CN111824960A

CN111824960A - Gantry synchronous control method, control equipment and motor control system

Info

Publication number: CN111824960A
Application number: CN201910319902.4A
Authority: CN
Inventors: 王健; 吴立; 姚亚澜; 田天胜; 李卫平
Original assignee: Shenzhen Leisai Software Technology Co ltd; Leadshine Technology Co Ltd
Current assignee: Shenzhen Leisai Software Technology Co ltd; Leadshine Technology Co Ltd
Priority date: 2019-04-19
Filing date: 2019-04-19
Publication date: 2020-10-27

Abstract

The invention discloses a gantry synchronous control method, a control device and a motor control system.A first motor driver is connected with a second motor driver through a communication bus, the first motor driver acquires first position information of a first motor which is driven and controlled by the first motor driver, the second motor driver acquires second position information of a second motor which is driven and controlled by the second motor driver and sends the second position information to the first motor driver through the communication bus, the first motor driver sends the first position information and the second position information to the control device, and the control device carries out gantry position compensation control according to a position difference between the first position information and the second position information; compared with the existing gantry control mode, the interaction of position information is realized through the communication bus, the anti-interference capability is stronger, the wiring between the second motor driver and the control equipment can be simplified, the wiring complexity can be reduced to a great extent, the reliability of the system is improved, and the use and maintenance cost of the system is reduced.

Description

Gantry synchronous control method, control equipment and motor control system

Technical Field

The invention relates to the field of motor control, in particular to a gantry synchronous control method, gantry synchronous control equipment and a gantry synchronous control system.

Background

The motor driver is a product widely applied to industrial control and automation production, and is applied to various automation control industries such as 3C automation, single-shaft mechanical arm, logistics and the like. In some application scenarios, such as but not limited to large numerically controlled planer, laser welding equipment, glass processing, etc., the involved breadth is large, and the processing operation speed is required to be fast; in the application scenes, if equipment adopts single-shaft transmission, the requirement for quick processing cannot be met; thus, dual Y-axes are typically employed for this type of scenario. If when asynchronous appears in two Y axles, can cause the phenomenon of pulling between the two motor axles, cause the damage for mechanical structure, can increase the load on the motor simultaneously, cause the burden to electrical equipment, can damage motor or driver when serious. To avoid this situation as much as possible, it is currently the practice to achieve dual-axis position synchronization based on information fed back by encoders on the motors. Specifically, referring to fig. 1-1, in order to ensure synchronous operation of the motor a and the motor B, the encoder a sends position information of the motor a to the motor driver a, the motor driver a sends received position information to the control device, the encoder B sends position information of the motor B to the motor driver B, the motor driver B sends received position information to the control device, and the control device performs synchronous control on the motor a and the motor B according to the position information fed back by the motor drivers a and B, that is, performs gantry control. In the gantry control mode shown in fig. 1-1, the wiring between the motor driver a and the motor driver B and the control equipment is shown in fig. 1-2, the wiring of the gantry control mode is very complex, errors are easy to occur, reliability is affected, data transmission mainly adopts differential signals, adjustment parameters are more, control is complex, and use cost and maintenance cost are high.

Disclosure of Invention

The invention provides a gantry synchronous control method, a gantry synchronous control device and a gantry synchronous motor control system, and solves the problems of complex wiring, poor reliability, high use cost and high maintenance cost of the conventional gantry control implementation mode.

In order to solve the above problems, the present invention provides a gantry synchronous control method, which is applied to a motor control system including a control device, a first motor driver and a second motor driver, wherein the first motor driver is connected to the second motor driver through a communication bus, and the gantry synchronous control method includes:

the control equipment receives first position information and second position information sent by the first motor driver; the first position information is position information of a first motor driven and controlled by the first motor driver, the second position information is position information of a second motor driven and controlled by the second motor driver, and the first motor driver receives the second position information sent by the second motor driver through the communication bus;

and the control equipment obtains a position difference according to the first position information and the second position information, and performs gantry position compensation control according to the position difference.

Optionally, the control device is further configured to compare the position difference with a preset position difference threshold, and send a motor stop control instruction to the first motor driver and the second motor driver to control the first motor and the second motor to stop rotating when the position difference is greater than the position difference threshold.

Optionally, the control device is further configured to monitor whether a first origin signal and a second origin signal sent by the first motor driver are received; the first origin signal is a first origin signal triggered when the first motor reaches a first origin, the second origin signal is a signal triggered when the second motor reaches a second origin, and the second motor driver sends the second origin signal to the first motor driver through the communication bus;

and after receiving the first origin signal and the second origin signal, the control device starts timing and stops sending pulse signals to the first motor driver and the second motor driver, and after a timing value reaches a preset duration value, the control device sends the pulse signals to the first motor driver and the second motor driver again.

Optionally, when one of the first origin signal and the second origin signal is received, the control device sends a pulse prohibition instruction to the first motor driver or the second motor driver corresponding to the received first origin signal or the received second origin signal, so as to notify the first motor driver or the second motor driver to stop performing drive control on the first motor or the second motor according to the received pulse signal.

Optionally, the performing, by the control device, gantry compensation control according to the position difference includes:

the control equipment calculates to obtain first gantry compensation position information of the first motor according to the position difference, and sends the first gantry compensation position information to the first motor driver so that the first motor driver can carry out gantry compensation control on the first motor according to the first gantry compensation position information; and/or the control equipment calculates second gantry compensation position information of the second motor according to the position difference, and sends the second gantry compensation position information to the second motor driver so that the second motor driver can carry out gantry compensation control on the second motor according to the second gantry compensation position information.

In order to solve the above problem, the present invention further provides a control device, wherein the control device is connected to a first motor driver, the first motor driver is connected to a second motor driver through a communication bus, and the control device includes a communication module and a controller;

the communication module is used for receiving first position information and second position information sent by the first motor driver; the first position information is position information of a first motor driven and controlled by the first motor driver, the second position information is position information of a second motor driven and controlled by the second motor driver, and the first motor driver receives the second position information sent by the second motor driver through the communication bus;

the controller is used for obtaining a position difference according to the first position information and the second position information and carrying out gantry position compensation control according to the position difference.

Optionally, the controller is further configured to compare the position difference with a preset position difference threshold, and send a motor stop control instruction to the first motor driver and the second motor driver to control the first motor and the second motor to stop rotating when the position difference is greater than the position difference threshold.

Optionally, the controller is further configured to monitor whether a first origin signal and a second origin signal sent by the first motor driver are received, start timing and stop sending pulse signals to the first motor driver and the second motor driver after the first origin signal and the second origin signal are received, and send pulse signals to the first motor driver and the second motor driver again after a timing value reaches a preset time value;

the first origin signal is a first origin signal triggered when the first motor reaches a first origin, the second origin signal is a signal triggered when the second motor reaches a second origin, and the second motor driver sends the second origin signal to the first motor driver through the communication bus.

Optionally, the controller is configured to calculate, according to the position difference, first gantry compensation position information of the first motor, and send the first gantry compensation position information to the first motor driver, so that the first motor driver performs gantry compensation control on the first motor according to the first gantry compensation position information; and/or the controller is used for calculating second gantry compensation position information of the second motor according to the position difference, and sending the second gantry compensation position information to the second motor driver so that the second motor driver can carry out gantry compensation control on the second motor according to the second gantry compensation position information.

In order to solve the above problems, the present invention further provides a motor control system, including a first motor driver and a first motor connected to the first motor driver, a second motor driver and a second motor connected to the second motor driver, wherein the first motor driver and the second motor driver are connected through a communication bus; also included is a control device as described above, the control device being in communicative connection with the first motor drive.

Optionally, the communication bus is any one of the following buses: RS485 bus, CAN bus, Ethernet bus.

The invention has the beneficial effects that:

the invention provides a gantry synchronous control method, a control device and a motor control system, wherein the motor control system comprises a control device, a first motor driver and a second motor driver, the first motor driver is connected with the second motor driver through a communication bus, the first motor driver acquires first position information of a first motor which is driven and controlled by the first motor driver and sends the first position information to the control device, the second motor driver acquires second position information of a second motor which is driven and controlled by the second motor driver and sends the second position information to the first motor driver through the communication bus, the first motor driver also sends the second position information to the control device, and then the control device can carry out gantry position compensation control according to a position difference between the first position information and the second position information so as to realize synchronous operation of the first motor and the second motor as much as possible; compared with the existing gantry control mode, the interaction of the position information can be realized between the first motor driver and the second motor driver directly through the communication bus, the anti-jamming capability is stronger, and the position information of the second motor driver can also be transmitted to the control equipment through the first motor driver, so that the wiring between the second motor driver and the control equipment can be further simplified, the wiring complexity can be reduced to a great extent, the reliability of the system is improved, and the use and maintenance cost of the system is reduced.

Drawings

FIG. 1-1 is a schematic diagram of a prior art motor control system;

1-2 are wiring schematic diagrams of the motor control system shown in FIG. 1-1;

FIG. 2 is a schematic view of a motor control system according to a first embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a control device according to a second embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a motor driver according to a second embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a gantry controller according to a second embodiment of the present invention;

fig. 6 is a schematic wiring diagram of a control device and a motor driver in a third embodiment of the present invention;

FIG. 7 is a diagram illustrating a data frame synchronization process according to a third embodiment of the present invention;

FIG. 8 is a diagram illustrating a data frame synchronization process according to a third embodiment of the present invention;

FIG. 9 is a mechanical schematic diagram during zeroing in a third embodiment of the present invention;

FIG. 10 is a diagram illustrating the timing of signals during the zeroing process according to a third embodiment of the present invention;

FIG. 11-1 is a first schematic structural diagram of a motor driver according to a fourth embodiment of the present invention;

FIG. 11-2 is a second schematic structural diagram of a motor driver according to a fourth embodiment of the present invention;

fig. 11-3 are schematic structural views of a motor driver in a fourth embodiment of the present invention;

FIGS. 11-4 are schematic diagrams of electrical circuits within a motor driver in a fourth embodiment of the present invention;

FIG. 12-1 is a schematic diagram illustrating a fifth embodiment of an IPM module temperature control circuit according to the present invention;

fig. 12-2 is a schematic structural diagram of a fifth IPM module temperature control circuit according to an embodiment of the present invention;

fig. 12-3 are schematic structural diagrams of a voltage setting circuit according to a fifth embodiment of the present invention;

fig. 12-4 are schematic structural diagrams of a second optical coupler-isolator circuit according to a fifth embodiment of the present invention;

fig. 12-5 are schematic structural diagrams of an amplifying circuit according to a fifth embodiment of the present invention;

fig. 12 to 6 are schematic structural diagrams of a motor driver according to a fifth embodiment of the present invention;

fig. 13-1 is a front view of a motor driver according to a sixth embodiment of the present invention;

fig. 13-2 is a rear view of a motor driver according to a sixth embodiment of the present invention;

fig. 13-3 is a schematic structural diagram of a fixing hole of a first braking resistor according to a sixth embodiment of the present invention;

fig. 13-4 are right side views of a motor driver according to a sixth embodiment of the present invention;

fig. 13-5 are left side views of a motor driver according to a sixth embodiment of the present invention;

fig. 13 to 6 are top views of motor drivers according to a sixth embodiment of the present invention;

fig. 13 to 7 are bottom views of the motor driver according to the sixth embodiment of the present invention;

fig. 13 to 8 are perspective views of a motor driver according to a sixth embodiment of the present invention;

fig. 13 to 9 are perspective views of a motor driver according to a sixth embodiment of the present invention;

fig. 13 to 10 are perspective views of a motor driver according to a sixth embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.

The first embodiment is as follows:

aiming at the problems of complex wiring, poor reliability, and high use cost and maintenance cost of a gantry control implementation mode, the embodiment provides a novel motor control system for realizing synchronous operation control of at least two motors. For ease of understanding, the present embodiment will be described below by taking a motor control system including two motors as an example. However, it should be understood that the motor control system in this embodiment is not limited to controlling the synchronous operation of two motors, and the synchronous operation control of three or more motors may be performed by analogy, and will not be described herein again.

Fig. 2 shows a motor control system provided in this embodiment, which includes a control device 1, a first motor driver 2, a first motor 4, a second motor driver 3, and a second motor 5; the first motor driver 2 is in communication connection with the control device 1, the first motor driver 2 is connected with a first motor 4 driven by the first motor driver, the second motor driver 3 is connected with the first motor driver 2 through a communication bus, and the specific type of the communication bus CAN be flexibly selected, for example, but not limited to, any one of an RS485 bus, a CAN bus and an Ethernet bus; the second motor driver 3 is connected to a second motor 5 driven by the second motor driver, wherein:

the first motor driver 2 is configured to obtain first position information of the first motor 4, where the first position information is preferably real-time position information of the first motor 4, and a manner of obtaining the position information of the first motor 4 by the first motor driver 2 may be obtained through information fed back by a first encoder (not shown in the figure) connected to the first motor 4, where the first encoder may be integrally disposed in the first motor driver 2, or may be disposed separately from the first motor driver 2.

The second motor driver 3 is configured to obtain second position information of the second motor 5, where the second position information is preferably real-time position information of the second motor 5, and the manner in which the second motor driver 3 obtains the position information of the second motor 5 may be obtained through information fed back by a second encoder (not shown in the figure) connected to the second motor 5, and the second encoder may be integrally disposed in the second motor driver 3 or may be disposed separately from the second motor driver 3.

In this embodiment, after acquiring the second position information of the second motor 5, the second motor driver 3 sends the second position information to the first motor driver 2 through a communication bus connected to the first motor driver 2.

After the first motor driver 2 acquires the first position information of the first motor 4, the first position information can be sent to the control device 1, after the first motor driver 2 acquires the second position information of the second motor 5 from the second motor driver 3 through a communication bus connected with the second motor driver 3, the second position information is also sent to the control device 1, the control device 1 compares the first position information of the first motor 4 with the second position information of the second motor to obtain the position difference between the first motor 4 and the second motor 5, and then gantry position compensation control is performed according to the position difference.

In this embodiment, when the control device 1 performs gantry position compensation control according to the position difference, a specific control strategy can be flexibly selected. For example, the position of the first motor 4 may be adjusted and controlled, the position of the second motor 5 may be adjusted and controlled, or the positions of the first motor 4 and the second motor 5 may be adjusted and controlled at the same time.

For example, in one example, the control device 1 may calculate first gantry compensation position information of the first motor 4 according to the position difference, and then send the first gantry compensation position information to the first motor driver 2 to control the first motor 4;

for another example, in another example, the control device 1 may calculate second gantry compensation position information of the second motor 5 according to the position difference, send the second gantry compensation position information to the first motor driver 2 (in some examples, the control device 1 may also send the second gantry compensation position information to the second motor driver 3 directly through the connection between the control device and the second motor driver 3), the first motor driver 2 may send the second gantry compensation position information to the second motor driver 3 through a communication bus connected to the second motor driver 3, and the second motor driver 3 controls the second motor 5 according to the second gantry compensation position information;

for another example, in another example, the control device 1 may respectively calculate first gantry compensation position information of the first motor 4 and second gantry compensation position information of the second motor 5 according to the position difference, send the first gantry compensation position information and the second gantry compensation position information to the first motor driver 2 (in some examples, the control device 1 may also synchronously send the first gantry compensation position information and the second gantry compensation position information to the first motor driver 2 and the second motor driver 3 connected thereto, respectively), the first motor driver 2 sends the received second gantry compensation position information to the second motor driver 3 through a communication bus connected to the second motor driver 3, the first motor driver 2 and the second motor driver 3 respectively control the first motor 4 and the second motor 5 according to the first gantry compensation position information and the second gantry compensation position information, synchronous operation of the first motor 4 and the second motor 5 is achieved. In addition, it should be understood that the first motor driver 2 and the second motor driver 3 in this embodiment may be servo motor drivers, and may also be stepper motor drivers as required. It can be seen that, compared with the existing gantry control mode, in this embodiment, the interaction of position information can be directly realized through a communication bus between the first motor driver and the second motor driver, the anti-interference capability is stronger, and the position information of the second motor driver can also be transmitted to the control equipment through the first motor driver, so that the wiring between the second motor driver and the control equipment can be further simplified, the complexity of the wiring can be reduced to a great extent, the reliability of the system is improved, and the use and maintenance costs of the system are reduced.

In an example of the present embodiment, the control device 1 may be further configured to compare the position difference with a preset position difference threshold, and send a motor stop control command to the first motor driver 2 and the second motor driver 3 to control the first motor 4 and the second motor 5 to stop rotating when the position difference is greater than the position difference threshold. The first motor 4 and the second motor 5 are disconnected after stopping, so that various damages caused by mechanical asynchronism are avoided. Of course, in some examples of this embodiment, the first motor driver 2 may also compare the acquired first position information with the acquired second position information to obtain a position difference between the first motor and the second motor, compare the position difference with a preset position difference threshold, and send a gantry alarm signal to the control device 1 when the position difference is greater than the position difference threshold; the control device 1 can be used for sending a motor stop control instruction to the first motor driver 2 and the second motor driver 3 after receiving the gantry alarm signal so as to control the first motor 4 and the second motor 5 to stop rotating. The first motor 4 and the second motor 5 are disconnected after stopping, so that various damages caused by mechanical asynchronism are avoided. Optionally, in this embodiment, the control device 1 may send various data (for example, including but not limited to various pulse commands, configuration information, control instructions, and debugging information) to be sent to the first motor driver 2 through the communication connection with the first motor driver 2, send various data to be sent to the second motor driver 3 to the first motor driver 2 first, and send the various data to be sent to the second motor driver 3 through the communication bus between the first motor driver 2 and the second motor driver 3, so as to further simplify the connection between the second motor driver 3 and the control device 1. Of course, in some examples, the second motor driver 3 may also be in communication connection with the control device 1, through which the control device 1 may directly send various data to the second motor driver 3 to be sent to the second motor driver 3. In addition, it should be understood that the specific communication protocol used for communication between the first motor driver 2 and the second motor driver 3, and between the first motor driver 2 and the control device 1 in the present embodiment can also be flexibly selected. For example, data interaction between the first motor drive 2 and the second motor drive 3 may be implemented using, but not limited to, CSMA/CD-like communication mechanisms.

In an example of this embodiment, the first motor driver 2 may further be configured to monitor whether a first origin signal triggered when the first motor 4 reaches the first origin is received, and whether a second origin signal sent by the second motor driver 3 through the communication bus is received, where the second origin signal is a signal triggered when the second motor 5 reaches the second origin; that is, the second motor driver 3 may also be configured to monitor whether a second origin signal triggered when the second motor 5 reaches the second origin is received;

the first motor driver 2 can send the first origin signal to the control device 1 when receiving the first origin signal, and also send the second origin signal to the control device 1 when receiving the second origin signal, after receiving the first origin signal and the second origin signal, the control device 1 can start timing and stop sending pulse signals to the first motor driver 2 and the second motor driver 3, and after a timing value reaches a preset time length value, the pulse signals are sent to the first motor driver 2 and the second motor driver 3 again, so that the gantry zero-returning control is realized.

In another example of the present embodiment, the first motor driver 2 may not send the control device 1 after receiving the first origin signal, but continue to detect whether the second origin signal is received from the second motor driver, and send the origin arrival signal to the control device 1 when it determines that the first origin signal and the second origin signal are received; the control device 1 starts timing and stops sending pulse signals to the first motor driver 2 and the second motor driver 3 after receiving the origin arrival signal, and sends the pulse signals to the first motor driver 2 and the second motor driver 3 again after the timing value reaches the preset duration value, so that gantry return-to-zero control is realized. Optionally, in this embodiment, when the gantry zeroing control is required to be performed, the control device 1 may send a zeroing control instruction to the first motor driver 2 and the second motor driver 3 first. After receiving a zero-returning control instruction sent by the control device 1, the first motor driver 2 controls the first motor 4 to move to a first origin position according to the zero-returning control instruction, and monitors whether a first origin signal triggered when the first motor 4 reaches the first origin is received; the second motor driver 3 can also control the second motor 5 to move to the second origin position according to the zero-returning control instruction after receiving the zero-returning control instruction sent by the control device 1, and monitor whether a second origin signal triggered when the second motor 5 reaches the second origin is received; alternatively, in the present embodiment, the control device 1 may stop the gantry position compensation control in advance when receiving one of the first origin signal and the second origin signal; alternatively, in this embodiment, when receiving one of the first origin signal and the second origin signal, the control device 1 may send a pulse prohibition instruction to the first motor driver or the second motor driver corresponding to the received first origin signal or the second origin signal, so as to notify the first motor driver or the second motor driver to stop performing drive control on the first motor or the second motor according to the received pulse signal. In another example of the present embodiment, the first motor driver 2 may stop the drive control of the first motor 4 according to the pulse signal received from the control apparatus 1 when receiving the first origin signal first; or, when the first motor driver 2 receives the second origin signal first, the pulse disabling command may be sent to the second motor driver 3 through the communication bus to notify the second motor driver 3 to stop driving control of the second motor 5 according to the received pulse signal.

It can be seen that, with the motor control system provided in this embodiment, the interaction of position information between the first motor driver 2 and the second motor driver 3 can be directly realized through the communication bus and sent to the control device 1, and the control device 1 can realize gantry synchronous control based on the position information, gantry alarm, gantry zeroing control, and the like.

Example two:

for ease of understanding, the present embodiment will now exemplify the structure of the control device on the basis of the illustration of the above-described embodiment.

Referring to fig. 3, the control device 1 provided in this embodiment includes a communication module 11 and a controller 12; the communication module 11 is configured to receive first position information and second position information sent by the first motor driver 2; the first position information is position information of a first motor 4 driven and controlled by a first motor driver 2, the second position information is position information of a second motor 5 driven and controlled by a second motor driver 3, and the first motor driver 2 receives the second position information sent by the second motor driver 3 through a communication bus; the controller 12 is configured to obtain a position difference according to the first position information and the second position information, and perform gantry position compensation control according to the position difference.

In this embodiment, when the controller 12 performs gantry position compensation control according to the position difference, a specific control strategy can be flexibly selected. For example, the position of the first motor 4 may be adjusted and controlled, the position of the second motor 5 may be adjusted and controlled, or the positions of the first motor 4 and the second motor 5 may be adjusted and controlled at the same time.

For example, in an example, the controller 12 may calculate first gantry compensation position information of the first motor 4 according to the position difference, and then send the first gantry compensation position information to the first motor driver 2 to control the first motor 4; for another example, in another example, the controller 12 may calculate second gantry compensation position information of the second motor 5 according to the position difference, send the second gantry compensation position information to the first motor driver 2, the first motor driver 2 may send the second gantry compensation position information to the second motor driver 3 through a communication bus connected to the second motor driver 3, and the second motor driver 3 controls the second motor 5 according to the second gantry compensation position information; for another example, in another example, the controller 12 may respectively calculate first gantry compensation position information of the first motor 4 and second gantry compensation position information of the second motor 5 according to the position difference, send the first gantry compensation position information and the second gantry compensation position information to the first motor driver 2, send the received second gantry compensation position information to the second motor driver 3 through a communication bus connected to the second motor driver 3 by the first motor driver 2, and the first motor driver 2 and the second motor driver 3 respectively control the first motor 4 and the second motor 5 according to the first gantry compensation position information and the second gantry compensation position information, so as to implement synchronous operation of the first motor 4 and the second motor 5. In this embodiment, the controller 12 is further configured to compare the position difference with a preset position difference threshold, and send a motor stop control command to the first motor driver 2 and the second motor driver 3 to control the first motor and the second motor to stop rotating when the position difference is greater than the position difference threshold.

In this embodiment, the controller 12 is further configured to monitor whether the first origin signal and the second origin signal sent by the first motor driver 2 are received, start timing and stop sending the pulse signals to the first motor driver 2 and the second motor driver 3 after the first origin signal and the second origin signal are received, and send the pulse signals to the first motor driver 2 and the second motor driver 3 again after the timing value reaches the preset time value; the first origin signal is a first origin signal triggered when the first motor reaches the first origin, the second origin signal is a signal triggered when the second motor reaches the second origin, and the second motor driver 3 sends the second origin signal to the first motor driver 2 through the communication bus.

Referring to fig. 4, in an example of the present embodiment, the first motor driver 2 includes a first bus communication module 21, a first gantry controller 22, a first command input processing module 23, and a first position closed-loop control module 24, and the first bus communication module 21 is connected to a second bus communication module of the second motor driver 3 through a communication bus. The first bus communication module 21 in this embodiment may be, but is not limited to, any one of the following bus communication modules: RS485 bus communication module, CAN bus communication module, ethernet bus communication module. The first bus communication module 21 is configured to receive second position information sent by the second motor driver 3 through the second bus communication module, where the second position information is position information of a second motor driven and controlled by the second motor driver, and is sent to the control device 1, or optionally, may also be sent to the first gantry controller 22; the first bus communication module 21 may send the first position information of the first motor to the control device 1 after acquiring the first position information, so that the controller 12 of the control device 1 performs gantry synchronous control according to the position difference between the first position information and the second position information. After receiving the first gantry compensation position information sent by the control device 1, the first gantry controller 22 may send the first gantry compensation position information to the first position closed-loop control module 24, so that the first position closed-loop control module 24 performs drive control on the first motor 4 according to the first gantry compensation position information and the position information received from the first command input processing module 23.

Correspondingly, after receiving the second gantry compensation position information sent by the control device 1, the second gantry controller of the second motor driver can send the second gantry compensation position information to the second position closed-loop control module of the second motor driver, so that the second position closed-loop control module can drive and control the second motor according to the second gantry compensation position information and the position information received from the second command input processing module. Alternatively, in an example of the present implementation, the first gantry controller 22 may also perform gantry position compensation control by obtaining a position difference according to the acquired first position information and the acquired second position information.

In this embodiment, when the first gantry controller 22 performs gantry position compensation control according to the position difference, a specific control strategy can also be flexibly selected. For example, the first gantry controller 22 can adjust and control the position of the first motor 4, or adjust and control the position of the second motor 5, or adjust and control the positions of the first motor 4 and the second motor 5 at the same time.

For example, in an example, the first gantry controller 22 may calculate first gantry compensation position information of the first motor 4 according to the position difference, and then control the first motor 4 according to the first gantry compensation position information; for example, the first gantry controller 22 can send the first gantry compensation position information to the first position closed-loop control module 24, so that the first position closed-loop control module 24 can perform drive control on the first motor 4 according to the first gantry compensation position information and the position information received from the first command input processing module 23. For another example, in another example, the first gantry controller 22 may calculate second gantry compensation position information of the second motor 5 according to the position difference, send the second gantry compensation position information to the second motor driver 3 through a communication bus connected to the second motor driver 3, and the second motor driver 3 controls the second motor 5 according to the second gantry compensation position information; the second gantry controller of the second motor driver 3 can drive-control the second motor 5 based on the second gantry compensation position information and the position information received from the control apparatus 1. For another example, in another example, the first gantry controller 22 may respectively calculate first gantry compensation position information of the first motor 4 and second gantry compensation position information of the second motor 5 according to the position difference, send the second gantry compensation position information to the second motor driver 3 through a communication bus connected to the second motor driver 3, the first gantry controller 22 may drive and control the first motor 4 according to the first gantry compensation position information and the position information received from the control device 1, and the second gantry controller of the second motor driver 3 may drive and control the second motor 5 according to the second gantry compensation position information and the position information received from the control device 1.

In this embodiment, the first command input processing module 23 is connected to the control device 1, the control device 1 is configured to send a pulse command to the control device, the first command input processing module 23 is configured to convert the received pulse command into a position unit and input the position unit to the first position closed-loop control module 24, and the first position closed-loop control module 24 performs motor driving on the first motor 4 according to the position unit. In some examples, the first position closed loop control module 24 may include a position loop, a speed loop, and a current loop, or only a position loop and a current loop. In this embodiment, optionally, the first gantry controller 22 is further configured to compare the position difference with a preset position difference threshold value, and send a gantry alarm signal ALAM to the control apparatus 1 when the position difference is greater than the position difference threshold value. Of course, the comparison process, as shown in the above example, can also be implemented by the controller of the control device 1.

Optionally, in this embodiment, the first gantry controller 22 is further configured to monitor whether a first origin signal triggered when the first motor 4 reaches the first origin is received, and whether a second origin signal sent by the second bus communication module through the communication bus is received, where the second origin signal is a signal triggered when the second motor reaches the second origin; the first gantry controller 22 is also configured to send an origin arrival signal HOME to the control apparatus 1 when receiving the first origin signal and the second origin signal. Of course, the determination control process may be directly implemented by the controller 12 of the control apparatus 1.

It should be understood that the structure of the second motor driver 3 in the present embodiment may be the same as that of the first motor driver 2, and the second gantry controller of the second motor driver 3 may perform gantry control according to a specific strategy of gantry control (for example, including but not limited to the three exemplified strategies described above) or may not perform gantry control. In addition, it should be understood that, when the first gantry controller 22 in the present embodiment performs gantry synchronous control, the specific structure thereof can also be flexibly set. For the convenience of understanding, the embodiment will be described below with reference to the gantry controller structure shown in fig. 5 as an example.

Referring to fig. 5, the first gantry controller 22 in this example includes a PID controller 221, a comparator 222, and an and logic 223, wherein a position difference obtained by comparing the first position information and the second position information is respectively input to the PID controller 221 and the comparator 222, the PID controller 221 generates the first gantry compensation position information and/or the second gantry compensation position information according to the position difference, and the specific generation manner can adopt, but is not limited to, various synchronous position information generation algorithms. The comparator 222 compares the obtained position difference with a preset position difference threshold value, and outputs an alarm signal with an excessive position difference, that is, a gantry alarm signal, when the position difference is greater than the position difference threshold value, and the gantry alarm signal can be sent to the control device 1. The and logic 223 is configured to generate an origin reaching signal and send the origin reaching signal to the control device when receiving a first origin signal triggered when the first motor 4 reaches the origin and receiving a second origin signal triggered when the second motor 5 reaches the origin. In this embodiment, a sensor may be disposed at an origin position of the motor, and the sensor may be triggered to generate a signal representing that the motor reaches the origin position when the motor reaches the origin position. But the detection of the arrival of the origin position is not limited to this manner. It should be understood that the specific structure of the gantry controller in this embodiment is not limited to the structure shown in fig. 5, and can be flexibly changed according to specific requirements as long as the above functions can be implemented, for example, the PID controller 221 therein can be replaced by an MFC function. Of course, the first gantry controller 22 may perform gantry synchronization compensation only according to the first gantry compensation position information transmitted by the control device 1.

Example three:

for ease of understanding, in the present embodiment, the motor control system shown in fig. 2, the control device shown in fig. 3, and the motor driver shown in fig. 4 to 5 are taken as examples, and a connection of the motor control system is taken as an example for explanation. Referring to fig. 6, a pulse output end of the control device 1 is connected to pulse input ends of the first motor driver 2 and the second motor driver 3, the first motor driver 2 and the second motor driver 3 are in communication connection through an RS485 communication bus, the second motor driver 3 sends acquired real-time position information of the second motor 5 to the first motor driver 2 through the RS485 communication interface, and the second motor driver 3 sends a second origin signal, which is triggered when the second motor 5 reaches the second origin, to the first motor driver 2 through the RS485 communication bus. The first motor driver 2 may send the first origin signal and the second origin signal to the control device 1 when receiving the first origin signal and the second origin signal, may also directly determine that the origin arrives without sending the first origin signal and the second origin signal to the control device 1, and directly sends the origin arrival signal for representing zero return arrival to the control device 1. The first motor driver 2 may send the acquired first position information and the acquired second position information to the control apparatus 1 so that the control apparatus 1 performs gantry synchronous control or performs alarm control. Optionally, the first motor driver 2 may also perform gantry synchronous control according to a position difference between the acquired first position information of the first motor 4 and the second position information of the second motor 5 sent by the second motor driver 3, and send gantry alarm information to the control device 1 when the position difference is greater than a preset position difference threshold. Optionally, in some examples, the first motor driver 2 may also send the acquired first position information of the first motor 4 to the second motor driver 3, the second motor driver 3 may also perform gantry synchronization control according to a position difference between the first position information and the second position information (at this time, the first motor driver 2 may not perform gantry synchronization control), and send gantry alarm information to the control device 1 when the position difference is greater than a preset position difference threshold. The motor control system shown in fig. 6 has simple wiring, the drivers are synchronized by adopting a communication mode, the wiring is only 2-core screens, and the joint is simple.

For ease of understanding, the present embodiment will be exemplified below with a process flow between the first motor driver 2 and the second motor driver 3 using a CSMA/CD-like communication mechanism. In this example, the position information content interacted between the first motor driver 2 and the second motor driver 3 may include, but is not limited to: the position of the motor, the origin input, and optionally the motor motion state (such as acceleration operation, deceleration operation, uniform speed operation, etc.). The first bus communication module 21 of the first motor driver 2 utilizes the RS485 bus communication module to perform information interaction with the second motor driver, and after the first motor driver 2 and the second motor driver 3 are powered on, as shown in fig. 7, automatic synchronization can be achieved between the first motor driver 2 and the second motor driver 3 after a plurality of cycles. Fig. 8 shows a data frame structure used for information exchange between the first motor driver 2 and the second motor driver 3 in one example.

After the data synchronization between the first motor driver 2 and the second motor driver 3 is achieved based on the above-described procedure, the first motor driver 2 may receive the second motor position and the origin input of the second motor from the communication interaction module. The origin IO signal input of ORG is used for zero detection when returning to zero. HOME is a return to zero arrival signal, which is active when the ORGs of both the first and second motors are active, and inactive otherwise. ALAM is alarm output, and when the position difference between the first motor and the second motor is larger than a set threshold value, the gantry is out of synchronization, and an alarm effective signal is output. The alarm signal is latched once generated, and the control device 1 controls the motor to stop running immediately.

For ease of understanding, an example of position acquisition, comparison, and synchronization control is described below.

The first motor driver and the second motor driver interactively obtain second position information of a second motor driven by the second motor driver through a communication bus, the first motor driver can send the first position information and the second position information to the control device 1, the control device 1 can obtain delay generated by communication through a timer, and then the current position of the second motor can be obtained through calculation, and one calculation mode is as follows:

a second motor current position + a second motor speed communication delay Tcom;

second motor speed ═ position this time-last position)/(time this time-last time)

After the second motor position and the first position of the first motor driven by the first motor driver are obtained, the first gantry controller can output the gantry compensation position to the first motor driver through the PID controller, and the position difference between the first motor and the second motor is reduced. For example, assuming that the position of the second motor is greater than the position of the first motor, the corresponding control process may be: (second motor position > first motor position) → (gantry error increase (i.e., position error increase)) → (gantry compensation position increase) → (position ring given increase) → (first motor acceleration) → (position increase of first motor) → (position error decrease of first motor and second motor). The gantry zeroing control process refers to the operation of returning the two motors to the respective original positions. The origin position in the present embodiment is an external sensor signal. Referring to fig. 9 and 10, the zeroing control process includes:

(1) when the control device 1 sends a return-to-zero direction sending instruction to the first motor driver and the second motor driver, the first motor driver and the second motor driver operate synchronously. (2) And once one driver of the first motor driver and the second motor driver meets the origin, the first motor driver and the second motor driver stop, and simultaneously the gantry synchronous alarm function of the first motor driver and the gantry synchronous alarm function of the second motor driver are cancelled. (3) When the two origin signals are effective, the first motor driver outputs an origin reaching signal to inform the control equipment that the first motor and the second motor are both on the origin signals, so that zero returning synchronization is realized. (4) After the two shafts are synchronized at the original points, the control device can send reverse instructions to the first motor driver and the second motor driver to exit the original points, and the first motor driver and the second motor driver control the first motor and the second motor to synchronously operate.

Example four:

it should be understood that the first motor driver and the second motor driver in the present embodiment are not limited to the gantry synchronization application scenario described above. And the structures of the first motor driver and the second motor driver are not limited to the above-described example structures. For convenience of understanding, the present embodiment is described below by taking a structure of any one of the motor drivers as an example, and the following example collectively refers to the first motor driver or the second motor driver as the motor driver.

In order to implement fault detection of the braking circuit to improve system reliability, please refer to fig. 11-1, the motor driver includes a control unit 11, a current sampling circuit 12, and a braking circuit 13; the current sampling circuit 12 is respectively connected with the brake circuit 13 and the control unit 11, and the current sampling circuit 12 is used for acquiring an output current signal of the brake circuit 13 and sending the acquired output current signal to the control unit 11; the control unit 11 is connected to an input end of the brake circuit 12, and is configured to send an energy consumption brake control signal to the brake circuit 12, and stop sending an energy consumption brake control signal to the brake circuit 12 when judging that the brake circuit is abnormal according to the received output current signal; that is, the motor driver provided by this embodiment can realize the real-time detection of the abnormality of the braking circuit, and timely control the braking circuit when detecting that the braking circuit works abnormally, thereby preventing the damage of the direct current filter unit and the driving unit by the large current when the braking circuit fails, and preventing the fault of the next-stage circuit from being enlarged, thereby improving the reliability of the system.

In this embodiment, the manner of acquiring the output current signal of the braking circuit 13 may be flexibly set as long as the output current signal can be acquired as the evaluation basis for whether the operation of the braking circuit 13 is abnormal. For example, in an application example, the braking circuit 13 includes a dynamic braking switching device, and the current collecting circuit 12 is connected to an output terminal of the dynamic braking switching device for collecting an output current signal of the dynamic braking switching device. And it should be understood that the dynamic braking switch device in this embodiment can also be flexibly selected, for example, the dynamic braking switch device can use an insulated gate Bipolar transistor (igbt).

In order to further improve the reliability and the corresponding speed of the system, please refer to fig. 11-2, the motor driver in this embodiment may further include a first optical coupler isolation circuit 14 connected to the output terminal of the current sampling circuit 12 and the input interface of the control unit 11, respectively; the current sampling circuit 12 outputs the acquired output current signal of the braking circuit 13 to the control unit 11 through the first optical coupler isolation circuit 14. The first optical coupler isolation circuit 14 in this embodiment can transmit signals by using light as a medium under the condition of electrical isolation, and isolate the input end and the output end, thereby effectively suppressing system noise, eliminating the interference of a ground loop, and having the advantages of high response speed, long service life, small size, impact resistance and the like, so that the reliability and the response speed of the system can be improved.

In an example of the present embodiment, the current sampling circuit 12 includes a sampling resistor and a current limiting protection device, the first optical coupler isolation circuit 14 includes an optical coupler, one end of the sampling resistor is connected to the output end of the IGBT, and the other end of the sampling resistor is connected to the negative electrode of the input end of the optical coupler; one end of the current-limiting protection device is connected with the bus, the other end of the current-limiting protection device is connected with the anode of the input end of the optical coupler, and the output end of the optical coupler is connected with the input interface of the control unit. Optionally, in another example of this embodiment, the current sampling circuit may further include a protection diode having an anode connected to the output end of the IGBT and a cathode connected to one end of the current limiting protection device connected to the bus.

In an example of this embodiment, in order to improve the reliability of the circuit and reduce the signal interference, the first optical coupler isolation circuit 14 in this embodiment further includes a front-end filter circuit connected in parallel between the positive electrode and the negative electrode of the input end of the optical coupler, and/or a back-end filter circuit connected in parallel between the output port of the optical coupler and the ground. It should be understood that the specific composition of the front-end filter circuit and the back-end filter circuit in this embodiment may be flexibly selected, for example, the filter capacitors may be used, or the filter capacitors and the resistors may be combined in parallel. For example, the front-end filter circuit may include, but is not limited to, a front-end filter resistor and a front-end filter capacitor connected in parallel.

In some application scenarios of the present embodiment, the dynamic braking control signal may be, but is not limited to, a pulse control signal, and the control unit 11 compares a waveform formed by the output current signal with a pulse waveform of the dynamic braking control signal, and determines that the braking circuit is abnormally operated when the waveforms of the two are not identical. The judgment mode is efficient and accurate.

In an example of the embodiment, the dynamic braking control signal may be, but is not limited to, a pulse signal with a period less than or equal to 500us, and specifically may be, for example, a pulse signal with a period equal to 500us, or a pulse signal with a period equal to 400us, or a pulse signal with a period equal to 300us, etc. In addition, in this embodiment, the waveform of the pulse signal including at least one complete cycle may be intercepted and compared with the waveform formed by the current signal of the corresponding duration to determine whether the two waveforms are consistent. For example, the waveform of the pulse signal of a complete cycle may be intercepted and compared, or the waveform of the pulse signal of two, three, or two and a half cycles may be intercepted and compared, and specifically, the waveform may be flexibly intercepted according to specific requirements.

In addition, in some examples of this embodiment, in order to further improve the accuracy of system control, the control unit 11 is further configured to determine whether the number of times that the waveform formed by the output current signal is inconsistent with the pulse waveform of the dynamic braking control signal is continuously detected at present is greater than or equal to a preset number threshold N before determining that the braking circuit works abnormally after determining that the waveform formed by the output current signal is inconsistent with the pulse waveform of the dynamic braking control signal, and if so, determining that the braking circuit works abnormally, where a value of N is an integer greater than or equal to 2. For example, the value of N may be 2, or 3, 4, and the like, and may be flexibly selected according to an application scenario.

Optionally, in some examples of this embodiment, please refer to fig. 11-3, the motor driver further includes a display unit 15, and the control unit 15 is further configured to output an alarm signal to perform alarm display on the display unit 15 after determining that the braking circuit 13 is abnormally operated. Therefore, a user can visually check the abnormal alarm of the brake circuit 13 to perform corresponding intervention treatment, and further prevent the damage of the direct current filter unit and the driving unit caused by the large current when the brake circuit fails and the fault expansion of the next-stage circuit, thereby improving the reliability of the system.

For the convenience of understanding, the present embodiment will be described below by taking as an example a specific structure of a specific braking circuit, a current sampling circuit, and a first optical coupler and isolator circuit.

Referring to fig. 11-4, the braking circuit 13 in this embodiment adopts an IGBT device, and if the IGBT of the braking circuit 13 is damaged due to a short circuit, if effective intervention is not performed in time, a large current may damage the dc filter unit and the driving unit of the motor driver, which may further result in an enlarged fault of the subsequent stage circuit.

To solve the above problem, please refer to fig. 11-4, the motor driver provided in this embodiment may include a current sampling circuit 12, a first optical isolation coupler 14 and a control unit 11, wherein the current sampling circuit 12 is connected to an IGBT output terminal of the braking circuit 13, the first optical isolation coupler 14 is connected to the current sampling circuit 12, the first optical isolation coupler 14 is connected to the control unit 11, and the control unit 11 is connected to an input terminal of the braking circuit 13; wherein:

the current sampling circuit 12 includes a sampling resistor and a current limiting protection device, in this example, the sampling resistor includes a sampling resistor R1, a sampling resistor R2, and a sampling resistor R3 connected in series in sequence, but it should be understood that the number of the sampling resistors, the value of the resistors, and the connection structure in this embodiment may be flexibly set, and are not limited to those shown in the drawings. For example, in one example, the values of the sampling resistor R1, the sampling resistor R2, and the sampling resistor R3 may be, but are not limited to, 100K ohms. The current-limiting protection device comprises a current-limiting protection inductor L1, wherein a sampling resistor R1 is connected with the IGBT output end of the braking circuit 13 and a sampling resistor R2, the sampling resistor R2 is connected with a sampling resistor R3, a sampling resistor R3 is connected with the negative electrode of the input end of the first optical isolation circuit 14, and a current-limiting protection inductor L1 is connected with the positive electrode of the bus and the positive electrode of the input end of the first optical isolation circuit 14; the first optical coupler isolation circuit 14 is used for isolating the current signal of the current sampling circuit 12 and then sending the current signal to the control unit 11; the control unit 11 judges whether the braking circuit 13 is abnormal according to the received current signal, and if so, turns off the PWM control signal of the braking circuit 13, and optionally, may display related alarm information on a display unit of the motor driver.

The first optical coupler isolation circuit 14 comprises an optical coupler, and a sampling resistor R3 is connected with the negative pole of the input end of the optical coupler; one end of the current-limiting protection inductor L1 is connected to the bus bar, the other end is connected to the positive electrode of the input end of the optical coupler, and the output end of the optical coupler is connected to the input interface of the control unit 11. The first optical coupling isolation circuit further comprises a front-end filter circuit connected in parallel between the anode and the cathode of the input end of the optical coupler, the front-end filter circuit comprises a front-end filter resistor R5 and a front-end filter capacitor C2 which are connected in parallel, the first optical coupling isolation circuit further comprises a rear-end filter circuit connected in parallel between the output port of the optical coupler and the ground, and the rear-end filter circuit comprises a rear-end filter capacitor C3 connected in parallel between the output port of the optical coupler and the ground.

Based on the circuits shown in fig. 11 to 4, the present embodiment will be described below by taking as an example a detection control process of the brake circuit 13.

The current sampling circuit 12 collects an output current signal of the IGBT, and transmits the output current signal to the control unit 11 through the first optical coupler isolation circuit 14, the control unit 11 determines whether the received current signal is consistent with a waveform of a control current signal (that is, a PWM control signal) for the brake circuit 13, under a normal condition, an output waveform (that is, a waveform of the PWM control signal) released by dynamic braking should be consistent with a waveform of a detected current signal output by the IGBT, and if the output waveform is inconsistent with the waveform of the detected current signal output by the IGBT, it indicates that the brake circuit 13 is faulty, for example, if the IGBT is short-circuited, the waveform of the detected current signal output by the IGBT is always at a low level and is inconsistent with the waveform of the PWM control signal output by.

In the above process, if it is determined that the detected waveform of the current signal output by the IGBT is consistent with the waveform of the PWM control signal of the braking circuit 13, it indicates that the IGBT of the braking circuit 13 is not damaged or abnormal, and the monitoring may be continued according to a preset rule. If the detected waveform of the current signal output by the IGBT is inconsistent with the waveform of the PWM control signal of the braking circuit 13, it indicates that the IGBT of the braking circuit 13 is damaged or abnormal, and at this time, the control unit 11 may turn off the PWM control signal of dynamic braking, so that the braking circuit 13 stops operating, to prevent the damage of the large current to the dc filter unit and the driving unit when the braking resistance of the motor driver fails, and the optional control unit 11 may also output related alarm error information to the display unit of the motor driver and cut off the main loop power supply.

In addition, in order to ensure the accuracy and reliability of system control, the current signal output by the current sampling circuit 12 is sent to the control unit 11 through the first optical coupler isolation circuit 14, and the control unit 11 can judge that the IGBT of the braking circuit 13 is damaged or abnormal when the waveform of the detected current signal output by the IGBT is judged to be inconsistent with the waveform of the PWM control signal of the braking circuit 13 for N (N is greater than or equal to 2) times continuously, and then cut off the PWM control signal of dynamic braking, so that the braking circuit 13 stops operating. Therefore, the situation of error control caused by error judgment can be avoided, and the accuracy and reliability of system control are improved.

Example five:

the motor driver provided by the embodiment may further include an IPM module temperature control circuit; wherein: referring to fig. 12-1, the IPM module temperature control circuit includes a voltage setting circuit 121, a voltage comparing circuit 122, and a second optical coupler and isolator circuit 123; a first input end of the voltage comparison circuit 122 is connected with the voltage setting circuit 121, a second input end of the voltage comparison circuit 122 is connected with a voltage output interface 124 for outputting a value representing the operating temperature of the IPM module, an output end of the voltage comparison circuit 122 is connected with an input end of a second optical coupling isolation circuit 123, and an output end of the second optical coupling isolation circuit 123 is connected with the control unit 11; the voltage comparison circuit 122 is configured to compare a first voltage value of the first voltage signal input by the voltage setting circuit 121 with a second voltage value of the second voltage signal output by the voltage output interface 124, and output a comparison result to the control unit 11 through the second optical coupler isolation circuit 123; and the control unit 11 determines that the operating temperature of the IPM module is too high when the second voltage value is larger than the first voltage value according to the comparison result, and stops sending the control signal to the IPM module.

In some examples of this embodiment, when the comparison result is that the second voltage value is greater than the first voltage value, outputting a low level signal to the control unit, and when the control unit determines that the operating temperature of the IPM module is too high according to the received low level signal, stopping sending the control signal to the IPM module; and when the comparison result shows that the first voltage value is greater than the second voltage value, outputting a high-level signal to the control unit, and not processing by the control unit.

In other examples of this embodiment, when the comparison result is that the second voltage value is greater than the first voltage value, a high level signal is output to the control unit, and when the control unit determines that the operating temperature of the IPM module is too high according to the received high level signal, the control unit stops sending the control signal to the IPM module; and when the comparison result shows that the first voltage value is greater than the second voltage value, outputting a low level signal to the control unit, and not processing by the control unit.

It should be noted that, in some other examples, when the comparison result indicates that the second voltage value is greater than the first voltage value, another signal may be output to the control unit, and then the control unit stops sending the control signal to the IPM module when determining that the operating temperature of the IPM module is too high according to the received signal. For better understanding, the following description will be given by taking an example in which the voltage comparison circuit outputs a low level signal to the control unit, and then the control unit determines that the operating temperature of the IPM module is too high according to the received low level signal, and stops sending the control signal to the IPM module.

It should be clear that the voltage output interface 124 representing the operating temperature value of the IPM module may be a voltage output interface of the IPM module itself, that is, the IPM module may convert the current temperature value into a corresponding voltage value; the voltage output interface 124 representing the operating temperature value of the IPM module may also be a voltage output interface separated from the IPM module, that is, the IPM module may transmit the current temperature value to the voltage output interface, and the voltage output interface converts the received temperature value into a corresponding voltage value.

In some examples of this embodiment, the IPM module may include an inverter module, and the inverter module may be configured to facilitate checking and troubleshooting when the motor driver is abnormal or has a fault, so that the motor driver recovers to work normally, and a lot of convenience is brought to management of a worker.

In this embodiment, the motor driver may further include an amplifying circuit, and as shown in fig. 12-2, the motor driver further includes an amplifying circuit 125, where the amplifying circuit 125 is disposed between the voltage output interface 124 and the voltage comparing circuit 122, and the amplifying circuit 125 receives the second voltage signal output by the voltage output interface 124, amplifies the second voltage value of the second voltage signal by a preset proportion value, converts the second voltage value into an analog voltage signal, and outputs the analog voltage signal to the voltage comparing circuit.

For better understanding, the IPM module temperature control circuit structure shown in fig. 12-2 will be described later. In this embodiment, when the comparison result is a low level signal, the control unit 11 further detects whether the number of times of currently receiving the low level signal exceeds N times before determining that the operating temperature of the IPM module is too high according to the comparison result, where N is an integer and N is greater than or equal to 2, and determines that the operating temperature of the IPM module is too high when detecting that the number of times of the received low level signal exceeds N times, that is, when the control unit 11 repeatedly receives the low level signal N times, it determines that the current operating temperature of the IPM module is too high, and stops sending the control signal to the IPM module, so that the accuracy and reliability of the IPM over-temperature protection are greatly improved. It should be noted that in practical applications, the value of N is flexibly set by a developer according to experiments or experiences.

In this embodiment, referring to fig. 12-3, the voltage setting circuit 121 may include a reference voltage module 1211 and a voltage dividing resistor 1212, where the reference voltage module 1211 and the voltage dividing resistor 1212 are connected in parallel, the reference voltage module 1211 is connected to the first input terminal of the voltage comparing circuit 122 for providing the reference voltage for the voltage setting circuit 121, and the voltage dividing resistor 1212 is connected to the first input terminal of the voltage comparing circuit 122 for dividing the reference voltage module 1211. It should be clear that the resistance values of the voltage dividing resistor 1212 and the reference voltage module 1211 connected in parallel to the voltage dividing resistor 1212 are within the preset resistance threshold, that is, the resistance value of the voltage setting circuit 121 is adjustable; specifically, the resistance of the voltage dividing resistor may be changed, for example, a first voltage dividing resistor and a second voltage dividing resistor may be selected, wherein the first voltage dividing resistor and the second voltage dividing resistor are arranged in parallel, and the first voltage dividing resistor and the second voltage dividing resistor are respectively connected to the first input terminal of the voltage comparing circuit 122, or the resistance of the reference voltage module 1211 may be changed. Thus, the first voltage value of the voltage setting circuit 121 can be adjusted correspondingly by adjusting the resistance of the voltage setting circuit 121, which is very flexible and easy to control.

In some examples of this embodiment, the voltage comparison circuit is further configured to generate an over-temperature alarm signal when the comparison result is that the second voltage value is greater than the first voltage value, and output the over-temperature alarm signal to the control unit through the second optical coupler isolation circuit, so that the control unit may directly determine that the operating temperature of the IPM module is too high according to the over-temperature alarm signal, and then stop sending the control signal to the IPM module.

In this embodiment, referring to fig. 12-4, the second optical coupler isolation circuit 123 includes a shunt resistor 1231, a light emitting module 1232, and a photosensitive module 1233, where the shunt resistor 1231 is used to shunt the second optical coupler isolation circuit 123, one end of the light emitting module 1232 is connected to the shunt resistor 1231, the other end is connected to the output end of the voltage comparison circuit 122, the photosensitive module 1233 is turned on when receiving the low level signal output by the voltage comparison circuit, and the photosensitive module 1233 outputs the low level signal to the control unit 11.

In the present embodiment, referring to fig. 12-5, the amplifying circuit 125 includes a first set of resistors 1251, a second set of resistors 1252, and an operational amplifier 1253; the output end of the first group of resistors 1251 is connected to the first input end of the operational amplifier 1253, the output end of the second group of resistors 1252 is connected to the second input end of the operational amplifier 1253, and the operational amplifier 1253 amplifies the voltage value of the input signal of the first group of resistors 1251 and the voltage value of the input signal of the second group of resistors 1252 by a preset ratio value, and outputs the analog voltage signal to the voltage comparing circuit 122.

In order to reduce the differential mode and/or common mode interference and improve the accuracy of signal transmission, a capacitor may be further disposed in the amplifying circuit 125, and the first capacitor is disposed in parallel with the second first sub-resistor for reducing the differential mode interference generated by the differential mode signal output by the second first sub-resistor; a second capacitor is arranged in parallel with the second sub-resistor II to reduce the differential mode interference generated by the differential mode signal output by the second sub-resistor II; the third capacitor 12543 is connected to the first and second sub-resistors for reducing common mode interference generated by common mode signals output from the first and second sub-resistors. It should be noted that, in practical applications, the specific arrangement of the capacitor in the amplifying circuit can be flexibly adjusted according to specific application scenarios.

In one embodiment, referring to fig. 12 to 6, the motor driver in this example includes a control unit 71, where the control unit 71 includes a digital signal processing chip DSP 111 and a programmable logic device chip FPGA 112, and the DSP and/or the FPGA performs data interaction with a Peripheral device interface through an spi (serial Peripheral interface) communication protocol.

It should be clear that data interaction can be carried out between the DSP and the FPGA to complete the corresponding functions of the motor driver, thereby achieving the normal operation of the motor driver.

In this embodiment, the peripheral device interface includes, but is not limited to, an analog interface, a digital interface, and a communication interface, and the peripheral device interface may include any one of or any combination of an analog interface, a digital interface, and a communication interface, for example, in one example, the peripheral device interface includes an analog interface, a digital interface, and a communication interface. It should be noted that, only a few common peripheral interfaces are listed here, and in practical applications, the interfaces can be flexibly set according to specific requirements.

In this embodiment, when the peripheral device interface includes an analog interface, the analog interface is connected to the DSP for data interaction, where the analog interface may include an analog input interface and/or an analog output interface, the analog input interface is connected to the DSP through an analog input circuit for data interaction, and the analog output interface is connected to the DSP through an analog output circuit for data interaction.

The motor driver comprises an IPM module temperature control circuit 72 and an analog input circuit 73, wherein an analog input interface is connected with the DSP through the analog input circuit 73 and used for inputting analog signals to the DSP, optionally, the analog signals are input to an A/D port of the DSP and then processed by the DSP, and optionally, the analog input circuit can be provided with two differential input circuits or one single-ended input circuit. The motor driver further includes an analog output circuit 74, wherein the analog output interface is connected to the DSP through the analog output circuit 74, so as to output the signal processed by the DSP to the analog output interface, and optionally, the analog output circuit may be provided with two differential output circuits or one single-ended output circuit.

When the peripheral equipment interface comprises a communication interface, the communication interface is connected with the DSP for data interaction, wherein the communication interface is connected with the DSP through a communication circuit for data interaction. The motor drive further comprises a communication circuit 75, it being understood that the communication interface is used for transmitting debugging signals or communication signals. In some examples of the present embodiment, the motor driver further includes a bus current sampling circuit 76 connected to the DSP, wherein the bus current sampling circuit 76 is configured to collect a bus current value (i.e., a current value supplied by the motor driver itself) and transmit the bus current value to the DSP for processing by the DSP. The motor driver further comprises a bus voltage sampling circuit 77 connected with the DSP, wherein the bus voltage sampling circuit 77 is used for collecting a bus voltage value (namely collecting a voltage value supplied by the motor driver) and transmitting the bus voltage value to the DSP for processing by the DSP. When the motor is in an enabling state, the braking circuit is started when the voltage value transmitted by the bus voltage sampling circuit 77 is greater than a preset first voltage threshold value, and the braking circuit is disconnected when the voltage value is detected to be less than a preset second voltage threshold value after the braking circuit is started, wherein the first voltage threshold value is greater than the second voltage threshold value, and the two threshold values can be flexibly set according to a specific application scene.

In this embodiment, when the peripheral device interface includes a digital value interface, the digital value interface is connected to the FPGA for data interaction, where the digital value interface may include a digital value input interface and/or a digital value output interface, the digital value input interface is connected to the FPGA through the digital value input circuit for data interaction, and the digital value output interface is connected to the FPGA through the digital value output circuit for data interaction. The motor driver further comprises a digital input circuit 78, wherein the digital input interface is connected with the FPGA through the digital input circuit 78, so as to input a digital signal to the FPGA, optionally, the digital input signal is input to an IO port of the FPGA and processed by the FPGA, and optionally, the digital input circuit can be set as 9 single-ended or double-ended input circuits supporting a common-cathode and/or common-anode form. The motor driver further comprises a digital output circuit 19, wherein the digital output interface is connected with the FPGA through a digital output circuit 79, so as to output signals processed by the FPGA to the digital output interface, optionally, output signals output from an IO port of the FPGA to the digital output circuit, the optional digital output circuit can be set as a six-way output circuit, wherein four ways are single-ended outputs supporting a common cathode and/or common anode form, and two ways are double-ended outputs.

In some examples of this embodiment, the peripheral device interface may further include an encoder interface, the encoder interface being connected to the FPGA for data interaction, wherein the encoder interface may include an encoder input interface and/or an encoder output interface, the encoder input interface being connected to the FPGA through the encoder input circuit for data interaction, the encoder output interface being connected to the FPGA through the encoder output circuit for data interaction.

The motor driver further comprises an encoder input circuit 70, wherein the encoder input interface is connected with the FPGA through the encoder input circuit 20 for inputting the bus communication signals to the FPGA for processing by the FPGA, and then performing signal interaction with the DSP through the FPGA. The motor driver further comprises an encoder output circuit 71, wherein the encoder output interface is connected with the FPGA through the encoder output circuit 71, so as to output the bus communication signal processed by the FPGA and the DSP to the encoder output interface, and optionally, the encoder output circuit may be set to be an A, B, Z differential output circuit and/or a single-ended output circuit.

Example six:

the motor driver provided by this embodiment may further include a housing, a heat sink that forms an enclosed space in cooperation with the housing, and a main control circuit board disposed in the enclosed space, where the main control circuit board is provided with a driving control circuit and an internal ground wire. In this embodiment, only one main control circuit board may be disposed on the motor driver, so as to save the cost of the motor driver and make the volume of the motor driver smaller.

In the present embodiment, as shown in fig. 13-1, the housing is fixedly provided with a first grounding screw 101 and a second grounding screw 102 connected to the internal ground wire; the first grounding screw 101 is used for being connected with an external grounding wire or connected with a second grounding screw on a previous-stage motor driver, and the second grounding screw 102 is used for being connected with or suspended in the air from a first grounding screw on a next-stage motor driver.

In the present embodiment, at least one of the first and second grounding screws 101 and 102 is disposed on the front surface of the housing, and in one example, the first and second grounding screws 101 and 102 are disposed on the front surface of the housing, or the first and second grounding screws 101 and 102 may also be disposed on other areas of the housing, such as the top surface or the left side surface or the right side surface of the housing. In some examples of the embodiment, when the first grounding screw 101 and the second grounding screw 102 are both disposed on the front surface of the housing, specifically, the first grounding screw 101 and the second grounding screw 102 may be disposed on any area on the front surface of the housing, for example, the front surface is close to the upper end area, the front surface middle area, the front surface is close to the lower end area, etc., it is understood that the grounding screws are used for grounding, and therefore, it is preferable that the first grounding screw 101 and the second grounding screw 102 are disposed on the front surface of the housing in the area close to the lower end, thereby facilitating grounding, saving wiring, etc.

In some examples of the present embodiment, the ground screw may be disposed on a ground screw seat, specifically, the first ground screw 101 and the second ground screw 102 may be disposed on the same ground screw seat, or may be disposed on different ground screw seats, specifically, when the ground screw is disposed on the ground screw seat, the ground screw seat may be fixed on the main control circuit board by welding, it is understood that the ground screw seat is used to mount the ground screw, that is, the ground screw seat functions to provide a carrier for the ground screw.

In this embodiment, referring to fig. 13-2, a receiving groove for placing the first braking resistor 112 is fixedly disposed on the back surface of the housing, and the first braking resistor 112 is fixed in the receiving groove and connected to the braking circuit. Also through the first brake resistance who sets up in this embodiment, can appear under the too high condition of rotational speed in the motor drive operation, very convenient change brake resistance, only need tear the first brake resistance who disposes off from the back of casing promptly, insert more powerful first brake resistance again can, also saved the casing space simultaneously, better reach the purpose that reduces motor speed.

In this embodiment, the motor driver may further include a fixing member, two opposite ends of the first braking resistor 112 are respectively provided with a fixing hole, a connecting hole is disposed at a position corresponding to the fixing hole at the bottom of the accommodating groove, and the fixing member passes through the fixing hole of the first braking resistor 112 and is fixed in the connecting hole at the bottom of the accommodating groove to fix the first braking resistor in the accommodating groove. Referring to fig. 13-3, the direction of the arrow is the height direction of the first brake resistor. The fixing hole on the first braking resistor 112 can be divided into an upper fixing hole 1121 and a lower fixing hole 1122 along the height direction, the aperture of the upper fixing hole 1121 is greater than or equal to the aperture of the lower fixing hole 1122, and after the fixing member (shown in the figure as a screw) passes through the fixing hole of the first braking resistor 112 and is fixed in the connecting hole at the bottom of the accommodating groove, the upper end of the fixing member is located in the upper fixing hole. Optionally, the fixing member may be a screw, the screw is screwed into the upper layer fixing hole and the lower layer fixing hole and fixed in the connecting hole at the bottom of the accommodating groove, and the screw cap is located in the upper layer fixing hole to avoid inconvenience or damage to workers due to protrusion of the screw cap, and to a certain extent, the aesthetic property is improved, wherein the upper layer fixing hole may be a semicircular through hole or a U-shaped through hole or other through holes.

In this embodiment, the motor driver may further include a display unit, for example, as shown in fig. 13-1, the front surface of the housing is provided with a cavity for accommodating the display unit, and the display unit 111 is disposed in the cavity and connected to the driving control circuit on the main control circuit board. The display unit in this embodiment includes a carrier circuit board, where the carrier circuit board is provided with a display device, and optionally, the display device may be a display panel, a display screen, or the like. In some examples of the present embodiment, the display unit 111 may have no shielding cover and directly expose the display device to the outside, and in other examples of the present embodiment, the display unit 111 may also have a shielding cover, and only when the shielding cover is opened, the display device of the display unit 111 is exposed to the outside. In this embodiment, the main control circuit board is provided with a slot through which the carrier circuit board passes, and the carrier circuit board passes through the slot to fix the display unit on the main control circuit board; the display unit mounting method has the advantages that the bearing circuit board can be directly and vertically welded on the main control circuit board, the signal connecting wires of the bearing circuit board and the main control circuit board are connected after being tinned through the bonding pads at the joint of the 2 PCB boards, certain strength is guaranteed, the display unit mounting method does not use flexible wires to be connected with the circuit board, complexity of connection through the flexible wires is avoided, and the strength of mounting of the display unit is guaranteed to a certain extent.

In this embodiment, at least one side and the back of the housing can be connected with the heat sink to form a closed space, and in one example, as shown in fig. 13-4, the right side and the back of the housing can be connected with the heat sink 113 through connectors, specifically, a first connector arranged on the right side of the housing near the heat sink can be connected with a third connector arranged on the heat sink near the right side of the housing (a dotted circular area 119 in fig. 13-4 is a schematic diagram after the first connector and the third connector are connected), and a second connector arranged on the back of the housing near the heat sink can be connected with a fourth connector arranged on the heat sink near the back of the housing (not shown in the figure). It will be appreciated that in order to make the connection between the housing and the heat sink more secure, a plurality of connecting members may be disposed at the connecting region of the housing and the heat sink, and then the plurality of connecting members of the housing are respectively connected with the plurality of connecting members of the heat sink, for example, see also fig. 13-4, and a circular region 120 of a dotted line in fig. 13-4 is a schematic diagram after another connecting member of the housing is connected with another connecting member of the heat sink. In some examples of this embodiment, the heat sink may extend to the top and/or bottom surfaces of the housing in the height direction of the right side surface of the housing, in one example, still referring to fig. 13-6, 13-7, the heat sink 113 extends to and is flush with the top and bottom surfaces of the housing in the height direction of the right side surface of the housing, in other examples, the heat sink may extend to either the top or bottom surface of the housing in the height direction of the right side surface of the housing, or need not extend to the top and bottom surfaces of the housing, etc. It should be noted that, in practical applications, the adjustment can be flexibly made according to specific application scenarios. It should be understood that the heat sink provided in this embodiment extends outwardly from its side surface with heat dissipating fins, which are also parallel to the front surface of the housing, as shown in fig. 13-4, and the extended heat dissipating fins are generally inverted L-shaped. It should also be clear that, be provided with the ground connection through-hole of being connected with inside earth connection on the main control circuit board, be provided with the ground connection screw hole that the position corresponds with ground connection through-hole on the radiator, built-in ground connection screw passes ground connection through-hole screw in ground connection screw hole, the part that built-in ground connection screw is located the ground connection through-hole is connected with inside earth connection, adopt this mode, the connection of inside earth connection on radiator and the main control circuit board has been realized, need not to form the radiator with the whole side of casing all outwards extends in order to realize being connected of radiator and inside earth connection, the motor drive inner space that the radiator occupy has been reduced to a great extent, and the volume that has reduced the radiator greatly and.

In order to further improve the heat dissipation efficiency and the heat dissipation effect, in this embodiment, a heat dissipation grid may be further provided in a partial region on at least one of the front surface, the back surface, the top surface, the bottom surface, the left side surface, and the right side surface of the housing, wherein the heat dissipation grid is used for dissipating heat inside the motor driver from the heat dissipation grid. In some examples of the present embodiment, as shown in fig. 13-4, a heat dissipation grid 114 may be provided on the right side of the case, or as shown in fig. 13-5, a heat dissipation grid 114 may be provided on the left side of the case, or as shown in fig. 13-6, a heat dissipation grid 114 may be provided on the top side of the case, or as shown in fig. 13-7, a heat dissipation grid 114 may be provided on the bottom side of the case. It should be clear that the heat dissipation grid can be set up in any one or arbitrary combination face in casing front, back, top surface, bottom surface, left side and right flank, and in practical application, the specific setting position of heat dissipation grid at the casing can be made the flexibility according to specific application scene and adjust.

In this embodiment, the motor driver further includes an interface unit, and the interface unit is fixedly disposed on the main control circuit board and exposed to the outside through a hollow hole disposed in the housing. In another example, the interface unit may include other interface units besides at least one of the first interface unit and the second interface unit, and in practical application, the interface unit may be flexibly adjusted according to a specific application scenario. It can be understood that, when the interface unit includes the first interface unit, the first interface unit is exposed to the outside through the hollow hole disposed on the front surface of the housing, and when the interface unit includes the first interface unit, the second interface unit is exposed to the outside through the hollow hole disposed on the top surface of the housing.

In one example, the first interface unit includes at least one of a control signal interface, an encoder interface, a power interface, a motor winding interface, and a protected ground interface. In other examples, the first interface unit further comprises at least one of a debug interface, a brake resistance interface, and a common dc bus interface. For better understanding, a specific interface included in the first interface unit is taken as an example, and as shown in fig. 13-1, the first interface unit includes a debug interface 110, a control signal interface 109, an encoder interface 108, a power interface 106, a brake resistor interface 105, a motor winding interface 104, and a protection ground interface 103, and the debug interface 110, the control signal interface 109, the encoder interface 108, the power interface 106, the brake resistor interface 105, the motor winding interface 104, and the protection ground interface 103 are sequentially and adjacently distributed, so that the interfaces are centrally arranged in a partitioned manner, management and installation and use of the interfaces are facilitated, installation efficiency is improved, and occurrence of an interface connection error caused by disordered interface arrangement is avoided as much as possible. In one example, the second interface unit includes at least one communication interface, for example, the second interface unit includes at least one of an RS232 communication interface, an RS485 communication interface, a CAN communication interface, and an Ethercat communication interface, wherein the communication interface is used for transmitting a debugging signal or a communication signal. In other examples, the second interface unit may further include an update switch, where the update switch is configured to trigger the motor driver update signal to update the software program or the driver of the motor driver, and may also be configured to trigger the motor driver burning signal to burn the software program or the driver of the motor driver. For better understanding, taking an example of an interface included in a specific second interface unit, as shown in fig. 13-6, the second interface unit includes a first communication interface 115, a second communication interface 116, and an update switch 117, and the first communication interface 115, the second communication interface 116, and the update switch 117 are distributed adjacently.

In this embodiment, the motor driver may further include an indication unit configured to perform corresponding indication lighting according to the power usage of the motor driver. In one example, referring to fig. 13-1, the indication unit 107 may be disposed on the front surface of the housing, and in particular, the indication unit 107 is disposed in a region between the encoder interface 108 and the power interface 106. In other examples, the indication unit 107 and the interface comprised by the second interface unit may also be provided together on the top surface of the housing to provide more space for the interface arrangement in the first interface unit. It will be appreciated that where the first interface unit includes a brake resistor interface for connection to a brake circuit, the first brake resistor disposed in the receiving slot in the back of the housing is interfaced with the brake resistor via a wire, for example, as shown in fig. 13-7, the bottom of the housing is provided with a wire slot 118 for receiving a wire that extends into the wire slot from the back of the housing and interfaces with the brake resistor along the wire slot to the front of the housing. For a better understanding of the invention, a specific motor drive is illustrated here, see fig. 13-8 to 13-10: the front face of the shell is fixedly provided with a first grounding screw 101 and a second grounding screw 102 which are connected with an internal grounding wire, the first grounding screw 101 is used for being connected with an external grounding wire or connected with a second grounding screw on a previous-level motor driver, the second grounding screw 102 is used for being connected with a first grounding screw on a next-level motor driver or suspended in the air, cascade grounding between different motor drivers can be realized through the arranged first grounding screw and the second grounding screw, and great convenience is brought to use, installation and management of workers. Optionally, the front surface of the housing is further provided with a first interface unit, where the first interface unit includes a debugging interface 110, a control signal interface 109, an encoder interface 108, a power supply interface 106, a brake resistor interface 105, a motor winding interface 104, and a protection ground interface 103, which are sequentially and adjacently distributed, so that the interfaces are centrally arranged in a partitioned manner, and management, installation, and use of the interfaces are facilitated. Optionally, the front surface of the housing is further provided with an indication unit 107 arranged adjacent to the first interface unit, so as to perform corresponding indication lighting according to the power usage of the motor driver. Optionally, the front surface of the housing is further provided with a display unit 111, and the display unit 111 is exposed to the outside without a shielding cover, so that the use by a user is facilitated, and the cost is saved to a certain extent.

The back of the housing is fixedly provided with an accommodating groove for accommodating the first brake resistor 112, and the first brake resistor 112 is fixed in the accommodating groove and connected with the brake circuit. Specifically, the two opposite ends of the first brake resistor 112 are respectively provided with a fixing hole, the fixing holes can be divided into an upper fixing hole and a lower fixing hole along the height direction, the aperture of the upper fixing hole is larger than or equal to that of the lower fixing hole, a connecting hole is arranged at the position, corresponding to the fixing hole, of the bottom of the accommodating groove, and after the screw penetrates through the fixing hole of the first brake resistor 112 and is fixed in the connecting hole at the bottom of the accommodating groove, the upper end of the screw is located in the upper fixing hole. Meanwhile, the first brake resistor 112 is connected to the brake resistor interface in the first interface unit through a wire, specifically, a wire groove for accommodating the wire is provided at the bottom surface of the housing, the wire extends into the wire groove from the back surface of the housing, and extends to the front surface of the housing along the wire groove to be connected to the brake resistor interface. Therefore, under the condition that the rotating speed is too high in the running process of the motor driver, the configured first brake resistor is only required to be detached from the back face of the shell, so that the brake resistor is more convenient to replace, and convenience is further brought to workers.

Wherein, the right flank and the back of casing are connected with radiator 113, and is concrete, and radiator 113 all passes through the connecting piece with casing right flank, the back and is connected, and radiator 113 extends to the top surface and the bottom surface of casing along the direction of height of side to flush with top surface and bottom surface, the radiator side outwards extends radiating fin, and wherein radiating fin sees the type of falling L on the whole. It can be understood that, be provided with the ground connection through-hole of being connected with inside earth connection on the master control circuit board, be provided with the ground connection screw hole that position and ground connection through-hole correspond on the radiator 113, built-in ground connection screw passes ground connection through-hole screw in ground connection screw hole, the part that built-in ground connection screw is located the ground connection through-hole is connected with inside earth connection, thus, the connection of radiator and inside earth connection has been realized, need not to all outwards extend the whole side of casing and form the radiator in order to realize being connected of radiator and inside earth connection, motor drive inner space that the radiator occupy has been reduced to a great extent, the volume of radiator has been reduced greatly simultaneously, the heat dissipation cost of.

In order to further improve the heat dissipation efficiency and the heat dissipation effect, heat dissipation grids 114 may be further disposed on partial areas of the top surface, the bottom surface, the left side surface, and the right side surface of the housing, so as to dissipate heat inside the motor driver from the heat dissipation grids 114. In addition, a second interface unit is arranged on the top surface of the housing, and the second interface unit includes a first communication interface 115, a second communication interface 116 and an update switch 117, which are sequentially and adjacently distributed, wherein the first communication interface 115 and the second communication interface 116 are used for transmitting a debugging signal or a communication signal, and the update switch 117 is used for triggering a motor driver update signal to update a software program or a driver of the motor driver, and also can be used for triggering a motor driver burning signal to burn the software program or the driver of the motor driver.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims

1. A gantry synchronous control method is applied to a motor control system comprising control equipment, a first motor driver and a second motor driver, wherein the first motor driver is connected with the second motor driver through a communication bus, and is characterized by comprising the following steps:

2. The gantry synchronous control method according to claim 1, wherein the control device is further configured to compare the position difference with a preset position difference threshold, and send a motor stop control command to the first motor driver and the second motor driver to control the first motor and the second motor to stop rotating when the position difference is greater than the position difference threshold.

3. The gantry synchronous control method of claim 1, wherein the control device is further configured to monitor whether a first origin signal and a second origin signal transmitted by the first motor driver are received; the first origin signal is a first origin signal triggered when the first motor reaches a first origin, the second origin signal is a signal triggered when the second motor reaches a second origin, and the second motor driver sends the second origin signal to the first motor driver through the communication bus;

4. The gantry synchronous control method according to claim 3, wherein the control device sends a pulse disable command to the first motor driver or the second motor driver corresponding to the received first origin signal or the second origin signal when receiving one of the first origin signal and the second origin signal, so as to inform the first motor driver or the second motor driver to stop driving control of the first motor or the second motor according to the received pulse signal.

5. The gantry synchronous control method according to any one of claims 1 to 4, wherein the controlling device performing gantry compensation control according to the position difference comprises:

the control equipment calculates to obtain first gantry compensation position information of the first motor according to the position difference, and sends the first gantry compensation position information to the first motor driver so that the first motor driver can carry out gantry compensation control on the first motor according to the first gantry compensation position information;

and/or the presence of a gas in the gas,

and the control equipment calculates to obtain second gantry compensation position information of the second motor according to the position difference, and sends the second gantry compensation position information to the second motor driver so that the second motor driver can carry out gantry compensation control on the second motor according to the second gantry compensation position information.

6. A control device is connected with a first motor driver, and the first motor driver is connected with a second motor driver through a communication bus;

7. The control apparatus of claim 6, wherein the controller is further configured to compare the position difference with a preset position difference threshold and send a motor stop control command to the first motor driver and the second motor driver to control the first motor and the second motor to stop rotating when the position difference is greater than the position difference threshold.

8. The control device according to claim 6, wherein the controller is further configured to monitor whether a first origin signal and a second origin signal transmitted by the first motor driver are received, start timing and stop transmitting pulse signals to the first motor driver and the second motor driver after the first origin signal and the second origin signal are received, and re-transmit pulse signals to the first motor driver and the second motor driver after a timing value reaches a preset time value;

9. The control device according to any one of claims 6 to 8, wherein the controller is configured to calculate first gantry compensation position information of the first motor according to the position difference, and send the first gantry compensation position information to the first motor driver, so that the first motor driver performs gantry compensation control on the first motor according to the first gantry compensation position information;

and/or the presence of a gas in the gas,

the controller is used for calculating second gantry compensation position information of the second motor according to the position difference, and sending the second gantry compensation position information to the second motor driver so that the second motor driver can carry out gantry compensation control on the second motor according to the second gantry compensation position information.

10. A motor control system is characterized by comprising a first motor driver, a first motor connected with the first motor driver, a second motor driver and a second motor connected with the second motor driver, wherein the first motor driver is connected with the second motor driver through a communication bus; further comprising a control device according to any of claims 6-9, said control device being communicatively connected to said first motor drive.