CN112468046A - Low-voltage servo driver based on multiple servo interfaces - Google Patents

Low-voltage servo driver based on multiple servo interfaces Download PDF

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Publication number
CN112468046A
CN112468046A CN202011425925.2A CN202011425925A CN112468046A CN 112468046 A CN112468046 A CN 112468046A CN 202011425925 A CN202011425925 A CN 202011425925A CN 112468046 A CN112468046 A CN 112468046A
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CN
China
Prior art keywords
interface
chip
driving circuit
servo
external
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
CN202011425925.2A
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Chinese (zh)
Inventor
刘政
李昆鹏
洪祥
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 Xingyuanzhicheng Automation Technology Co ltd
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Suzhou Xingyuanzhicheng Automation Technology Co ltd
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Publication date
Application filed by Suzhou Xingyuanzhicheng Automation Technology Co ltd filed Critical Suzhou Xingyuanzhicheng Automation Technology Co ltd
Priority to CN202011425925.2A priority Critical patent/CN112468046A/en
Publication of CN112468046A publication Critical patent/CN112468046A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • 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
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H05K5/02—Details
    • H05K5/0213—Venting apertures; Constructional details thereof
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/02—Arrangements of circuit components or wiring on supporting structure
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating
    • H05K7/2089—Modifications to facilitate cooling, ventilating, or heating for power electronics, e.g. for inverters for controlling motor

Abstract

The invention discloses a low-voltage servo driver based on multiple servo interfaces, which comprises a control chip, an algorithm chip and a power driving circuit which are connected in sequence; the control chip interacts with the outside through an external interaction interface; the algorithm chip is a chip which is loaded with a plurality of existing control algorithms and supports parallel processing, acquires signals required by the control algorithms from the control chip through a signal interface, and outputs motor motion control signals to the power driving circuit; the power driving circuit amplifies the motor motion control signal and outputs the signal through an external motor interface to drive the motor. The invention separates the control part and the algorithm part of the prior servo driver through the control chip and the algorithm chip, and the algorithm chip supports parallel processing, can output high-frequency PWM and high-frequency current loop, and can well drive the motor with smaller inductance.

Description

Low-voltage servo driver based on multiple servo interfaces
Technical Field
The invention relates to a low-voltage servo driver based on multiple servo interfaces, and belongs to the field of industrial control.
Background
The main control chip of the current mainstream servo driver usually adopts a micro control unit, which is also called a singlechip, because the performance of the micro control unit is limited and a large amount of calculation is needed for realizing a motor vector control algorithm, on the basis, a speed loop and position loop control algorithm is also needed to realize the purpose of controlling the speed and the position of the motor, and meanwhile, the main control chip needs to finish the work of detecting the running state of the driver, communicating with an external controller and the like, so that the output PWM frequency and the current loop frequency of the servo driver are usually lower than 15kHz, and the frequency can drive the motors with medium and high inductance and the like, but can not well drive the motors with small inductance.
Disclosure of Invention
The invention provides a low-voltage servo driver based on multiple servo interfaces, which solves the problems disclosed in the background technology.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a low-voltage servo driver based on multiple servo interfaces comprises a control chip, an algorithm chip and a power driving circuit which are connected in sequence;
the control chip interacts with the outside through an external interaction interface;
the algorithm chip is a chip which is loaded with a plurality of existing control algorithms and supports parallel processing, acquires signals required by the control algorithms from the control chip through a signal interface, and outputs motor motion control signals to the power driving circuit;
the power driving circuit amplifies the motor motion control signal and outputs the signal through an external motor interface to drive the motor.
The external interaction interface comprises an IO interface, a controller communication interface and a serial port, wherein the controller communication interface and the serial port are respectively externally connected with an external controller and an upper computer.
The control chip is also connected with an external nixie tube and an external rotary coding switch.
The signal interface comprises an encoder interface, an analog signal interface, a pulse direction interface and a connecting interface;
the encoder interface, the analog signal interface and the pulse direction interface are external interfaces; the encoder interface is externally connected with an incremental encoder of a motor; the analog signal interface is externally connected with an analog control signal; the pulse direction interface is externally connected with a pulse direction control signal;
the connecting interface is an internal interface, is connected with the algorithm chip and the power driving circuit and is used for outputting a motor motion control signal to the power driving circuit and feeding back voltage sampling signals on two phases in three-phase output of the power driving circuit to the algorithm chip.
The connection interface feeds back voltage sampling signals on two phases in three-phase output of the power driving circuit to the algorithm chip through the operational amplifier.
The power supply is connected with the external power supply interface, one path of power supply input by the external power supply interface is respectively driven to supply power to the control chip, the algorithm chip and the switching tube of the power driving circuit after voltage conversion, and the other path of power supply input by the external power supply interface directly supplies power to the switching tube of the power driving circuit.
The intelligent power supply device is characterized by further comprising a shell, wherein the control chip, the algorithm chip and the power driving circuit are all arranged in the shell, and all external components are arranged on the front face of the shell.
The side of the shell is provided with a vent, and the bottom of the shell is provided with a fixing plate for fixing the low-pressure servo driver.
The invention achieves the following beneficial effects: the invention separates the control part and the algorithm part of the prior servo driver through the control chip and the algorithm chip, and the algorithm chip supports parallel processing, can output high-frequency PWM and high-frequency current loop, and can well drive the motor with smaller inductance.
Drawings
FIG. 1 is a block circuit diagram of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the present invention;
fig. 4 is a bottom schematic view of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, a low-voltage servo driver based on multiple servo interfaces includes a control chip, an algorithm chip and a power driving circuit, which are connected in sequence, wherein the control chip and the algorithm chip are disposed on a servo control board, and the power driving circuit is disposed on a servo driving board.
The Control chip is a Micro Control Unit (MCU), which is integrated with an IO port, a communication interface and a serial port, and is externally connected with an external interactive interface, an external nixie tube 4 and an external rotary coding switch 1 through the integrated interfaces.
The external interactive interface is arranged on the servo control board and comprises an IO interface, a controller communication interface and a serial port; the IO port, the external nixie tube 4 and the external rotary coding switch 1 are all connected with the IO port; the IO interface is used for completing specific input and output functions, including zero return limit, positive limit, negative limit, alarm output, enabling input and user self-definition; the external nixie tube 4 is used for displaying the current station number, the error code and the like; a switch input signal of the external rotary coding switch 1 is used as a station number for communicating with the MCU; the serial ports are connected with serial ports, the upper computer is externally connected, the operations such as parameter reading, writing and debugging are carried out on the low-voltage servo driver through the upper computer, the communication interface of the controller is connected with the communication interface, the controller is externally connected with the external controller, the communication interface of the controller comprises one or more of CAN, RS485 and Ethernet, and CANOpen, ModBus and Ethercat communication protocols are respectively supported.
The control chip interacts with the outside through an external interaction interface and sets a register of the algorithm chip, so that the algorithm chip runs a corresponding control algorithm.
The algorithm chip is an FPGA, supports parallel processing, and is internally loaded with a plurality of existing control algorithms, specifically a motor vector control algorithm, a speed loop control algorithm and a position loop control algorithm. The algorithm chip obtains signals required by the control algorithm from the control chip through the signal interface and outputs motor motion control signals to the power driving circuit.
The signal interface comprises an encoder interface, an analog signal interface, a pulse direction interface and a connecting interface; the encoder engine, the multi-channel ADC (digital-to-analog converter) and the pulse direction interface are integrated in the algorithm chip, and the multi-channel ADC is integrated in the algorithm chip, so that an independent ADC chip is not needed to be used externally, and the cost and the space can be saved.
The coder interface, the analog signal interface and the pulse direction interface are external interfaces; the encoder interface is externally connected with an incremental encoder of the motor, the encoder interface is connected with an encoder engine, and the encoder engine decodes incremental encoder signals and Hall signals and is used for speed feedback of a motor vector control algorithm and a speed loop control algorithm and position feedback of a position loop control algorithm; the analog signal interface is externally connected with an analog control signal and is connected with the ADC, and the converted analog signal is used as the target speed of the speed loop control algorithm; the pulse direction interface is externally connected with a pulse control signal and is connected with the integrated pulse direction interface, and the externally input pulse direction signal is decoded and used as a target position of a position loop control algorithm.
The connection interface is an internal interface, connects the algorithm chip and the power driving circuit, and comprises a servo drive board interface and a servo control board interface which are matched, wherein the servo drive board interface is arranged on the servo control board, and the servo control board interface is arranged on the servo drive board.
The connection interface is used for outputting motor motion control signals to the power driving circuit, and feeding back voltage sampling signals on two phases of three-phase output of the power driving circuit to the algorithm chip through the operational amplifier and the ADC for motor vector control.
The power driving circuit comprises a three-phase inverter bridge based on a switching tube and a switching tube drive, the switching tube adopts an MOS tube, and the power driving circuit amplifies a motor motion control signal and outputs the signal through an external motor interface 6 to drive the motor.
The external motor interface 6 is arranged on the servo driving board, the servo driving board is further provided with an external power supply interface 5, the external power supply interface 5 is externally connected with a power supply, specifically, the power supply is a direct-current power supply, one path of power supply input by the external power supply interface 5 is respectively driven to supply power to the control chip, the algorithm chip and the switch tube of the power driving circuit after voltage conversion, specifically, the power supply is supplied to the control chip and the algorithm chip through the connection interface, and the other path of power supply input by the external power supply interface 5 directly supplies power to the switch tube of the power driving circuit.
Two phases in three-phase output of the three-phase inverter bridge are connected with a sampling resistor, and voltage sampling signals at two ends of the sampling resistor are fed back to the algorithm chip through a connecting interface.
As shown in fig. 2 to 4, the low voltage servo driver further includes a housing, the control chip, the algorithm chip and the power driving circuit are all disposed in the housing, and all external components are disposed on the front surface of the housing.
The servo driver station number is input by two decimal rotary coding switches 1, any station number between 1 and 99 can be input, and 99 station numbers are already suitable for most use scenes. If the required station number is more than 99, the input of the rotary coding switch 1 is adjusted to be 0, and the upper computer is used for modifying the station number register of the servo driver to be the station number required by the user, and the station number is input for field bus communication. The SCSI interface 2 is a 26Pin interface terminal, and an encoder interface, an IO interface, a direction pulse interface, and an analog signal interface in the external interface of the servo control board are included in the SCSI interface 2 and are input through the SCSI interface 2. The dual-network port 3 comprises a controller communication interface and a serial port, wherein a single network port is generally 8Pin, a servo driver is communicated with an external controller through a field bus, the field bus is generally communicated to occupy 2 or 4 signal lines, the servo driver is positioned on an upper computer and is communicated through the serial port, and the serial port is communicated to occupy 3 signal lines; the serial port and the controller communication interface are not generally used simultaneously, so the controller communication interface and the serial port can also be contained in one network port. The dual ports 3 facilitate fieldbus communication cascading between the servo drivers, with one port as an input and the other port as an output.
The side of the shell is provided with a vent 7, the vent 7 is used for heat dissipation, when the servo driver works at ordinary times, the MOSFET in the power driving unit can generate heat, and the heat can be discharged through the vent 7. When the heat productivity of the MOSFET is larger, in order to avoid damaging the MOSFET, an external fan is needed to increase the air flow around the MOSFET, and the heat is discharged in time through the ventilation opening 7.
The casing bottom is fixed with the fixed plate 8 of fixed low pressure servo driver, and fixed plate 8 has four through-holes, and two through-holes are used for being fixed in servo driver's shell bottom with fixed plate 8, and servo driver's shell bottom has the fixed orifices that corresponds, and two other through-holes can be used to servo driver's installation fixed. The servo driver can be installed and fixed by the two fixing plates 8.
The invention separates the control part and the algorithm part of the prior servo driver through the control chip and the algorithm chip, and the algorithm chip supports parallel processing, can output high-frequency PWM and high-frequency current loop, and can well drive the motor with smaller inductance.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (8)

1. The utility model provides a low pressure servo driver based on many servo interfaces which characterized in that: the device comprises a control chip, an algorithm chip and a power driving circuit which are connected in sequence;
the control chip interacts with the outside through an external interaction interface;
the algorithm chip is a chip which is loaded with a plurality of existing control algorithms and supports parallel processing, acquires signals required by the control algorithms from the control chip through a signal interface, and outputs motor motion control signals to the power driving circuit;
the power driving circuit amplifies the motor motion control signal and outputs the signal through an external motor interface to drive the motor.
2. A multi-servo interface based low-voltage servo driver according to claim 1, wherein: the external interaction interface comprises an IO interface, a controller communication interface and a serial port, wherein the controller communication interface and the serial port are respectively externally connected with an external controller and an upper computer.
3. A multi-servo interface based low-voltage servo driver according to claim 1, wherein: the control chip is also connected with an external nixie tube and an external rotary coding switch.
4. A multi-servo interface based low-voltage servo driver according to claim 1, wherein: the signal interface comprises an encoder interface, an analog signal interface, a pulse direction interface and a connecting interface;
the encoder interface, the analog signal interface and the pulse direction interface are external interfaces; the encoder interface is externally connected with an incremental encoder of a motor; the analog signal interface is externally connected with an analog control signal; the pulse direction interface is externally connected with a pulse direction control signal;
the connecting interface is an internal interface, is connected with the algorithm chip and the power driving circuit and is used for outputting a motor motion control signal to the power driving circuit and feeding back voltage sampling signals on two phases in three-phase output of the power driving circuit to the algorithm chip.
5. The low-voltage servo driver based on multiple servo interfaces as claimed in claim 4, wherein: the connection interface feeds back voltage sampling signals on two phases in three-phase output of the power driving circuit to the algorithm chip through the operational amplifier.
6. A multi-servo interface based low-voltage servo driver according to claim 1, wherein: the power supply is connected with the external power supply interface, one path of power supply input by the external power supply interface is respectively driven to supply power to the control chip, the algorithm chip and the switching tube of the power driving circuit after voltage conversion, and the other path of power supply input by the external power supply interface directly supplies power to the switching tube of the power driving circuit.
7. The low-voltage servo driver based on the multi-servo interface as claimed in any one of claims 1 to 6, wherein: the intelligent power supply device is characterized by further comprising a shell, wherein the control chip, the algorithm chip and the power driving circuit are all arranged in the shell, and all external components are arranged on the front face of the shell.
8. A multi-servo interface based low-voltage servo driver according to claim 7, wherein: the side of the shell is provided with a vent, and the bottom of the shell is provided with a fixing plate for fixing the low-pressure servo driver.
CN202011425925.2A 2020-12-09 2020-12-09 Low-voltage servo driver based on multiple servo interfaces Pending CN112468046A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011425925.2A CN112468046A (en) 2020-12-09 2020-12-09 Low-voltage servo driver based on multiple servo interfaces

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011425925.2A CN112468046A (en) 2020-12-09 2020-12-09 Low-voltage servo driver based on multiple servo interfaces

Publications (1)

Publication Number Publication Date
CN112468046A true CN112468046A (en) 2021-03-09

Family

ID=74800329

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011425925.2A Pending CN112468046A (en) 2020-12-09 2020-12-09 Low-voltage servo driver based on multiple servo interfaces

Country Status (1)

Country Link
CN (1) CN112468046A (en)

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