CN110061680A - Motor driver and automation equipment - Google Patents
Motor driver and automation equipment Download PDFInfo
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- CN110061680A CN110061680A CN201910320425.3A CN201910320425A CN110061680A CN 110061680 A CN110061680 A CN 110061680A CN 201910320425 A CN201910320425 A CN 201910320425A CN 110061680 A CN110061680 A CN 110061680A
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of motor driver and automation equipments, motor driver includes voltage setting circuit, voltage comparator circuit, second optical coupling isolation circuit and control unit, the corresponding the first voltage value of temperature value when IPM module excess temperature is set by voltage setting circuit, and then voltage comparator circuit compares the first voltage value second voltage value corresponding with the operating temperature value of IPM module, and comparison result is exported by the second optical coupling isolation circuit to control unit, further, when control unit determines that IPM module operating temperature is excessively high according to comparison result, stop sending control signal to IPM module, substantially increase the controllability and controllability of IPM overheat protector.
Description
Technical field
The present invention relates to Motor Control Field more particularly to a kind of motor driver and automation equipments.
Background technique
Motor driver is a kind of product being widely used in Industry Control and automated production, such as certainly applied to 3C
A variety of automation control industries such as dynamicization, single-shaft mechanical arm, logistics.Motor driver it is many kinds of, such as have servo motor
Driver and stepper motor driver are by taking motor servo driver as an example here using relevant design and technology.
Motor servo driver is in application process since the factors such as overload and dynamic braking cause inside motor driver
Fever is serious, still takes no action to intervene after temperature is more than certain threshold value, will cause to damage to motor driver internal components
Hurt or shorten the working life, will lead to the risk that equipment stops production or even has initiation fire when serious, wherein most important heater
Part is exactly intelligent power module (Intelligent Power Module, IPM), thus the monitoring temperature of intelligent power module and
Protect the main target just become.
Currently, the IPM module overheat protector used in servo-driver is usually the excess temperature for passing through IPM module itself and having
Defencive function can export an alarm signal, be then delivered to when IPM module runs more than the operating temperature of its inner setting
Main control unit carries out PWM shutdown, to have the function that IPM module overheat protector；But which can not change IPM module mistake
Temperature value when warm runs to how many temperature by the decision of IPM module to realize overheat protector completely, and controllability and controllability are not
By force, and when motor servo driver overtemperature alarm, it not can determine that the running temperature of IPM module at that time, it can be seen that, the prior art
In IPM module realize overheat protector controllability and adjustability it is lower.
Summary of the invention
The present invention provides a kind of motor driver and automation equipments, solve IPM module in the prior art and realize
The lower problem of the controllability and adjustability of temperature protection.
To solve the above-mentioned problems, the present invention provides a kind of motor driver, the motor driver includes that voltage is set
Determine circuit, voltage comparator circuit, the second optical coupling isolation circuit and control unit；
The first input end of the voltage comparator circuit is connect with the voltage setting circuit, the voltage comparator circuit
Second input terminal is connect with the voltage output interface for exporting characterization intelligent power IPM module operating temperature value, the voltage
The output end of comparison circuit is connect with the input terminal of second optical coupling isolation circuit, the output of second optical coupling isolation circuit
End is connect with described control unit；
The first voltage value for the first voltage signal that the voltage comparator circuit is used to input the voltage setting circuit
It is compared with the second voltage value of the second voltage signal of voltage output interface output, and by comparison result described in
Second optical coupling isolation circuit is exported to described control unit；
Described control unit stops when the comparison result is that second voltage value is greater than the first voltage value to the IPM
Module sends control signal.
Optionally, the voltage comparator circuit is also used in the comparison result be that second voltage value is greater than the first voltage value
Shi Shengcheng overtemperature alarm signal, and the overtemperature alarm signal is exported by second optical coupling isolation circuit to the control
Unit.
Optionally, the motor driver further include setting the voltage output interface and the voltage comparator circuit it
Between amplifying circuit；
The amplifying circuit receives the second voltage signal of the voltage output interface output, and the second voltage is believed
Number second voltage value carry out the amplification of preset ratio value, be converted into analog quantity voltage signal and export to the voltage comparator circuit.
Optionally, when the comparison result is low level signal, described control unit is determined according to the comparison result
Before the IPM module operating temperature is excessively high, further includes:
Detection is currently received whether the number of the low level signal is more than n times, and the N is integer and N is more than or equal to
2；
If so, determining that the IPM module operating temperature is excessively high.
Optionally, the first input end of the voltage comparator circuit receives the first voltage of the voltage setting circuit input
Signal, the second input terminal of the voltage comparator circuit receive the analog quantity voltage signal of the amplifying circuit input；
When the first voltage value of the first voltage signal is greater than the third voltage value of the analog quantity voltage signal, institute
The output end output high level signal of voltage comparator circuit is stated to second optical coupling isolation circuit, in the first voltage signal
The first voltage value be less than the analog quantity voltage signal third voltage value when, the voltage comparator circuit output end output
Low level signal is to second optical coupling isolation circuit.
Optionally, the voltage setting circuit includes reference voltage module and divider resistance in parallel；
The reference voltage module is connect with the first input end of the voltage comparator circuit, for setting for the voltage
Circuit provides reference voltage；
The divider resistance is connect with the first input end of the voltage comparator circuit, for the reference voltage module
It is divided.
Optionally, the motor driver further includes braking circuit, current sampling circuit, the braking circuit and the control
Unit connection processed, the current sampling circuit is connect with the braking circuit and described control unit respectively, described for acquiring
The output current signal of braking circuit, and collected output current signal is sent to described control unit；
Described control unit is connect with the input terminal of the braking circuit, for sending dynamic braking to the braking circuit
Signal is controlled, and when for judge the braking circuit operation irregularity according to the output current signal that receives, stopping
The control signal of dynamic braking is sent to the braking circuit.
Optionally, described control unit includes digital signal processing chip and programmable logic device chip, the number
Signal processing chip and/or programmable logic device chip pass through SPI communication agreement and peripheral device interface progress data interaction；
Or,
The digital signal processing chip and/or programmable logic device chip pass through SPI communication agreement and customized logical
Believe that agreement and peripheral device interface carry out data interaction.
Optionally, the peripheral device interface includes analog interface, digital interface, at least one in communication interface
It is a.
To solve the above-mentioned problems, the present invention also provides a kind of automation equipment, the automation equipment includes as above
The motor driver, and the motor connecting with the motor driver, the motor driver is for controlling the electricity
Machine.
Beneficial effects of the present invention:
It includes voltage setting circuit, voltage that the present invention, which provides a kind of motor driver and automation equipment, motor driver,
Comparison circuit, the second optical coupling isolation circuit and control unit；Wherein, the first input end of voltage comparator circuit and voltage are set
Circuit connection, the second input terminal of voltage comparator circuit and the electricity for exporting characterization intelligent power IPM module operating temperature value
Press output interface connection, the output end of voltage comparator circuit connect with the input terminal of the second optical coupling isolation circuit, the second optocoupler every
Output end from circuit is connect with control unit；Voltage comparator circuit is used for the first voltage signal for inputting voltage setting circuit
The second voltage value of second voltage signal that exports of the first voltage value and voltage output interface be compared, and by comparison result
It is exported by the second optical coupling isolation circuit to control unit；It is greater than first according to comparison result by control unit for second voltage value
When voltage value, stop sending control signal to IPM module.
Namely in the present invention, corresponding first electricity of temperature value when IPM module excess temperature is set by voltage setting circuit
Pressure value, and then voltage comparator circuit compares the first voltage value second voltage value corresponding with the operating temperature value of IPM module, into one
Step, control unit is that second voltage value determines that IPM module operating temperature is excessively high when being greater than the first voltage value according to comparison result,
Stop sending control signal to IPM module, substantially increases the controllability and controllability of IPM overheat protector.In addition, passing through the
Two optical coupling isolation circuits receive the comparison result of voltage comparator circuit transmission, and the comparison result is exported into control unit,
So that avoiding the interference as caused by electrical connection, and compare without being electrically connected between comparison result output end and control unit
As a result the generation for phenomena such as corresponding high-voltage signal damages control unit.
Detailed description of the invention
Fig. 1 is that the structure for the motor driver for having IPM module temperature control circuit that the embodiment of the present invention one provides is shown
It is intended to；
The structural schematic diagram one for the IPM module temperature control circuit that Fig. 2-1 embodiment of the present invention one provides；
The structural schematic diagram two for the IPM module temperature control circuit that Fig. 2-2 embodiment of the present invention one provides；
The structural schematic diagram one for the voltage setting circuit that Fig. 2-3 embodiment of the present invention one provides；
The structural schematic diagram two for the voltage setting circuit that Fig. 2-4 embodiment of the present invention one provides；
The structural schematic diagram for the voltage comparator circuit that Fig. 2-5 embodiment of the present invention one provides；
The structural schematic diagram one for the second optical coupling isolation circuit that Fig. 2-6 embodiment of the present invention one provides；
The structural schematic diagram two for the second optical coupling isolation circuit that Fig. 2-7 embodiment of the present invention one provides；
The structural schematic diagram one for the amplifying circuit that Fig. 2-8 embodiment of the present invention one provides；
The structural schematic diagram two for the amplifying circuit that Fig. 2-9 embodiment of the present invention one provides；
The structural schematic diagram three for the IPM module temperature control circuit that Fig. 2-10 embodiment of the present invention one provides；
Fig. 3 is the structural schematic diagram of motor driver control unit provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram of the motor driver provided by Embodiment 2 of the present invention for having simulated measurement input circuit；
Fig. 5 is the structural schematic diagram of the motor driver provided by Embodiment 2 of the present invention for having analogue quantity output circuit；
Fig. 6 is the structural schematic diagram of the motor driver provided by Embodiment 2 of the present invention for having communicating circuit；
Fig. 7 is the structural representation of the motor driver provided by Embodiment 2 of the present invention for having bus current sample circuit
Figure；
Fig. 8 is the structural representation of the motor driver provided by Embodiment 2 of the present invention for having busbar voltage sample circuit
Figure；
Fig. 9 is the structural schematic diagram of the motor driver provided by Embodiment 2 of the present invention for having digital input circuit；
Figure 10 is the structural schematic diagram of the motor driver provided by Embodiment 2 of the present invention for having digital quantity output circuit；
Figure 11 is the structural schematic diagram of the motor driver provided by Embodiment 2 of the present invention for having encoder input circuit；
Figure 12 is the structural schematic diagram of the motor driver provided by Embodiment 2 of the present invention for having encoder output circuit；
Figure 13-1 is the structural schematic diagram one for the motor driver that the embodiment of the present invention three provides；
Figure 13-2 is the structural schematic diagram two for the motor driver that the embodiment of the present invention three provides；
Figure 14-1 is the motor driver front view that the embodiment of the present invention four provides；
Figure 14-2 is the motor driver rearview that the embodiment of the present invention four provides；
Figure 14-3 is the structural schematic diagram of the fixation hole for the first braking resistor that the embodiment of the present invention four provides；
Figure 14-4 is the motor driver right view that the embodiment of the present invention four provides；
Figure 14-5 is the motor driver left view that the embodiment of the present invention four provides；
Figure 14-6 is the motor driver top view that the embodiment of the present invention four provides；
Figure 14-7 is the motor driver bottom view that the embodiment of the present invention four provides；
Figure 14-8 is the motor driver perspective view 1 that the embodiment of the present invention four provides；
Figure 14-9 is the motor driver perspective view 2 that the embodiment of the present invention four provides；
Figure 14-10 is the motor driver perspective view 3 that the embodiment of the present invention four provides；
Figure 15-1 is the electric machine control system schematic diagram that the embodiment of the present invention five provides；
Figure 15-2 is the motor driver structural schematic diagram that the embodiment of the present invention five provides；
Figure 15-3 is gantry controller architecture schematic diagram that the embodiment of the present invention five provides；
Figure 15-4 is the wiring schematic diagram of control equipment and motor driver that the embodiment of the present invention five provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is a part of the embodiment in the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Below by specific embodiment combination attached drawing, invention is further described in detail.
Embodiment one:
Motor driver provided in this embodiment can be applied to various control systems, shown in Figure 1 comprising but it is unlimited
In control unit 11 and the IPM module temperature control circuit 12 being connect with control unit 11；Wherein:
Referring to fig. 2 shown in -1, IPM module temperature control circuit 12 includes voltage setting circuit 121, voltage comparator circuit
122, the second optical coupling isolation circuit 123；Wherein, the first input end of voltage comparator circuit 122 and voltage setting circuit 121 connect
It connects, the second input terminal of voltage comparator circuit 122 and the voltage output interface for exporting characterization IPM module operating temperature value
124 connections, the output end of voltage comparator circuit 122 are connect with the input terminal of the second optical coupling isolation circuit 123, the second light-coupled isolation
The output end of circuit 123 is connect with control unit 11；Voltage comparator circuit 122 be used to input voltage setting circuit 121 the
The second voltage value for the second voltage signal that the first voltage value of one voltage signal is exported with voltage output interface 124 is compared
Compared with, and comparison result is exported by the second optical coupling isolation circuit 123 to control unit 11；By control unit 11 according to compare knot
Fruit is that second voltage value determines that IPM module operating temperature is excessively high when being greater than the first voltage value, stops sending control letter to IPM module
Number.
In some examples of the present embodiment, when comparison result is that second voltage value is greater than the first voltage value, export low
Level signal is to control unit, when determining that IPM module operating temperature is excessively high according to the low level signal received by control unit,
Stop sending control signal to IPM module；When comparison result is that the first voltage value is greater than second voltage value, output high level letter
Number to control unit, control unit is not processed at this time.
In other examples of the present embodiment, when comparison result is that second voltage value is greater than the first voltage value, output
High level signal determines that IPM module operating temperature is excessively high according to the high level signal received by control unit to control unit
When, stop sending control signal to IPM module；When comparison result is that the first voltage value is greater than second voltage value, low electricity is exported
Ordinary mail number is to control unit, and control unit is not processed at this time.
It is worth noting that, can also be that second voltage value is greater than the first electricity in comparison result in some other example
When pressure value, other signals are exported to control unit, and then IPM module work temperature is determined according to the signal received by control unit
When spending high, stop to be adjusted flexibly according to concrete application scene in practical applications to IPM module transmission control signal.
For a better understanding, subsequent export low level signal to control unit with voltage comparator circuit, and then control unit is according to connecing
When the low level signal received determines that IPM module operating temperature is excessively high, stop being said for IPM module transmission control signal
It is bright.
It will be clear that the voltage output interface 124 of characterization IPM module operating temperature value can carry for IPM module
Current temperature value can be converted to corresponding voltage value by IPM module by voltage output interface；Characterize IPM module work temperature
The voltage output interface 124 of angle value can also be the voltage output interface that mutually separates with IPM module, can will be current by IPM module
Temperature value be transferred to voltage output interface, the temperature value received is converted into corresponding voltage value by voltage output interface.
In fact, as long as voltage output interface can export the corresponding second voltage value of characterization IPM module operating temperature value, specifically
The setting position of voltage output interface can be adjusted flexibly according to practical application scene.
It may include inverter module in IPM module, which can be used in motor in some examples of the present embodiment
When exception or failure occurs in driver, facilitates and carry out inspection and troubleshooting, so that motor driver restores to work normally,
Many conveniences are brought for the management of staff.
In the present embodiment, motor driver can also include amplifying circuit, and referring to fig. 2 shown in -2, motor driver is also
Including amplifying circuit 125, wherein amplifying circuit 125 is arranged between voltage output interface 124 and voltage comparator circuit 122, puts
Big circuit 125 receives the second voltage signal that voltage output interface 124 exports, and by the second voltage value of second voltage signal into
The amplification of row preset ratio value, is converted into analog quantity voltage signal and exports to voltage comparator circuit.
For a better understanding, subsequent be illustrated with 12 structure of IPM module temperature control circuit shown in Fig. 2-2.
In the present embodiment, when comparison result is low level signal, control unit 11 determines IPM mould according to comparison result
Before block operating temperature is excessively high, also detection is currently received whether the number of low level signal is more than n times, and wherein N is integer and N
More than or equal to 2, it is more than that n times determine that IPM module operating temperature is excessively high in the number for detecting the low level signal received, that is, controls
Unit 11 processed be repeat n times receive low level signal when, just determination IPM module it is current operating temperature it is excessively high, stop to
IPM module sends control signal, greatly improves the accuracy and reliability of IPM overheat protector in this way.It is worth noting that,
In practical application, the value of N carries out flexible setting according to experiment or experience by developer.
In the present embodiment, shown in referring to figure 2-3, voltage setting circuit 121 may include reference voltage module 1211 and divide
Piezoresistance 1212, wherein reference voltage module 1211 and divider resistance 1212 are in parallel, reference voltage module 1211 and voltage ratio
First input end compared with circuit 122 connects, for providing reference voltage, divider resistance 1212 and electricity for voltage setting circuit 121
The first input end connection for pressing comparison circuit 122, for being divided to reference voltage module 1211.It will be clear that point
The resistance value of piezoresistance 1212 and the reference voltage module 1211 in parallel with divider resistance 1212 is in preset resistance threshold value, i.e.,
The resistance value of voltage setting circuit 121 is adjustable；Specifically, the resistance value of changeable divider resistance, such as first point of selection
Piezoresistance and the second divider resistance, it is in parallel to be provided with the first divider resistance and the second divider resistance, and the first divider resistance and
Second divider resistance is connect respectively with the first input end of voltage comparator circuit 122 or changeable reference voltage module 1211
Resistance value etc..In this way, can correspond to by the resistance value for adjusting voltage setting circuit 121 and adjust voltage setting circuit 121
The first voltage value, flexibility is very high and is easy to manage.
Optionally, in a kind of example, referring to fig. 2 shown in -4, voltage setting circuit includes the first divider resistance R1, second point
Piezoresistance R2, power reference device CATHODE ANODE REF and capacitor C1, wherein R1, R2 and power reference device are simultaneously
Connection, R1, R2 are connect with the first input end of voltage comparator circuit respectively, for dividing to power reference device；Power reference
The connection of the first input end of device and voltage comparator circuit, provides voltage for voltage setting circuit, optionally, power reference device is optional
Select 2.5V or other voltage values；Capacitor C1 is connected to reduce interference, promotion signal is passed for filtering with R2, power reference device
Defeated accuracy, it is to be understood that the structure of voltage setting circuit shown in Fig. 2-4 is only exemplary construction, is actually being answered
It, can be according to specific requirements flexible setting in.
In the present embodiment, the first input end of voltage comparator circuit 122 receives first that voltage setting circuit 121 inputs
Voltage signal, the second input terminal of voltage comparator circuit 122 receive the analog quantity voltage signal that amplifying circuit 125 inputs, the
When the first voltage value of one voltage signal is greater than the third voltage value of analog quantity voltage signal, the output of voltage comparator circuit 122
End output high level signal is believed in the first voltage value of first voltage signal less than analog quantity voltage to the second optical coupling isolation circuit
Number third voltage value when, the output end of voltage comparator circuit exports low level signal to the second optical coupling isolation circuit.Optionally,
Voltage comparator circuit 122 is voltage comparator, and wherein first input end can correspond to positive input terminal, second output terminal can correspond to bear it is defeated
Enter end.
Optionally, in a kind of example, referring to fig. 2 shown in -5, voltage comparator circuit is voltage comparator U3B, wherein first
Input terminal corresponds to positive input terminal 5, and positive input terminal 5 receives the first voltage signal of voltage setting circuit input, second output terminal pair
Answer negative input end 6, negative input end 6 receives the tertiary voltage signal of amplifying circuit input, and output end 7 exports low level signal to the
Two optical coupling isolation circuits.It should be understood that the structure of voltage comparator circuit shown in Fig. 2-5 is only exemplary construction, in reality
It, can be according to specific requirements flexible setting in the application of border.
In some examples of the present embodiment, voltage comparator circuit is also used in comparison result be that second voltage value is greater than the
Overtemperature alarm signal is generated when one voltage value, and the overtemperature alarm signal is exported by the second optical coupling isolation circuit to control list
In member, such control unit directly can determine that IPM module operating temperature is excessively high according to overtemperature alarm signal, so stop to
IPM module sends control signal.
In the present embodiment, referring to fig. 2 shown in -6, the second optical coupling isolation circuit 123 includes shunt resistance 1231, shine mould
Block 1232, photosensitive module 1233, shunt resistance 1231 is for shunting the second optical coupling isolation circuit 123, light emitting module
1232 one end is connect with shunt resistance 1231, and the other end is connect with the output end of voltage comparator circuit 122, is receiving voltage
Photosensitive module 1233 is connected when the low level signal of comparison circuit output, photosensitive module 1233 exports low level signal to controlling list
Member 11.
Optionally, in a kind of example, referring to fig. 2 shown in -7, the second optical coupling isolation circuit includes shunt resistance R3, luminous two
For shunting to the second optical coupling isolation circuit, one end of light emitting diode and R3 connect by pole pipe, triode and capacitor C4, R3
It connects, the output end connection of the other end and voltage comparator circuit is led when receiving the low level signal of voltage comparator circuit output
Logical triode, and then triode exports low level signal to control unit.It is understood that being only to be here with light emitting module
Light emitting diode is example, and light emitting module can also be any other luminescent device, is not specifically limited in this embodiment, likewise,
It here be also only using photosensitive module is triode as example, photosensitive module can also be any other light-sensitive device, to this
It is not specifically limited, it in practical applications, can be according to specific requirements flexible setting.
In the present embodiment, referring to fig. 2 shown in -8, amplifying circuit 125 includes first group of resistance, 1251, second groups of resistance
1252 and operational amplifier 1253；The wherein first input end of the output end of first group of resistance 1251 and operational amplifier 1253
Connection, the output end of second group of resistance 1252 are connect with the second input terminal of operational amplifier 1253, and operational amplifier 1253 is right
The voltage value of first group of 1251 input signal of resistance and the voltage value of second group of 1252 input signal of resistance carry out preset ratio value
Amplification, output analog quantity voltage signal to voltage comparator circuit 122.It will be clear that first group of resistance 1251 may include
One group of sub- resistance one and first group of sub- resistance two, second group of resistance 1252 may include second group of sub- resistance one and second group of sub- resistance
Two, it is to be understood that the sub- resistance two of the first one, first group of sub- resistance, the second sub- resistance one and second group of sub- resistance two
Resistance value can do flexible choice according to application scenarios, if make the ratio of the first sub- resistance one and first group of sub- resistance two, and
Second sub- resistance one is equal with the ratio of second group of sub- resistance two.
In order to reduce differential mode and/or common mode interference, the accuracy of promotion signal transmission can be in amplifying circuit 125
Capacitor is set, and setting first capacitor device is in parallel with the first sub- resistance two, with the differential mode exported for reducing by the first sub- resistance two
The DM EMI that signal generates；It is in parallel with the second sub- resistance two that second capacitor is set, with defeated for reducing by the second sub- resistance two
The DM EMI that difference mode signal out generates；Setting third capacitor be connected with the first sub- resistance one and the second sub- resistance one with
In the common mode interference for reducing the common-mode signal generation that the first sub- resistance one and the second sub- resistance one export.It is worth noting that,
In practical application, specific setting of the capacitor in amplifying circuit can be adjusted flexibly according to concrete application scene.
Optionally, in a kind of example, referring to fig. 2 shown in -9, amplifying circuit 125 includes the first sub- one R7 of resistance, the first son
Two R4 of resistance, the second sub- one R10 of resistance, the second sub- two R11 of resistance, operational amplifier U3A, capacitor C2, capacitor C6, capacitor C5,
Wherein, the ratio of R7 and R4 is equal to the ratio of R10 and R11, pre- to carry out the second voltage value of second voltage signal for U3A
If ratio value amplifies, it is converted into analog quantity voltage signal and exports to voltage comparator circuit；The first input end correspondence of U3A is born defeated
Enter end 2, negative input end 2 is connect with R7, R4, and the second input terminal of U3A corresponds to positive input terminal 3, and positive input terminal 3 and R10, R11 connect
It connects, output end 1 exports analog quantity voltage signal to voltage comparator circuit；Capacitor C2 is in parallel with R4, for filtering to reduce differential mode
Interference promotes the accuracy of the difference mode signal of R4 output；Capacitor C6 is in parallel with R11, for filtering to reduce DM EMI, is promoted
The accuracy of the difference mode signal of R11 output；Capacitor C5 is in parallel with R7, R10, for filtering to reduce common mode interference, promoted R7,
The accuracy of the common-mode signal of R10 output.
For a better understanding, being illustrated here with a kind of specific IPM module temperature control circuit 12.
Referring to fig. 2 shown in -10, IPM module temperature control circuit 12 includes amplifying circuit, voltage setting circuit, voltage ratio
Compared with circuit and the second optical coupling isolation circuit, worked by the characterization IPM module that amplifying circuit receives the output of voltage output interface
The corresponding second voltage value VOT of the second voltage signal of temperature value, and then the second voltage value of second voltage signal is carried out in advance
If ratio value amplifies, it is converted into analog quantity voltage signal and exports to voltage comparator circuit；Voltage comparator circuit is also received to be connected with it
The first voltage signal of the voltage setting circuit input connect, by the first electricity of the first voltage signal of voltage setting circuit input
Pressure value is compared with the second voltage value for the second voltage signal that voltage output interface exports, and comparison result is passed through second
Optical coupling isolation circuit is exported to control unit；When comparison result is low level signal, control unit detection is currently received
When the number of low level signal is more than n times, wherein N is integer and N is more than or equal to 2, determines that IPM module operating temperature is excessively high, stops
Control signal only is sent to IPM module, when comparison result is high level signal, when control unit is not processed.It is worth noting
, amplifying circuit, voltage setting circuit, voltage comparator circuit and the second optical coupling isolation circuit can be respectively referring to above-mentioned figures
The specific descriptions of 2-9, Fig. 2-4, Fig. 2-5, Fig. 2-7, are not repeated herein and repeat.Simultaneously, it should be noted that be only here
A kind of specific IPM module temperature control circuit 12 in practical applications can be according to specific requirements flexible setting.
In the present embodiment, when IPM module excess temperature being set by the voltage setting circuit in IPM module temperature control circuit
The corresponding the first voltage value of temperature value, and then voltage comparator circuit compares the operating temperature value of the first voltage value Yu IPM module
Corresponding second voltage value, further, control unit according to comparison result be second voltage value be greater than the first voltage value when it is true
It is excessively high to determine IPM module operating temperature, stops sending control signal to IPM module, substantially increases the controllability of IPM overheat protector
And controllability.
Embodiment two:
Shown in Figure 3 in the present embodiment, control unit 11 includes digital signal processing chip DSP 111 and may be programmed
Logical device chip FPGA 112, DSP and/or FPGA pass through SPI (Serial Peripheral interface) communication protocol
Data interaction is carried out with peripheral device interface.
Wherein, SPI communication agreement is mainly used in band Electrically Erasable Programmable Read-Only Memory (Electrically
Erasable Programmable read only memory, EEPROM), FLASH flash memory (Flash Memory, FLASH),
Real-time clock, converter, there are also between digital signal processor and digital signal decoder, SPI is a kind of high speed, Quan Shuan
Work, synchronization communication bus, and only take up four lines on the pin of chip, saved the pin of chip, while being printing
Space is saved in the layout of circuit board (Printed Circuit Board, PCB), provides conveniently, there is spy easy to use
Property.In some examples of the present embodiment, DSP and/or FPGA can also be by SPI communication agreement and self-defining communication protocols and outer
Peripheral equipment interface carries out data interaction.In other examples of the present embodiment, DSP and/or FPGA can also be by customized logical
Believe that agreement and peripheral device interface carry out data interaction.It is worth noting that, in practical applications, communication protocol can be according to tool
Body demand flexible choice.In some examples of the present embodiment, control unit can only include digital signal processing chip DSP,
Or control unit can also only include programmable logic device chip FPGA or control unit can also include any other form
Chip, as long as being able to achieve the interaction to induction signal.
It will be clear that data interaction can be carried out between DSP and FPGA, to complete the corresponding function of motor driver,
To realize the normal work of motor driver, for example, FPGA receives the transmission of encoder input interface in a kind of example
RS485 bus communication signal, is handled by FPGA at this time, and data interaction corresponding with DSP progress, and then is outputed signal to
Encoder output interface.It is worth noting that, being illustrated it is only for interactive between a kind of DSP and FPGA, actually answering
Interacting in, between DSP and FPGA need to be adjusted flexibly according to concrete application scene.
It is understood that DSP is a kind of special microprocessor, architecture is directed to the operation of Digital Signal Processing
It needs to be optimized, the target of DSP is usually to measure, filter or compress continuous real simulation signal, most of general micro-
Processor can also be successfully executed digital signal processing algorithm, but dedicated DSP usually has better power efficiency.It is optional
, using the micro- of Texas Instrument's model TMS320F280049/280040/280041/280045/280048 in the present embodiment
Controller can be good at meeting the needs of various application scenarios, simultaneously because its performance is stable, cost is relatively low, therefore can drop
The cost of low motor driver, and can guarantee the performance of motor driver, while promoting the cost performance of motor driver.
It will also be appreciated that FPGA uses logical cell array LCA (Logic Cell Array), inside includes can
Configure logic module (Configurable Logic Block, CLB), input/output module (Input Output Block,
) and three parts of interconnector (Interconnect) IOB.FPGA is programming device, with conventional logic circuit and gate array
(such as PAL, GAL and CPLD device) is compared, and FPGA has different structures.FPGA is using small-sized look-up table (16 × 1RAM) come real
Existing combinational logic, each look-up table are connected to the input terminal of a d type flip flop, and trigger drives other logic circuits or drive again
Dynamic I/O, thus constitutes the basic logic unit module that can not only realize combination logic function but also can realize sequential logic function, this
A little intermodules interconnect or are connected to I/O module using metal connecting line.The logic of FPGA is by internally static storage list
Member load programming data come what is realized, store value in a memory cell determine logic unit logic function and each mould
Connecting mode between block or between module and I/O, and finally determine function achieved by FPGA, FPGA allows unlimited number of
Programming.Optionally, the microcontroller of LCMXO2-1200HC series is used in the present embodiment to meet the need of various application scenarios
It asks.In the present embodiment, peripheral circuit then can flexible setting according to demand, such as may include but be not limited to RAM, ROM, timing
At least one of peripheral circuits such as device, interrupt schedule.
In the present embodiment, peripheral device interface includes but is not limited to analog interface, digital interface, communication interface,
Peripheral device interface may include analog interface, digital interface, any one or any combination in communication interface,
Such as in a kind of example, peripheral device interface includes analog interface, digital interface, communication interface.It is worth noting that,
Only several frequently seen peripheral device interface recited herein in practical applications can be according to specific requirements flexible setting.
In the present embodiment, when peripheral device interface includes analog interface, analog interface is connect to carry out with DSP
Data interaction, wherein analog interface may include analog input interface and/or analog output interface circuit, analog input interface
Connect with DSP by simulated measurement input circuit to carry out data interaction, analog output interface circuit by analogue quantity output circuit with
DSP connection is to carry out data interaction.
Shown in Figure 4, motor driver further includes simulated measurement input circuit 13, and wherein analog input interface passes through mould
Analog quantity input circuit 13 is connect with DSP, optionally, analog signals to be input to for analog signals to be input to DSP
The A/D mouth of DSP, and then handled by DSP, optionally, the settable two-pass DINSAR input circuit of simulated measurement input circuit or one
Road single ended input circuit.
Shown in Figure 5, motor driver further includes analogue quantity output circuit 14, and wherein analog output interface circuit passes through mould
Analog quantity output circuit 14 is connect with DSP, for by DSP, treated that signal is exported to analog output interface circuit, optionally, mould
The settable two-pass DINSAR output circuit of analog quantity output circuit or all the way Single-end output circuit.
In the present embodiment, when peripheral device interface includes communication interface, communication interface is connect to carry out data with DSP
Interaction, wherein communication interface is connect with DSP by communicating circuit to carry out data interaction.Shown in Figure 6, motor driver is also
Including communicating circuit 15, it is understood that, communication interface is used for transmission debugging signal or communication signal, communication interface may include
At least one of RS485 communication interface, RS232 communication interface, USB communication interface；When communication interface includes that RS485 communication connects
When mouth, RS485 communication interface is connect with DSP by RS485 communicating circuit to carry out signal interaction, and optionally, RS485 communication connects
First SCI mouthfuls of progress signal interactions of mouth and DSP；When communication interface includes RS232 communication interface, RS232 communication interface is logical
RS232 communicating circuit is crossed to be connect with DSP to carry out signal interaction, optionally, RS232 communication interface and DSP the 2nd SCI mouthfuls into
Row signal interaction；When communication interface includes USB communication interface, USB communication interface by USB communicating circuit connect with DSP with
Carry out signal interaction, optionally, USB communication interface and RS232 communication interface share DSP the 2nd SCI mouthfuls to carry out signal friendship
Mutually.It is worth noting that, only several frequently seen communication interface recited herein, the invention is not limited to these typess to communicate
Interface in practical applications can be according to specific requirements flexible setting.
Shown in Figure 7 in some examples of the present embodiment, motor driver further includes the bus electricity connecting with DSP
Flow sample circuit 16, wherein bus current sample circuit 16 for acquire bus current value (namely acquisition motor driver itself
The current value of power supply) and it is transmitted to DSP, it is handled by DSP.
Shown in Figure 8 in some examples of the present embodiment, motor driver further includes the bus electricity connecting with DSP
Press sample circuit 17, wherein busbar voltage sample circuit 17 for acquire bus voltage value (namely acquisition motor driver itself
The voltage value of power supply) and it is transmitted to DSP, it is handled by DSP.In the case where motor is in enabled state, busbar voltage sampling electricity
The voltage value that road 17 passes over starts braking circuit when being greater than default first voltage threshold value, and in starting braking circuit
Afterwards, when detecting that voltage value is less than default second voltage threshold value, braking circuit is disconnected, wherein first voltage threshold value is greater than the second electricity
Threshold value is pressed, and the two threshold values can flexibly be set according to specific application scenarios.
In the present embodiment, when peripheral device interface includes digital interface, digital interface is connect to carry out with FPGA
Data interaction, wherein digital interface may include digital-quantity input interface and/or digital-quantity output interface, digital-quantity input interface
Connect with FPGA by digital input circuit to carry out data interaction, digital-quantity output interface by digital quantity output circuit with
FPGA connection is to carry out data interaction.
Shown in Figure 9, motor driver further includes digital input circuit 18, and wherein digital-quantity input interface passes through number
Word amount input circuit 18 is connect with FPGA, to be used to digital quantity signal being input to FPGA, optionally, by digital quantity input signal
Be input to the I/O port of FPGA, handled by FPGA, optionally, digital input circuit may be configured as 9 tunnels support common cathode and/or
Single-ended or/double-width grinding the circuit of common anode form.
Shown in Figure 10, motor driver further includes digital quantity output circuit 19, and wherein digital-quantity output interface passes through
Digital quantity output circuit 19 is connect with FPGA, optional with for by FPGA, treated that signal is exported to digital-quantity output interface
, the signal exported from the I/O port of FPGA is exported to digital quantity output circuit, optional digital quantity output circuit may be configured as
No. six output circuits, wherein four tunnels are the Single-end output for supporting common cathode and/or common anode form, two-way is both-end output.
In some examples of the present embodiment, peripheral device interface may also include encoder interfaces, encoder interfaces with
FPGA connection is to carry out data interaction, and wherein encoder interfaces may include encoder input interface and/or encoder output interface,
Encoder input interface is connect with FPGA by encoder input circuit to carry out data interaction, and encoder output interface passes through volume
Code device output circuit is connect to carry out data interaction with FPGA.
Shown in Figure 11, motor driver further includes encoder input circuit 101, and wherein encoder input interface passes through
Encoder input circuit 101 is connect with FPGA, for RS485 bus/CAN bus/Ethercat bus communication signal is defeated
Enter to FPGA, handled by FPGA, and then signal interaction is carried out by FPGA and DSP again.
Shown in Figure 12, motor driver further includes encoder output circuit 102, and wherein encoder output interface passes through
Encoder output circuit 102 is connect with FPGA, with for by RS485 bus/CAN bus after FPGA and DSP interaction process/
Ethercat bus communication signal is exported to encoder output interface, and optionally, it is poor that encoder output circuit may be configured as A, B, Z
Divide output circuit and/or Single-end output circuit.
Embodiment three:
In order to realize that the fault detection of braking circuit with lifting system reliability, present embodiments provides a kind of motor driven
Device.Referring to Figure 1 shown in 3-1, which includes control unit 11, current sampling circuit 103 and braking circuit
104；Current sampling circuit 103 is connect with braking circuit 104 and control unit 11 respectively, and current sampling circuit 103 is for acquiring
The output current signal of braking circuit 104, and collected output current signal is sent to control unit 11；Control unit 11
It is connect with the input terminal of braking circuit 104, controls signal for sending dynamic braking to braking circuit 104, and be used for basis
When the output current signal received judges the braking circuit operation irregularity, stop sending dynamic braking to braking circuit 104
Control signal；Namely the real-time detection of braking circuit exception may be implemented in motor driver provided in this embodiment, and is detecting
High current pair when timely being controlled when to braking circuit operation irregularity braking circuit, and then preventing braking circuit from failing
The damage of DC filtering unit and driving unit and the failure propagation of rear stage circuit, to improve the reliability of system.
In the present embodiment, the mode for acquiring the output current signal of braking circuit 104 can be with flexible setting, as long as can adopt
Assessment foundation can whether abnormal as the work of braking circuit 104 collected.For example, in a kind of application example, braking circuit
104 include dynamic braking switching device, and current collection circuit 203 is connect with the output end of dynamic braking switching device, for adopting
Collect the output current signal of the dynamic braking switching device.And it should be understood that dynamic braking derailing switch in the present embodiment
Part can also be selected flexibly, such as insulated gate bipolar transistor IGBT (Insulated can be used in the dynamic braking switching device
Gate Bipolar Transistor), and the IGBT can be for by BJT (double pole triode) and MOS (insulation in a kind of example
Grid-type field-effect tube) composition compound full-control type voltage driven type power semiconductor, have the high input impedance of MOSFET concurrently
With the low conduction voltage drop both sides advantage of GTR.GTR saturation pressure reduces, and current carrying density is big, but driving current is larger；MOSFET
Driving power very little, switching speed is fast, but conduction voltage drop is big, and current carrying density is small.Therefore the IGBT that the present embodiment uses is combined
The advantages of both the above device, driving power is small and saturation pressure reduces.
Electricity in order to further enhance the reliability and corresponding speed of system, referring to Figure 1 shown in 3-2, in the present embodiment
Machine driver may also include first connect respectively with the input interface of the output end of current sampling circuit 103 and control unit 11
Optical coupling isolation circuit 105；
The output current signal of the braking circuit 104 of acquisition is passed through the first optical coupling isolation circuit by current sampling circuit 103
105 outputs are to control unit 11.The first optical coupling isolation circuit 105 in the present embodiment in the case where electric isolution, can light be
Medium transmits signal, and input and output side is isolated, to effectively inhibit system noise, eliminates the dry of earth-return circuit
Disturb, there is that response speed is very fast, the service life is long, impact resistance small in size, thus can lifting system reliability and response speed.
In a kind of example of the present embodiment, current sampling circuit 103 include sampling resistor and current-limiting protection/protective parts, first
Optical coupling isolation circuit 105 includes photo-coupler, and one end of sampling resistor and the output end of IGBT connect, the other end and photo-coupler
Input terminal cathode be connected；One end of current-limiting protection/protective parts is connected with bus, and the input terminal of the other end and photo-coupler is just
Extremely it is connected, the output end of photo-coupler and the input interface of control unit connect.Optionally, in another example of the present embodiment
In, current sampling circuit may also include anode connect with IGBT output end, cathode be connected with current-limiting protection/protective parts with bus one
Hold the protection diode being attached.
In a kind of example in the present embodiment, in order to promote the reliability of circuit and reduce the interference of signal, this implementation
The first optical coupling isolation circuit 105 in example further includes the front end filter being parallel between the positive electrode and negative electrode of the input terminal of photo-coupler
Wave circuit, and/or, the rear end filter circuit being parallel between the output port of photo-coupler and ground.And it should be understood that originally
The concrete composition mode of front-end filtering circuitry and rear end filter circuit in embodiment can be with flexible choice, such as can pass through filter
Wave capacitor or filter capacitor and resistor coupled in parallel are composed.For example, front-end filtering circuitry may include but be not limited in parallel connect
The front-end filtering resistance and front-end filtering capacitor connect.
In the application scenes of the present embodiment, dynamic braking control signal can be but be not limited to pulse control signal,
The waveform that output current signal is formed is compared by control unit 11 with the impulse waveform of dynamic braking control signal, in the two
When waveform is inconsistent, braking circuit operation irregularity is determined.This judgment mode is not only efficiently but also accurate.
In a kind of example of the present embodiment, dynamic braking control signal can be but be not limited to the period less than or equal to 500us
Pulse signal, such as concretely the period equal to 500us pulse signal or the period equal to 400us pulse signal or week
Phase is equal to the pulse signal etc. of 300us.And the wave of the pulse signal including at least one complete cycle can be intercepted in the present embodiment
Shape is compared to judge whether the two is consistent with the waveform that the current signal of corresponding duration is formed.Such as can intercept one it is complete
The waveform of the pulse signal of complete cycle is compared, can also intercept two or three or two and half period pulse signal wave
Shape is compared, and specifically can flexibly be intercepted according to specific requirements.
In addition, in some examples of the present embodiment, in order to further enhance the accuracy of system control, control unit 11
After the impulse waveform of the waveform and dynamic braking control signal that determine output current signal formation is inconsistent, braking circuit is determined
Before operation irregularity, it is also used to determine that the waveform for being currently consecutively detected output current signal formation and dynamic braking control signal
The inconsistent number of impulse waveform whether be more than or equal to preset frequency threshold value N, if so, just determining that braking circuit work is different
Often, the value of N is the integer more than or equal to 2.Such as the value of the N can be 2, or be 3,4 etc., it specifically can be according to application scenarios
Flexible choice.
Optionally, in some examples of the present embodiment, control unit 11 after determining 104 operation irregularity of braking circuit,
It is also used to export alarm signal and carries out alarm indication on the display unit.To allow user that can intuitively view braking circuit
104 abnormal alarms are to make corresponding intervention processing, and then high current when preventing braking circuit from failing is to DC filtering
The damage of unit and driving unit and the failure propagation of rear stage circuit, to improve the reliability of system.
Example IV:
Motor driver provided in this embodiment include shell, with the shell cooperatively form the radiator of enclosure space with
And it is set to the main control board in the enclosure space, drive control circuit and inner ground are provided on main control board
Line.
In the present embodiment, a main control board can be set on motor driver, to save motor driver cost,
And it may make the volume of motor driver smaller.In some examples of the present embodiment, it may also set up two or more
Main control board can be adjusted flexibly in practical applications according to concrete application scene.
In the present embodiment, referring to shown in Figure 14-1, shell is fixedly installed the first ground connection connecting with inner ground line
Screw 201 and the second earthing screw 202；First earthing screw 201 be used for outside ground line connection or with upper level motor
The second earthing screw connection on driver, the second earthing screw 202 are used for and the first ground connection on next stage motor driver
Screw connection is hanging.
In the present embodiment, at least one of the first earthing screw 201 and the second earthing screw 202 are set to shell
On front, in a kind of example, the first earthing screw 201 and the second earthing screw 202 are arranged on the front of shell, Huo Zhe
One earthing screw 201 and the second earthing screw 202 can also be provided at other regions of shell, for example, be arranged in shell top surface or
Left side or right side etc..It will be clear that in practical applications, the first earthing screw 201 and the second earthing screw 202 exist
Setting position on shell can be adjusted flexibly according to concrete application scene, as long as the position of setting can guarantee that motor driver exists
Stablizing on vertical direction is placed.
In some examples of the present embodiment, when the first earthing screw 201 and the second earthing screw 202 are arranged at shell
Front on when, specifically, the first earthing screw 201 and the second earthing screw 202 may be disposed at shell front on any area
Domain, for example, front is close to upper area, positive intermediate region, front close to lower end area etc., it is to be understood that ground connection spiral shell
Nail is for being grounded, it is preferred, therefore, that the first earthing screw 201 can be arranged with the second earthing screw 202 close in shell front
Cabling etc. is saved to facilitate ground connection in the region of lower end.
In some examples of the present embodiment, earthing screw be may be provided on earthing screw seat, specifically, the first ground connection spiral shell
Nail 201 and the second earthing screw 202 may be provided on the same earthing screw seat, can also be separately positioned on different ground connection spiral shells
In nail seat, specifically, earthing screw seat can be fixed on by welding when earthing screw is arranged on earthing screw seat
On main control board, it is to be understood that for earthing screw seat for installing earthing screw, i.e. the effect of earthing screw seat is to connect
Floor screw provides a supporting body and also may not need earthing screw being mounted on ground connection in other examples of the present embodiment
On screw base, directly earthing screw and main control board are fixed, or earthing screw is mounted on to the supporting body of other forms
On, the present invention is not specifically limited in this embodiment.
In the present embodiment, referring to shown in Figure 14-2, the back side of shell is fixedly installed for placing the first braking resistor
212 accommodation groove, the first braking resistor 212 is fixed in accommodation groove, and is connect with braking circuit.Namely pass through in the present embodiment
The first braking resistor being arranged, can occur in motor driver operational process revolving speed it is excessively high in the case where, very easily more
Braking resistor is changed, i.e., need to only be dismantled from the back side of shell the first configured braking resistor, accesses more powerful the again
One braking resistor, while shell space is also saved, preferably achieve the purpose that reduce motor speed.
In the present embodiment, motor driver may also include fixing piece, and the opposite both ends of the first braking resistor 212 are set respectively
It is equipped with fixation hole, accommodating trench bottom position corresponding with fixation hole is provided with connecting hole, and fixing piece passes through the first braking resistor
212 fixation hole is simultaneously fixed in the connecting hole of accommodating trench bottom, and the first braking resistor is fixed in accommodation groove.Referring to figure
Shown in 14-3, direction shown in arrow is the short transverse of the first braking resistor in figure.Fixation hole in first braking resistor 212 can
It is divided into upper layer fixation hole 2121 and lower layer's fixation hole 2122 along short transverse, and the aperture of upper layer fixation hole 2121 is greater than or equal to
The aperture of lower layer's fixation hole 2122, fixing piece (being as shown in the figure screw) pass through the fixation hole of the first braking resistor 212 and fixation
After in the connecting hole of accommodating trench bottom, the upper end of fixing piece is located in the fixation hole of upper layer.Optionally, fixing piece can be screw,
Screw is screwed in into upper layer fixation hole and lower layer's fixation hole and is fixed in the connecting hole of accommodating trench bottom, screw, which emits, is then located at upper layer
In fixation hole, protrusion is emitted to avoid screw, staff is brought inconvenience or damaged, and improve aesthetics to a certain extent,
Fixation hole can be not specifically limited in this embodiment at the middle and upper levels for the through-hole of the other shapes such as semi-circular through hole or U-shaped through-hole, the present invention for it,
In practical applications, it can be adjusted flexibly according to concrete application scene.
In the present embodiment, motor driver may also include display unit, for example, referring also to shown in Figure 14-1, shell
Front is provided with the cavity for accommodating display unit, display unit 211 be set in cavity and with the driving control on main control board
Circuit connection processed.Display unit in the present embodiment includes a bearer circuit plate, is wherein provided with display on bearer circuit plate
Device, optionally, display device can be display panel, display screen etc..In some examples of the present embodiment, display unit 211
Display device, is directly externally exposed by lid that can be unobstructed, in other examples of the present embodiment, display unit 211
There can also be the lid blocked, only when the lid blocked is opened, the display device of display unit 211 is just externally exposed.This
The fluting passed through for bearer circuit plate is provided in embodiment on main control board, bearer circuit plate, which passes through the fluting, will show list
Member is fixed on main control board；Preferably, directly bearer circuit plate can be vertically welded on main control board, bearer circuit
The signal link of plate and main control board connects after adding tin by the pad of 2 pcb board joints, to guarantee certain intensity,
The mode of the installation display unit is connect without using flexible cord with circuit board, avoids the complexity connected by each flexible cord, and
It ensure that the intensity of display unit installation to a certain extent.
In the present embodiment, it can be connect by least one side and the back side of shell with radiator empty to cooperatively form closing
Between, in a kind of example, referring to shown in Figure 14-4, the right side and the back side of shell are connect with radiator 213 by connector, specifically
, can by shell right side close to radiator region be arranged the first connector and radiator close to shell right side
(border circular areas 219 of dotted line show the first connector and connects with third in Figure 14-4 for the third connector connection of region setting
Schematic diagram after part connection), likewise, close to the second connector of the region of radiator setting and can be radiated by back side of shell
Device connects (not shown) close to the 4th connector that the region of back side of shell is arranged.It is understood that in order to enable shell
The connection of body and radiator is more secured, can be arranged multiple connectors in the join domain of shell and radiator, and then by shell
Multiple connectors of body are connect with multiple connectors of radiator respectively, such as see also shown in Figure 14-4, empty in Figure 14-4
The border circular areas 220 of line show the schematic diagram after another connector connection of another connector and radiator of shell.It is worth
It is noted that in practical applications, the number for the connector being arranged on shell and radiator can do spirit according to concrete application scene
Adjustment living, in addition, arbitrary connector can be used in connector, as long as being able to achieve the connection of shell and radiator.At other
In example, the left side and the back side that can also be shell are connect with radiator 213 by connector.It is worth noting that, in reality
In the application of border, it can be adjusted flexibly according to concrete application scene.
In some examples of the present embodiment, radiator can extend to the top surface of shell along the short transverse of shell right side
And/or bottom surface, in a kind of example, referring also to shown in Figure 14-6, Figure 14-7, short transverse of the radiator 213 along shell right side
The top and bottom of shell are extended to, and are flushed with top and bottom, in other examples, radiator can be along shell right side
Short transverse extends to any one in the top surface or bottom surface of shell, or needs not extend to the top and bottom etc. of shell.
It is worth noting that, in practical applications, can be adjusted flexibly according to concrete application scene.
It will be clear that the radiator provided in the present embodiment extends outward radiating fin along its own side, together
Sample, referring to shown in Figure 14-4, the radiating fin extended radiating fin parallel with shell front, while extending to form
Generally inverted L shape.
Also it will be clear that being provided with the grounding through hole connecting with inner ground line on main control board, on radiator
It is provided with position earthing screw corresponding with grounding through hole hole, built-in earthing screw passes through grounding through hole and screws in earthing screw
Hole, the part that built-in earthing screw is located in grounding through hole are connect with inner ground line, using which, realize radiator with
The connection of inner ground line on main control board, it is not necessary that the entire side of shell is extended outward to form radiator all to realize
The connection of radiator and inner ground line largely reduces the motor driver inner space of radiator occupancy, and
It substantially reduces the volume of radiator and reduces the heat dissipation cost of motor driver.
In order to further increase radiating efficiency and heat dissipation effect, in the present embodiment, can also the front of shell, the back side,
Heat dissipating grid is arranged in the partial region at least one in top surface, bottom surface, left side and right side, wherein heat dissipating grid is used
In the heat inside motor driver is shed from the heat dissipating grid.In some examples of the present embodiment, referring to Figure 14-4 institute
Show, heat dissipating grid 214 can be set in the right side of shell, or referring to shown in Figure 14-5, can set in the left side of shell
Heat dissipating grid 214 is set, or referring to shown in Figure 14-6, heat dissipating grid 214 can be set in the top surface of shell, or referring to figure
Shown in 14-7, heat dissipating grid 214 can be set in the bottom surface of shell.It will be clear that heat dissipating grid can be set in shell
Any one in front, the back side, top surface, bottom surface, left side and right side or any combination face dissipate in practical applications
Hot grid can be adjusted flexibly in the specific setting position of shell according to concrete application scene.
Various automation control areas can be applied to by motor driver in this present embodiment, therefore in order to meet difference
The demand of application scenarios, the rational deployment of various interfaces on motor driver, for motor driver different application scene
Wiring and the demand to installation space etc. be just particularly important.In the present embodiment, motor driver further includes interface list
Member, interface unit are fixed on main control board and are revealed in outside by the hollow hole that shell is arranged.Wherein, interface list
Member includes at least one of first interface unit, second interface unit, and in a kind of example, interface unit includes first interface list
Member and second interface unit, in other examples, interface unit in addition to include first interface unit, in second interface unit extremely
It is one few, it may also include other interface units, in practical applications, can be adjusted flexibly according to concrete application scene.
It is understood that first interface unit is set by shell front when interface unit includes first interface unit
The hollow hole set is revealed in outside, and when interface unit includes first interface unit, second interface unit is set by housing top surface
The hollow hole set is revealed in outside.
In a kind of example, first interface unit includes control signaling interface, encoder interfaces, power interface, machine winding
At least one of interface, protecting field interface.In other examples, first interface unit further includes debugging interface, braking resistor
At least one of interface, common DC bus interface.For a better understanding, here with a kind of specific first interface unit packet
For the interface included, referring to shown in Figure 14-1, first interface unit includes debugging interface 210, control signaling interface 209, coding
Device interface 208, power interface 206, braking resistor interface 205, machine winding interface 204, protecting field interface 203, and debugging connects
Mouth 210, control signaling interface 209, encoder interfaces 208, power interface 206, braking resistor interface 205, machine winding interface
204, interface is carried out subregion concentrated setting in this way, convenient for the management and peace of interface by the successively adjacent distributions of protecting field interface 203
Dress use, promoted installation effectiveness and avoid as far as possible because interface setting it is disorderly and unsystematic due to cause interface to connect the phenomenon that malfunctioning.
In a kind of example, second interface unit includes at least one communication interface, such as second interface unit includes RS232
At least one of communication interface, RS485 communication interface, CAN communication interface, Ethercat communication interface, wherein communication interface
It is used for transmission debugging signal or communication signal.In other examples, second interface unit may also include update switch, which opens
Pass is updated the software program or driver of motor driver for triggering motor driver more new signal, also can be used
Burning is carried out in software program or driver of the triggering motor driver programming signal to motor driver.In order to preferably manage
Solution, here by taking a kind of interface that specific second interface unit includes as an example, referring to shown in Figure 14-6, second interface unit includes
First communication interface 215, the second communication interface 216 update switch 217, and the first communication interface 215, the second communication interface
216,217 adjacent distributions of switch are updated.
In the present embodiment, motor driver may also include indicating unit, which is used for according to motor driver
Power supply service condition carries out corresponding instruction and lights.In a kind of example, referring to shown in Figure 14-1, indicating unit 207 is settable
On the front of shell, specifically, indicating unit 207 is arranged in encoder interfaces 208 and 206 intermediate region of power interface.?
In other examples, the interface that indicating unit 207 and second interface unit include can also be arranged in together to the top surface of shell, with for
Interface arrangement in first interface unit provides more locational spaces.
It is understood that being set to when first interface unit includes the braking resistor interface connecting with braking circuit
The first braking resistor in the accommodation groove of back side of shell is connect by conducting wire with braking resistor interface, for example, with reference to Figure 14-7 institute
Show, the bottom surface of shell is provided with the metallic channel 218 for accommodating conducting wire, and conducting wire extends into metallic channel, edge from the back side of shell
Metallic channel extend to shell front connect with braking resistor interface.
In order to better understand the present invention, it is illustrated here with a kind of specific motor driver, referring to Figure 14-
8, shown in Figure 14-9, Figure 14-10.
Motor driver includes that shell and shell cooperatively form the radiator of enclosure space and be set in enclosure space
Main control board, the grounding through hole for being provided with inner ground line and being connect with inner ground line on main control board；
Wherein, the front of shell is fixedly installed the first earthing screw 201 connecting with inner ground line and the second ground connection
Screw 202, the first earthing screw 201 are used to be grounded with external ground line connection or with second on upper level motor driver
Screw connection, the second earthing screw 202 lead to for connecting with the first earthing screw on next stage motor driver or vacantly
The first earthing screw and the second earthing screw for crossing setting can realize the cascade ground connection between different motor drivers, for the people that works
Use, installation and the management of member brings many conveniences.
Optionally, the front of shell is additionally provided with first interface unit, and wherein first interface unit includes successively adjacent point
Debugging interface 210, control signaling interface 209, encoder interfaces 208, power interface 206, the braking resistor interface 205, electricity of cloth
Interface is carried out subregion concentrated setting in this way, convenient for the management and installation of interface around group interface 204, protecting field interface 203 by machine
It uses.
Optionally, the front of shell is additionally provided with the indicating unit 207 being disposed adjacent with first interface unit, to be used for root
Corresponding instruction is carried out according to motor driver power supply service condition to light.
Optionally, the front of shell is additionally provided with display unit 211, and the unobstructed lid of the display unit 211 is exposed to
Outside easily facilitates user's use, and has saved cost to a certain extent, while the bearer circuit plate that the display unit includes
Weldering by the way of being vertically welded on main control board, in the signal link joint of bearer circuit plate and main control board
Disk connects after adding tin, ensure that certain intensity, while avoiding the complexity connected by each flexible cord.
Wherein, the back side of shell is fixedly installed the accommodation groove for placing the first braking resistor 212, the first braking resistor
212 are fixed in accommodation groove, and connect with braking circuit.Specifically, the opposite both ends of the first braking resistor 212 are respectively arranged with
Fixation hole, fixation hole can be divided into upper layer fixation hole and lower layer's fixation hole along short transverse, and the aperture of upper layer fixation hole be greater than or
Equal to the aperture of lower layer's fixation hole, accommodates trench bottom position corresponding with fixation hole and be provided with connecting hole, screw passes through first
The fixation hole of braking resistor 212 and be fixed on accommodating trench bottom connecting hole in after, the upper end of screw is located in the fixation hole of upper layer.
Meanwhile first braking resistor 212 connect with the braking resistor interface in first interface unit by conducting wire, specifically, in shell
Bottom surface be provided with the metallic channel 218 for accommodating conducting wire, conducting wire extends into metallic channel 218 from the back side of shell, along leading
The front that wire casing 218 extends to shell is connect with braking resistor interface.In this way, can occur in motor driver operational process
In the case that revolving speed is excessively high, need to only dismantle the first configured braking resistor from the back side of shell, easily facilitate braking resistor
Replacement, further offer convenience for staff.
Wherein, the right side and the back side of shell are connect with radiator 213, specifically, radiator 213 and shell right side,
The back side is connected by connector, and the short transverse of radiator 213 laterally extends to the top and bottom of shell, and with top
Face and bottom surface flush, and heat sink side extends outwardly out radiating fin, and wherein radiating fin is inverted L shape on the whole.It can
With understanding, it is provided with the grounding through hole connecting with inner ground line on main control board, is provided with position on radiator 213
Earthing screw corresponding with grounding through hole hole, built-in earthing screw pass through grounding through hole and screw in earthing screw hole, built-in ground connection
The part that screw is located in grounding through hole is connect with inner ground line, in this way, the connection of radiator Yu inner ground line is realized,
It is not necessary that the entire side of shell is all extended outward to form radiator to realize the connection of radiator Yu inner ground line, very big
The motor driver inner space of radiator occupancy is reduced in degree, while substantially reducing the volume of radiator, is saved
The heat dissipation cost of motor driver.
Wherein, in order to further increase radiating efficiency and heat dissipation effect, can also the top surface, bottom surface, left side of shell with
And heat dissipating grid 214 is set on the partial region of right side, with for by the heat inside motor driver from the heat dissipating grid 214
It sheds.In addition, being provided with second interface unit on the top surface of shell, second interface unit includes the first of successively adjacent distributions
Communication interface 215, the second communication interface 216 and a update switch 217, wherein the first communication interface 215 and the second communication
Interface 216 is used for transmission debugging signal or communication signal, updates switch 217 for triggering motor driver more new signal to motor
The software program or driver of driver are updated, and can also be used to trigger motor driver programming signal to motor driven
The software program or driver of device carry out burning.
Embodiment five:
The present embodiment additionally provides a kind of automation equipment, including as above motor driver shown in each embodiment, and
The motor connecting with motor driver, motor driver is for controlling motor.The automation equipment can be applied to it is various from
Dynamicization control field, such as the automation equipment can be robotic device or logistics trolley or 3C automation equipment etc..One
In a little application scenarios, for example including but be not limited to the scenes such as large-sized numerical control planer, laser welding apparatus, glass processing, due to relating to
And the breadth arrived is larger, and requires the processing speed of service very fast；Equipment is driven according to single shaft in these application scenarios
Then it is unable to satisfy rapid processing requirement；Therefore it is generally run using double Y-axis for this kind of scene, needs to use in this case
Two motor drivers control two motors respectively.If double Y-axis occur asynchronous, it is easily damaged machine.In order to avoid as far as possible
The situation, current way are that the information realization two-axis position fed back based on the encoder on motor is synchronized.This controlling party
The wiring of formula is extremely complex, and easy error causes reliability to be told somebody what one's real intentions are, and the transmitting of data mainly uses differential signal, adjustment parameter
More, control is more complicated, causes use cost and maintenance cost high.
In order to make it easy to understand, two motor drivers for claiming electric machine control system to use in the present embodiment are respectively the first electricity
Machine driver and the second motor driver.But it is to be understood that the electric machine control system in the present embodiment is not limited to control
The synchronous operation of two motors, for three and three or more motors synchronous operation control can and so on, herein no longer
It repeats.
A kind of electric machine control system provided in this embodiment is referring to Figure 1 shown in 5-1 comprising control equipment 31, first
Motor driver 32, first motor driver 32, the second motor driver 33 and the second motor 35；Wherein first motor drives
Device 32 and control 31 communication connection of equipment, first motor driver 32 are connect with the first motor 34 that it is driven, the second motor
Driver 33 is connect with first motor driver 32 by communication bus, and the concrete type of the communication bus can be selected flexibly,
Such as it can use but be not limited to any one in RS485 bus, CAN bus and industry ethernet；Second motor driver
33 connect with the second motor 35 that it is driven, in which: first motor driver 32 is used to obtain first of first motor 34
Confidence breath, which is preferably the real-time position information of first motor 34, and first motor driver 32 obtains the
The mode of the location information of one motor 34 can be by the first encoder (not shown) institute for connecting with the first motor 34
The acquisition of information of feedback, which, which can integrate, is set in first motor driver 32, can also drive with first motor
Dynamic device 32 is separately positioned.Second motor driver 33 is used to obtain the second location information of the second motor 35, the second confidence
Breath is preferably the real-time position information of the second motor 35, and the second motor driver 33 obtains the location information of the second motor 35
The acquisition of information that mode can be fed back by the second encoder (not shown) connecting with second motor 35, and this
Two encoders, which can integrate, to be set in the second motor driver 33, can also be separately positioned with the second motor driver 33.
In the present embodiment, after the second motor driver 33 gets the second location information of the second motor 35, by this
Two location informations issue first motor driver 32 by the communication bus connecting with first motor driver 32.First motor is driven
Dynamic device 32 gets the second motor 35 from the second motor driver 33 by the communication bus connecting with the second motor driver 33
Second location information after, be compared to obtain first motor 34 with the first location information of first motor 34 itself obtained
With the alternate position spike of the second motor 35, and then according to the alternate position spike carry out gantry position compensation control.
In the present embodiment, when first motor driver 32 carries out gantry position compensation control according to alternate position spike, specifically
Control strategy can be selected flexibly.Such as control can be adjusted to the position of first motor 34, or to the second motor 35
Position be adjusted control, or control is adjusted to the position of first motor 34 and the second motor 35 simultaneously.
As it can be seen that relatively existing gantry control mode, first motor driver 32 and the second motor driver in the present embodiment
The interaction of location information can be directly realized between 33 by communication bus, this communication modes anti-interference ability is stronger, and data are handed over
Mutual high reliablity, and wiring is very simple；In addition the location information of first motor 34 and the second motor 35 can be not transferred to control
Equipment 31 can realize that gantry controls directly on first motor driver 32, not only can be reduced the interaction of data, but also can be very
The complexity of wiring is reduced in big degree, the reliability of lifting system reduces the operation and maintenance cost of system.
In a kind of example of the present embodiment, first motor driver 32 can be also used to alternate position spike and preset alternate position spike
Threshold value is compared, and when alternate position spike is greater than alternate position spike threshold value, sends gantry alarm signal to control equipment 31；Control equipment
After 31 can be used for receiving gantry alarm signal, motor is sent to first motor driver 32 and the second motor driver 33 and is stopped
Control instruction is stopped operating with controlling first motor 34 and the second motor 35.First motor 34 and the second motor 35 break after stopping
It opens enabled, avoids mechanical asynchronous causing various damages.
Optionally, equipment 31 is controlled in the present embodiment can be by the communication connection between first motor driver 32, will
Need to first motor driver 32 send various data (for example including but be not limited to various pulse commands, configuration information, control
System instruction, Debugging message) first motor driver 32 is issued, then by the various data for needing to send to the second motor driver 33
First motor driver 32 can be first issued, it is total by the communication between the second motor driver 33 by first motor driver 32
Line issues the second motor driver 33, to be further simplified the second motor driver 33 and control the wiring between equipment 31.
Certainly, in some instances, the second motor driver 33 can also be with control 31 communication connection of equipment, and control equipment 31 can be by this
Communication connection directly issues second motor driver 33 to needs to the various data that the second motor driver 33 is sent.
In addition, it is to be understood that first motor driver 32 and the second motor driver 33, Yi Ji in the present embodiment
The specific communications protocol used when being communicated between one motor driver 32 and control equipment 31 can also be selected flexibly.Such as
It can be used between first motor driver 32 and the second motor driver 33 but be not limited to similar CSMA/CD communication mechanism and realized
Data interaction.
In a kind of example of the present embodiment, first motor driver 32 can also be used to monitor whether to receive first motor
The first origin signal triggered when 34 the first origin of arrival, and whether receive the second motor driver 33 and pass through communication bus
The second origin signal sent, the second origin signal are that the second motor 35 reaches the signal triggered when the second origin；Namely second
Motor driver 33 can also be used in the second origin signal triggered when monitoring whether to receive the second motor 35 the second origin of arrival；
First motor driver 32 sends origin to control equipment 31 and reaches when receiving the first origin signal and the second origin signal
Signal；Control equipment 31 receives origin arriving signal and starts timing and stop driving to first motor driver 32 and the second motor
Dynamic device 33 sends pulse signal, after clocking value reaches preset duration value, again to first motor driver 32 and the second electricity
Machine driver 33 sends pulse signal, and then realizes that gantry returns to zero control.
Optionally, in the present embodiment, control equipment 31, can be first to the first electricity when needing to carry out gantry to return to zero control
Machine driver 32 and the second motor driver 33 send back zero control instruction.First motor driver 32 is receiving control equipment
31 send return to zero control instruction after, control instruction control first motor 34 is returned to zero according to this and is moved to the first origin position, and
Monitor whether that receiving first motor 34 reaches the first origin signal triggered when the first origin；Second motor driver 33 can also
Receive control equipment 31 send return to zero control instruction after, according to this return to zero control instruction control the second motor 35 to second
Origin position movement, and monitor whether that receiving the second motor 35 reaches the second origin signal triggered when the second origin；
Optionally, in the present embodiment, first motor driver 32 is receiving the first origin signal and the second origin letter
When one of them in number, gantry position compensation control can be stopped in advance；And/or first motor driver 32 formerly receives
When the first origin signal, it can stop carrying out driving control to first motor 34 according to the pulse signal received from control equipment 31
System；Or, pulse inhibit instruction can be sent by communication bus when first motor driver 32 formerly receives the second origin signal
To the second motor driver 33, to notify the second motor driver 33 to stop according to the pulse signal received to the second motor 35
Carry out drive control.
In order to make it easy to understand, being illustrated below the present embodiment to a kind of structure of motor driver.
Referring to Figure 1 shown in 5-2, in the present embodiment, first motor driver 32 includes the first bus communication module
321, first gantry controller 322, the first bus communication module 321 pass through the second of communication bus and the second motor driver 33
Bus communication module connection.First bus communication module 321 passes through the second bus communication for receiving the second motor driver 33
The second location information that module is sent, second location information are the position letter of the second motor of the second motor driver drive control
Breath, and issue first gantry controller 322；
First gantry controller 322 is used to obtain the first location information of first motor, according to first location information and the
Two location informations obtain alternate position spike, carry out gantry position compensation control according to alternate position spike.First motor driver 32 further includes
One order input processing module 323 and first position closed loop control module 324, the first order input processing module 323 and control
Equipment 31 connects, and control equipment 31 is for being sent to it pulse command, and the first order input processing module 323 will be for that will receive
Pulse command be converted into position unit and input to first position closed loop control module 324, first position closed loop control module 324
Motor driven is carried out to first motor 34 according to the position unit.In some instances, first position closed loop control module 324 can
It including position ring, speed ring and electric current loop, or only include position ring and electric current loop.
First gantry controller 322 is also used to for alternate position spike being compared with preset alternate position spike threshold value, and in alternate position spike
When greater than alternate position spike threshold value, gantry alarm signal A LAM is sent to control equipment 31.First gantry controller 322 is also used to monitor
Whether receive first motor 34 and reach the first origin signal triggered when the first origin, and whether receives the second bus and lead to
The second origin signal that news module is sent by communication bus, the second origin signal are that the second motor triggers when reaching the second origin
Signal；
First gantry controller 322 is also used to set when receiving the first origin signal and the second origin signal to control
Standby 31 send origin arriving signal HOME.When first gantry controller 322 carries out gantry position compensation control according to alternate position spike, tool
The control strategy of body can be selected flexibly.Such as first gantry controller 322 position of first motor 34 can be adjusted
Control is perhaps adjusted control to the position of the second motor 35 or simultaneously to the position of first motor 34 and the second motor 35
It sets and is adjusted control.
It should be understood that the structure of the second motor driver 33 in the present embodiment can be with first motor driver 32
Structure is identical, and second gantry controller of the second motor driver 33 can carry out gantry control according to the specific strategy that gantry controls
System, or controlled without gantry.
In addition, it is to be understood that the specific structure of first gantry controller 322 in the present embodiment can also flexibly be set
It sets.In order to make it easy to understand, the present embodiment is illustrated below with reference to gantry controller architecture shown in Figure 15-3 for example.Originally show
Example in first gantry controller 322 include PID controller 3221, comparator 3222 and with logic device 3223, wherein first
Location information and second location information pass through the alternate position spike compared and input to PID controller 3221 and comparator respectively
3222, PID controller 3221 generates first gantry compensation location information according to the alternate position spike and/or second gantry compensation position is believed
Breath, specific generating mode can be used but be not limited to various sync bit information generating algorithms.
Obtained alternate position spike is compared by comparator 3222 with preset alternate position spike threshold value, is greater than the position in alternate position spike
Output position difference excessive alarm signal namely gantry alarm signal, gantry alarm signal can start to control when poor threshold value
Equipment 31.
With logic device 3223 then for the first origin signal for being triggered when receiving first motor 34 and reaching origin and
When receiving the second motor 35 and reaching the second origin signal triggered when origin, generates origin arriving signal and issue control equipment.
Sensor can be set in the origin position of motor in the present embodiment, motor can trigger the sensor generation when reaching origin position
One reaches the signal of origin position for characterizing motor.But the detection that origin position reaches is not limited to this mode.
It should be understood that the specific structure of gantry controller in the present embodiment is not limited to knot shown in Figure 15-3
Structure can also flexibly change according to specific requirements, as long as being able to achieve above-mentioned function, such as PID controller therein 3221
MFC function replacement can be passed through.
It is below to illustrate to a kind of wiring of electric machine control system.Referring to Figure 1 shown in 5-4, control equipment 31
Pulse output end is connect with the pulse input end of first motor driver 32 and the second motor driver 33, first motor driver
32 and second between motor driver 33 by RS485 communication bus communication connection, what the second motor driver 33 was obtained
The real-time position information of second motor 35 issues first motor driver 32, the second motor driver by RS485 communication interface
The second origin signal that second motor 35 is triggered when reaching the second origin is issued the first electricity also by RS485 communication bus by 33
Machine driver 32.First motor driver 32 receives get the first origin signal and the second origin signal after send for table
The origin arriving signal that sign returns to zero arrival gives control equipment 31.First motor driver 32 is also used to according to first got
The alternate position spike for 35 second location information of the second motor that the first location information of motor 34 and the second motor driver 33 are sent into
Row gantry synchronously control, and in the position it is poor be greater than predeterminated position difference threshold value when to control equipment 31 send gantry alarm signal
Breath.Optionally, in some instances, the first location information for the first motor 34 that first motor driver 32 can also be obtained
The second motor driver 33 is issued, the second motor driver 33 can also be according to the position of the first location information and second location information
It sets difference and carries out gantry synchronously control (first motor driver 32 can not then execute gantry synchronously control at this time), and in the position
Gantry warning message is sent to control equipment 31 when difference is greater than predeterminated position difference threshold value.The electric machine control system wiring is simple, drives
It is realized and is synchronized using communication modes between dynamic device, wiring only has 2 core screens.
As it can be seen that the electric machine control system provided through this embodiment, first motor driver 32 and the second motor driver
The interaction of location information can be directly realized between 33 by communication bus, and is believed by first motor driver 32 based on the position
Breath realizes gantry synchronously control and gantry alarm and gantry returns to zero control etc., and relatively existing gantry synchronous control mode resists dry
It is stronger to disturb ability, data interaction high reliablity, wiring is more simple and efficient, and the reliability of lifting system reduces the use of system
And maintenance cost, can preferably be suitable for the application scenarios of various twin shafts or three axis or more, for example including but be not limited to purl machine,
The industries such as electronics, engraving machine, optical fiber machine.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (10)
1. a kind of motor driver, which is characterized in that the motor driver include voltage setting circuit, voltage comparator circuit,
Second optical coupling isolation circuit and control unit；
The first input end of the voltage comparator circuit is connect with the voltage setting circuit, and the second of the voltage comparator circuit
Input terminal is connect with the voltage output interface for exporting characterization intelligent power IPM module operating temperature value, and the voltage compares
The output end of circuit is connect with the input terminal of second optical coupling isolation circuit, the output end of second optical coupling isolation circuit with
Described control unit connection；
The first voltage value for the first voltage signal that the voltage comparator circuit is used to input the voltage setting circuit and institute
The second voltage value for stating the second voltage signal of voltage output interface output is compared, and comparison result is passed through described second
Optical coupling isolation circuit is exported to described control unit；
Described control unit stops when the comparison result is that second voltage value is greater than the first voltage value to the IPM module
Send control signal.
2. motor driver as described in claim 1, which is characterized in that the voltage comparator circuit is also used in the comparison
Overtemperature alarm signal is generated when being as a result greater than the first voltage value for second voltage value, and by the overtemperature alarm signal described in
Second optical coupling isolation circuit is exported to described control unit.
3. motor driver as described in claim 1, which is characterized in that the motor driver further includes being arranged in the electricity
Press the amplifying circuit between output interface and the voltage comparator circuit；
The amplifying circuit receives the second voltage signal of voltage output interface output, and by the second voltage signal
Second voltage value carries out the amplification of preset ratio value, is converted into analog quantity voltage signal and exports to the voltage comparator circuit.
4. motor driver as described in claim 1, which is characterized in that when the comparison result is low level signal, institute
It states before control unit determines that the IPM module operating temperature is excessively high according to the comparison result, further includes:
Detection is currently received whether the number of the low level signal is more than n times, and the N is integer and N is more than or equal to 2；
If so, determining that the IPM module operating temperature is excessively high.
5. motor driver as described in claim 3 or 4, which is characterized in that the first input end of the voltage comparator circuit
The first voltage signal of the voltage setting circuit input is received, is put described in the second input terminal reception of the voltage comparator circuit
The analog quantity voltage signal of big circuit input；
When the first voltage value of the first voltage signal is greater than the third voltage value of the analog quantity voltage signal, the electricity
The output end of comparison circuit is pressed to export high level signal to second optical coupling isolation circuit, the of the first voltage signal
When one voltage value is less than the third voltage value of the analog quantity voltage signal, the output end of the voltage comparator circuit exports low electricity
Ordinary mail number extremely second optical coupling isolation circuit.
6. motor driver according to any one of claims 1-4, which is characterized in that the voltage setting circuit includes parallel connection
Reference voltage module and divider resistance；
The reference voltage module is connect with the first input end of the voltage comparator circuit, for being the voltage setting circuit
Reference voltage is provided；
The divider resistance is connect with the first input end of the voltage comparator circuit, for carrying out to the reference voltage module
Partial pressure.
7. motor driver according to any one of claims 1-4, which is characterized in that the motor driver further includes braking
Circuit, current sampling circuit, the braking circuit are connect with described control unit, the current sampling circuit respectively with the system
Dynamic circuit is connected with described control unit, for acquiring the output current signal of the braking circuit, and by collected output
Current signal is sent to described control unit；
Described control unit is connect with the input terminal of the braking circuit, for sending dynamic braking control to the braking circuit
Signal, and when for judging the braking circuit operation irregularity according to the output current signal that receives, stop to institute
State the control signal that braking circuit sends dynamic braking.
8. motor driver according to any one of claims 1-4, which is characterized in that described control unit includes digital signal
Processing chip and programmable logic device chip, the digital signal processing chip and/or programmable logic device chip pass through
SPI communication agreement and peripheral device interface carry out data interaction；
Or,
The digital signal processing chip and/or programmable logic device chip pass through SPI communication agreement and customized communication protocols
View carries out data interaction with peripheral device interface.
9. motor driver as claimed in claim 8, which is characterized in that the peripheral device interface include analog interface,
At least one of digital interface, communication interface.
10. a kind of automation equipment, which is characterized in that the automation equipment includes as claim 1-9 is described in any item
Motor driver, and the motor connecting with the motor driver, the motor driver is for controlling the motor.
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| CN201910320425.3A CN110061680A (en) | 2019-04-19 | 2019-04-19 | Motor driver and automation equipment |
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| CN201910320425.3A CN110061680A (en) | 2019-04-19 | 2019-04-19 | Motor driver and automation equipment |
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| CN112596818A (en) * | 2020-12-30 | 2021-04-02 | 上海众源网络有限公司 | Application program control method, system and device |
| CN113131826A (en) * | 2021-03-18 | 2021-07-16 | 捷和电机制品(深圳)有限公司 | Method and device for controlling motor operation, terminal equipment and storage medium |
| CN114200872A (en) * | 2022-02-16 | 2022-03-18 | 广东科伺智能科技有限公司 | Band-type brake system of servo motor |
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