CN110677077A - Multi-motor drive control circuit - Google Patents
Multi-motor drive control circuit Download PDFInfo
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- CN110677077A CN110677077A CN201911094551.8A CN201911094551A CN110677077A CN 110677077 A CN110677077 A CN 110677077A CN 201911094551 A CN201911094551 A CN 201911094551A CN 110677077 A CN110677077 A CN 110677077A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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Abstract
The embodiment of the invention discloses a multi-motor drive control circuit. Many motor drive control circuit sets up in the express delivery storehouse, includes: the system comprises a power supply module, a main control module, a servo motor drive control module and at least 2 brushless direct current motor drive control modules; the power supply module is electrically connected with the main control module and provides a first power supply voltage and a second power supply voltage for the multi-motor drive control circuit; the input end of the servo motor drive control module is electrically connected with the first group of control ends of the main control module, and the output end of the servo motor drive control module is in communication connection with the servo motor driver; the input end of the brushless direct current motor driving control module is electrically connected with the second group of control ends of the main control module, and the output end of the brushless direct current motor driving control module is electrically connected with the brushless direct current motor driver. The technical scheme provided by the embodiment of the invention realizes that the MCU controls various motors to drive the motion mechanism to complete corresponding actions, and reduces the development cost of drive control.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a multi-motor drive control circuit.
Background
Along with the rapid development of electricity merchant platform, the online shopping is more and more common, can both see the shadow of the body in express delivery cabinet or express delivery storehouse in each district, compares in the express delivery cabinet, and the express delivery storehouse will be more convenient.
Like stereoscopic warehouse, the express delivery storehouse has only a access opening before the man-machine interaction panel, and the access opening is opened during the storage, puts express delivery or article on the access opening tray, and later the access opening is closed, and the inside motion of express delivery storehouse can convey express delivery or article to suitable position automatically. When getting the piece, also only need wait for several seconds at the access opening, express delivery or article that express delivery storehouse inside motion can be automatic will be got and convey the access opening, take away express delivery or article after the access opening door is opened, access opening self-closing.
The express delivery storehouse of prior art adopts PLC control, but PLC control's cost is higher, and with the different types of motors of same PLC control, the degree of difficulty is great, and power distribution and signal control are complicated, and the signal line that needs is many, leads to the wiring complicated, and the interference is big, and the fault rate is high.
Disclosure of Invention
The embodiment of the invention provides a multi-motor drive control circuit, which is used for realizing the drive control of various motors in an express delivery bin and reducing the development cost of the drive control.
The embodiment of the invention provides a multi-motor drive control circuit, which is arranged in an express delivery warehouse and comprises: the system comprises a power supply module, a main control module, a servo motor drive control module and at least 2 brushless direct current motor drive control modules;
the power supply module is electrically connected with the main control module and provides a first power supply voltage and a second power supply voltage for the multi-motor drive control circuit;
the input end of the servo motor drive control module is electrically connected with the first group of control ends of the main control module, and the output end of the servo motor drive control module is in communication connection with a servo motor driver;
the input end of the brushless direct current motor driving control module is electrically connected with the second group of control ends of the main control module, and the output end of the brushless direct current motor driving control module is electrically connected with a brushless direct current motor driver.
Optionally, the number of the servo motor drivers is at least 5, each servo motor driver corresponds to a servo motor, and at least 5 servo motor drivers are connected in series and then connected with the servo motor drive control module through a CAN bus.
Optionally, the system further comprises at least 1 brush direct current motor drive control module and at least 1 stepping motor drive control module;
the input end of the brushed direct current motor driving control module is connected with the second power supply voltage, the output end of the brushed direct current motor driving control module is electrically connected with the brushed direct current motor, and the control end of the brushed direct current motor driving control module is electrically connected with the third group of control ends of the main control module;
the input end of the stepping motor drive control module is electrically connected with the fourth group control end of the main control module, and the output end of the stepping motor drive control module is electrically connected with the stepping motor driver.
Optionally, the servo motor drive control module includes a CAN transceiver, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, and a magnetic bead, where the CAN transceiver includes a signal sending end, a signal receiving end, a high-bit data line end, a low-bit data line end, and a power end;
a signal sending end of the CAN transceiver is electrically connected with a first group of control ends of the main control module through a first resistor, a signal receiving end of the CAN transceiver is electrically connected with a first group of control ends of the main control module through a second resistor, a high-bit data line end and a low-bit data line end are electrically connected with the servo motor driver through a third resistor and a fourth resistor respectively, and a fifth resistor is connected between the high-bit data line end and the low-bit data line end in parallel;
and the power supply end of the CAN transceiver is electrically connected with a power supply through the magnetic beads.
Optionally, each brushless dc motor drive control module corresponds to a brushless dc motor driver one to one;
brushless DC motor drive control module includes first opto-coupler, the input of first opto-coupler with master control module's the second control end electricity of organizing is connected, the input of first opto-coupler is received a set of brushless DC motor control signal that the second control end of organizing sent to from its output to brushless DC motor driver.
Optionally, the brush direct current motor driving control module includes a first driving chip, where the first driving chip includes a first input end, a first output end, a second input end, and a second output end;
the first input end is electrically connected with a third group of control ends of the main control module, and the first output end is electrically connected with the first brushed direct current motor; the second input end is electrically connected with the fifth group of control ends of the main control module, and the second output end is electrically connected with the second brush direct current motor.
Optionally, the step motor drive control module includes a second optical coupler, an input end of the second optical coupler is electrically connected with a fourth group control end of the main control module, and an input end of the second optical coupler receives a group of step motor control signals sent by the fourth group control end and outputs the signals to the step motor driver from an output end.
Optionally, the system further comprises an alternating current motor drive control module, wherein the alternating current motor drive control module comprises a communication circuit;
the input end of the communication circuit is connected with the sixth group of control ends of the main control module through a network cable, and the output end of the communication circuit is electrically connected with a frequency converter of the alternating current motor.
Optionally, the communication circuit includes a transceiver chip, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a first voltage regulator tube, and a second voltage regulator tube, where the transceiver chip includes a signal receiving end, a signal receiving enabling end, a signal driving end, a first signal transmitting end, and a second signal transmitting end;
the signal receiving end is electrically connected with the sixth group of control ends through a sixth resistor, the signal receiving enabling end is electrically connected with the fifth group of control ends through a seventh resistor, and the signal driving end is electrically connected with the sixth group of control ends through an eighth resistor;
the first path of signal sending terminal and the second path of signal sending terminal are electrically connected with the frequency converter, the first path of signal sending terminal is grounded through a first voltage-stabilizing tube, the second path of signal sending terminal is grounded through a second voltage-stabilizing tube, and the ninth resistor is connected in parallel between the first path of signal sending terminal and the second path of signal sending terminal.
Optionally, the main control module adopts IMXRT1021 as a main control chip.
According to the technical scheme provided by the embodiment of the invention, the MCU is used as a main control chip to control various motors, and after the motor driving control modules receive the instruction for registering and fetching, the motors are driven to work, so that the movement mechanism can complete corresponding actions, and the intelligent and automatic requirements of the express delivery warehouse are met. And the servo motor adopts a bus communication mode, so that the wiring is simple, the integration level of the control circuit is high, and the failure rate of the control circuit is greatly reduced.
Drawings
Fig. 1 is a block diagram of a multi-motor drive control circuit according to an embodiment of the present invention;
fig. 2 is a schematic connection diagram of a servo motor and a main control module according to an embodiment of the present invention;
fig. 3 is a block diagram of another multi-motor drive control circuit according to an embodiment of the present invention;
fig. 4 is a block diagram of another multi-motor drive control circuit according to an embodiment of the present invention;
fig. 5 is a block diagram of another multi-motor drive control circuit according to an embodiment of the present invention;
fig. 6 is a block diagram of another multi-motor drive control circuit according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a block diagram of a multi-motor drive control circuit according to an embodiment of the present invention, and the multi-motor drive control circuit according to the embodiment of the present invention may be applied to an express delivery warehouse to achieve automatic control of the express delivery warehouse. Referring to fig. 1, the multi-motor drive control circuit includes a power module 10, a main control module 20, a servo motor drive control module 30, and at least 2 brushless dc motor drive control modules 40;
the power supply module 10 is electrically connected with the main control module 20, and the power supply module 10 provides a first power supply voltage and a second power supply voltage for the multi-motor drive control circuit;
the input end B1 of the servo motor driving control module 30 is electrically connected with the first group of control ends A3 of the main control module 20, and the output end B2 of the servo motor driving control module 30 is in communication connection with the servo motor driver 31;
the input end C1 of the brushless dc motor driving control module 40 is electrically connected to the second group a4 of the main control module 20, and the output end C2 of the brushless dc motor driving control module 40 is electrically connected to the brushless dc motor driver 41.
It should be noted that each group of control terminals includes a plurality of output ports, and each output port corresponds to an input port of the drive control module, to which the control terminal is electrically connected.
Specifically, multiple types of motors are arranged in the express delivery bin to enable the motion mechanism to complete corresponding actions, for example, if the servo motor is used for motion control, the internal structure of the express delivery bin can complete actions such as lifting and translation; the brushless direct current motor is used for controlling the on-off state of the access opening of the express delivery warehouse. The power supply module 10 is capable of providing a first power supply voltage and a second power supply voltage, for example, the first power supply voltage may be 12V for providing a power supply voltage for the main control module; the second supply voltage may be 24V for providing a supply voltage for the motor driver. The first power supply voltage and the second power supply voltage can also be converted into low voltage of 3.3V through the power conversion circuit, and the low voltage is used for providing driving voltage for the main control chip. Each motor drive control module controls a corresponding motor driver to drive the motor to work according to the control signal sent by the main control module, so that the movement mechanism completes corresponding actions.
Illustratively, the main control module 20 adopts IMXRT1021 as a main control chip, and the IMXRT1021 chip has the characteristics of high performance, high integration and low cost. In an express delivery storehouse, only need 5 servo motor at least CAN accomplish the motion of each mechanism, each servo motor all corresponds a servo motor driver, and at least five servo motor drivers are established ties after and are passed through bus connection with servo motor drive control module 30, CAN be the CAN bus for example. The servo motor driving control module 30 receives a control signal, such as a translation control signal, sent by the main control module 20, the servo motor driving control module 30 controls the servo motor driver to work, and the servo motor driver controls the corresponding servo motor to complete the translation motion. The brushless dc motor is used to complete the lifting and switching of the access port, the brushless dc motor can be powered by the second power voltage provided by the power module 10, and the brushless dc motor driving control module 40 controls the brushless dc motor driver 41 to drive the brushless dc motor to move by receiving a set of brushless dc motor control signals, such as an enable signal EN, a direction signal FR, a brake signal BK, and a PWM speed regulation signal SV, sent by the main control module 20, so as to complete corresponding actions.
According to the technical scheme provided by the embodiment of the invention, the MCU is used as a main control chip to control various motors, and after the motor driving control modules receive the instruction for registering and fetching, the motors are driven to work, so that the movement mechanism can complete corresponding actions, and the intelligent and automatic requirements of the express delivery warehouse are met. And the servo motor adopts a bus communication mode, so that the wiring is simple, the integration level of the control circuit is high, and the failure rate of the control circuit is greatly reduced.
Optionally, fig. 2 is a schematic diagram of a connection between a servo motor and a main control module according to an embodiment of the present invention, and referring to fig. 2, on the basis of the above embodiment, the number of servo motor drivers is at least 5, each servo motor driver corresponds to a servo motor, and at least 5 servo motor drivers are connected in series and then connected to a servo motor drive control module 30 through a CAN bus.
Specifically, each servo motor driver is provided with an input port and an output port of two RJ45 ethernet ports, the output end B2 of the servo motor driving control module 30 is also provided with an RJ45 ethernet port, and at least 5 servo motors respectively work to drive the motion mechanism to complete the automatic storage and taking function of the express delivery warehouse. Adopt CAN bus signal control between servo motor and the servo motor drive control module 30, at least 5 servo motors correspond a servo motor driver respectively, at least 5 servo motor drivers are connected in series in proper order through the net twine, the input net gape of servo motor driver 1 and the output of servo motor drive control module 30 pass through the ethernet connection, the output net gape of servo motor driver 5 is the terminal, and the CAN bus adopts serial mode, and carry out the terminal matching through a 120 omega's resistance, the interference that brings because the signal reflection has been reduced.
Optionally, fig. 3 is a block diagram of another multi-motor drive control circuit according to an embodiment of the present invention, and referring to fig. 3, the multi-motor drive control circuit further includes at least 1 brushed dc motor drive control module 50 and at least 1 stepping motor drive control module 60;
the input end of the brushed direct current motor driving control module 50 is connected to a second power supply voltage, the output end of the brushed direct current motor driving control module 50 is electrically connected with the brushed direct current motor, and the control end D1 of the brushed direct current motor driving control module 50 is electrically connected with the third group of control ends a5 of the main control module 20;
the input end E1 of the stepping motor driving control module 60 is electrically connected to the fourth set of control ends a6 of the main control module 20, and the output end E2 of the stepping motor driving control module 60 is electrically connected to the stepping motor driver 61.
Specifically, there is brush direct current motor drive control module 50 to be supplied with power by second mains voltage 24V, and there is brush direct current motor drive control module 50 can be full-bridge drive circuit, and each full-bridge drive circuit can drive 2 and have brush direct current motor, and wherein, there is brush direct current motor can be for the push rod motor for the motion of tray in the control express delivery storehouse. The stepping motor driving control module 60 controls the movement mode of the stepping motor by receiving the control signal output by the main control module 20. For example, the control signals may be an enable signal EN, a direction signal FR, a brake signal BK, and a PWM speed regulation signal SV corresponding to the start, direction, brake, and speed of the stepping motor, respectively. The drive control mode of the stepping motor is the same as that of the brushless direct current motor, and different motion states of the stepping motor and the brushless direct current motor can be realized by setting different enable signals EN, direction signals FR, brake signals BK and PWM speed regulation signals SV.
Optionally, fig. 4 is a block diagram of another multi-motor drive control circuit provided in an embodiment of the present invention, and referring to fig. 4, on the basis of the above embodiment, the servo motor drive control module 30 includes a CAN transceiver U1, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, and a magnetic bead B, where the CAN transceiver U1 includes a signal transmitting terminal 1, a signal receiving terminal 2, a high-bit data line terminal 3, a low-bit data line terminal 4, and a power supply terminal 5;
a signal sending end 1 of the CAN transceiver U1 is electrically connected with a first group of control ends A3 of the main control module 20 through a first resistor R1, a signal receiving end 2 is electrically connected with a first group of control ends A3 of the main control module 20 through a second resistor R2, a high-order data wire end 3 and a low-order data wire end 4 are electrically connected with a servo motor driver through a third resistor R3 and a fourth resistor R4, respectively, and a fifth resistor R5 is connected in parallel between the high-order data wire end 3 and the low-order data wire end 4;
the power supply terminal 5 of the CAN transceiver U1 is electrically connected to a power supply via the magnetic beads B.
Specifically, the main control module 20 may be an IMXRT1021 chip, the first group of control terminals a3 of the main control module 20 includes a data transmitting terminal CAN-TX and a data receiving terminal CAN-RX, the CAN transceiver U1 may be a MAX14880 chip, the power terminal 5 is electrically connected to the 5V power supply through a magnetic bead B, which CAN suppress high-frequency noise and spike interference on the power line, the signal transmitting terminal 1 of the CAN transceiver U1 receives a servo motor control signal transmitted by the data transmitting terminal CAN-TX of the main control module 20, and outputs the signal to the servo motor driver through the high-bit data line end 3 and the low-bit data line end 4, thereby controlling the movement of the servo motor. And the upper data line end 3 and the lower data line end 4 are connected in parallel with a fifth resistor R5 to reduce interference due to signal reflection.
On the basis of the above embodiment, with reference to fig. 4, each of the brushless dc motor driving control modules 40 corresponds to one of the brushless dc motor drivers 41;
the brushless dc motor driving control module 40 includes a first optical coupler 401, an input end of the first optical coupler 401 is electrically connected to the second group control end a4 of the main control module 20, and an input end of the first optical coupler 401 receives a group of brushless dc motor control signals sent by the second group control end a4, and outputs the signals to the brushless dc motor driver 41 from an output end thereof.
Specifically, the first optocoupler 401 includes 16 pins, where a first pin 1, a third pin 3, a fifth pin 5, and a seventh pin 7 of the first optocoupler 401 are power supply terminals and are connected to a 3.3V dc voltage. A second pin 2 of the first optocoupler 401 can be connected with an enable signal BL-EV to control the opening or closing of the brushless direct current motor driver 41; a fourth pin 4 of the first optocoupler 401 can be connected with a direction signal BL-FR, and the brushless dc motor driver 41 is used for controlling the movement direction of the brushless dc motor; a sixth pin 6 of the first optocoupler 401 can be connected with a brake signal BL-BK, and the start and stop of the brushless direct current motor are controlled through a brushless direct current motor driver 41; an eighth pin 8 of the first optocoupler 401 can be connected with a PWM speed regulation signal BL-SV, and the rotation speed of the brushless dc motor is controlled by the brushless dc motor driver 41, so as to control the operation speed of the moving mechanism. For example, when a user needs to take a component, the industrial personal computer 100 realizes a human-computer interaction function, the main control module 20 receives a component taking command and generates a control signal of the brushless dc motor according to the component taking command, and the brushless dc motor driver 41 makes itself in a working state according to the enable signal BL-EV output by the first optocoupler 401, thereby controlling the brushless dc motor. The brushless direct current motor drives the tray connected with the direct current motor to move towards the direction of the access opening according to the direction signal BL-FR, the running speed of the tray is controlled through the PWM speed regulation signal BL-SV, and when the tray carrying express goods reaches the access opening, the tray is accurately stopped at the access opening through the received brake signal BL-BK, so that a user successfully takes the goods.
Optionally, on the basis of the foregoing embodiment, with continued reference to fig. 4, the brushed dc motor driving control module 50 includes a first driving chip U2, and the first driving chip U2 includes a first input terminal 11, a first output terminal 33, a second input terminal 22, and a second output terminal 44;
the first input end 11 is electrically connected with a third group of control ends a5 of the main control module 20, and the first output end 33 is electrically connected with the first brushed direct current motor; the second input terminal 22 is electrically connected to the fifth group control terminal a7 of the main control module 20, and the second output terminal 44 is electrically connected to the second brushed dc motor.
Specifically, the first driving chip U2 may be L6206Q, and L6206Q is a full bridge control chip for controlling the expansion and contraction and the movement speed of the brushed dc motor. The third set of control terminals a5 of the main control module 20 may include a first enable signal DM-ENA terminal, a first input signal DM-IN1A terminal, and a second input signal DM-IN2A terminal, which respectively output the first enable signal ENA, the first input signal IN1A, and the second input signal IN 2A. The first input end 11 of the first driver chip U2 receives the first enable signal ENA, the first input signal IN1A and the second input signal IN2A sent by the main control module 20, respectively, and converts the first enable signal ENA, the first input signal IN1A and the second input signal IN2A into a driving signal of the first brushed dc motor through an internal circuit of the first driver chip U2, and outputs the driving signal to the first brushed dc motor from the first output end 33 of the first driver chip U2, wherein the OUT1A end of the first output end can output a telescopic signal of the first brushed dc motor, and the OUT2A can output a movement speed signal of the first brushed dc motor. Similarly, the fifth group a7 of the main control module 20 outputs a stretching signal and a movement speed signal for controlling the second brushed dc motor.
Optionally, on the basis of the foregoing embodiment, with reference to fig. 4, the stepping motor driving control module 60 includes a second optical coupler 601, an input end of the second optical coupler 601 is electrically connected to the fourth group control end a6 of the main control module 20, and an input end of the second optical coupler 601 receives a group of stepping motor control signals sent by the fourth group control end a6, and outputs the group of stepping motor control signals to the stepping motor driver 61 from an output end.
Specifically, the working principle of the second optical coupler 601 is the same as that of the first optical coupler 401, and is not described herein again.
Alternatively, fig. 5 is a block diagram of another multi-motor drive control circuit provided in the embodiment of the present invention, and fig. 6 is a block diagram of another multi-motor drive control circuit provided in the embodiment of the present invention, and on the basis of the above-mentioned embodiment, referring to fig. 5 and fig. 6, the multi-motor drive control circuit further includes an ac motor drive control module 70, and the ac motor drive control module 70 includes a communication circuit 701;
the input end of the communication circuit 701 is connected to the sixth group control end A8 of the main control module 20 through a network cable, and the output end of the communication circuit 701 is electrically connected to the frequency converter 71 of the ac motor.
Specifically, the ac motor is used as a backup motor and is powered by the commercial power, and the ac motor driving control module 70 is in communication connection with the frequency converter 71 through the network cable to control the starting, braking, direction, speed, and the like of the ac motor. The alternating current motor driving control module 70 is provided with an RJ45 network port, and performs RS485 communication with the frequency converter 71 through a communication circuit 701.
Optionally, referring to fig. 6, the communication circuit 701 includes a transceiver chip U3, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a first voltage regulator VD1, and a second voltage regulator VD2, where the transceiver chip U3 includes a signal receiving terminal 31, a signal receiving enabling terminal 32, a signal driving terminal 33, a first signal transmitting terminal 34, and a second signal transmitting terminal 35;
the signal receiving terminal 31 is electrically connected with the sixth group of control terminals a8 through a sixth resistor R6, the signal receiving enabling terminal 32 is electrically connected with the sixth group of control terminals a8 through a seventh resistor R7, and the signal driving terminal 33 is electrically connected with the sixth group of control terminals a8 through an eighth resistor R8;
the first signal transmitting terminal 34 and the second signal transmitting terminal 35 are electrically connected with the frequency converter 71, the first signal transmitting terminal 34 is grounded through a first voltage regulator tube VD1, the second signal transmitting terminal 35 is grounded through a second voltage regulator tube VD2, and a ninth resistor R9 is connected in parallel between the first signal transmitting terminal 34 and the second signal transmitting terminal 35.
Specifically, the transceiver chip U3 may be MAX3485AE, and is used to implement communication between the ac motor driving control module 70 and the frequency converter 71. The signal receiving end 31 of the transceiver chip U3 is configured to receive an ac motor control signal sent by the main control module 20, the signal receiving enable end 32 is configured to control the transceiver chip U3 to be turned on, the signal driving end 33 is configured to receive an ac motor driving signal sent by the main control module 20 to control the frequency converter 701 to drive the ac motor to operate, and the ninth resistor R9 is configured to reduce interference due to signal reflection.
Referring to fig. 5, the specific operation principle of the multi-motor drive control circuit is as follows:
the power module 10 provides power supply voltage for the main control module and each motor, and the main control module 20 adopts IMXRT1021 as a main control chip, and has the characteristics of high performance, high integration and low cost. When a user gets or sends a piece, interactive communication is established with the main control module 20 through the industrial personal computer 100, when the industrial personal computer receives a piece getting command input by the user, the power supply module 10 provides 24V direct current power supply voltage for the brushed direct current motor driving control module 50, the brushed direct current motor driving control module 50 comprises a full-bridge driving chip, the driving chip outputs 24V direct current voltage to the brushed direct current motor, the stretching and moving speed of the brushed direct current motor are controlled, 1 brushed direct current motor driving control module 50 can control 2 brushed direct current motors to respectively drive different trays to complete corresponding actions.
Express delivery storehouse motion control needs 5 servo motor, and every servo motor pairs has the servo motor driver to accomplish the access function in express delivery storehouse. 5 servo motor adopt CAN bus signal control, and 5 servo motor drivers are connected in series and then pass through CAN bus connection with servo motor drive control module 30, and the CAN bus carries out the terminal match through a 120 omega's resistance, has reduced because the interference that the signal reflection brought. Brushless DC motor and step motor's control mode is the same, all be the enable signal EN who sends through host system 20, direction signal FR, start-up that brushless DC motor and step motor were controlled to brake signal BK and PWM speed governing signal SV, the direction, brake and speed, keep apart through first opto-coupler between brushless DC motor drive control module 40 and the brushless DC motor driver 41, keep apart through the second opto-coupler between step motor drive control module 60 and the step motor driver 61, through changing enable signal EN, direction signal FR, the chronogenesis of brake signal BK and PWM speed governing signal SV, amplitude etc. control brushless DC motor and drive the function that the motion mechanism accomplished the opening door and goes up and down, and control step motor accomplishes the buffer memory of express delivery article. The alternating current motor is used as a standby motor and is supplied with power by alternating current 220V, and the alternating current motor driving control module 70 is in communication connection with the frequency converter 71 through a network cable so as to control the starting, braking, direction, speed and the like of the alternating current motor. The alternating current motor driving control module 70 is provided with an RJ45 network port, and performs RS485 communication with the frequency converter 71 through a communication circuit 701.
According to the multi-motor drive control circuit provided by the embodiment of the invention, the MCU is used as a main control chip to control various motors, and after each motor drive control module receives a deposit and fetch instruction, the motors are driven to work, so that the movement mechanism completes corresponding actions, the functions of opening the door, lifting, walking, fetching goods, caching and the like of the movement mechanism in the express delivery bin are realized, and the intelligent and automatic requirements of the express delivery bin are met. And the servo motor adopts a CAN bus communication mode, so that the wiring is simple, the integration level of the control circuit is high, and the fault rate of the control circuit is greatly reduced.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a many motor drive control circuit, many motor drive control circuit sets up in express delivery storehouse which characterized in that includes: the system comprises a power supply module, a main control module, a servo motor drive control module and at least 2 brushless direct current motor drive control modules;
the power supply module is electrically connected with the main control module and provides a first power supply voltage and a second power supply voltage for the multi-motor drive control circuit;
the input end of the servo motor drive control module is electrically connected with the first group of control ends of the main control module, and the output end of the servo motor drive control module is in communication connection with a servo motor driver;
the input end of the brushless direct current motor driving control module is electrically connected with the second group of control ends of the main control module, and the output end of the brushless direct current motor driving control module is electrically connected with a brushless direct current motor driver.
2. The multi-motor drive control circuit according to claim 1, wherein the number of the servo motor drivers is at least 5, each servo motor driver corresponds to a servo motor, and at least 5 servo motor drivers are connected in series and then connected with the servo motor drive control module through a CAN bus.
3. The multi-motor drive control circuit according to claim 1, further comprising at least 1 brushed dc motor drive control module and at least 1 stepper motor drive control module;
the input end of the brushed direct current motor driving control module is connected with the second power supply voltage, the output end of the brushed direct current motor driving control module is electrically connected with the brushed direct current motor, and the control end of the brushed direct current motor driving control module is electrically connected with the third group of control ends of the main control module;
the input end of the stepping motor drive control module is electrically connected with the fourth group control end of the main control module, and the output end of the stepping motor drive control module is electrically connected with the stepping motor driver.
4. The multi-motor drive control circuit according to claim 2, wherein the servo motor drive control module comprises a CAN transceiver, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor and a magnetic bead, wherein the CAN transceiver comprises a signal transmitting terminal, a signal receiving terminal, a high-bit data terminal, a low-bit data terminal and a power terminal;
a signal sending end of the CAN transceiver is electrically connected with a first group of control ends of the main control module through a first resistor, a signal receiving end of the CAN transceiver is electrically connected with a first group of control ends of the main control module through a second resistor, a high-bit data line end and a low-bit data line end are electrically connected with the servo motor driver through a third resistor and a fourth resistor respectively, and a fifth resistor is connected between the high-bit data line end and the low-bit data line end in parallel;
and the power supply end of the CAN transceiver is electrically connected with a power supply through the magnetic beads.
5. The multi-motor drive control circuit according to claim 1, wherein each of the brushless dc motor drive control modules corresponds to a brushless dc motor driver one to one;
brushless DC motor drive control module includes first opto-coupler, the input of first opto-coupler with master control module's the second control end electricity of organizing is connected, the input of first opto-coupler is received a set of brushless DC motor control signal that the second control end of organizing sent to from its output to brushless DC motor driver.
6. The multi-motor drive control circuit according to claim 3,
the brush direct current motor driving control module comprises a first driving chip, wherein the first driving chip comprises a first input end, a first output end, a second input end and a second output end;
the first input end is electrically connected with a third group of control ends of the main control module, and the first output end is electrically connected with the first brushed direct current motor; the second input end is electrically connected with the fifth group of control ends of the main control module, and the second output end is electrically connected with the second brush direct current motor.
7. The multi-motor drive control circuit according to claim 3, wherein the stepping motor drive control module comprises a second optical coupler, an input end of the second optical coupler is electrically connected with a fourth group of control ends of the main control module, and an input end of the second optical coupler receives a group of stepping motor control signals sent by the fourth group of control ends and outputs the stepping motor control signals to the stepping motor driver from an output end.
8. The multi-motor drive control circuit according to claim 1, further comprising an alternating current motor drive control module including a communication circuit;
the input end of the communication circuit is connected with the sixth group of control ends of the main control module through a network cable, and the output end of the communication circuit is electrically connected with a frequency converter of the alternating current motor.
9. The multi-motor drive control circuit according to claim 8, wherein the communication circuit comprises a transceiver chip, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a first voltage regulator tube and a second voltage regulator tube, wherein the transceiver chip comprises a signal receiving end, a signal receiving enabling end, a signal driving end, a first signal transmitting end and a second signal transmitting end;
the signal receiving end is electrically connected with the sixth group of control ends through a sixth resistor, the signal receiving enabling end is electrically connected with the fifth group of control ends through a seventh resistor, and the signal driving end is electrically connected with the sixth group of control ends through an eighth resistor;
the first path of signal sending terminal and the second path of signal sending terminal are electrically connected with the frequency converter, the first path of signal sending terminal is grounded through a first voltage-stabilizing tube, the second path of signal sending terminal is grounded through a second voltage-stabilizing tube, and the ninth resistor is connected in parallel between the first path of signal sending terminal and the second path of signal sending terminal.
10. The multi-motor drive control circuit according to claim 1, wherein the master control module employs IMXRT1021 as a master chip.
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| CN201911094551.8A CN110677077A (en) | 2019-11-11 | 2019-11-11 | Multi-motor drive control circuit |
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