CN110808664A - Compact multi-axis drive control stacking structure - Google Patents
Compact multi-axis drive control stacking structure Download PDFInfo
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- CN110808664A CN110808664A CN201911105267.6A CN201911105267A CN110808664A CN 110808664 A CN110808664 A CN 110808664A CN 201911105267 A CN201911105267 A CN 201911105267A CN 110808664 A CN110808664 A CN 110808664A
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- board
- central control
- power
- amplifier module
- control board
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
Abstract
The invention provides a compact multi-axis drive control stacking structure which is composed of a central control board, a front end board and a plurality of amplifier modules. The central control board and the front end board are both polygonal, are stacked in parallel with each other, are fixed through structural members, and transmit electric signals through connectors. The amplifier module is as a whole, fixes in proper order on central control panel and front end board polygon edge through the structure, carries out signal of telecommunication through bus communication interface and upper central control panel and carries out signal of telecommunication through power interface and lower floor's front end board and connect, and two interfaces are the hard connection form. Each amplifier module receives control information from the central control board, drags one or more motors to operate, and realizes part of control functions of one or more motors, which are originally realized by the central control board, according to needs. The compact multi-axis drive-control stacking structure adopts a modular design, provides configuration flexibility and maintenance convenience for customers, has high power density, and can simplify the wiring of the customers.
Description
Technical Field
The invention relates to a multi-motor transmission shaft motion controller stacking structure, in particular to a compact multi-shaft drive control stacking structure.
Background
Mechanical equipment, especially large mechanical equipment, usually includes a plurality of motor transmission shafts, and a motion controller is used for controlling coordinated motion between multiple shafts, and a driver matched with the number of the motor shafts is used for dragging a motor to complete command motion.
In the prior art, a conventional multi-axis driving and controlling manner is shown in fig. 1, where one motion controller controls multiple drivers, and one driver drives one or more motors to complete command actions. Communication cables, interconnected power supply cables, common bus cables, and the like, are required to interconnect the motion controller and each drive. The advantage of this mode is modular structure, and the number of axles, driver power can be according to customer's demand nimble configuration, and it is convenient to maintain, and the disadvantage is also very obvious: occupy the great installation space of customer's electric cabinet, interconnect cable greatly increased distribution complexity and distribution cost.
In the prior art, the defects of the multi-axis driving and controlling manner disclosed in fig. 1 are improved, and a common multi-axis driving and controlling stacking structure is formed, as shown in fig. 2. The multi-axis drive-control stacking structure integrates a motion controller and a plurality of drivers to form a multi-axis drive-control stack, and generally comprises a control board, a power board and a radiator. The control panel integrates the functions of a motion controller and the control functions of a plurality of motors. The power board integrates a rectifying function, a bus supporting function, a part of control functions of the motors and a driving function of the motors, can receive a speed instruction or a current instruction sent by the control board, realizes speed control or current amplification, and drives the motors to complete instruction actions, and can also be a simple execution mechanism, receives PWM signals sent by the control board, and drives the motors to complete specified actions. The radiator is used for radiating heat of the heating power device on the power board. The multi-axis drive control stacking can reduce the installation space of the customer electric cabinet to a certain extent, saves interconnection cables between shafts, and reduces wiring complexity and wiring cost. However, this stack structure also has disadvantages: the maintenance is inconvenient, due to the centralized design, a centralized circuit board needs to be replaced when any shaft fails, the design is not modularized, and the number of shafts and the power of the shafts cannot be flexibly configured according to the requirements of customers. Meanwhile, the area of the power board in the stacked structure is often the largest, and the areas of the control board and the radiator are far smaller than that of the power board, so that the stacked structure causes low space utilization rate of the system and low power density.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a compact multi-axis drive and control stacking structure aiming at the defects of the traditional multi-axis drive and control mode and the common multi-axis drive and control stacking structure. The power density is high, and the installation space of the electric cabinet of the client can be reduced to the maximum extent. The modularized stacking structure is adopted, the number and the power of the dragging motors can be flexibly configured by the amplifier modules according to the requirements of customers, and the modularized stacking structure is convenient to maintain.
The compact multi-axis drive control stacking structure provided by the invention comprises a central control board, a front end board and a plurality of amplifier modules. The central control board is a whole stacked control core, integrates the control functions of a plurality of motors, and can integrate the functions of the motion controller according to the needs. The front end plate has a rectifying function and a bus supporting function, and provides a stable direct current bus for the whole stack. Each amplifier module receives control information from the central control board, drags one or more motors to operate, and can also realize partial control functions of one or more motors, which are originally realized by the central control board, according to requirements. The central control board and the front end board are both polygonal, are stacked in parallel with each other, are fixed through structural members, and transmit electric signals through connectors. The amplifier module is as a whole, fixes in proper order on central control panel and front end board polygon edge through the structure, carries out signal of telecommunication through bus communication interface and upper central control panel and carries out signal of telecommunication through power interface and lower floor's front end board and connect, and two interfaces are the hard connection form.
The compact multi-axis drive control stacking structure provided by the invention comprises an amplifier module, a control board, a power board and a drive board. The control panel is used for controlling a certain number of motor shafts, and can integrate a speed control function and a current control function according to the requirements of customers. The power panel provides a required auxiliary power supply for the whole amplifier module, and meanwhile, an isolation driving loop of the power switch tube is integrated. And the bridge type inversion topology on the driving board receives a driving signal from the control board, performs power amplification and drags the motor to operate. The control panel, the power board and the drive board are parallel to each other and fixed by adopting a structural member, the control panel and the power board transmit electric signals by adopting a direct-plug connector, the power board and the drive board are interconnected by adopting a plurality of groups of direct-plug connectors, each group of interconnection signals comprises a phase bridge arm driving signal, an overcurrent detection signal and a current sampling signal, and the connection mode can control stray inductance of a driving loop, fully play high-frequency performance of a power switch tube and reduce switching loss. The amplifier module carries out bus communication interaction with the central control panel through a bus communication interface, carries out direct current bus energy transfer through a power interface and a front end plate, and the two interfaces are in a hard connection form.
Compared with the traditional multi-axis driving and controlling mode and the common multi-axis driving and controlling stacking structure, the compact multi-axis driving and controlling stacking structure provided by the invention has the following advantages:
1. the power density is high, and the installation space of the electric cabinet of the client can be reduced to the maximum extent. The power plate in the common driving and controlling stack structure is detached, the rectifying part and the bus supporting part are used as the front end plate and the central control plate to be stacked up and down, the areas of the rectifying part and the bus supporting part are equivalent, and the space can be fully utilized. The motor driving inverter bridge part is divided into a plurality of amplifier modules according to a certain principle, each amplifier module can control and drive a certain number of motor shafts, and the amplifier modules are sequentially fixed on each surface of the central control board and the front end plate in a stacked mode through structural parts, so that the system space is utilized to the maximum extent. And because the split of contravariant part leads to the dispersion of heating element spare, and the technique that the loss reduces is assisted again, the amplifier module can save the radiator, and the fixed small-size discrete radiator of PCB can also be installed as required certainly, and system's radiator volume can optimize greatly.
2. The modular stacking structure can flexibly configure the number and power of the dragging motors with mature amplifier modules according to customer requirements, and is very convenient to maintain. The amplifier modules are sequentially fixed on each stacked surface of the central control board and the front end board through structural parts, and each amplifier module can drag a certain number of motors with certain power as long as the space is allowed to be flexibly increased or reduced, so that the mature amplifier modules with several specifications can meet the requirements of different applications of customers on the number and power of motor shafts. The amplifier module carries out signal of telecommunication through bus communication interface and upper central control panel and connects, carries out signal of telecommunication through power interface and lower floor's front end board and connects, and two interfaces are the hard connection form for the amplifier module can regard as convenient dismantlement, change and installation of whole, consequently it is very convenient to maintain.
3. Interconnection cables are omitted, and wiring complexity and wiring cost of customers are greatly reduced. The amplifier module carries out bus communication interaction with the central control panel through the bus communication interface, carries out direct current bus energy transfer through the power interface and the front end plate, and two interfaces are in a hard connection form, so that an interconnection network communication cable and an interconnection power cable in a traditional multi-axis driving and controlling mode are omitted, and customer wiring is simplified.
Drawings
Fig. 1 is a schematic diagram of a conventional multi-axis control manner in the prior art. 101-a controller; 102-amplifiers (n); 103-interconnection cables.
Fig. 2 is a schematic diagram of a multi-axis actuated stack structure commonly used in the prior art. Wherein: fig. a is a front view and fig. b is a side view. 201-a control panel; 202-power board; 203-heat sink.
Fig. 3 is a schematic perspective view of a compact multi-axis actuation stack structure according to the present invention.
Fig. 4 is a schematic structural diagram of an amplifier module of a compact multi-axis driving and controlling stack structure provided by the invention.
Fig. 5 is a control division example 1 of a central control board and an amplifier module of the compact multi-axis drive control stack structure of the present invention.
Fig. 6 is a control division example 2 of the central control board and amplifier module of the compact multi-axis drive control stack of the present invention.
Fig. 7 is a control division example 3 of the central control board and amplifier module of the compact multi-axis drive control stack structure of the present invention.
Fig. 8 is a control division example 4 of the central control board and amplifier module of the compact multi-axis drive control stack of the present invention.
Fig. 9 is a control division example 5 of the central control board and amplifier module of the compact multi-axis drive control stack of the present invention.
Fig. 10 is a control division example 6 of the central control board and amplifier module of the compact multi-axis drive control stack of the present invention.
Fig. 11 is a control division example 7 of the central control board and amplifier module of the compact multi-axis drive control stack of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following specific embodiments and the accompanying drawings.
The invention takes a quadrangular central control board and a front end plate as an example to illustrate the compact multi-axis drive control stacking structure provided by the invention.
As shown in fig. 3, it is composed of a lumped central control board 1, a lumped front panel 3 and 4n amplifier modules 2. Each amplifier module 2 can control and drive m motors, and the whole drive control stack can control and drive 4mn motors. The central control board 1 is a control core of the whole driving and controlling stack, integrates a part of control functions of 4mn motors, and can integrate the functions of a motion controller according to requirements. The front end plate 3 has a rectifying function and a bus supporting function, and provides a stable direct current bus for the whole driving and controlling stack. The amplifier module receives the control information from the central control board, realizes the control function of the rest parts of the m motors and drags the m motors to operate. The division of the power between the central control board and the amplifier module is shown in fig. 5-11, the central control board in fig. 5-7 does not have the function of integrating the motion controller, the amplifier module in fig. 5 is only an amplification execution unit for controlling signals, the current loop of the system in fig. 6 is executed by shifting down to the amplifier module, and the speed loop and the current loop in fig. 7 are executed by shifting down to the amplifier module. The central control board of fig. 8-11 integrates the function of the motion controller, the central control board of fig. 8 only integrates the function of the motion controller, the three-loop control of the motor is all executed in the amplifier module, the amplifier module of fig. 9 is only the amplification execution unit of the control signal, the current loop of the system of fig. 10 is executed by shifting down to the amplifier module, and the speed loop and the current loop of fig. 11 are executed by shifting down to the amplifier module.
As shown in fig. 3, the power plate in the common drive and control stacking structure is disassembled, the rectifying part and the bus supporting part are used as the front end plate and the central control plate to be stacked up and down, the front end plate and the central control plate are fixed through the structural part, the connector transmits electric signals, the areas of the front end plate and the central control plate are equal, and the space can be fully utilized. The motor driving inverter bridge part is divided into 4n amplifier modules according to the split mode, each amplifier module can control and drive m motor shafts, the amplifier modules are fixed on the periphery of the stacking of the central control panel and the front end plate through structural parts, the amplifier modules 1-n are fixed on one side of the stacking of the central control panel and the front end plate, the amplifier modules (n +1) -2 n are fixed on the lower side of the stacking in a counterclockwise mode, the amplifier modules (2n +1) -3 n are fixed on the lower side of the stacking, the amplifier modules (3n +1) -4 n are fixed on the lower side of the stacking, and the system space is utilized to the maximum extent. And because the split of contravariant part leads to the dispersion of heating element spare, and the technique that the loss reduces is assisted again, the amplifier module can save the radiator, and the fixed small-size discrete radiator of PCB can also be installed as required certainly, and system's radiator volume can optimize greatly. Therefore, the compact multi-axis drive control stacking power density is high, and the installation space of the customer electric cabinet can be reduced to the maximum extent.
The compact multi-axis drive control stacking structure is characterized in that the stacking structure of the amplifier module is shown in figure 4 and comprises a control board 4, a power supply board 5 and a drive board 6. The control board can realize the partial motor control function of m motor shafts and the amplification execution of control signals. The power panel provides a required auxiliary power supply for the whole amplifier module, and meanwhile, an isolation driving loop of the power switch tube is integrated. And the bridge type inversion topology on the driving board receives a driving signal from the control board, performs power amplification and drags the motor to operate. The control panel, the power panel and the drive board are fixed by adopting structural parts, the control panel and the power panel transmit electric signals by adopting the direct-plug connectors, the power panel and the drive board are interconnected by adopting a plurality of groups of direct-plug connectors, each group of interconnection signals comprises a phase bridge arm driving signal, an overcurrent detection signal, a current sampling signal and the like, and the connection mode can control stray inductance of a driving loop, fully play high-frequency performance of a power switch tube and reduce switching loss. Every amplifier module carries out bus communication through bus communication interface 7 and upper central control panel and interacts, carries out direct current bus energy transfer through power interface 8 and lower floor's front end board, and two interfaces are the hard connection form for amplifier module can regard as convenient the demolising, change and installation of whole, consequently maintains very conveniently, has saved interconnection network communication cable and interconnection power cable among the traditional multiaxis drive accuse mode simultaneously, greatly reduced customer wiring complexity and cost. The multi-axis drive control stacking structure has the advantages that the modular design of the amplifier is realized, and the number and the power of the dragging motors can be flexibly configured by mature amplifier modules according to the requirements of customers.
Claims (4)
1. A compact multi-axis drive-control stacking structure comprises a central control panel, a front end plate and a plurality of amplifier modules; the method is characterized in that:
the central control board integrates the control functions of a plurality of motors and the function of a motion controller; the front end plate has a rectifying function and a bus supporting function and provides a direct current bus for the whole stack; each amplifier module receives control information from the central control board and drags one or more motors to operate;
the central control board and the front end board are both polygonal, are stacked in parallel with each other, are fixed through structural members, and transmit electric signals through connectors.
2. The compact multi-axis actuation stack of claim 1, wherein: the amplifier module is as a whole, fixes in proper order on central control panel and front end board polygon edge through the structure, carries out signal of telecommunication through bus communication interface and upper central control panel and carries out signal of telecommunication through power interface and lower floor's front end board and connect, and two interfaces are the hard connection form.
3. The compact multi-axis actuation stack of claim 1 or 2, wherein: the amplifier module also has some of the control functions of one or more motors that were originally implemented by the central control board.
4. The compact multi-axis actuation stack of claim 1, 2 or 3, wherein: the amplifier module comprises a control board, a power board and a drive board; the control board is used for controlling a set number of motor shafts and integrates a speed control function and a current control function; the power panel provides an auxiliary power supply for the amplifier module and integrates an isolation driving loop of the power switch tube; the bridge type inversion topology on the driving board receives a driving signal from the control board, performs power amplification and drags the motor to operate;
the control board, the power board and the drive board are mutually parallel and fixed by adopting a structural member, the control board and the power board transmit electric signals by adopting a direct-insertion connector, the power board and the drive board are interconnected by adopting a plurality of groups of direct-insertion connectors, and each group of interconnection signals comprises a phase bridge arm driving signal, an overcurrent detection signal and a current sampling signal; the amplifier module carries out bus communication interaction with the central control panel through a bus communication interface, carries out direct current bus energy transfer through a power interface and a front end plate, and the two interfaces are in a hard connection form.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911105267.6A CN110808664B (en) | 2019-11-13 | 2019-11-13 | Compact multi-axis drive control stacking structure |
| PCT/CN2020/110292 WO2021093398A1 (en) | 2019-11-13 | 2020-08-20 | Compact stacked structure driven and controlled by multiple shafts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911105267.6A CN110808664B (en) | 2019-11-13 | 2019-11-13 | Compact multi-axis drive control stacking structure |
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| CN110808664A true CN110808664A (en) | 2020-02-18 |
| CN110808664B CN110808664B (en) | 2021-09-24 |
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| CN201911105267.6A Active CN110808664B (en) | 2019-11-13 | 2019-11-13 | Compact multi-axis drive control stacking structure |
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| CN (1) | CN110808664B (en) |
| WO (1) | WO2021093398A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021093398A1 (en) * | 2019-11-13 | 2021-05-20 | 南京埃斯顿自动化股份有限公司 | Compact stacked structure driven and controlled by multiple shafts |
| CN115840206A (en) * | 2021-12-14 | 2023-03-24 | 深圳市速腾聚创科技有限公司 | Laser receiver and laser radar |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110808664B (en) | 2021-09-24 |
| WO2021093398A1 (en) | 2021-05-20 |
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