CN109600076A - Multiple-axis servo driver - Google Patents
Multiple-axis servo driver Download PDFInfo
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- CN109600076A CN109600076A CN201811398871.8A CN201811398871A CN109600076A CN 109600076 A CN109600076 A CN 109600076A CN 201811398871 A CN201811398871 A CN 201811398871A CN 109600076 A CN109600076 A CN 109600076A
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Classifications
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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Abstract
The present invention relates to a kind of multiple-axis servo drivers, for driving multiple servo motors to be rotated, comprising: several samplings and inverter module, for acquiring the current signal of the servo motor and the speed signal of encoder for servo motor, position signal；Wherein, each sampling and inverter module are correspondingly connected with a servo motor；Multiaxis drive control module connect with the sampling and inverter module, for calculating according to the control instruction of input feedback signal, and exports current controling signal after computation；Wherein, the feedback signal includes the speed signal and the position signal；The sampling and inverter module are also used to according to the current signal, speed signal, position signal and current controling signal output voltage control signal；The voltage control signal is used to control the operating of the servo motor.The application can simplify the structure of multiple-axis servo driver, fast and easy replacement.
Description
Technical field
The present invention relates to Drive Control Technique fields, more particularly to a kind of multiple-axis servo driver.
Background technique
Traditional automation electric-control system is generally made of components such as servo-driver, controller, power supplys, and structure is multiple
It is miscellaneous, integrated level is low, not only wiring is many and diverse in practical applications, but also debugging process is tediously long, and reliability is low.With industries such as 3C
It rises, the equipment update period improves, and electric-control system needs the reconstitutable architecture mode of modularization, to support manufacturing equipment
Iteratively faster, but the product pattern of traditional control plus independent servo has been unable to satisfy requirement, occurs mould in the case
The integrated framework product of the control and driving of block.
In traditional drive control Integrated Architecture, usual servo-driver is integrated with control unit and power list simultaneously
Member, each servo-driver have the control electric current of oneself, and the changed power as used in equipment is more, are needing to replace
While servo-driver, it is also desirable to replace control section, but due to the complex structural designs and higher cost of control section,
It will cause waste after replacing.
Summary of the invention
Based on this, it is necessary to waste problem will cause to servo-driver replacement in the case where changed power is big,
A kind of multiple-axis servo driver is provided.
A kind of multiple-axis servo driver, for driving multiple servo motors to be rotated, the multiple-axis servo driver packet
It includes:
Several samplings and inverter module, for acquiring the current signal and encoder for servo motor of the servo motor
Speed signal, position signal；Wherein, each sampling and inverter module are correspondingly connected with a servo motor；
Multiaxis drive control module is connect, for the control instruction according to input to anti-with the sampling and inverter module
Feedback signal is calculated, and exports current controling signal after computation；Wherein, the feedback signal include the current signal,
The speed signal and the position signal；
The sampling and inverter module are also used to according to the current signal, speed signal, position signal and current control
Signal output voltage controls signal；The voltage control signal is used to control the operating of the servo motor.
The sampling and inverter module include sampling unit, encoder processing cell, calculating in one of the embodiments,
Unit and vector control unit；
The sampling unit is connect with the servo motor, for acquiring the current signal of the servo motor；
The encoder processing cell is connect with the encoder for servo motor, for the encoder for servo motor
Digital signal, which is decoded, generates the feedback signal；
The computing unit is connect with the multiaxis drive control module, the encoder processing cell respectively, for connecing
It receives the current controling signal and the feedback signal is calculated according to the current controling signal to generate the voltage
Control signal；
The vector control unit is used to control the operating of the servo motor according to the voltage control signal.
The sampling and inverter module further include the first filter unit in one of the embodiments, first filtering
Unit is connected between the encoder processing cell and the computing unit, for being filtered place to the feedback signal
Reason.
The computing unit includes that trigonometric function computation subunit and current loop calculate son in one of the embodiments,
Unit；
The input terminal of the trigonometric function computation subunit is connect with the output end of the encoder processing cell, and described three
The output end of angle function computation subunit is connect with the input terminal of the current loop computation subunit；The current loop calculates
The input terminal of subelement is connect with the output end of the sampling unit, the output end of the current loop computation subunit with it is described
The input terminal of vector control unit connects；
The trigonometric function computation subunit obtains turning for the servo motor for calculating the feedback signal
Dynamic angle signal；The current loop computation subunit is used for the instruction according to input to the current signal and the angle of rotation
Degree signal is calculated, and the voltage control signal is obtained.
The sampling and inverter module further include the second filter unit in one of the embodiments, second filtering
Unit is connected between the sampling unit and the computing unit, for being filtered to the current signal.
The multiple-axis servo driver further includes network interface in one of the embodiments,；The network interface and outer
Portion's chip is connected to receive the control instruction of input.
The multiaxis drive control module includes current driver unit in one of the embodiments, the electric current driving
Unit is connect with the sampling and inverter module, for being calculated according to the control instruction of input feedback signal, and is being counted
Current controling signal is exported after calculation.
The multiaxis drive control module in one of the embodiments, further include:
Protection location, the protection location is connect with the sampling and inverter module, for monitoring the sampling and inversion
The feedback signal of module acquisition simultaneously controls the current driver unit stopping when the feedback signal is more than default value
Output.
The multiple-axis servo driver further includes state machine in one of the embodiments, the state machine and described more
The connection of axis drive control module, coordinates for the calculating to the multiaxis drive control module.
The multiple-axis servo driver in one of the embodiments, further include:
Rectification module is connect with the sampling and inverter module, the multiaxis drive control module respectively, and being used for will be external
The alternating voltage of input is changed into direct voltage output.
Above-mentioned multiple-axis servo driver, by be arranged several samplings and inverter module and multiaxis drive control module come pair
Servo motor is controlled, and further, sampling and inverter module are for acquiring the current signal and servo motor of servo motor
Speed signal, the position signal of encoder；Multiaxis drive control module is used for the control instruction according to input to feedback signal (electricity
Stream signal, speed signal and position signal) it is calculated, and current controling signal is exported after computation；Sampling and inverter module
It is also used to export the electricity of controllable servo motor operating according to current signal, speed signal, position signal and current controling signal
Voltage-controlled signal processed, i.e., by decoding, current sample, electric current loop operation, servo position and the speed ring in traditional servo drive control
The decouplings such as road are come, so that the computing unit for needing to carry out position and electric current resolving in traditional servo driver control is eliminated,
Therefore the structure of the multiple-axis servo driver is more simple, can quick replacement, and then meet the needs of industry spot.Meanwhile by
It is connect in a multiaxis drive control module with several samplings and inverter module, correspondence connects again for each sampling and inverter module
A servo motor is connect, so can realize that a multiaxis drive control module controls multiple servo motors.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the multiple-axis servo driver in an embodiment；
Fig. 2 is the partial structure diagram of the multiple-axis servo driver in Fig. 1；
Fig. 3 is the structural schematic diagram of the multiple-axis servo driver in another embodiment.
Specific embodiment
The application in order to facilitate understanding is described more fully the application below with reference to relevant drawings.In attached drawing
Give the better embodiment of the application.But the application can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more disclosure of this application
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.
In traditional servo-control system, control unit indicates inverter module inverse of the DC into AC, thus real
Now to the motion control of motor.But this servo-driver can only generally realize the control of a motor, when controlled device is
When more, when that is to say multijoint control, how many platform motor, correspondingly, it is necessary to configure the servo of respective numbers
Driver, so that higher cost, and wiring is complicated.On this basis, there is the integrated framework of drive control, though
The right control problem for solving multiple electric motors, but the occasion more in changed power, if control section integrally replaced,
It will cause certain waste.
Referring to Fig. 1, for the structural schematic diagram of the multiple-axis servo driver in an embodiment.The multiple-axis servo driver is used
In driving multiple servo motors to be rotated, which may include: multiaxis drive control module 10, several
Sampling and inverter module 20.Several samplings and inverter module 20 can be understood as three or more or at least three；Preferably,
There are six sampling and inverter modules 20 for the application setting.Wherein, sampling and inverter module 20 are used to acquire the electric current of servo motor
The speed signal of signal and encoder for servo motor, position signal.Each sampling and inverter module 20 are correspondingly connected with one and watch
Take motor.As shown in Figure 1, servo motor can be, for example, servo motor 1, servo motor 2 ... servo motor n, and each
There is an encoder on servo motor.Multiaxis drive control module 10 is connect with sampling and inverter module 20, for according to defeated
The control instruction C4 entered calculates feedback signal D1, and exports current controling signal C2 after computation；Wherein, feedback signal
D1 may include current signal, speed signal and position signal.Sampling and inverter module 20 are also used to according to current signal, speed
Signal, position signal and current controling signal output voltage control signal C3；Voltage control signal C3 is for controlling servo motor
Operating.
Above-mentioned multiple-axis servo driver, by be arranged several samplings and inverter module and multiaxis drive control module come pair
Servo motor is controlled, and further, sampling and inverter module are for acquiring the current signal and servo motor of servo motor
Speed signal, the position signal of encoder；Multiaxis drive control module is used for the control instruction according to input to feedback signal (electricity
Stream signal, speed signal and position signal) it is calculated, and current controling signal is exported after computation；Sampling and inverter module
It is also used to export the electricity of controllable servo motor operating according to current signal, speed signal, position signal and current controling signal
Voltage-controlled signal processed, i.e., by decoding, current sample, electric current loop operation, servo position and the speed ring in traditional servo drive control
The decouplings such as road are come, so that the computing unit for needing to carry out position and electric current resolving in traditional servo driver control is eliminated,
Therefore the structure of the multiple-axis servo driver is more simple, can quick replacement, and then meet the needs of industry spot.Meanwhile by
It is connect in a multiaxis drive control module with several samplings and inverter module, correspondence connects again for each sampling and inverter module
A servo motor is connect, so can realize that a multiaxis drive control module controls multiple servo motors.
In one embodiment, sampling and inverter module 20, for acquiring the current signal and servo motor of servo motor
Speed signal, the position signal of encoder.Wherein, sampling and inverter module 20 can be FPGA processor or programmable logic device
Part.Speed signal may be, for example, angular velocity signal, and position signal may be, for example, rotational angle signal.
Further, it please assist referring to Fig.2, being the partial structure diagram of the multiple-axis servo driver in Fig. 1.With servo
Motor 1 and motor encoder 1 are illustrated.Sampling and inverter module 20 may include sampling unit 210, encoder processing cell
220, computing unit 230 and vector control unit 240；Sampling unit 210 is connect with servo motor 1, for acquiring servo motor 1
Current signal；Encoder processing cell 220 is connect with encoder for servo motor 1, for the number to encoder for servo motor 1
Signal, which is decoded, generates feedback signal D1；Computing unit 230 respectively with multiaxis drive control module 10, encoder processing cell
220 connections, for receiving current controling signal C2 and being calculated feedback signal D1 to generate according to current controling signal C2
Voltage control signal C3；Vector control unit 240 is used to control the operating of servo motor 1 according to voltage control signal C3.
Further, computing unit 230 may include that trigonometric function computation subunit 232 and current loop calculate son list
Member 234；The input terminal of trigonometric function computation subunit 232 is connect with the output end of encoder processing cell 220, trigonometric function meter
The output end of operator unit 232 is connect with the input terminal of current loop computation subunit 234；Current loop computation subunit 234
Input terminal connect with the output end of sampling unit 210, the output end and vector control unit of current loop computation subunit 234
240 input terminal connection；Trigonometric function computation subunit 232 obtains servo motor 1 for calculating feedback signal D1
Rotational angle signal；Current loop computation subunit 234 is used for the instruction according to input to current signal and rotational angle signal
It is calculated, obtains voltage control signal C3.
In one embodiment, sampling and inverter module can also include the second filter unit 260, the second filter unit
260 are connected between sampling unit 210 and computing unit 230, for being filtered to current signal.Second filter unit
It may be, for example, Sinc filter, Sinc filter is one and removes whole signal components given on bandwidth and only retain low frequency
The desired electronic filter of signal.In its shape of frequency domain as a rectangular function, in its shape of time domain as a Sinc letter
Number.
In one embodiment, sampling and inverter module 20 can also include the first filter unit 250, the first filter unit
250 are connected between encoder processing cell 220 and computing unit 230, for being filtered to feedback signal D1.
By integrating sampling unit and encoder processing cell in sampling and inverter module, calculate sampling processing and core
Method processing is independent, so that multiaxis drive control module can realize multijoint control with a chips.Further, multiaxis drives
Control module and sampling and inverter module are independent, can facilitate and use independent current control method to multiaxis drive control module,
The unit can be replaced at low cost by changing occasion greatly in equipment servo power of motor, while make multiaxis drive control module
Structure is relatively easy, and cost performance is high.
In one embodiment, multiaxis drive control module 10 may include current driver unit (figure does not indicate), electric current
Driving unit is connect with sampling and inverter module 20, for being calculated according to the control instruction of input feedback signal D1, and
Current controling signal C2 is exported after computation.Wherein, control instruction may be, for example, position command, speed command, torque instruction etc..
Further, multiaxis drive control module 10 can also include protection location (figure does not indicate), connect with sampling and inverter module 20
It connects, the feedback signal D1 for monitoring sampling and the acquisition of inverter module 10 and the control electricity when feedback signal is more than default value
Stream driving unit (figure does not indicate) stops output.It is appreciated that specific default value the application is not limited specifically,
It can be adjusted according to the demand of those skilled in the art and the performance of product.
In one embodiment, referring to Fig. 3, being the structural schematic diagram of the multiple-axis servo driver in another embodiment.
The multiple-axis servo driver may include: multiaxis drive control module 10, several samplings and inverter module 20, network interface
30, state machine 40 and rectification module 50.Several samplings and inverter module 20 can be understood as three or more or at least three；
Wherein, sampling and inverter module 20 are used to acquire the current signal of servo motor and speed signal, the position of encoder for servo motor
Confidence number.Each sampling and inverter module 20 are correspondingly connected with a servo motor.Merely illustrated in Fig. 3 a servo motor and
One motor encoder.Multiaxis drive control module 10 is connect with sampling and inverter module 20, for being referred to according to the control of input
It enables C4 to calculate feedback signal D1, and exports current controling signal C2 after computation；Wherein, feedback signal D1 includes speed
Signal and position signal.Sampling and inverter module 20 are also used to according to current signal, speed signal, position signal and current control
Signal output voltage controls signal C3；Voltage control signal C3 is used to control the operating of servo motor.
It is appreciated that sampling and the description of inverter module 20 are referred to aforementioned reality for multiaxis drive control module 10
Example is applied, is not repeated further herein.
Network interface 30 is connect with external chip (Fig. 3 is not indicated) to receive the control instruction of input.Wherein, control instruction
It can be position command, speed command, torque instruction etc..Network interface 40 can be communicated by Ethernet with external chip
Connection, can also be attached by communication modes such as RS485 bus, CAN bus.
State machine 40 is connect with multiaxis drive control module 10, is assisted for the calculating to multiaxis drive control module 10
It adjusts.In order to enable the computational efficiency of multiple-axis servo driver is most fast and rationalizes, driven by setting 40 tunable multiaxis of state machine
Core algorithm in dynamic control module 10.
Rectification module 50 is connect with sampling and inverter module 20, multiaxis drive control module 10 respectively, and being used for will be external defeated
The alternating voltage entered is changed into direct voltage output.
To sum up, by taking the multiple-axis servo driver in Fig. 3 as an example, carry out principle explanation: rectification module 50 will be externally input
Alternating voltage be changed into direct voltage output to multiaxis drive control module 10 and sampling and inverter module 20, sampling and inversion mould
Block 20 acquires the current signal of servo motor 1 and speed signal, the position signal of motor encoder 1 in real time；And by feedback signal
(current signal, speed signal and position signal) feeds back to multiaxis drive control module 10, and multiaxis drive control module 10 is outside
The signal fed back under the control of portion's instruction to sampling and inverter module 20 calculates, and exports current control according to calculated result
Signal C2, sampling and inverter module 20 further calculate feedback signal under the control of current controling signal C2, and export
Voltage control signal C3, voltage control signal C3 are directly output to servo motor, to control the operating of servo motor.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of multiple-axis servo driver, for driving multiple servo motors to be rotated, which is characterized in that the multiple-axis servo
Driver includes:
Several samplings and inverter module, for acquiring the current signal of the servo motor and the speed of encoder for servo motor
Signal, position signal；Wherein, each sampling and inverter module are correspondingly connected with a servo motor；
Multiaxis drive control module is connect, for the control instruction according to input to feedback letter with the sampling and inverter module
It number is calculated, and exports current controling signal after computation；Wherein, the feedback signal include the current signal, it is described
Speed signal and the position signal；
The sampling and inverter module are also used to according to the current signal, speed signal, position signal and current controling signal
Output voltage control signal；The voltage control signal is used to control the operating of the servo motor.
2. multiple-axis servo driver according to claim 1, which is characterized in that the sampling and inverter module include sampling
Unit, encoder processing cell, computing unit and vector control unit；
The sampling unit is connect with the servo motor, for acquiring the current signal of the servo motor；
The encoder processing cell is connect with the encoder for servo motor, for the number to the encoder for servo motor
Signal, which is decoded, generates the feedback signal；
The computing unit is connect with the multiaxis drive control module, the encoder processing cell respectively, for receiving
It states current controling signal and the feedback signal is calculated according to the current controling signal to generate the voltage control
Signal；
The vector control unit is used to control the operating of the servo motor according to the voltage control signal.
3. multiple-axis servo driver according to claim 2, which is characterized in that the sampling and inverter module further include the
One filter unit, first filter unit are connected between the encoder processing cell and the computing unit, for pair
The feedback signal is filtered.
4. multiple-axis servo driver according to claim 2, which is characterized in that the computing unit includes trigonometric function meter
Operator unit and current loop computation subunit；
The input terminal of the trigonometric function computation subunit is connect with the output end of the encoder processing cell, the triangle letter
The output end of number computation subunit is connect with the input terminal of the current loop computation subunit；It is single that the current loop calculates son
The input terminal of member is connect with the output end of the sampling unit, the output end and the vector of the current loop computation subunit
The input terminal of control unit connects；
The trigonometric function computation subunit obtains the angle of rotation of the servo motor for calculating the feedback signal
Spend signal；The current loop computation subunit is used to believe the current signal and the rotational angle according to the instruction of input
It number is calculated, obtains the voltage control signal.
5. multiple-axis servo driver according to claim 2, which is characterized in that the sampling and inverter module further include the
Two filter units, second filter unit are connected between the sampling unit and the computing unit, for the electricity
Stream signal is filtered.
6. multiple-axis servo driver according to claim 1, which is characterized in that further include:
Network interface；The network interface is connect to receive the control instruction of input with external chip.
7. multiple-axis servo driver according to claim 1, which is characterized in that the multiaxis drive control module includes electricity
Driving unit is flowed, the current driver unit is connect with the sampling and inverter module, for the control instruction pair according to input
Feedback signal is calculated, and exports current controling signal after computation.
8. multiple-axis servo driver according to claim 7, which is characterized in that the multiaxis drive control module also wraps
It includes:
Protection location, the protection location is connect with the sampling and inverter module, for monitoring the sampling and inverter module
The feedback signal of acquisition and controlled when the feedback signal is more than default value the current driver unit stop it is defeated
Out.
9. multiple-axis servo driver according to claim 1, which is characterized in that further include state machine, the state machine with
The multiaxis drive control module connection, coordinates for the calculating to the multiaxis drive control module.
10. multiple-axis servo driver according to claim 1, which is characterized in that further include:
Rectification module connect with the sampling and inverter module, the multiaxis drive control module respectively, is used for external input
Alternating voltage be changed into direct voltage output.
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| CN201811398871.8A CN109600076A (en) | 2018-11-22 | 2018-11-22 | Multiple-axis servo driver |
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| CN110961798A (en) * | 2019-12-02 | 2020-04-07 | 固高伺创驱动技术(深圳)有限公司 | Laser cutting control system and control method |
| CN111045393A (en) * | 2019-12-31 | 2020-04-21 | 上海新时达机器人有限公司 | Driving and controlling integrated servo implementation system |
| CN112218795A (en) * | 2019-07-30 | 2021-01-12 | 深圳市大疆创新科技有限公司 | Multi-motor driving method, electronic speed regulator, power system, unmanned aerial vehicle and storage medium |
| CN113960972A (en) * | 2021-11-09 | 2022-01-21 | 广东科伺智能科技有限公司 | Open type driving and controlling system |
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