CN108880122B - A kind of intelligent AC servo-driver of high integration high power density - Google Patents
A kind of intelligent AC servo-driver of high integration high power density Download PDFInfo
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- CN108880122B CN108880122B CN201810778977.4A CN201810778977A CN108880122B CN 108880122 B CN108880122 B CN 108880122B CN 201810778977 A CN201810778977 A CN 201810778977A CN 108880122 B CN108880122 B CN 108880122B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/35—Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
Abstract
The invention discloses a kind of intelligent AC servo-drivers of high integration high power density, belong to sophisticated machine people's SERVO CONTROL field；Including being integrated on one piece of circuit board: communication module is isolated in power supply, STM32F4 main control unit, and power drive unit, cell encoder, security protection unit and sensing acquisition unit is isolated；The isolation communication module connects host computer and STM32F4 main control unit by RS485 bus or CAN bus, the timer internal TIMER of STM32F4 main control unit works in PWM mode, the PWM waveform of generation is after level conversion, it is output to isolation power drive unit, isolation power drive unit connects motor simultaneously；STM32F4 main control unit connects cell encoder by spi bus；The ADC analog-to-digital conversion interface of STM32F4 main control unit connects sensing acquisition unit；EXTI external interrupt interface connects security protection unit；Multi-turn absolute value encoder Acquisition Circuit is integrated on motor driver, just the installation of fitting motor, convenient for integrating application on robot body.
Description
Technical field
The present invention relates to a kind of intelligent AC servo-drivers of high integration high power density, and in particular to sophisticated machine
People's SERVO CONTROL field.
Background technique
With the development of robot technology, especially service robot and cooperation machine man-based development, to robot body
The requirement of volume is more and more harsher, and current robot Related product is to tight in terms of the power density of driver, especially volume
Lattice requirement, causes motor driver to need sufficiently small volume, motor can be cooperated to be mounted at joint of robot, simultaneously also
Integrate more functions.
And existing industrial application drive products volume is big, and the robot product that cooperates mostly uses incremental encoder mould
Block+absolute value encoder module+Drive Module+motor module+brake module+slowdown module being integrally formed servo joint
Form is unfavorable for reducing robot body volume.
Summary of the invention
The present invention cannot takes into account in terms of integrated level and power density for existing driver, the problem of reliability deficiency,
Coder module is combined with motor driver, proposes a kind of intelligent AC servo-drive of high integration high power density
Device has the characteristics that small in size, integrated level is high, power density is high, multi-functional and intelligentized, meets above-mentioned robot and drives to servo
Dynamic device requirement.
The intelligent AC servo-driver includes being integrated on one piece of circuit board: power conversion unit, battery fill
Communication module is isolated in electric unit, STM32F4 main control unit, and power drive unit, cell encoder, eeprom chip, peace is isolated
Full guard unit and sensing acquisition unit.
STM32F4 main control unit mainly completes servo operation, and position ring, the speed of high speed are completed by specific control algolithm
Spend ring, the control of electric current loop and PWM output control；Encoder information acquisition and heat transfer agent acquisition, safety are also assumed responsibility for simultaneously
Control, and realize that the power down of the data such as the parameter of electric machine, PC control information stores with internal FLASH simulation EEPROM function
Task dispatching；
Isolation communication module mainly completes the driving and insulation blocking function of CAN bus, the driving and isolation of RS485 bus
Defencive function；
It is defeated that isolated form power drive unit mainly completes the level conversion of pwm signal, isolation amplification driving and three-phase H bridge
Out；
Cell encoder mainly completes the acquisition of individual pen absolute position, multi-turn counts and multi-revolution data power down stores etc.；
Security protection unit generates over-voltage, overcurrent and excess temperature signal using voltage comparator, is connect in the form of external interrupt
Enter STM32F4 main control unit, mainly completes the functions such as overcurrent protection, overvoltage protection, overheat protector；
Sensing acquisition unit mainly completes the information collections such as phase current, bus current, busbar voltage, temperature.
The STM32F4 main control unit interface specifically includes: the PWM of CAN bus and USART interface, timer TIMER
Interface, SPI communication interface, general purpose I/O Interface, ADC analog-to-digital conversion interface, EXTI external interrupt interface, SWD emulator interface,
FLASH simulates EEPROM, and internal house dog WDG.
The CAN interface is connected with USART interface with isolation communication module, while communication module is isolated and passes through RS485
Bus or CAN bus connect host computer, realize the communication function of STM32F4 main control unit and host computer, main includes control in real time
The functions such as system, control parameter setting, information feedback, control parameter and drive parameter are stored in the inside FLASH of STM32F405
In.
Specifically: CAN interface connects the SN65HVD230 transceiver of isolation communication module by light-coupled isolation, is equipped with simultaneously
Common mode inductance and TVS pipe；
USART interface is followed by by light-coupled isolation in the MAX13488 transceiver of isolation communication module, while being equipped with TVS pipe
Antistatic.
Timer internal TIMER work is in PWM mode, and advanced timer TIM1/TIM8 generates totally 6 road PWM waveform, respectively
After level conversion, it is output to isolation power drive unit, isolation power drive unit connects motor simultaneously.
The isolation power drive unit include it is integrated on circuit boards by the three-phase H bridge of 6 MOSFET chips building,
MOSFET driving circuit and optical coupling isolation circuit；Isolation all circuits of power module pass through the groove type being cut on circuit boards
At isolation, and the equal large area of every layer of circuit spreads copper, and increasing heat radiation area passes through between 6 MOSFET chips and metal shell
The contact heat dissipation of heat conductive silica gel gasket.Isolation power drive unit is completed to transmitting after the isolation and power amplification of pwm control signal
The H bridge three-phase output connection motor constructed to MOSFET chip；It is each by motor using the acquisition of Precise Alloy sampling resistor simultaneously
The electric current of winding.
Enter MOSFET chip after the pwm signal level conversion and RC filtering of the output of STM32F4 main control unit, by isolation
The MOSFET of three-phase H bridge upper and lower bridge arm is given to after amplification.The MOSFET source of lower bridge arm is grounded, making alive conducting on grid.On
Bridge arm metal-oxide-semiconductor realizes switch control by boostrap circuit.
SPI communication interface connects cell encoder by spi bus, and cell encoder is connected to EEPROM.
Cell encoder includes two magnetic coder chips: RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER chip IC-MU, for recording motor
The absolute position of individual pen；Encoder chip IC-PVL is powered by battery, is recorded in the case where electricity and power down on a drive
The rotating cycle of motor.
Motor shaft is fixedly connected with disk, and integrated circuit board is mounted on metal shell close to disk, when motor rotates band
Movable magnetic disc rotates, and two magnetic coder chips in cell encoder acquire position and the rotation information of disk respectively.
Eeprom chip records the configuration and calibration parameter of two encoder chips.
ADC analog-to-digital conversion interface connects sensing acquisition unit；EXTI external interrupt interface connects security protection unit；
Security protection unit includes the current foldback circuit, overvoltage crowbar and thermal-shutdown circuit of power module；With
And current foldback circuit, overvoltage crowbar and the under-voltage protecting circuit of control module；
Sensing acquisition unit acquires the busbar voltage in power module, bus current, phase current and temperature, and control mould
Voltage, reference signal voltage and zero adjustment voltage in block etc. carry out signal bias calibration, status monitoring and motor control.
Security protection unit handles the signals such as the electric current, voltage and temperature of power module access comparator, obtains
The signals such as overcurrent, over-voltage and excess temperature, access STM32F4 external interrupt interface EXTI cut off PWM output in time and carry out security control.
FLASH simulates EEPROM, for memory driver parameter, PC control parameter etc. during power down.
When driver software breaks down, WatchDog Timer WDG can in time reset driver procedure, cut off PWM
The safety of driver and motor is protected in output.
The specific working principle is as follows for this intelligent AC servo-driver:
It powers, and charges the battery to system components firstly, driver powers on rear power conversion unit,
STM32F4 main control unit receives the configuration and control information of host computer by CAN bus or RS485 bus, while feeding back driving
Device status information.
Then, configuration and query requirement of the STM32F4 main control unit according to host computer generates PWM control by timer
Signal, the H bridge conducting of control isolation power drive unit, so that being sequentially turned between the phase sequence of motor, control motor rotation.
By the ADC analog-to-digital conversion interface of STM32F4 main control unit, sensing acquisition unit acquires electric current, voltage, temperature etc.
Information is handled by filter and amplification etc., is sent into STM32F4 main control unit.
STM32F4 main control unit is configured and is read in real time encoder by spi bus after receiving control instruction simultaneously
The multi-turn of unit counts and individual pen absolute position；
Finally, the current information for the motor rotor position information and sensing acquisition unit fed back in conjunction with cell encoder
Deng realizing this driver to the Three-loop control of the electric current loop of motor, speed ring and position ring.
The information such as collected electric current, voltage and temperature are sent into security protection unit by sensing acquisition unit simultaneously, are passed through
The comparator of security protection unit more collected voltage, electric current, temperature etc. in real time, when generating over-voltage, overcurrent, excess temperature, owe
When the signals such as pressure, pass through the external interrupt signal of STM32F4 main control module, cutting PWM output immediately.
The present invention has the advantages that
1) a kind of, intelligent AC servo-driver of high integration high power density, multi-turn absolute value encoder is acquired
Circuit integration is on motor driver, just fitting motor installation, convenient for integrating application on robot body.
2), a kind of intelligent AC servo-driver of high integration high power density, by logical signal on circuit layout
It is physically isolated as far as possible by way of circuit board is slotted with power signal, optimizes power section heat dissipation design, improve circuit
Anti-interference ability.
3) a kind of, intelligent AC servo-driver of high integration high power density supports CAN bus and high speed 485 total
Two kinds of communication modes of line.
4) a kind of, intelligent AC servo-driver of high integration high power density, supports a variety of motor forms, integrated direct
Flow the software control algorithms such as brushless motor, permanent magnet synchronous motor, brush direct current motor.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of the intelligent AC servo-driver of high integration high power density of the present invention.
In figure: communication module is isolated in 1- power conversion unit, 2- battery charging unit, 3- host computer, 4-, and power is isolated in 5-
Driving unit, 6- motor, 7- cell encoder, 8-EEPROM chip, 9- sensing acquisition unit, 10- security protection unit, 11-
STM32F4 main control unit；
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention proposes a kind of that multi-turn absolute value encoder is integrated on a drive, is substantially reduced in joint of robot
Portion's circuit board quantity and volume, the intelligent AC motor servo driver for improving power density and integrated level.
The intelligent AC servo-driver includes being integrated on one piece of circuit board: power conversion unit 1, battery fills
Communication module 4 is isolated in electric unit 2, STM32F4 main control unit 11, and power drive unit 5, cell encoder 7, EEPROM is isolated
Chip 8, security protection unit 10 and sensing acquisition unit 9.
STM32F4 main control unit 11 mainly completes correspondence with foreign country, and encoder configuration and communication, analog acquisition, safety are believed
Breath interrupts, and realizes that the power down of the data such as the parameter of electric machine, PC control information is deposited with internal FLASH simulation EEPROM function
Storage etc.；Driving and insulation blocking function that communication module 4 mainly completes CAN bus is isolated, the driving and isolation of RS485 bus are protected
Protective function；Isolated form power drive unit 5 mainly completes the level conversion of pwm signal, isolation amplification driving and the output of H bridge；It compiles
Code device unit 7 mainly completes the acquisition of individual pen absolute position, multi-turn counting and multi-revolution data power down storage etc.；Security protection unit 10
Over-voltage, overcurrent and excess temperature signal are generated using voltage comparator, STM32F4 main control unit 11 is accessed in the form of external interrupt,
It is main to complete the functions such as overcurrent protection, overvoltage protection, overheat protector；Sensing acquisition unit 9 mainly completes phase current, bus electricity
The information collections such as stream, busbar voltage, temperature.
STM32F4 main control unit 11 uses STM32F405 chip, main to complete servo operation, by specifically controlling calculation
Method completes position ring, speed ring, the control of electric current loop and the PWM output control of high speed.Encoder information is also assumed responsibility for simultaneously to adopt
Collection and heat transfer agent acquisition, safety control module task.
Interface specifically includes: CAN and USART interface, the PWM interface of timer TIMER, SPI communication interface, general purpose I/O
Interface, ADC analog-to-digital conversion interface, EXTI external interrupt interface, SWD emulator interface, FLASH simulate EEPROM, and internal
House dog WDG.
The CAN interface is connected with USART interface is isolated communication module 4, while communication module 4 is isolated and passes through RS485
Bus or CAN bus connect host computer 3, realize the communication function of STM32F4 main control unit 11 and host computer 3, main includes real
When functions, control parameter and the drive parameter such as control, control parameter setting, information feedback be stored in the inside of STM32F405
In FLASH.
Specifically: CAN interface connects the SN65HVD230 transceiver of isolation communication module 4 by light-coupled isolation, matches simultaneously
Standby common mode inductance and TVS pipe, improve that bus is anti-interference and antistatic effect.
USART interface is followed by by light-coupled isolation in the MAX13488 transceiver of isolation communication module 4；Its highest communication speed
Rate reaches 16Mbps, cooperates the USART maximum rate 10.5M of STM32F4, section communication node is more or communication task amount is big
In the case of substitute CAN bus, solve the problems, such as that CAN bus baud rate highest 1Mbps and bus utilization are insufficient.
Timer internal TIMER work is in PWM mode, and advanced timer TIM1/TIM8 generates totally 6 road PWM waveform, respectively
After carrying out 3.3V level to 5V level conversion by 74LVC4245, isolation power drive unit 5 is output to by PWM interface, every
Motor 6 is connected simultaneously from power drive unit 5.
The isolation power drive unit 5 include it is integrated on circuit boards by the three-phase H bridge of 6 MOSFET chips building,
MOSFET driving circuit and optical coupling isolation circuit；All circuits pass through the groove being cut on circuit boards and form isolation, and
The equal large area of every layer of circuit spreads copper, and increasing heat radiation area passes through heat conductive silica gel gasket between 6 MOSFET chips and metal shell
Contact heat dissipation.Isolation power drive unit is completed to being sent to MOSFET chip after the isolation and power amplification of pwm control signal；
The three-phase output connection motor of H bridge.Pass through the electric current of each winding of motor by the acquisition of Precise Alloy sampling resistor simultaneously.
Intelligent AC motor servo driver of the invention is suitable for middle low power motor, and input voltage is DC20-80V,
Output power is in 1.2KW hereinafter, selecting the MOSFET chip I PD068N10 of company, Infineon as switching device.Chip leakage
Source voltage maximum can reach 100V, and drain electrode follow current reaches 90A, and conducting resistance 6.8m Ω, especially switching frequency is lower,
It is suitble to HF switch application.Meanwhile select company, Infineon isolated form high-voltage grid grade drive IC:1EDI20N12 chip as
The driving chip of MOSFET uses iron-free core transformer, it can be ensured that in dV/dt operation, CMTI is up to 100kV/ μ s.
In order to reduce the thermal losses of driver, present invention employs single channel metal-oxide-semiconductor driving chip schemes, reduce metal-oxide-semiconductor
The time for switching decline, MOSFET is avoided as far as possible in switching process, work in the thermal losses of amplification region.
Enter metal-oxide-semiconductor driving chip after pwm signal level conversion and the RC filtering that STM32F4 main control unit 11 exports
1EDI20N12AF is given to the MOSFET of 3 phase H bridge upper and lower bridge arms after isolation amplification.The MOSFET source of lower bridge arm is grounded,
As long as the grid in metal-oxide-semiconductor can be connected plus certain voltage.Upper bridge arm metal-oxide-semiconductor realizes switch control by boostrap circuit,
Boostrap circuit is made of diode and capacitor.
Electric machine phase current sampling is realized that the voltage signal of sampling resistor passes through operational amplifier by Precise Alloy sampling resistor
Sent after amplification to the A/D module of STM32F4 main control unit 11, the amplification factor of the resistance value of sampling resistor and operational amplifier according to
The size of current of required driver is adjusted, and the power requirement and maximum current for meeting sampling resistor are less than and approach after amplifying
The two conditions of 3.3V.
SPI communication interface connects cell encoder 7 by spi bus and is communicated, and obtains the exhausted of the rotor of current motor 6
To position, cell encoder 7 connects eeprom chip 8.
Cell encoder 7 includes two magnetic coder chips: RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER chip IC-MU, for recording electricity
The absolute position of 6 individual pen of machine；The rotating cycle of encoder chip IC-PVL record motor 6.
Motor shaft is fixedly connected with rotation with disk, and integrated circuit board is mounted on metal shell close to disk, when 6 turns of motor
Dynamic to drive disc rotation, two magnetic coder chips in cell encoder 7 acquire position and the rotation information of disk respectively.Two
A magnetic coder chip shares the same disk, greatly reduces cost, improves the integrated level of driver.
Wherein RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER chip IC-MU highest has 18 absolute resolutions, can pass through serial line interface
(BISS, SSI and SPI) communication, while exportable orthogonal encoder signal and UVW hall signal, are detected for motor commutation.It should
Chip is encapsulated using the DFN of 16 feet, only occupies the area of 5mm × 5mm on circuit boards.Encoder chip IC-PVL passes through battery
Power supply, on a drive can stabilimeter circle number in the case where electricity and power down.
Eeprom chip 8 stores the configuration and calibration parameter of two encoder chips.
SPI communication interface selects spi bus to communicate with STM32F4 main control unit 11, is mainly used for individual pen absolute encoder
The parameter configuration and location information of device chip and multi-turn counting chip are read.
ADC analog-to-digital conversion interface connects sensing acquisition unit 9；EXTI external interrupt interface connects security protection unit 10；
Security protection unit 10 includes current foldback circuit, overvoltage crowbar and the thermal-shutdown circuit of power module；
And current foldback circuit, overvoltage crowbar and the under-voltage protecting circuit of control module；
1, power module current foldback circuit
Pass through superior MCU after total current is sampled by the Precise Alloy sampling resistor of milliohm rank in power module
Chip ZXCT1009 generates corresponding current signal, which is converted to voltage signal after passing through precision resistance, is filtered by RC
Enter the comparator circuit that comparator chip is built after wave circuit.The threshold value of comparator is divided by precision resistance and is generated, and works as generation
Comparator output signal changes after over-current signal, which accesses the external interrupt interface of STM32F4 main control unit 11, closes immediately
Disconnected pwm signal output, realizes overcurrent protection function.
2, power module overvoltage crowbar
The voltage of power module carries out the principle one of capacitance-resistance filter and overcurrent protection module after dividing by divider resistance
Sample, the signal after partial pressure access comparator, and the threshold value of comparator is also to be obtained by electric resistance partial pressure.Comparator output signal access
The external interrupt interface of STM32F4 main control unit 11 turns off pwm signal output immediately, realizes over-voltage protecting function.
3, power thermal-shutdown circuit
Thermal-shutdown circuit predominantly detects the voltage of power module, and temperature inspection is made of thermistor and voltage reference chip
Slowdown monitoring circuit.The resistance value of thermistor can rise rapidly or decline with the rising resistance value of temperature, when driving plate temperature change, heat
Quick resistance value changes rapidly, according to the temperature of thermistor-resistance value curve, determines Current Temperatures.Due to temperature change relative to
Voltage and current signal is slower, there is the process of conduction, is not protected in such a way that comparator generates interrupt signal herein,
But use the ADC analog-to-digital conversion interface of STM32F4 main control unit 11 by after temperature signal collection, it calculates, judges by program
Whether current temperature value is greater than temperature threshold, if it is, shutdown pwm signal output, realizes overheat protector function.
4, control module overcurrent, over-voltage, under-voltage protecting circuit
The overcurrent of control module realizes that over-and under-voltage passes through to 3.3V voltage point by the fuse of logic power input terminal
The 1.5V reference voltage generated after pressure judges to realize.
Sensing acquisition unit 9 acquires the busbar voltage in power module protection circuit, bus current, electric machine phase current and temperature
Voltage, reference signal voltage and zero adjustment voltage etc. in degree and control module protection circuit carry out state communication and prison
Control motor.
1, power module busbar voltage
In previous security protective module power module overvoltage crowbar, the voltage that divider resistance generates is filtered by RC
Wave circuit accesses voltage follower and carries out impedance matching, enters in the ADC analog-to-digital conversion interface of STM32F4 main control unit 11 afterwards,
Realize the acquisition of power module busbar voltage.
2, power module bus current
In previous security protective module power module current foldback circuit, superior MCU chip ZXCT1009 is generated
The ADC analog-to-digital conversion of the voltage signal that corresponding current signal generates after precision resistance, access STM32F4 main control unit 11 connects
In mouthful, the acquisition of power module bus current is realized.
3, power module phase current acquires
As described in isolated form power driver module, electric machine phase current flows through accurate sampling resistor, generates corresponding voltage signal,
In order to reduce current loss, guarantee sampling resistor safety, the general sampling resistor for using milliohm grade.Therefore electric current is by sampling electricity
Electric current after resistance is smaller, and operational amplifier is entered after filtering by RC, and current signal is amplified to 0~3.3V, accesses STM32F4
The ADC analog-to-digital conversion interface of main control unit 11 realizes the acquisition of power module phase current.
4, temperature of power module, control module voltage, reference signal voltage, zero adjustment voltage acquisition
As described in previous security protective module, temperature of power module, control module voltage, benchmark wire size voltage by
The ADC analog-to-digital conversion interface of STM32F4 main control unit 11 acquires.It is connect simultaneously by the ADC analog-to-digital conversion of STM32F4 main control unit 11
The GND signal of mouth acquisition logic circuit and power circuit, the offset as zero adjustment voltage and other analog signals avoid
Other signals interference, improves sampling precision.
Security protection unit 10 handles the signals such as the electric current, voltage and temperature of power module access comparator, obtains
The signals such as overcurrent, over-voltage and excess temperature are obtained, access STM32F4 external interrupt interface EXTI carries out security control in time.
FLASH simulates EEPROM, for storing the parameter of electric machine, PC control information etc. during power down.
General purpose I/O Interface: for status indicator lamp control, encoder state signal acquisition etc..
When driver software breaks down, program is stuck in order to prevent, it is winged etc. to run, and WatchDog Timer WDG can be in time
Driver procedure is resetted, the safety of driver and motor is protected in cutting PWM output.
In order to reduce circuit volume, using the SWD emulator interface of STM32F4 main control unit 11 for debugging and program
Burning, only with SWDIO, SWCLK and GND three-wire connection.
Crystal oscillator and reset circuit etc.: the minimum system of STM32F4 operation is constituted.
Power module of the present invention mainly realizes that system power supply is converted.Power supply is inputted by power electricity and is generated, and power electricity is defeated
Entering range is 20~80V.Power module is broadly divided into analog power part and digital power unit.Power module includes number
5V, 3.3V, 12V power converting circuit；Simulate 3.3V, 1.85V, 1.5V power converting circuit；
1, digital power part
The BUCK electricity that digital 5V is made up of input power electricity synchronous buck controller LM5116 chip and peripheral circuit
Road generates, for powering to each interface chip.
Digital 5V is by generating encoder power supply 5VE after pi type filter and voltage-stabiliser tube, for powering simultaneously to encoder chip
It is charged to encoder with battery.
Digital 5V is converted by AP1117-3.3 and is generated number 3.3V power supply, for powering to STM32F4 minimum system.
Digital 5V exports number 12V by the booster circuit that DC-DC chip forms, and drives for power driving device MOSFET
Chip power supply.Encoder powers 5V by digital 5V filtering output.
2, analog power part
Digital 3.3V generates 3.3V analog voltage after passing through pi type filter.3.3V analog voltage is used for amplifier, comparator
Equal chips power supply, while powering to the ADC module of STM32F4.
It simulates 3.3V and 1.5V analog voltage is generated by electric resistance partial pressure, ADC of the 1.5V analog voltage for STM32F4 is acquired
For ADC signal calibration and control section voltage monitoring.
3.0V analog voltage is generated by 3.3V analog voltage by micro energy lose voltage reference chip, is used for thermo-sensitive resistor.
Power conversion unit 1 is powered to each circuit module simultaneously also by battery charging unit after converting input power
2 charge the battery, and charged battery can record the rotating cycle of motor in time under power-down conditions, realize multi-turn absolute value
The function of sensor.
The specific working principle is as follows for this intelligent AC servo-driver:
Driver powers on rear power conversion unit and gives system components power supply, STM32F4 main control unit by CAN bus or
RS485 bus receives the configuration and control information of host computer, while feedback driver status information.
Configuration and query requirement of the STM32F4 main control unit according to host computer generate pwm control signal by timer,
The H bridge conducting of control isolation power drive unit reaches the mesh of control motor rotation so that sequentially turning between the phase sequence of motor
's.Electric machine phase current, voltage, temperature etc. are acquired by the ADC analog-to-digital conversion interface of STM32F4 main control unit, pass through filtering
The processing such as amplification, is sent into STM32F4 main control unit.
STM32F4 main control unit is counted by the multi-turn that spi bus configured and read in real time cell encoder and individual pen is exhausted
To position.
Finally, STM32F4 main control unit is after receiving control instruction, in conjunction with the rotor of the feedback of cell encoder
Location information, current information of sensing acquisition unit etc. carry out the Three-loop control of the electric current loop of motor, speed ring, position ring.
The information such as collected electric current, voltage, temperature are sent into security protection unit by sensing acquisition unit simultaneously, pass through peace
The comparator of full guard unit more collected voltage, electric current, temperature etc. in real time, when generating over-voltage, overcurrent, excess temperature, under-voltage
When equal signals, pass through the external interrupt signal of STM32F4 main control module, cutting PWM output immediately.
Claims (5)
1. a kind of intelligent AC servo-driver of high integration high power density, which is characterized in that including being integrated in one block of electricity
On the plate of road: communication module is isolated in power conversion unit, battery charging unit, STM32F4 main control unit, and power drive is isolated
Unit, cell encoder, eeprom chip, security protection unit and sensing acquisition unit；
STM32F4 main control unit mainly completes servo operation, and position ring, the speed of high speed are completed by specific control algolithm
Ring, the control of electric current loop and PWM output control；Encoder information acquisition and heat transfer agent acquisition, safety control are also assumed responsibility for simultaneously
System, and realize that the power down storage of the data such as the parameter of electric machine, PC control information is appointed with internal FLASH simulation EEPROM function
Business etc.；
Isolation communication module mainly completes the driving and insulation blocking function of CAN bus, the driving and insulation blocking of RS485 bus
Function；
Isolated form power drive unit mainly completes the level conversion of pwm signal, isolation amplification driving and the output of three-phase H bridge；
Cell encoder mainly completes the acquisition of individual pen absolute position, multi-turn counts and multi-revolution data power down storage；
Security protection unit generates over-voltage, overcurrent and excess temperature signal using voltage comparator, is accessed in the form of external interrupt
STM32F4 main control unit mainly completes overcurrent protection, overvoltage protection and overheat protector；
Sensing acquisition unit mainly completes phase current, bus current, busbar voltage and temperature information acquisition；
The STM32F4 main control unit specifically includes: PWM interface, the SPI of CAN bus and USART interface, timer TIMER
Communication interface, general purpose I/O Interface, ADC analog-to-digital conversion interface, EXTI external interrupt interface, SWD emulator interface, FLASH simulation
EEPROM, and internal house dog WDG；
The interface of the CAN bus is connected with USART interface with isolation communication module, while communication module is isolated and passes through
RS485 bus or CAN bus connect host computer, realize the communication function of STM32F4 main control unit and host computer, main includes real
When functions, control parameter and the drive parameter such as control, control parameter setting, information feedback be stored in the inside of STM32F405
In FLASH；
Specifically: CAN interface connects the SN65HVD230 transceiver of isolation communication module by light-coupled isolation, while being equipped with common mode
Inductance and TVS pipe；
USART interface by light-coupled isolation be followed by isolation communication module MAX13488 transceiver, while be equipped with TVS pipe prevent it is quiet
Electricity；
Timer internal TIMER work generates totally 6 road PWM waveform, passes through respectively in PWM mode, advanced timer TIM1/TIM8
After level conversion, it is output to isolation power drive unit, isolation power drive unit connects motor simultaneously；
The isolation power drive unit includes integrated on circuit boards by the three-phase H bridge of 6 MOSFET chips building, MOSFET
Driving circuit and optical coupling isolation circuit；Isolation each circuit of power module passes through the groove being cut on circuit boards and forms isolation,
And the equal large area of every layer of circuit spreads copper, and increasing heat radiation area passes through heat conductive silica gel between 6 MOSFET chips and metal shell
Gasket contact heat dissipation；Isolation power drive unit is completed to being sent to MOSFET after the isolation and power amplification of pwm control signal
The H bridge three-phase output connection motor of chip building；Pass through the electricity of each winding of motor using the acquisition of Precise Alloy sampling resistor simultaneously
Stream；
SPI communication interface connects cell encoder by spi bus, and cell encoder is connected to EEPROM；
Cell encoder includes two magnetic coder chips: RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER chip IC-MU, for recording motor individual pen
Absolute position；Encoder chip IC-PVL is powered by battery, records motor in the case where electricity and power down on a drive
Rotating cycle；
Eeprom chip records the configuration and calibration parameter of two encoder chips；
ADC analog-to-digital conversion interface connects sensing acquisition unit；EXTI external interrupt interface connects security protection unit；
Security protection unit includes the current foldback circuit, overvoltage crowbar and thermal-shutdown circuit of power module；And control
Current foldback circuit, overvoltage crowbar and the under-voltage protecting circuit of molding block；
Sensing acquisition unit acquires the busbar voltage in power module, bus current, in phase current and temperature and control module
Voltage, reference signal voltage and zero adjustment voltage etc. carry out signal bias calibration, status monitoring and motor control；
Security protection unit handles the signals such as the electric current, voltage and temperature of power module access comparator, acquisition overcurrent,
The signals such as over-voltage and excess temperature, access STM32F4 external interrupt interface EXTI cut off PWM output in time and carry out security control；
FLASH simulates EEPROM, for memory driver parameter and PC control parameter during power down；
The specific working principle is as follows for this intelligent AC servo-driver:
It powers, and charges the battery, STM32F4 master to system components firstly, driver powers on rear power conversion unit
Configuration and control information that unit receives host computer by CAN bus or RS485 bus are controlled, while feedback driver state is believed
Breath；
Then, configuration and query requirement of the STM32F4 main control unit according to host computer generates pwm control signal by timer,
The H bridge conducting of control isolation power drive unit, so that being sequentially turned between the phase sequence of motor, control motor rotation；
By the ADC analog-to-digital conversion interface of STM32F4 main control unit, sensing acquisition unit acquires the letter such as electric current, voltage, temperature
Breath, is handled by filter and amplification etc., is sent into STM32F4 main control unit；
STM32F4 main control unit is configured and is read in real time cell encoder by spi bus after receiving control instruction simultaneously
Multi-turn count and individual pen absolute position；
Finally, in conjunction with the motor rotor position information of cell encoder feedback and current information of sensing acquisition unit etc., it is real
Now Three-loop control of this driver to the electric current loop of motor, speed ring and position ring；
The information such as collected electric current, voltage and temperature are sent into security protection unit by sensing acquisition unit simultaneously, pass through safety
The comparator of protection location more collected voltage, electric current, temperature etc. in real time, when generating over-voltage, overcurrent, excess temperature, under-voltage etc.
When signal, pass through the external interrupt signal of STM32F4 main control module, cutting PWM output immediately.
2. a kind of intelligent AC servo-driver of high integration high power density as described in claim 1, which is characterized in that
The STM32F4 main control unit simulates EEPROM function using internal FLASH, realizes power down storage, saves driver pair
Independent power down storage chip is used to the demand of memory driver parameter and control parameter.
3. a kind of intelligent AC servo-driver of high integration high power density as described in claim 1, which is characterized in that
RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER chip IC-the MU and encoder chip IC-PVL and drive control circuit is integrated in one piece of circuit
On plate, motor shaft is fixedly connected with disk, and integrated circuit board is mounted on metal shell close to disk, drives magnetic when motor rotates
Disk rotates, and two magnetic coder chips in cell encoder acquire position and the rotation information of disk respectively.
4. a kind of intelligent AC servo-driver of high integration high power density as described in claim 1, which is characterized in that
The information of the sensing acquisition unit carries out over-voltage and the quick external interrupt protection of overcurrent for security protection unit, simultaneously
It is also used for ADC module and carries out analog-to-digital conversion, judge for motor control and status information.
5. a kind of intelligent AC servo-driver of high integration high power density as described in claim 1, which is characterized in that
The driver can support DC brush, brush DC and a variety of motor forms of permanent-magnet synchronous.
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