308 and the other end is connected with resistance R313.Resistance R308 and electric capacity C305
Input with the signal receiver U300 of common connection end, resistance R313 and electric capacity C302 common connection end connect
Connect.
3rd filter network includes the resistance R326 being arranged in parallel and resistance R327, one end and resistance R326 output ends
Connection and the other end be connected with resistance R327 output ends resistance R337, be connected with resistance R326 output ends resistance R336, and
Electric capacity C310 that resistance R336 is arranged in parallel, the resistance R338 being connected with resistance R327 output ends, it is arranged in parallel with resistance R338
Electric capacity C311.Resistance R336 and electric capacity C310 common input end, which is connected, dc source, resistance R338 and electric capacity C311's
Common output end ground connection is set.Resistance R326 input is connected with GB Z+ pins 12.Resistance R327 input and GB Z-
Pin 5 connects.Resistance R337 one end is connected with resistance R336 and the other end is connected with resistance R338.Resistance R336 and electric capacity
Input of the common connection end of C310 common connection end, resistance R338 and electric capacity C311 with the signal receiver U300
Connection.Resistance R318, resistance R319, resistance R300, resistance R301 can use switch to substitute.
The operation principle of the increment photoelectric position sensor interface circuit is：Three roads it is parallel first, second,
Three filter networks filter to A pulse signals, B pulse signals and Z pulse signals respectively, avoid receiving disturbing pulse shadow
Ring decoding precision.Signal receiver U300 is the chip that special dual-end input turns single ended input, and A, B, Z pulse signal are switched into list
The I/O ports that the signal transacting control module DSP is sent into after end signal carry out data acquisition.
Figure 10 is refer to, the absolute optical electric position sensor interface circuit includes parallel the four, the 5th of two-way
Filter network, the difference transceiver U304 that the signal of the four, the 5th filter network is changed.The absolute type photoelectricity
The output signal of position sensor interface circuit includes clock signal SPICLK, data-signal SPIM ISO.
The resistance that 4th filter network includes common mode inductance L301, is connected with two output ends of common mode inductance L301
R370, the electric capacity C332 being connected with a common mode inductance L301 and resistance R370 common connection end and common mode inductance L301 and electricity
Hinder the electric capacity C333 of R370 another common connection end connection.Electric capacity C332 is connected with electric capacity C333 and at its junction ground connection
Reason.Common mode inductance L301 and electric capacity C332 common connection end, common mode inductance L301 and electric capacity C333 common connection end with it is poor
Divide transceiver U304 input connection.Common mode inductance L301 two inputs and COS+/B+/CLOK+ pins 8, COS-/
B-/CLOK- pins 15 are connected, and resistance R384, resistance 385 are respectively arranged with its adapter path.
The resistance that 5th filter network includes common mode inductance L302, is connected with two output ends of common mode inductance L302
R371, the electric capacity C334 being connected with a common mode inductance L302 and resistance R371 common connection end and common mode inductance L302 and electricity
Hinder the electric capacity C335 of R371 another common connection end connection.Electric capacity C334 is connected with electric capacity C335 and at its junction ground connection
Reason.Common mode inductance L302 and electric capacity C334 common connection end, common mode inductance L302 and electric capacity C335 common connection end with it is poor
Divide transceiver U304 input connection.Common mode inductance L302 two inputs and SIN+/A+/DATA+ pins 14, SIN-/
A-/DATA- pins 7 are connected, and resistance R386, resistance 387 are respectively arranged with its adapter path.Resistance R384, resistance
R385, resistance R386, resistance R387 can use switch to substitute.
The operation principle of the absolute optical electric position sensor interface circuit is：The four, the 5th parallel filters of two-way
Wave network filters to clock signal and data-signal respectively, avoids clock signal and data-signal from receiving interference, resistance
R370 and resistance R371 is load matched resistance, and communication data is sent into the letter after difference transceiver U304 level conversion
Number processing and control module DSP SPI communication interface gathered datas.
Figure 11 is refer to, the Hall element position sensor interface circuitry connects with the increment photoelectric position sensor
The setting principle of mouthful circuit is identical, and including parallel six, the seven, the 8th filter network in three roads, by described six, the 7th,
The signal of 8th filter network is transferred to the signal receiver U301 of single ended input by double-width grinding.The Hall element position sensing
The output end signal of device interface circuit includes U pulse signals, V pulse signals and W pulse signals, and three groups of signals are mutual
Phase difference be 120 degree.
6th filter network includes the resistance R328 being arranged in parallel and resistance R329, one end and resistance R328 output ends
Connection and the other end be connected with resistance R329 output ends resistance R34 0, be connected with resistance R328 output ends resistance R339, and
Electric capacity C312 that resistance R339 is arranged in parallel, the resistance R34 1 being connected with resistance R329 output ends, it is arranged in parallel with resistance R34 1
Electric capacity C313.Resistance R339 and electric capacity C312 common input end, which is connected, dc source, resistance R34 1 and electric capacity C313's
Common output end ground connection is set.Resistance R328 input is connected with REF+/U+ pins 2, and electricity is provided with connection line
Hinder R320.Resistance R329 input is connected with REF-/U- pins 3, and resistance R321 is provided with connection line.Resistance
R340 one end is connected with resistance R339 and the other end is connected with resistance R34 1.Resistance R339 and electric capacity C312 common connection
Input of the common connection end at end, resistance R34 1 and electric capacity C313 with the signal receiver U301 is connected.
7th filter network includes the resistance R305 being arranged in parallel and resistance R306, one end and resistance R305 output ends
Connection and the other end be connected with resistance R306 output ends resistance R315, be connected with resistance R305 output ends resistance R314, and
Electric capacity C303 that resistance R314 is arranged in parallel, the resistance R316 being connected with resistance R306 output ends, it is arranged in parallel with resistance R316
Electric capacity C304.Resistance R314 and electric capacity C303 common input end, which is connected, dc source, resistance R316 and electric capacity C304's
Common output end ground connection is set.Resistance R305 input is connected with GB V+ pins 1.Resistance R306 input draws with GB V-
Pin 9 connects.Resistance R315 one end is connected with resistance R314 and the other end is connected with resistance R316.Resistance R314 and electric capacity C303
Input with the signal receiver U301 of common connection end, resistance R316 and electric capacity C304 common connection end connect
Connect.
8th filter network includes the resistance R330 being arranged in parallel and resistance R331, one end and resistance R330 output ends
Connection and the other end be connected with resistance R331 output ends resistance R34 3, be connected with resistance R330 output ends resistance R34 2, and
Electric capacity C314 that resistance R34 2 is arranged in parallel, the resistance R34 4 being connected with resistance R331 output ends, it is arranged in parallel with resistance R34 4
Electric capacity C315.Resistance R34 2 and electric capacity C314 common input end, which is connected, dc source, resistance R34 4 and electric capacity C315's
Common output end ground connection is set.Resistance R330 input is connected with GB W+ pins 10.Resistance R331 input and GB W-
Pin 4 connects.One end of resistance R34 3 is connected with resistance R34 2 and the other end is connected with resistance R34 4.Resistance R34 2 and electric capacity
Input of the common connection end of C314 common connection end, resistance R34 4 and electric capacity C315 with the signal receiver U301
Connection.Resistance R320 and resistance R321 can use switch to substitute.
The operation principle of the Hall element position sensor interface circuitry is：Three roads it is parallel the six, the seven, the 8th
Filter network filters to U pulse signals, V pulse signals and W pulse signals respectively, avoids receiving disturbing pulse influence
Decode precision.Signal receiver U301 is the chip that special dual-end input turns single ended input, U, V, W pulse signal is switched to single-ended
The I/O ports that the signal transacting control module DSP is sent into after signal carry out data acquisition.
The beneficial effect of the servo motor drive controller of the compatible a variety of rotor-position feedback devices of the present embodiment is：Profit
With motor drive controller whenever only be connected with a rotor-position sensor the characteristics of, by set one can compatibility
Common connection end of various rotor-position sensors input, by connection terminal can realize each rotor-position sensor with
The effect of interface circuit connection；Connect in combination with being provided with collection the various of signal compatibility of respective rotor position sensor
Mouth circuit, by selecting the particular type of rotor-position feedback device in host computer, then can open corresponding interface circuit
The signal of rotor-position feedback device collection is handled, and is converted into the acceptable letters of signal transacting control module DSP
Number, so as to realize the position to motor, speed, torque and current control, so as to improve the versatility of controller with it is compatible
Property；The motor drive controller can work together with any of five kinds of rotor-position sensors, so as to be end user
Motor servo driver versatility and flexibility are provided, and reduce servo-controlled production cost, improves product competitiveness.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.
Claims (10)
1. a kind of servo motor drive controller of a variety of rotor-position feedback devices of compatibility, it is used to receive rotor-position feedback
Signal and the controlled motor driving of device, it is characterised in that：The controller includes the signal transacting control connected with the motor
Molding block DSP, the connection terminal for receiving the rotor-position feedback device signal, the signal progress for receiving the connection terminal
It is uploaded to the interface module of the signal transacting control module DSP after processing, is connected with signal transacting control module DSP
Host computer, the connection terminal include GB V+ pins, GB V- pins, REF+/U+ pins, GB W+ pins, REF-/U- pins,
GB W- pins, GB Z+ pins, GB Z- pins, AGND pins, WF 5V+ pins, SIN+/A+/DATA+ pins, SIN-/A-/
DATA- pins, COS-/B-/CLOK- pins and COS+/B+/CLOK+ pins, the interface module include rotation and become magnetic end
Position sensor double nip circuit, increment photoelectric position sensor interface circuit, absolute optical electric position sensor interface electricity
Road and Hall element position sensor interface circuitry.
2. the servo motor drive controller of compatible a variety of rotor-position feedback devices as claimed in claim 1, its feature exist
In：The rotor-position feedback device includes rotary transformer rotor position sensor, the rotor position sensing based on GMR ends magnetic
Device, increment photoelectric code disk rotor-position sensor, absolute optical encoder rotor-position sensor and Hall element turn
Sub- position sensor.
3. the servo motor drive controller of compatible a variety of rotor-position feedback devices as claimed in claim 2, its feature exist
In：The rotation become magnetic end position sensor double nip circuit to the rotary transformer rotor position sensor, described be based on GMR
Hold the collection signal of the rotor-position sensor of magnetic to carry out processing and be transformed into what the signal transacting control module DSP can be received
Signal, and including,
Cosine signal process circuit, the cosine signal process circuit include common mode inductance L303, respectively with the common mode inductance
What the electric capacity C336 of two output end connections of L303 was connected with described two output ends of common mode inductance L303 with electric capacity C337, respectively
The operational amplifier that resistance R377 is connected with resistance R378, input with the resistance R377 and the resistance R378 output end
U305A, one end connect the resistance R377 output ends and the other end connects the resistance of the operational amplifier U305A output ends
R382；
Sinusoidal signal process circuit, the sinusoidal signal process circuit include common mode inductance L304, respectively with the common mode inductance
What the electric capacity C338 of two output end connections of L304 was connected with described two output ends of common mode inductance L304 with electric capacity C339, respectively
The operational amplifier that resistance R380 is connected with resistance R376, input with the resistance R380 and the resistance R376 output end
U305B, one end connect the resistance R380 output ends and the other end connects the resistance of the operational amplifier U305B output ends
R383；
The operational amplifier U305A and resistance R382 common output end is the cosine signal COS1 after processing, and should
Signal output is into the signal transacting control module DSP；
The operational amplifier U305B and resistance R383 common output end is the sinusoidal signal SIN1 after processing, and should
Signal output is into the signal transacting control module DSP.
4. the servo motor drive controller of compatible a variety of rotor-position feedback devices as claimed in claim 3, its feature exist
In：Two inputs of the common mode inductance L303 respectively with the COS-/B-/CLOK- pins and the COS+/B+/CLOK+
Pin connects；
Two inputs of the common mode inductance L304 respectively with the SIN+/A+/DATA+ pins and the SIN-/A-/
DATA- pins connect.
5. the servo motor drive controller of compatible a variety of rotor-position feedback devices as claimed in claim 2, its feature exist
In：Collection letter of the increment photoelectric position sensor interface circuit to the increment photoelectric code disk rotor-position sensor
Be transformed into the signal that the signal transacting control module DSP can be received after number being handled, and including three roads it is parallel first,
Second, third filter network, the signal of first, second, third filter network is transferred to single ended input by double-width grinding
Signal receiver U300；
Electronic component in first filter network, second filter network and the 3rd filter network sets phase
Together, wherein first filter network is defeated including resistance R324 and resistance R325, one end and the resistance R324 being arranged in parallel
Go out end connection and resistance R334 that the other end is connected with the resistance R325 output ends, be connected with the resistance R324 output ends
Resistance R333, the electric capacity C308 being arranged in parallel with the resistance R333, the resistance R335 being connected with the resistance R325 output ends,
The electric capacity C309 being arranged in parallel with the resistance R335；
Resistance R333 and electric capacity C308 common input end, which is connected, dc source, the resistance R335 and electric capacity C309's
Common output end ground connection is set, and one end of the resistance R334 is connected with the resistance R333 and the other end and the resistance R335
Connection；
The resistance R333 and the electric capacity C308 common connection end, the resistance R335 and electric capacity C309 connect jointly
Input of the end with the signal receiver U300 is connect to be connected.
6. the servo motor drive controller of compatible a variety of rotor-position feedback devices as claimed in claim 5, its feature exist
In：The input of the resistance R324 is connected with the SIN+/A+/DATA+ pins, the input of the resistance R325 with it is described
SIN-/A-/DATA- pins connect；
In second filter network, with the input of the resistance R324 resistance 303 being correspondingly arranged and the COS+/B+/
CLOK+ pins connect, input and the COS-/B-/CLOK- pins with the resistance R325 resistance R304 being correspondingly arranged
Connection；
In 3rd filter network, input and the GB Z+ pins with the resistance R324 resistance 326 being correspondingly arranged
Connection, is connected with the resistance R325 resistance R327 being correspondingly arranged input with the GB Z- pins.
7. the servo motor drive controller of compatible a variety of rotor-position feedback devices as claimed in claim 2, its feature exist
In：Collection of the absolute optical electric position sensor interface circuit to the absolute optical encoder rotor-position sensor
Signal carries out processing and is transformed into the signal that the signal transacting control module DSP can be received, and including two-way it is parallel the
4th, the 5th filter network, the difference transceiver U304 that the signal of the four, the 5th filter network is changed；
4th filter network is identical with the electronic component setting of the 5th filter network, wherein the 4th filter network
The resistance R370 being connected including common mode inductance L301, with described two output ends of common mode inductance L301 and the common mode inductance
The electric capacity C332 and the common mode inductance L301 and the resistance of L301 and the resistance R370 common connection end connection
The electric capacity C333 of R370 another common connection end connection；The electric capacity C332 is connected with the electric capacity C333 and its junction connects
Ground processing；
The common mode inductance L301 and electric capacity C332 common connection end, the common mode inductance L301 and electric capacity C333
Common connection end be connected with the input of the difference transceiver U304.
8. the servo motor drive controller of compatible a variety of rotor-position feedback devices as claimed in claim 7, its feature exist
In：Two inputs of the common mode inductance L301 and the COS+/B+/CLOK+ pins, the COS-/B-/CLOK- pins
Connection；
In 5th filter network, with the common mode inductance L301 common mode inductance L302 being correspondingly arranged two inputs with
The SIN+/A+/DATA+ pins, SIN-/A-/DATA- pins connection.
9. the servo motor drive controller of compatible a variety of rotor-position feedback devices as claimed in claim 2, its feature exist
In：The Hall element position sensor interface circuitry to the collection signal of the Hall element rotor-position sensor at
Reason is transformed into the signal that the signal transacting control module DSP can be received, and it includes three roads parallel six, the seven, the 8th
Filter network, the signal of the six, the seven, the 8th filter network is transferred to the signal receiver of single ended input by double-width grinding
U301；
Electronic component in 6th filter network, the 7th filter network and the 8th filter network sets phase
Together, wherein the 6th filter network is defeated including resistance R328 and resistance R329, one end and the resistance R328 being arranged in parallel
Go out end connection and resistance R34 0 that the other end is connected with the resistance R329 output ends, be connected with the resistance R328 output ends
Resistance R339, the electric capacity C312 being arranged in parallel with the resistance R339, the resistance R34 1 being connected with the resistance R329 output ends,
The electric capacity C313 being arranged in parallel with the resistance R34 1；
The resistance R339 and electric capacity C312 common input end, which is connected, dc source, the resistance R34 1 and the electricity
The common output end ground connection for holding C313 is set, and one end of the resistance R34 0 is connected with the resistance R339 and the other end and resistance
R341 connections；
The resistance R339 and the electric capacity C312 common connection end, the resistance R34 1 and the electric capacity C313 connect jointly
Input of the end with the signal receiver U301 is connect to be connected.
10. the servo motor drive controller of compatible a variety of rotor-position feedback devices as claimed in claim 9, its feature exist
In：The input of the resistance R328 is connected with the REF+/U+ pins, and the input of the resistance R329 and the REF-/
U- pins connect；
In 7th filter network, draw with the resistance R328 resistance R305 being correspondingly arranged input and the GB V+
Pin connects, and is connected with the resistance R329 resistance R306 being correspondingly arranged input with the GB V- pins；
In 8th filter network, draw with the resistance R328 resistance R330 being correspondingly arranged input and the GB W+
Pin connects, and is connected with the resistance R329 resistance R331 being correspondingly arranged input with the GB W- pins.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710727535.2A CN107463132B (en) | 2017-08-23 | 2017-08-23 | Servo motor driving controller compatible with multiple rotor position feedback devices |
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|---|---|---|---|
| CN201710727535.2A CN107463132B (en) | 2017-08-23 | 2017-08-23 | Servo motor driving controller compatible with multiple rotor position feedback devices |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347396A (en) * | 2018-11-14 | 2019-02-15 | 苏州绿控传动科技股份有限公司 | A kind of hardware structure obtaining motor rotor position |
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