CN109194042A - A kind of board-like integrated electric motor driver of compact ring - Google Patents
A kind of board-like integrated electric motor driver of compact ring Download PDFInfo
- Publication number
- CN109194042A CN109194042A CN201810987376.4A CN201810987376A CN109194042A CN 109194042 A CN109194042 A CN 109194042A CN 201810987376 A CN201810987376 A CN 201810987376A CN 109194042 A CN109194042 A CN 109194042A
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- China
- Prior art keywords
- capillary
- group
- control panel
- cable
- distance
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Classifications
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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
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Abstract
A kind of board-like integrated electric motor driver of compact ring, is related to the exoskeleton system field in soldier system；Including driving plate, control panel, ferrite, capillary group and three-phase cable；Wherein, driving plate is horizontal positioned circular plate structure；Control panel is the circular plate structure being coaxially disposed within above driving plate；The center point of control panel is provided with circular through hole；Capillary group is fixedly mounted between driving plate and control panel vertically；Ferrite is fixedly mounted on the upper surface of driving plate；Control panel is docked along axial with external electromagnetic brake；Driving plate is docked along axial with external thermally conductive shell；Three-phase cable passes axially through driving plate and control panel；Present invention employs doubling plate docking modes, effectively reduce occupied space, realize control driving compact lighting design.
Description
Technical field
The present invention relates to the exoskeleton system field in a kind of soldier system, especially a kind of board-like one of compact ring
Change motor driver.
Background technique
Soldier system develops to complication direction at present, including combat system, information system and living system.Weapon
Weight with ammunition is to restrict one of the key factor of individual combat level.Assistance type ectoskeleton technology passes through simulation skeleton
Muscle equips additional exoskeleton system for human body, improves continuous capability and motion function that soldier field is born a heavy burden motor-driven.Dermoskeleton
The control driving in bone joint needs minimum space.
Existing motor driver integrated design is the side wall for placing the drive into motor top or motor axial direction, this
The integrated design of sample is superposition only spatially.Design as relatively high occasion is being required outer dimension to will increase
The size of motor is unfavorable for the miniaturization of ectoskeleton joint, lighting design.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, a kind of board-like integration electricity of compact ring is provided
Machine driver uses doubling plate docking mode, effectively reduces occupied space, realizes that control driving compact lighting is set
Meter.
Above-mentioned purpose of the invention is achieved by following technical solution:
A kind of board-like integrated electric motor driver of compact ring, including driving plate, control panel, ferrite, capillary group and
Three-phase cable；Wherein, driving plate is horizontal positioned circular plate structure；Control panel is the circle being coaxially disposed within above driving plate
Shape plate structure；The center point of control panel is provided with circular through hole；Capillary group be fixedly mounted on vertically driving plate and control panel it
Between；Ferrite is fixedly mounted on the upper surface of driving plate；Control panel is docked along axial with external electromagnetic brake；Driving plate is along axis
It is docked to external thermally conductive shell；Three-phase cable passes axially through driving plate and control panel.
In a kind of above-mentioned board-like integrated electric motor driver of compact ring, the diameter of the driving plate and control panel
It is 73-77mm；The circular through hole diameter of control panel is 28-32mm；Spacing between driving plate and control panel is 7-9mm.
In a kind of above-mentioned board-like integrated electric motor driver of compact ring, the driving plate uses single layer aluminium base plate
Material；The control panel is placed using 4 layers of glass-fiber-plate lamination.
In a kind of above-mentioned board-like integrated electric motor driver of compact ring, the three-phase cable include the first cable,
Second cable and third cable；First cable, the second cable and third cable are sequentially placed in the counterclockwise direction；First cable,
Second cable and third cable are arranged in using control panel center as in the isocentric circular arc in the center of circle.
In a kind of above-mentioned board-like integrated electric motor driver of compact ring, first cable is opposite with the second cable
Angle in control panel center is 58-62 °；Second cable is 58-62 ° relative to the angle at control panel center with third cable；
The distance at the first cable distance of shaft centers control panel center is 16-20mm；The distance at the second cable distance of shaft centers control panel center is
16-20mm；The distance at third cable distance of shaft centers control panel center is 16-20mm.
In a kind of above-mentioned board-like integrated electric motor driver of compact ring, the capillary group include first group of capillary,
Second group of capillary, third group capillary and the 4th group of capillary；Wherein, first group of capillary, second group of capillary, third group capillary and the 4th
Group capillary is sequentially placed in the counterclockwise direction；And first group of capillary, second group of capillary and third group capillary are arranged with control panel
Center is in the isocentric circular arc in the center of circle.
At a kind of above-mentioned board-like integrated electric motor driver of compact ring, first group of capillary distance of shaft centers control panel center
Distance be 16-20mm；First group of capillary is located at the clockwise direction of the first cable, and the axis of first group of capillary and the first cable
The heart is away from for 7-9mm；The distance at second group of capillary distance of shaft centers control panel center is 16-20mm；Second group of capillary is located at the second cable
Clockwise direction, and the distance of shaft centers of second group of capillary and the second cable be 7-9mm；Third group capillary distance of shaft centers control panel center
Distance be 16-20mm；Third group capillary is located at the clockwise direction of third cable, and the axis of third group capillary and third cable
The heart is away from for 7-9mm；4th group of capillary is 88-92 ° relative to the angle at control panel center with third cable；And the 4th group of capillary axis
Distance of the heart away from control panel center is 22-26mm.
In a kind of above-mentioned board-like integrated electric motor driver of compact ring, first group of capillary includes 3 root bead needles；
Second group of capillary includes 3 root bead needles；Third group capillary includes 3 root bead needles；4th group of capillary includes 4 root bead needles.
In a kind of above-mentioned board-like integrated electric motor driver of compact ring, the capillary is cylindrical structure；Capillary
Diameter is 1mm；Capillary axial length is 7-9mm.
4 installations are provided on a kind of above-mentioned board-like integrated electric motor driver of compact ring, the driving plate
Hole (6)；4 mounting hole (6) uniform rings are around being distributed at the outside of driving plate.
The invention has the following advantages over the prior art:
(1) present invention realizes miniature brush-less direct current generator and accurately controls, and there is increment type to connect with absolute transducer
Mouthful, it can be realized position, speed and torque closed-loop control.Has CAN communication interface；
(2) driver outer profile of the present invention is designed as circle, can be mounted in the shell of same size with motor, really real
Existing motor and driver integration；
(3) present invention effectively avoids drive part mutual with power section using the isolated circuit design of ferrite chip
It influences；
(4) control panel of the present invention and power amplifier board are patched is installed using through-hole type capillary, makes full use of internal drive space.
Detailed description of the invention
Fig. 1 is integrated electric motor activation configuration schematic diagram of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
The present invention provides a kind of brushless DC motor servo-driver design scheme for meeting compactedness demand, it can be achieved that driving
The highly integrated and microminiature design of dynamic device and motor.
The driver is made of control panel and driving plate two parts.Control panel 2 and driving plate 1 are with mutual-inserting type connector company
It connects, and is fixed with copper post.2 center of control panel offers a circular through hole, and lead to the hole site can reserve motor position sensing
The space of device.In addition, control panel is opened, there are five cable-through holes, respectively positive and negative wire and motor triple line.
It is as shown in Figure 1 integrated motor driver structural schematic diagram, as seen from the figure, a kind of board-like one of compact ring
Change motor driver, including driving plate 1, control panel 2, ferrite 3, capillary group 4 and three-phase cable 5；Wherein, driving plate 1 is water
The circular plate structure of placing flat；Control panel 2 is the circular plate structure for being coaxially disposed within 1 top of driving plate；The circle of control panel 2
Circular through hole is provided at the heart；Capillary group 4 is fixedly mounted on vertically between driving plate 1 and control panel 2；Ferrite 3 is fixedly mounted
In the upper surface of driving plate 1；Control panel 2 is docked along axial direction with external electromagnetic brake；Driving plate 1 is along axial and external thermally conductive shell
Docking；Three-phase cable 5 passes axially through driving plate 1 and control panel 2.Ferrite 3 is a kind of metal oxidation with ferrimagnetism
Object.The resistivity ratio elemental metals or alloy magnetic material of ferrite 3 are big, and have higher dielectric properties, have in high frequency
Higher magnetic conductivity.Ferrite 3 can filter out the higher hamonic wave of signal wire, to inhibit the electromagnetic interference from driving plate.Iron
Oxysome 3 is small in size, at low cost, is the optimization design scheme under small size low-cost design requirement.Specific method is by ferrite 3
Be placed in driving plate 1, positioned at the output end of control panel 2 and 1 connector of driving plate, 1 Power Groud of driving plate with drivingly pass through
Control panel 2 is returned after the filtering of ferrite high-frequency noise, so that high-frequency electromagnetic be inhibited to interfere.4 installations are provided in driving plate 1
Hole 6；46 uniform rings of mounting hole are at the outside for being distributed in driving plate 1.
The diameter of driving plate 1 and control panel 2 is 73-77mm；The circular through hole diameter of control panel 2 is 28-32mm；Driving
Spacing between plate 1 and control panel 2 is 7-9mm.Control panel 2 is placed using 4 layers of glass-fiber-plate lamination；Driving plate 1 uses single layer aluminium
Baseplate material；The use of aluminum substrate effectively reduces module running temperature, improves power density and reliability.
Three-phase cable 5 includes the first cable 5-1, the second cable 5-2 and third cable 5-3；First cable 5-1, the second line
Cable 5-2 and third cable 5-3 are sequentially placed in the counterclockwise direction；First cable 5-1, the second cable 5-2 and third cable 5-3 are set
It sets in the isocentric circular arc using 2 center of control panel as the center of circle.First cable 5-1 and the second cable 5-2 are relative to 2 center of control panel
Angle be 58-62 °；Second cable 5-2 and third cable 5-3 is 58-62 ° relative to the angle at 2 center of control panel；Described
The distance at one cable 5-1 distance of shaft centers control panel, 2 center is 16-20mm；The distance at 2 center of the second cable 5-2 distance of shaft centers control panel
For 16-20mm；The distance at 2 center of third cable 5-3 distance of shaft centers control panel is 16-20mm.
Capillary group 4 includes first group of capillary 4-1, second group of capillary 4-2, third group capillary 4-3 and the 4th group of capillary 4-4；
Wherein, first group of capillary 4-1, second group of capillary 4-2, third group capillary 4-3 and the 4th group of capillary 4-4 be in the counterclockwise direction successively
It places；And first group of capillary 4-1, second group of capillary 4-2 and third group capillary 4-3 are arranged in using 2 center of control panel as the center of circle
In isocentric circular arc.The distance at first group of 2 center of capillary 4-1 distance of shaft centers control panel is 16-20mm；First group of capillary 4-1 is located at the
The clockwise direction of one cable 5-1, and the distance of shaft centers of first group of capillary 4-1 and the first cable 5-1 are 7-9mm；Second group of capillary
The distance at 2 center of 4-2 distance of shaft centers control panel is 16-20mm；Second group of capillary 4-2 is located at the clockwise direction of the second cable 5-2,
And the distance of shaft centers of second group of capillary 4-2 and the second cable 5-2 are 7-9mm；2 center of third group capillary 4-3 distance of shaft centers control panel
Distance is 16-20mm；Third group capillary 4-3 is located at the clockwise direction of third cable 5-3, and third group capillary 4-3 and third
The distance of shaft centers of cable 5-3 is 7-9mm；4th group of capillary 4-4 and third cable 5-3 is 88- relative to the angle at 2 center of control panel
92°；And the distance at the 4th group of 2 center of capillary 4-4 distance of shaft centers control panel is 22-26mm.
First group of capillary 4-1 includes 3 root bead needles；Second group of capillary 4-2 includes 3 root bead needles；Third group capillary 4-3 includes 3
Root bead needle；4th group of capillary 4-4 includes 4 root bead needles.Capillary is cylindrical structure；Capillary diameter is 1mm；Capillary axial length is
7-9mm.Facilitate welding, length 20mm, copper gilding.Capillary is divided into four groups, and one group is powered and signal sampling for light current,
Positioned at the right side of driver, there are four root bead needles, respectively light current positive-negative power, bus current sampled signal and busbar voltage sampling
Signal；Its excess-three group is power tube driving signal, is located near threephase cable, every group has three root bead needles, respectively TG, TS
With BG signal.
The present invention uses brshless DC motor square wave drive scheme, can accurately be controlled DC brushless motor.Using
Phase current sampling and sensor feedback mode realize the position to brshless DC motor, speed and torque closed-loop control.Meanwhile energy
Realize bus CAN communication.Versatility of the present invention is high, control is simple, easily realizes.
Control panel 2 and driving plate 1 are designed as circle by driver, and diameter is more smaller than motor housing diameter, by driver
It is mounted on motor tail end.Motor and driver can be realized integrative installation technology, and board-like driver is not necessarily to additional designs shell, can be straight
It connects and is installed in the motor housing.
The main body of driver is made of circular drive plate 1 and annular control panel 2.When driver and motor integration are installed
Afterwards, the sensors such as the encoder installed on motor shaft can protrude into driver.Hollow position diameter length can be by sensor
Depending on outer diameter.This design can utmostly shorten motor and driver entirety axial distance.
To realize board-like driver minimized height design, control panel 2 and 1 connection type of driving plate are designed as through-hole type
Capillary installation.Capillary is directly welded in driving plate 1, across control panel 2 reserve connection through-hole welding plate, finally by capillary with
Control panel 2 is welded together.This design method can reduce connector insulator on the basis of using convention connectors in the past
Distance, can freely adjust the distance between control panel and driving plate.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. a kind of board-like integrated electric motor driver of compact ring, it is characterised in that: including driving plate (1), control panel (2),
Ferrite (3), capillary group (4) and three-phase cable (5)；Wherein, driving plate (1) is horizontal positioned circular plate structure；Control
Plate (2) is the circular plate structure being coaxially disposed within above driving plate (1)；The center point of control panel (2) is provided with circular through hole；
Capillary group (4) is fixedly mounted on vertically between driving plate (1) and control panel (2)；Ferrite (3) is fixedly mounted on driving plate (1)
Upper surface；Control panel (2) is docked along axial direction with external electromagnetic brake；Driving plate (1) is docked along axial with external thermally conductive shell；
Three-phase cable (5) passes axially through driving plate (1) and control panel (2).
2. the board-like integrated electric motor driver of a kind of compact ring according to claim 1, it is characterised in that: described
The diameter of driving plate (1) and control panel (2) is 73-77mm；The circular through hole diameter of control panel (2) is 28-32mm；Driving plate
(1) spacing between control panel (2) is 7-9mm.
3. the board-like integrated electric motor driver of a kind of compact ring according to claim 2, it is characterised in that: the drive
Movable plate (1) uses single layer aluminium base plate material；The control panel (2) is placed using 4 layers of glass-fiber-plate lamination.
4. the board-like integrated electric motor driver of a kind of compact ring according to claim 3, it is characterised in that: described three
Phase cable (5) includes the first cable (5-1), the second cable (5-2) and third cable (5-3)；First cable (5-1), the second line
Cable (5-2) and third cable (5-3) are sequentially placed in the counterclockwise direction；First cable (5-1), the second cable (5-2) and third
Cable (5-3) is arranged in the isocentric circular arc using control panel (2) center as the center of circle.
5. the board-like integrated electric motor driver of a kind of compact ring according to claim 4, it is characterised in that: described
One cable (5-1) is 58-62 ° relative to the angle at control panel (2) center with the second cable (5-2)；Second cable (5-2) and the
Three cables (5-3) are 58-62 ° relative to the angle at control panel (2) center；First cable (5-1) the distance of shaft centers control panel (2)
The distance at center is 16-20mm；The distance at the second cable (5-2) distance of shaft centers control panel (2) center is 16-20mm；Third cable
The distance at (5-3) distance of shaft centers control panel (2) center is 16-20mm.
6. the board-like integrated electric motor driver of a kind of compact ring according to claim 5, it is characterised in that: the weldering
Needle group (4) includes first group of capillary (4-1), second group of capillary (4-2), third group capillary (4-3) and the 4th group of capillary (4-4)；
Wherein, first group of capillary (4-1), second group of capillary (4-2), third group capillary (4-3) and the 4th group of capillary (4-4) are along counterclockwise
Direction is sequentially placed；And first group of capillary (4-1), second group of capillary (4-2) and third group capillary (4-3) are arranged with control panel
(2) center is in the isocentric circular arc in the center of circle.
7. the board-like integrated electric motor driver of a kind of compact ring according to claim 6, it is characterised in that: first group
The distance at capillary (4-1) distance of shaft centers control panel (2) center is 16-20mm；First group of capillary (4-1) is located at the first cable (5-1)
Clockwise direction, and the distance of shaft centers of first group of capillary (4-1) and the first cable (5-1) are 7-9mm；Second group of capillary (4-2)
The distance at distance of shaft centers control panel (2) center is 16-20mm；Second group of capillary (4-2) is located at the side clockwise of the second cable (5-2)
To, and the distance of shaft centers of second group of capillary (4-2) and the second cable (5-2) are 7-9mm；The control of third group capillary (4-3) distance of shaft centers
The distance at plate (2) center is 16-20mm；Third group capillary (4-3) is located at the clockwise direction of third cable (5-3), and third
The distance of shaft centers of group capillary (4-3) and third cable (5-3) are 7-9mm；4th group of capillary (4-4) and third cable (5-3) are opposite
Angle in control panel (2) center is 88-92 °；And the distance at the 4th group of capillary (4-4) distance of shaft centers control panel (2) center is 22-
26mm。
8. the board-like integrated electric motor driver of a kind of compact ring according to claim 7, it is characterised in that: described
One group of capillary (4-1) includes 3 root bead needles；Second group of capillary (4-2) includes 3 root bead needles；Third group capillary (4-3) includes 3 root beads
Needle；4th group of capillary (4-4) includes 4 root bead needles.
9. the board-like integrated electric motor driver of a kind of compact ring according to claim 8, it is characterised in that: the weldering
Needle is cylindrical structure；Capillary diameter is 1mm；Capillary axial length is 7-9mm.
10. the board-like integrated electric motor driver of a kind of compact ring according to claim 9, it is characterised in that: described
4 mounting holes (6) are provided in driving plate (1)；4 mounting hole (6) uniform rings are at the outside for being distributed in driving plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810987376.4A CN109194042B (en) | 2018-08-28 | 2018-08-28 | Compact annular plate type integrated motor driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810987376.4A CN109194042B (en) | 2018-08-28 | 2018-08-28 | Compact annular plate type integrated motor driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109194042A true CN109194042A (en) | 2019-01-11 |
| CN109194042B CN109194042B (en) | 2020-04-10 |
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ID=64916397
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810987376.4A Active CN109194042B (en) | 2018-08-28 | 2018-08-28 | Compact annular plate type integrated motor driver |
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| Country | Link |
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| CN (1) | CN109194042B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113852304A (en) * | 2021-09-14 | 2021-12-28 | 北京精密机电控制设备研究所 | Microminiature steering engine multi-motor control driver resistant to high-strength vibration impact |
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|---|---|---|---|---|
| CN203942472U (en) * | 2014-07-17 | 2014-11-12 | 中国船舶重工集团公司第七一七研究所 | A kind of pwm pulse harmonic wave that improves Electro Magnetic Compatibility suppresses system |
| CN106169840A (en) * | 2016-08-31 | 2016-11-30 | 北京航空航天大学 | A kind of by integrated electric motor drive system integrated to motor and controller |
| US20160352193A1 (en) * | 2014-06-11 | 2016-12-01 | Nidec Motor Corporation | Motor interface controller having an integrated power supply |
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2018
- 2018-08-28 CN CN201810987376.4A patent/CN109194042B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160352193A1 (en) * | 2014-06-11 | 2016-12-01 | Nidec Motor Corporation | Motor interface controller having an integrated power supply |
| CN203942472U (en) * | 2014-07-17 | 2014-11-12 | 中国船舶重工集团公司第七一七研究所 | A kind of pwm pulse harmonic wave that improves Electro Magnetic Compatibility suppresses system |
| CN106169840A (en) * | 2016-08-31 | 2016-11-30 | 北京航空航天大学 | A kind of by integrated electric motor drive system integrated to motor and controller |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113852304A (en) * | 2021-09-14 | 2021-12-28 | 北京精密机电控制设备研究所 | Microminiature steering engine multi-motor control driver resistant to high-strength vibration impact |
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| Publication number | Publication date |
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| CN109194042B (en) | 2020-04-10 |
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