CN112332714A - Multi-axis servo driving system - Google Patents

Multi-axis servo driving system Download PDF

Info

Publication number
CN112332714A
CN112332714A CN202011072971.9A CN202011072971A CN112332714A CN 112332714 A CN112332714 A CN 112332714A CN 202011072971 A CN202011072971 A CN 202011072971A CN 112332714 A CN112332714 A CN 112332714A
Authority
CN
China
Prior art keywords
module
motor
current
sampling
axis servo
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011072971.9A
Other languages
Chinese (zh)
Inventor
姚玉春
马扣成
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SUZHOU GUFUDAO AUTOMATION TECHNOLOGY CO LTD
Original Assignee
SUZHOU GUFUDAO AUTOMATION TECHNOLOGY CO LTD
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SUZHOU GUFUDAO AUTOMATION TECHNOLOGY CO LTD filed Critical SUZHOU GUFUDAO AUTOMATION TECHNOLOGY CO LTD
Priority to CN202011072971.9A priority Critical patent/CN112332714A/en
Publication of CN112332714A publication Critical patent/CN112332714A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/28—Controlling the motor by varying the switching frequency of switches connected to a DC supply and the motor phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Abstract

The invention discloses a multi-axis servo driving system, which comprises an AC/DC (alternating current/direct current) rectification module, a control module, a plurality of mutually independent single-path inversion sampling modules and a servo motor, wherein the AC/DC rectification module is used for converting alternating current into direct current and outputting direct current voltage DC + and DC to each single-path inversion sampling module, and the DC + and the DC of each single-path inversion sampling module are connected together; and the control module independently controls each single-path inversion sampling module, samples the current of each single-path inversion sampling module and further controls the servo motor to rotate. Therefore, when the multi-axis servo driver faces different power combinations, hardware does not need to be replaced, any different power motor combination can be realized only by motor wiring and software configuration, the number of motor shafts is simultaneously supported from a single shaft to any number of multi-shaft shafts, and the application occasion of the multi-axis servo driver is expanded.

Description

Multi-axis servo driving system
Technical Field
The application relates to the technical field of drive control, in particular to a multi-axis servo drive system.
Background
With the increasing requirements on control precision, processing efficiency and intellectualization, a single processing device requires more and more motor servo shafts, so that a multi-shaft servo motor driver appears, but in most practical applications, the number of the servo motor shafts is often required to be different, and each shaft is also a combination of different power sections, so that the application range of the multi-shaft motor servo driver is limited, the problem of flexible combination of different power sections and shaft numbers cannot be solved, and a lot of inconvenience is brought to production management of products.
Disclosure of Invention
To solve one or more of the above problems, the present application provides a multi-axis servo drive system capable of varying both the number of axes and the maximum current.
According to one aspect of the application, a multi-shaft servo driving system is provided, and comprises an AC/DC rectifying module, a control module, a plurality of independent single-way inversion sampling modules and a servo motor, wherein the AC/DC rectifying module is used for converting alternating current into direct current and outputting direct current voltages DC + and DC-to each single-way inversion sampling module, and the DC + and DC-of each single-way inversion sampling module are connected together; and the control module independently controls each single-path inversion sampling module, samples the current of each single-path inversion sampling module and further controls the servo motor to rotate.
In some embodiments, each of the single-channel inversion sampling modules includes an upper single tube, a lower single tube, a single tube driving circuit, and a single-channel current sampling processing module, where the upper single tube and the lower single tube have a control signal, respectively, an intermediate output point is further disposed between the upper single tube and the lower single tube, the current sampling processing module is capable of outputting a phase current sampling output signal, the DC voltages DC + and DC-are connected to the upper single tube and the lower single tube, respectively, and the intermediate output point of the upper single tube and the lower single tube is connected to a phase coil of the servo motor.
In some embodiments, the driver circuit comprises a bootstrap circuit.
In some embodiments, each of said intermediate output points is capable of short-circuiting the connection therebetween.
In some embodiments, the control module includes a switching power supply, an EtherCat slave station communication module, an IO driving circuit module, an encoder communication circuit module, and a core processor module, wherein the switching power supply is configured to provide power to the EtherCat slave station communication module, the IO driving circuit module, the encoder communication circuit module, and the core processor module, the EtherCat slave station communication is configured to receive a position instruction of the motion control system, the encoder communication circuit module communicates with the motor code and receives a motor position signal, and the core processor module performs closed-loop calculation according to the position instruction sent by the motion control system, the motor position signal, and a current signal fed back by the single-path inversion sampling module, and further controls the motor to move according to the instruction.
In certain embodiments, the upper bridge single tube and/or the lower bridge single tube is an IGBT single tube.
In certain embodiments, the core processor module is an xlinx Zynq7010 chip.
In some embodiments, each of said intermediate output points is short-circuited according to the number of servomotors.
In certain embodiments, the servo motor is a three-phase motor.
In some embodiments, the number of single-way inversion sampling modules is 3 times the number of three-phase motors.
Compared with the prior art, the application has the following beneficial effects:
the multi-axis servo driver aims at the problems that when the current multi-axis servo driver faces different servo motor power combinations, hardware modules are required to be replaced, the product application is limited, and the product hardware models are increased. The multiaxis servo driver of this application need not change the hardware and can realize arbitrary different power motor combination when facing different power combinations, and supports the change of motor shaft number from unipolar to the arbitrary shaft number of multiaxis simultaneously, not only great extension multiaxis servo driver's application scenario, reduced the hardware model of product moreover, reduced hardware stock, reduced the running cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic circuit connection diagram of a multi-axis servo drive system driving three servo motors according to the present application;
FIG. 2 is a schematic circuit diagram of a single-channel inversion sampling module of the multi-axis servo driving system of the present application;
FIG. 3 is a schematic diagram of a bootstrap circuit structure of the multi-axis servo driving system of the present application;
FIG. 4 is a schematic diagram of a hardware structure of a control module of the multi-axis servo drive system of the present application;
FIG. 5 is a block diagram of a control method of the multi-axis servo drive system of the present application for one embodiment of FIG. 1;
FIG. 6 is a schematic connection diagram of a multi-axis servo drive system driving a single-axis servo motor according to the present application;
FIG. 7 is a block diagram of a control method of the multi-axis servo drive system of the present application for one embodiment of FIG. 6;
FIG. 8 is a schematic connection diagram of a multi-axis servo drive system driving a two-axis servo motor according to the present application;
fig. 9 is a circuit diagram of current sampling processing of the multi-axis servo driving system of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Referring to fig. 1, the multi-axis servo driving system comprises an AC/DC rectifying module, a control module, a plurality of independent single-path inverting sampling modules and a servo motor, wherein the AC/DC rectifying module is used for converting alternating current into direct current and outputting direct current voltages DC + and-to each single-path inverting sampling module, and the DC + and-of each single-path inverting sampling module are connected together.
The single-path inversion sampling modules are shown in fig. 2, and each single-path inversion sampling module comprises an upper bridge single tube, a lower bridge single tube, a drive circuit of the upper bridge single tube, a drive circuit of the lower bridge single tube and a current sampling processing circuit, wherein the upper bridge single tube and the lower bridge single tube are respectively provided with a control signal a/b, and a middle output point c is arranged between the upper bridge single tube and the lower bridge single tube.
As shown in fig. 9, the current sampling processing circuit may use a chip HCPL7860 to sample with 2 10 milliohm parallel resistors, and the output phase current sampling output signal is denoted as d. Of course, the current sampling processing circuit can also adopt chips of other types, and the size, the number and the supported maximum current of the resistor and the selected chip can be correspondingly adjusted as long as the same function is achieved.
The output current supplied to the motor by each phase of the servo controller is converted into a digital signal by the optical coupler through the sampling resistor, and the digital signal is sent to the FPGA for signal sampling.
The direct-current voltages DC + and DC-are respectively connected with an upper bridge single tube and a lower bridge single tube of the single-path inversion sampling module according to the diagram shown in FIG. 2, and the middle output points of the upper bridge single tube and the lower bridge single tube are connected with a phase coil of the servo motor. Because the power supply voltage of each single-circuit inversion module is the same, but the power supply of the bridge arm driving circuit is based on the voltage at the point c1, and the voltage at the point c1 fluctuates along with the control of the motor, if each inversion module supplies power independently, although the independent power supply is realized, the requirement of the independent power supply is excessive. In order to simplify the circuit, each driving circuit of the inversion sampling module comprises a bootstrap circuit, so that the whole system can be realized by only one power supply. As shown in fig. 3, VCC is a supply voltage for the driving module, and c is a single-tube intermediate output point, i.e., a motor input point.
Because the servo motor generally adopts an alternating current permanent magnet synchronous motor which is generally a three-phase motor, each motor needs to be driven by three single-way inversion sampling modules, and by analogy, n motors need 3n single-way inversion sampling modules. As shown in fig. 1, 9 single-path inversion sampling modules are required for 3 servo motors, and for convenience of subsequent description, three-phase coils of the servo motors are marked as u, v, and w, the motors are numbered as i, the single-path inversion sampling module is numbered as j, and in the embodiment of fig. 1, i is 1 to 3, and j is 1 to 9.
Therefore, according to the wiring of fig. 1, the three-phase coil of the servo motor 1 is respectively connected with the single-way inversion sampling modules 1, 2 and 3, and the control signal of the single bridge tube on the single-way inversion sampling module 1 is marked as a11uThe control signals of the lower bridge single tube are respectively marked as b11uThe current sampling signal is d11uThe output signal of the motor coil is c11uThe control signal mark of the single tube on the bridge of the single-path inversion sampling module 2 is a21vThe control signals of the lower bridge single tube are respectively marked as b21vThe current sampling signal is d21vThe output signal of the motor coil is c21vThe control signal of the single tube on the bridge of the single-path inversion sampling module 3 is marked as a31wThe control signals of the lower bridge single tube are respectively marked as b31wThe current sampling signal is d31wThe output signal of the motor coil is c31wEncoder feedback signal e of servo motor 11。
According to the wiring method and the numbering principle, the following rules can be obtained:
the u-phase coil with the number i of the servo motor is connected to a single-path inversion sampling module j, and the control signal mark of a single tube on a bridge of the single-path inversion sampling module is ajiuThe control signals of the lower bridge single tube are respectively marked as bjiuThe current sampling signal is djiuThe output signal of the motor coil is cjiuFeedback signal e of motor encoderi。
Referring to fig. 4, the aforementioned control module includes a switching power supply, an EtherCat slave station communication module, an IO driving circuit module, an encoder communication circuit module, a core processor module, and the like. The switch power supply provides power for each module circuit, the EtherCat slave station communication module receives a position instruction of a motion control system, the encoder communication circuit communicates with a motor code and receives a motor position signal, the core processing module adopts an xlinx Zynq7010 chip which integrates an arm A9 core and an FPGA function, the FPGA module provides the capability of IO logic fast parallel processing, functional algorithms such as input and output logic processing calculation, SVPWM calculation, sampling signal calculation processing and encoder calculation processing of a single-path inversion sampling module are realized, and the arm core realizes the EtherCat communication processing, motor position, speed and torque control algorithms and other servo motor driver application functions.
The core processing module receives a communication instruction and IO information of the motion control system and reads position information e of a motor i encoderiSampling the current d of an inverter sampling module connected to a single uvw path of a three-phase coil of a motor ijiu、d(j+1)iv、d(j+2)iwObtaining single-path inversion sampling modules j, j +1, j +2 upper and lower bridge arm signals a through a motor control algorithmjiu、bjiu、a(j+1)iv、b(j+1)iv、a(j+2)iw、b(j+2)iw。
As shown in fig. 5, the encoder processing module processes the encoder original information ei to obtain a magnetic pole angle and a feedback position posfdb _ i of the motor i, and then calculates an actual speed spdfdb _ i through a speed meter;
the current sampling modules j, j +1 and j +2 are used for sampling the current according to the phase current d of the motorjiu、d(j+1)iv、d(j+2)iwAnd obtaining D-axis and Q-axis actual currents Idfdb and Iqfdb of the motor i through clark and park algorithms.
The servo driving system receives a position instruction posref _ i given by the motion control system to the motor i, and calculates an upper bridge control signal a and a lower bridge control signal a of the inverter by adopting a classical position, speed and control three-loop control algorithmjiu、bjiu、a(j+1)iv、b(j+1)iv、a(j+2)iw、b(j+2)iwThereby precisely controlling the motor i to move to a designated position.
In some embodiments, each of said intermediate output points is capable of short-circuiting the connection therebetween. And each intermediate output point selects a short-circuit connection mode according to the number of the servo motors. Thereby realizing the control of motor shafts of different combinations.
Referring to fig. 1, a wiring diagram for driving 3 servo motors is shown.
The AC/DC rectification module rectifies and outputs DC + and DC-to be transmitted to each single-path sampling inversion module, and all the single-path inversion sampling modules DC + and DC-are connected together. Each single-path inversion sampling module is provided with an upper bridge single tube and a lower bridge single tube, each single-path inversion sampling module adopts an igbt single tube to form an upper bridge arm and a lower bridge arm respectively, the maximum output current of each igbt single tube supporting the motor is 15A, the rated current output is related to the design of a radiator, the rated output current of the embodiment is 2.8A, and the output power of the motor is 400W. Every single-circuit contravariant sampling module connects the one-phase coil of motor, and three-phase servo motor has just connected 3, therefore 9 single-circuit contravariant modules just can connect three servo motor.
After each single-path inversion sampling module is designed, the maximum output current is fixed, but in practical application, servo motors with different powers are often used, and the phase currents are different.
Referring to fig. 6, a wiring diagram for driving 1 servo motor is shown.
In fig. 1, the single sampling inverter modules 1, 2, 3 are short-circuited to the u-phase coil of the servo motor at the upper and lower bridge intermediate output points c, the single sampling inverter modules 4, 5, 6 are short-circuited to the v-phase coil of the servo motor at the upper and lower bridge intermediate output points c, and the single sampling inverter modules 7, 8, 9 are short-circuited to the w-phase coil of the servo motor at the upper and lower bridge intermediate output points c, and referring to fig. 6, the 3-axis servo driver in fig. 1 is changed into a wiring diagram for driving the single-axis servo motor driver. In the figure, the middle output points of the upper bridge and the lower bridge of the three single-path sampling inverter modules are connected to a phase coil of a servo motor in a short circuit mode, which is equivalent to the fact that the single-path sampling inverter modules are connected in parallel, so that the phase current of the motor is equal to the sum of the sampling currents of the three single-path sampling inverter modules, the maximum output current of the motor can be maximally increased to be 3 times of the original single-path maximum output current, namely 45A, and the rated current is 10A.
Specifically, a control method of driving the single-axis servo is shown in fig. 7. Compared with the servo control algorithm of fig. 5, the servo control algorithm has more input/output signal port logic processing modules, and the following functions are realized:
1) and determining the lower label of the input and output signal and the input and output signal label of the single-path inverter module according to the wiring of the single-path inverter sampling module and the motor coil, as shown in the following table.
Figure BDA0002715733910000051
Figure BDA0002715733910000061
2) Phase current acquisition and calculation of a servo motor i: the value of the sampling current is equal to the sum of the sampling currents of all the single-circuit inverter sampling modules connected to the phase coil of the servo motor. As shown in the embodiment of FIG. 6, the u-phase current of the servo motor is d11u+d21u+d31u(ii) a The servo motor has a v-phase current of d41v+d51v+d61v(ii) a The w phase current of the servo motor is d71w+d81w+d91w。
3) The phase current of the motor i is controlled by a pair of upper and lower bridge control signals of the single-path inverter sampling module, namely, a uvw three-phase coil of the motor i is controlled by three pairs of independent upper and lower bridge control signals. As shown in the embodiment of fig. 6, the u-phase current of the servo motor is controlled by the single-way inverter sampling modules 1, 2 and 3, so that the single-way inverter sampling modules 1, 2 and 3 are set as a pair of upper and lower bridge control signals a1u、b1uControl, i.e. bridge control signal a on each inverter11u、a21u、a31uShort to a1uLower bridge control signal b11u、b21u、b31uShort circuit b1u(ii) a Similarly, the phase v current of the servo motor is controlled by the single-circuit inverter sampling modules 4, 5 and 6, and the control signals of a pair of upper and lower bridges of the phase v are respectively a1v、b1vI.e. bridge control signal a on each inverter41v、a51v、a61vShort to a1vLower bridge control signal b41v、b51v、b61vShort circuit b1v(ii) a The W-phase current of the servo motor is controlled by a single-path inverter sampling module 7, 8 and 9, and a pair of w-phase upper and lower bridge control signals are respectively a1w、b1wI.e. bridge control signal a on each inverter71w、a81w、a91wShort to a1wLower bridge control signal b71w、b81w、b91wShort circuit b1w。
After the input and output signal port processing module is arranged, a three-axis servo motor driver is changed into a single-axis servo driver with the maximum output current being 3 times of the original output current. Namely, a single-axis servo driver having a maximum output current of 45A and a rated output current of 10A.
The system can also short-circuit any two single-path inversion sampling modules to become a two-axis motor servo driver, for example, the output points c between the upper and lower bridges of the single-path sampling inverter modules 1 and 2 are short-circuited to the u-phase coil of the servo motor 1, the output points c between the upper and lower bridges of the single-path sampling inverter modules 3 and 4 are short-circuited to the v-phase coil of the servo motor 1, and the output points c between the upper and lower bridges of the single-path sampling inverter modules 5 and 6 are short-circuited to the w-phase coil of the servo motor 1; the single-sampling inverter modules 7, 8, 9 are respectively connected to the uvw three-phase coil of the servo motor 2, and refer to fig. 8, which changes the aforementioned 3-axis servo driver of fig. 1 into a wiring diagram for driving a 2-axis servo motor driver. In the figure, each phase coil of a servo motor 1 is short-circuited and connected together by 2 single-path sampling inverter modules and the middle output points of an upper bridge and a lower bridge, which is equivalent to that 2 single-path sampling inverter modules are connected in parallel, so that the phase current of the motor 1 is equal to the sum of the sampling currents of the 2 single-path sampling inverter modules, the maximum output current of the motor can be maximally increased to 2 times of the original single-path maximum output current, namely 30A, and the rated current is 6.8A; the maximum output of the phase current of the motor 2 is the maximum output current of the single-channel inverter, i.e., 15A.
The control method is similar to the control method described above, and according to the wiring of fig. 8, the input/output signal port logic processing module performs the following processing:
1) the u-phase current of the servo motor 1 is d11u+d21u(ii) a Servo systemThe motor has a v-phase current of d31v+d41v(ii) a The w phase current of the servo motor is d51w+d61w(ii) a The uvw phase current of the servo motor 2 is d72u、d82v、d92w；
2) The u-phase current of the servo motor 1 is controlled by the single-way inverter sampling modules 1 and 2, so the single-way inverter sampling modules 1 and 2 are set as a pair of upper and lower bridge control signals a1u、b1uControl, i.e. bridge control signal a on each inverter11u、a21uShort to a1uLower bridge control signal b11u、b21uShort circuit b1u(ii) a Similarly, the v-phase current of the servo motor is controlled by the single-path inverter sampling modules 3 and 4, and a pair of v-phase upper and lower bridge control signals are respectively a1v、b1vI.e. bridge control signal a on each inverter31v、a41vShort to a1vLower bridge control signal b31v、b41vShort circuit b1v(ii) a The w-phase current of the servo motor is controlled by the single-path inverter sampling modules 5 and 6, and the w-phase control signals of a pair of upper and lower bridges are respectively a1w、b1wI.e. bridge control signal a on each inverter51w、a61wShort to a1wLower bridge control signal b51w、b61wShort circuit b1w。
3) The uvw phase current of the servo motor 2 is controlled by single-path inverter sampling modules 7, 8 and 9, and the upper and lower bridge control signals are a72u、b72u、a82v、b82v、a92w、b92w。
Through the above-mentioned arbitrary combination, multiaxis servo driver of this application need not change the hardware when facing different power combinations, only needs motor wiring and software configuration can realize arbitrary different power motor combination, and supports the change of the motor shaft number from unipolar to the arbitrary shaft number of multiaxis simultaneously, not only great extension multiaxis servo driver's application scenario, reduced the hardware model of product moreover, reduced hardware stock, reduced the running cost.

Claims (10)

1. A multi-axis servo drive system comprising
An AC/DC rectifying module, a control module, a plurality of mutually independent single-circuit inversion sampling modules and a servo motor, wherein,
the AC/DC rectification module is used for converting alternating current into direct current and outputting direct current voltage DC + and DC-to each single-path inversion sampling module, and the DC + and the DC-of each single-path inversion sampling module are connected together;
and the control module independently controls each single-path inversion sampling module, samples the current of each single-path inversion sampling module and further controls the servo motor to rotate.
2. Multi-axis servo drive system according to claim 1,
each single-path inversion sampling module comprises an upper bridge single tube, a lower bridge single tube, a single-tube driving circuit and a path of current sampling processing module,
the upper bridge single tube and the lower bridge single tube are respectively provided with a control signal,
an intermediate output point is arranged between the upper bridge single tube and the lower bridge single tube,
the current sample processing module is capable of outputting a phase current sample output signal,
the direct-current voltages DC + and DC-are respectively connected with the upper bridge single tube and the lower bridge single tube,
and the middle output point of the upper bridge single tube and the lower bridge single tube is connected with a phase coil of the servo motor.
3. Multi-axis servo drive system according to claim 2,
the driving circuit comprises a bootstrap circuit.
4. Multi-axis servo drive system as claimed in claim 2, wherein each of said intermediate output points is short-circuited.
5. Multi-axis servo drive system according to claim 1,
the control module comprises a switching power supply, an EtherCat slave station communication module, an IO driving circuit module, an encoder communication circuit module and a core processor module, wherein,
the switching power supply is used for supplying power to the EtherCat slave station communication module, the IO driving circuit module, the encoder communication circuit module and the core processor module,
the EtherCat slave station communication module is used for receiving a position instruction,
the encoder communication circuit module communicates with the motor encoder and receives a motor position signal,
the core processor module receives a communication instruction and IO information of the motion control system, reads position information of a motor encoder, performs closed-loop calculation according to the position instruction, a motor position signal and a current signal fed back by the single-path inversion sampling module, and then controls the motor to move according to the instruction.
6. The multi-axis servo drive system of claim 2, wherein the upper bridge single tubes and/or the lower bridge single tubes are IGBT single tubes.
7. The multi-axis servo drive system of claim 5, wherein the core processor module is an xlinx Zynq7010 chip.
8. Multi-axis servo drive system according to claim 4, wherein each of said intermediate output points is short-circuited according to the number of servomotors.
9. Multiaxis servo drive system as claimed in any of the claims 1-8, characterized in that the servo motor is a three-phase motor.
10. The multi-axis servo drive system of claim 9 wherein the number of single-way inverting sampling modules is 3 times the number of three-phase motors.
CN202011072971.9A 2020-10-09 2020-10-09 Multi-axis servo driving system Pending CN112332714A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011072971.9A CN112332714A (en) 2020-10-09 2020-10-09 Multi-axis servo driving system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011072971.9A CN112332714A (en) 2020-10-09 2020-10-09 Multi-axis servo driving system

Publications (1)

Publication Number Publication Date
CN112332714A true CN112332714A (en) 2021-02-05

Family

ID=74314672

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011072971.9A Pending CN112332714A (en) 2020-10-09 2020-10-09 Multi-axis servo driving system

Country Status (1)

Country Link
CN (1) CN112332714A (en)

Similar Documents

Publication Publication Date Title
CN102195551B (en) Methods, systems and apparatus for synchronous current regulation of a five-phase machine
CN105432016B (en) Circuit for controlling motor
KR20150096900A (en) Apparatus and method of driving a plurality of permanent magnet synchronous motors using single inverter
WO2012008381A1 (en) Power conversion system
CN108123650B (en) Five-phase inverter double three-phase motor system driving circuit and direct torque control method
US9488497B2 (en) Current control apparatus for three-phase rotary machine
CN107070335A (en) Double PWM permanent magnetism power-driven system torque feed forward control methods and its control device
CN109600076A (en) Multiple-axis servo driver
JP2017200284A (en) Motive force output device
EP2860861A2 (en) Current source inverter device
JP2008167655A (en) Inverter testing device
JP2008104344A (en) Inverter test device
CN109964402B (en) Rotating electric machine control device and electric power steering device provided with same
CN107959444A (en) Five-phase inverter double three-phase machine drive circuit and system vector control method
JP2005039932A (en) Nine-phase motor driving unit
CN213661485U (en) Multi-axis servo driving system
CN112332714A (en) Multi-axis servo driving system
CN108173472B (en) Double three-phase motor five-phase inverter and control method
CN111512537B (en) Rotary electric machine device
WO2021195945A1 (en) Multi-motor drive circuit and control method therefor
JP3259441B2 (en) Vector controller for induction motor
JP5971087B2 (en) Rotating machine drive system
US20190028051A1 (en) Vacuum Pump Drive Having Two Frequency Converters
CN108183638B (en) Three-phase nine-switch double-synchronous-motor time-sharing control inverter and control method
JPH08145056A (en) Current control device for control system magnetic bearing

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination