CN110912492A - Low-voltage alternating-current servo motor driving device - Google Patents
Low-voltage alternating-current servo motor driving device Download PDFInfo
- Publication number
- CN110912492A CN110912492A CN201911325859.9A CN201911325859A CN110912492A CN 110912492 A CN110912492 A CN 110912492A CN 201911325859 A CN201911325859 A CN 201911325859A CN 110912492 A CN110912492 A CN 110912492A
- Authority
- CN
- China
- Prior art keywords
- unit
- servo
- chip
- servo motor
- data processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention belongs to the field of industrial control, and particularly relates to a low-voltage alternating-current servo motor driving device which comprises a servo control board and a servo driving board, wherein the servo control board is connected to the servo driving board. The servo control board comprises a data processing unit, a core algorithm unit, a detection unit and a control unit, wherein the data processing unit comprises an optical fiber interface and can provide high communication rate. The low-voltage alternating-current servo motor driving device provided by the invention adopts optical fibers as communication media to improve the transmission speed, so that the requirement of high real-time occasions can be met.
Description
Technical Field
The invention belongs to the field of industrial control, and particularly relates to a low-voltage alternating-current servo motor driving device.
Background
With the development of automatic production technology, many servos and servodrives are used in the motion control system, and in some cases, the real-time requirement for multiple servos is high. The existing servo driver generally uses RS-485 and CAN buses for communication, the transmission speed is low, the transmitted data is less, and the situation that a plurality of servo drivers and servo drivers are required and high real-time performance is required is difficult to meet.
Most of existing drivers need to perform voltage conversion in order to meet the requirement of servo driving voltage and provide proper voltage for a control part, and a voltage conversion circuit not only occupies a large space of the driver but also causes electric quantity loss in the conversion process. Most of existing drivers need to be additionally provided with additional circuits for solving the problem that kinetic energy generated during motor braking is converted into electric energy to influence the drivers.
Disclosure of Invention
The invention aims to provide a low-voltage alternating-current servo motor driving device, which receives information of an external controller through a field programmable gate array chip and an optical fiber transceiver, and the information is transmitted by taking an optical fiber as a medium, so that the communication speed is greatly improved, and the occasions with higher requirements on real-time property are met. By using an external direct current bus power supply, circuits required by voltage conversion of the servo driver can be reduced, the size of the servo driver is reduced, and electric energy loss caused by voltage conversion is reduced.
In order to solve the technical problem, the use of the utility model provides the following technical scheme:
a low voltage ac servo motor drive comprising: a servo control board and a servo drive board; it is characterized in that the preparation method is characterized in that,
the servo control board is connected to the servo drive board;
the servo control panel comprises a data processing unit, a core algorithm unit, a detection unit and a control unit;
the data processing unit is mainly integrated in a first chip, the core algorithm unit is integrated in a second chip, the detection unit is integrated in a third chip, and the control unit is integrated in a fourth chip;
the data processing unit is connected with the control unit through a parallel bus and connected with the detection unit through a serial bus; the core algorithm unit is connected to the control unit through a serial bus.
Further, the first chip and the third chip are field programmable gate arrays, the second chip is a motor drive application specific integrated chip, and the fourth chip is a micro control unit.
Further, the data processing unit comprises a communication unit, an IO unit, a display unit and an encoder unit.
Further, the communication unit includes a fiber optic transceiver and a fiber optic interface.
Further, the servo driving board includes: the bus voltage filtering device comprises a power supply module, a bus voltage filtering module and a power module; the power module is connected with the core algorithm control unit and drives the motor to move.
Further, the data processing unit supports incremental encoder and serial encoder signal processing.
Further, the detection unit detects the running state of the motor, and when the servo driving device or the motor is in an unsafe state, the detection unit informs the data processing unit that the data processing unit sends out an instruction to finally stop the motor.
Further, the core algorithm unit outputs a motor operation control signal to complete a corresponding motion instruction.
Further, the core algorithm unit comprises a position loop, a speed loop and a current loop.
Further, the core algorithm unit includes a digital-to-analog converter.
Has the advantages that:
the low-voltage alternating-current servo motor driving device provided by the invention adopts optical fibers as communication media to improve the transmission speed, so that the requirement of high real-time occasions can be met. In addition, the low-voltage alternating current servo motor driving device supports two paths of encoder signal processing, one path is that motor encoder signals are finally transmitted to a core algorithm unit, the other path can be connected to equipment served by a servo driver according to practical application, an external controller can complete closed-loop control of the driven equipment according to encoder information, and meanwhile, according to requirements, the external controller can complete servo speed loop or position loop closed-loop control according to information on the motor encoder without using a speed loop and a position loop of the core algorithm unit. In addition, the invention adopts a common direct current bus structure, does not need a switching power supply circuit, can reduce the volume of the servo driver, reduces the cost of the servo driver, improves the stability and the reliability of the driver and reduces the loss of electric energy.
Drawings
Fig. 1 is a schematic structural diagram of a low-voltage ac servo motor driving apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a low-voltage ac servo motor driving device as a slave station for expanding multi-axis application according to an embodiment of the present invention.
Fig. 3 is a front view of a low-voltage ac servo motor driving apparatus according to an embodiment of the present invention.
Fig. 4 is a left side view of a low-voltage ac servo motor driving apparatus according to an embodiment of the present invention.
Fig. 5 is a disassembled schematic view of a low-voltage ac servo motor driving apparatus according to an embodiment of the present invention.
Fig. 6 is a general schematic diagram of a low-voltage ac servo motor driving apparatus according to an embodiment of the present invention.
The labels in the figure are: 1. an optical fiber interface; 2. an IO interface; 3. a serial port; 4. an encoder interface; 41. a first encoder interface; 42. a second encoder interface; 5. oled display; 6. a motor interface; 7. a control electrical interface; 8. a bus electrical interface; 9. a servo drive board; 10. a servo control board; 11. and the servo control board and the servo drive board are connected with an interface in a data mode.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the real-time examples of the present invention are clearly and completely described below with reference to the accompanying drawings of the implementation of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
The embodiment of the invention relates to a low-voltage alternating-current servo motor driving device. As shown in fig. 1, a low-voltage ac servo motor driving apparatus includes: servo control board and servo drive board, servo control board connects in servo drive board. The servo control board is responsible for the core algorithm control of the motor, provides a motion control signal for the motor (namely provides the motion control signal for the driving board), and communicates with an external controller, controls input and output, detects and displays the running state and the like. The servo drive board is used for driving the motor according to the operation control signal provided by the servo driver.
In this embodiment, the servo control board includes a data processing unit, a core algorithm unit, a detection unit, and a control unit, wherein the data processing unit is connected to the control unit through a parallel bus and connected to the detection unit through a serial bus; the control unit is connected with the data processing unit through a parallel bus and connected with the core algorithm control unit through a serial bus; and the core algorithm unit outputs a motor operation control signal. And the control unit controls the core algorithm unit to output a motor operation control signal to complete a corresponding motion instruction. The data processing unit is integrated in the first chip, the core algorithm unit is integrated in the second chip, the detection unit is integrated in the third chip, and the control unit is integrated in the fourth chip. The first chip and the third chip are Field-Programmable Gate arrays (FPGAs), the second chip is a motor-driven application-specific integrated chip, and the fourth chip is a Micro Control Unit (MCU). In the embodiment, the four chips cooperate with each other to complete the operations of motion control of the servo driver, external communication, information display, input and output control and the like. The data processing unit supports incremental encoder and serial encoder signal processing.
Furthermore, the data processing unit processes all external signals and outputs signals to the outside, the data processing unit comprises a communication unit, an Input Output (IO) unit, a display unit and an encoder unit, the communication unit comprises an optical fiber interface and an optical fiber transceiver, the optical fiber interface and the optical fiber transceiver are used for communicating with an external control main station, high-speed communication with the outside and content of real-time information transmission are improved through optical fibers, and the overall real-time performance of equipment where the servo driver is located can be greatly improved. The IO unit comprises input and output, specific functions of IO can be set through corresponding parameters, and the method can adapt to various application scenes. The IO unit receives external input signals and external output signals through optical coupling isolation, and a user can set functions corresponding to the input signals and the output signals according to own requirements, so that the flexibility of input and output control is improved, and the practicability of input and output is greatly improved. The display unit displays the running state of the driver and the motor and fault information when a fault occurs by driving an Organic Light-Emitting Diode (OLED), and the like, so that a user can conveniently observe the state and use of the driver. The encoder unit can process two paths of encoder signals, and the two paths of encoders both support a serial encoder and an incremental encoder, so that the compatibility of the servo driver to the encoders is higher. The encoder unit is provided with two paths of encoders with two ports connected with the outside, and the encoder unit can simultaneously process signals of the two paths of encoders by utilizing the characteristic of high-speed parallel processing of the data processing unit, namely FPGA. One path of signals of the motor encoder is processed by the data processing unit and then is used as a part of motor operation algorithm input to be finally sent to the core algorithm unit, the other path of signals is selectable, a user can connect the encoder installed on equipment where the servo driving device is located to an encoder interface of the servo driving device according to requirements, parameters corresponding to the encoder are set to the servo driving device, and after the encoder information is processed by the servo driving device, the external controller can read the information of the encoder to realize functions required by the user.
Further, the core algorithm unit outputs motor motion control signals to the servo drive board, wherein the motor motion control signals comprise a current loop, a speed loop and a position loop, and current information required by the motor motion algorithm which can be collected and controlled by the ADC is integrated.
The position loop, the speed loop and the current loop need a large amount of operation for completing motion control, a general driver is limited by the operation performance of a driving main control chip to cause the speed of the current loop to be within 15K Hz, a core algorithm unit is integrated on a motor driving chip in the embodiment, and the motor algorithm is completed by hardware to enable the speed of the current loop to be up to 25 KHz. And the speed of the current loop can be adjusted according to the parameters of the motor, so that the application range of the servo driver is expanded. In addition, an ADC (Analog to Digital Converter) is integrated in the core algorithm unit, so that current sampling can be performed, a practical and special ADC chip is not needed for current sampling, space can be saved, and cost can be reduced.
Furthermore, the detection unit detects the running state of the motor, transmits detection information to the data processing unit at any time, and informs the data processing unit that the data processing unit sends an instruction to finally stop the motor when the servo driver or the motor is in an unsafe state. The detection unit acquires voltage through the ADC chip and then converts the voltage into voltage, current, temperature and the like required by detection, calculates detected information through various algorithms to determine whether the servo driver normally operates, and transmits a final result to the data processing unit through the serial bus.
The detection unit is integrated in the FPGA, a FPGA chip is independently used in the embodiment to detect the state of the driver, the FPGA has the characteristic of high-speed parallelism, and the motor control signal output to the drive plate by the algorithm core unit can be turned off at the first time when the servo driver and the motor are found to be out of order, so that the probability of damage of the servo driver and the damage caused by abnormal motion of the motor are reduced, and the safety of servo driving is greatly improved.
Furthermore, the control unit is connected in parallel to the data processing unit and in series to the core algorithm unit. Is connected with an external upper computer through a serial port.
The control unit analyzes the information of the data processing unit, performs corresponding operation and then outputs a corresponding command to the core algorithm unit, and finally the core algorithm unit outputs a corresponding motor control signal to the servo drive board. The external upper computer can be connected with the control unit through a serial port, parameters of the servo driving device can be set according to specific application, and various parameter waveforms when the servo driving device drives the motor can be observed through a visual interface of the upper computer, so that a user can use the servo driving device more conveniently.
Furthermore, the servo drive board comprises a power module, a bus voltage filtering module and a power module. In the embodiment, the servo driver is not provided with a switching power supply, and the power module is connected with the core algorithm control unit and drives the motor to move; the power supply required by the power module driving motor is voltage filtered by the bus voltage filtering module, wherein the bus voltage filtering module is electrically connected with a bus provided from the outside. The power supply module is connected with an external direct current bus power supply and a control power supply, and the control power supply is isolated and converted into power supplies required by the control panel and certain chips to provide power supplies for the servo control panel. In the embodiment, the servo driver does not need a switching power supply circuit and a brake resistor which consumes electric energy when the motor brakes, so that the volume of the servo driver is reduced, the cost is reduced, the loss of the electric energy is reduced, and the later maintenance is facilitated.
Further, as shown in fig. 2, the low voltage ac servo motor driving apparatus provided by the present invention is used as a slave station and controlled by an external controller as a master station, that is, the external controller connects 1 to N motor driving apparatuses through an optical fiber interface, where N is greater than 1, that is, one external master station can control N motor driving apparatuses to drive motors to make different motions, and in addition, the external controller does not need to have an encoder interface, but connects encoders installed on some components of equipment served by the external controller to the encoder interface of the servo driving apparatus, and then reads back information of the encoders from the servo driving apparatus to complete some closed-loop control of itself.
Further, as shown in fig. 3, 4 and 5, a low-voltage ac servo motor driving device, a servo driving board is fixed on an L-shaped board through a copper column. The servo control board is connected with the servo drive board through a copper column, and then the servo control board 10 and the servo drive board 9 are fixed through screws. The servo control board and the servo drive board transmit data through a data connection interface 11, the data connection interface of the servo control board is a pin header, and the data connection interface of the servo drive board is a pin header. The whole servo driving device can be fixed through the U-shaped through hole of the L-shaped plate.
A low-voltage alternating-current servo motor driving device comprises a back plate and a side plate, wherein an optical fiber interface 1, an IO interface 2, a serial port 3, an encoder interface 4, an oled display 5 and a motor interface 6 are arranged on the back plate; the encoder interface 4 comprises a first encoder interface 41 and a second encoder interface 42; the side plate comprises a control electrical interface 7 and a bus electrical interface 8.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A low voltage ac servo motor drive comprising: a servo control board and a servo drive board; it is characterized in that the preparation method is characterized in that,
the servo control board is connected to the servo drive board;
the servo control panel comprises a data processing unit, a core algorithm unit, a detection unit and a control unit;
the data processing unit is mainly integrated in a first chip, the core algorithm unit is integrated in a second chip, the detection unit is integrated in a third chip, and the control unit is integrated in a fourth chip;
the data processing unit is connected with the control unit through a parallel bus and connected with the detection unit through a serial bus; the core algorithm unit is connected to the control unit through a serial bus.
2. The low voltage ac servo motor of claim 1, wherein the first chip and the third chip are fpga chips, the second chip is an asic chip, and the fourth chip is a mcu.
3. The low voltage ac servo motor driving device according to claim 1, wherein the data processing unit comprises a communication unit, an IO unit, a display unit, and an encoder unit.
4. A low voltage ac servo motor drive as claimed in claim 3, wherein said communication unit comprises a fiber optic transceiver and a fiber optic interface.
5. A low voltage ac servo motor drive as claimed in claim 1, wherein said servo drive plate comprises: the bus voltage filtering device comprises a power supply module, a bus voltage filtering module and a power module; the power module is connected with the core algorithm control unit and drives the motor to move.
6. The low voltage ac servo motor drive of claim 1, wherein the data processing unit supports incremental encoder and serial encoder signal processing.
7. A low voltage ac servo motor drive as claimed in claim 1, wherein the detection unit detects the state of the motor during operation, and when the servo drive or the motor is in an unsafe state, informs the data processing unit that the data processing unit will issue a command to finally stop the motor.
8. The low voltage ac servo motor drive of claim 1, wherein the core algorithm unit outputs motor operation control signals to complete corresponding motion commands.
9. The low voltage ac servo motor drive of claim 1, wherein the core algorithm unit comprises a position loop, a speed loop, a current loop.
10. The low voltage ac servo motor drive of claim 1, wherein the core algorithm unit comprises a digital to analog converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911325859.9A CN110912492A (en) | 2019-12-20 | 2019-12-20 | Low-voltage alternating-current servo motor driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911325859.9A CN110912492A (en) | 2019-12-20 | 2019-12-20 | Low-voltage alternating-current servo motor driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110912492A true CN110912492A (en) | 2020-03-24 |
Family
ID=69826798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911325859.9A Pending CN110912492A (en) | 2019-12-20 | 2019-12-20 | Low-voltage alternating-current servo motor driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110912492A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112666850A (en) * | 2021-01-11 | 2021-04-16 | 杭州太阳德克电气有限公司 | Servo single-piece separation system of low-voltage bus |
| CN113452286A (en) * | 2020-03-25 | 2021-09-28 | 上海铼钠克数控科技股份有限公司 | Servo motor driving system |
-
2019
- 2019-12-20 CN CN201911325859.9A patent/CN110912492A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113452286A (en) * | 2020-03-25 | 2021-09-28 | 上海铼钠克数控科技股份有限公司 | Servo motor driving system |
| CN112666850A (en) * | 2021-01-11 | 2021-04-16 | 杭州太阳德克电气有限公司 | Servo single-piece separation system of low-voltage bus |
| CN112666850B (en) * | 2021-01-11 | 2023-10-10 | 杭州太阳德克电气有限公司 | Low-voltage bus servo single-piece separation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104589367B (en) | Modularization robot driver based on EtherCAT and control method | |
| CN103199773B (en) | Servo drive system based on bussing technique | |
| CN103401486B (en) | With the AC servo drive for double motors of UPS power cut-off information protection | |
| CN110912492A (en) | Low-voltage alternating-current servo motor driving device | |
| CN205001612U (en) | Solar energy power supply and cell -phone remote control executor | |
| CN205566144U (en) | Many motors speed servo drive control structure | |
| CN102096397B (en) | Modularized wiring method of control cabinet for multi-axis motion control system based on SynqNet bus | |
| CN110165945A (en) | A kind of integrated AC servo-driver | |
| CN211018694U (en) | Low-voltage alternating-current servo motor driving device | |
| CN103144548A (en) | Traction control unit and control box | |
| KR20130010183A (en) | Robot system using power line communication | |
| CN110943652A (en) | Multi-motor cluster system drive control device, method and system | |
| CN213069104U (en) | Durable test system of electric automobile driving motor | |
| CN205057352U (en) | A high intelligent servo drive system for welding robot | |
| CN211457024U (en) | Multi-motor cluster system drive control device | |
| CN203084168U (en) | Detection apparatus of servo motor | |
| CN203775087U (en) | High-voltage frequency converter rotation starting control system | |
| CN101895243A (en) | Moment equilibrium controller in redundant actuation system | |
| CN106329889A (en) | Power module and power system | |
| CN111740890A (en) | Multifunctional integrated oil source monitoring control network and control method | |
| CN219018701U (en) | Permanent magnet synchronous motor unit control system and permanent magnet synchronous motor unit | |
| CN203117754U (en) | Servo control system based on connection mode realized by means of communication module | |
| CN208508823U (en) | A kind of multi-axis industrial robot's driving circuit | |
| CN218549784U (en) | Bi-motor synchronous transport controlgear | |
| CN204613321U (en) | A kind of detection platform for electric machine controller integration test |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |