CN112684725A - Servo controller integrated with magnetic encoder - Google Patents
Servo controller integrated with magnetic encoder Download PDFInfo
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- CN112684725A CN112684725A CN201910990775.0A CN201910990775A CN112684725A CN 112684725 A CN112684725 A CN 112684725A CN 201910990775 A CN201910990775 A CN 201910990775A CN 112684725 A CN112684725 A CN 112684725A
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Abstract
The invention discloses a servo controller integrated with a magnetic encoder, and belongs to the field of servo control. The servo controller includes a permanent magnet that generates a sinusoidal magnetic field and a circuit board that integrates a magnetic encoder and a servo control circuit. The invention can effectively save the space of the servo system, reduce the volume of the servo system and reduce lead wires among all components of the servo system.
Description
Technical Field
The invention relates to the field of servo control, in particular to a miniature servo control circuit integrated with a magnetic encoder.
Background
A two-axis frame servo system typically consists of two servo frames (outer and inner), a motor, an encoder, and a servo controller. The inner frame is usually nested inside the outer frame, and the entire servo system has two degrees of freedom of movement. The conventional control scheme of the two-axis frame type servo system is that a motor and an encoder are respectively arranged on two frames and used for driving the frames to rotate and feeding back frame angle information in real time. The servo control circuit is disposed outside the frame. And signal wires of the motor and the encoder penetrate out of the frame and are connected to the servo controller. The disadvantage of this layout is that the servo controller is arranged outside the servo frame, and the servo system performance is affected by a large number of signal lines and large volume. In addition, the traditional servo control circuit usually adopts a DSP + FPGA processor scheme, and occupies a larger space compared with a single-processor architecture. A control circuit scheme with few signal lines and high integration level is urgently needed.
Disclosure of Invention
The invention aims to provide a servo controller with few signal lines and high integration level.
In order to solve the technical problem, the invention provides a servo controller integrated with a magnetic encoder, which adopts the following technical scheme:
the servo controller comprises a circular permanent magnet capable of generating a sinusoidal magnetic field and a circuit board, wherein the circuit board integrates a magnetic encoder chip and a servo control circuit.
Further, in the above-mentioned case,
the circular permanent magnet is arranged in the center of a rotating shaft of the servo frame and rotates along with the servo frame.
The positions of the magnetic encoder chip on the circuit board are as follows: after the circuit board is fixed on the servo frame, the surface of the magnetic encoder chip is aligned with the permanent magnet, the center of the magnetic encoder chip and the center of the permanent magnet are concentric, and the deviation is less than or equal to 0.1 mm.
The magnetic encoder chip measures the rotation angle of the circular permanent magnet arranged on the servo frame, and position loop control of the servo system is achieved.
The servo control circuit comprises a DSP processor, an isolator, a differential level conversion chip and a power supply chip;
the DSP is responsible for angle information acquisition, generates PWM signals to drive a servo system and communicates with the outside;
the differential level conversion chip converts the input differential signal into a single-ended serial port signal to complete the communication between the DSP processor and the upper computer;
the isolator isolates the PWM signal output by the DSP and outputs the PWM signal to the motor driver to drive the brushless direct current motor;
the power supply chip provides power supply guarantee.
The magnetic encoder chip is AS5047P, and the DSP processor is TMS320F38335 GHHA.
The invention has the beneficial effects that:
(1) the encoder and the servo controller are integrated, the servo controller originally placed outside the servo frame is integrated on the servo frame, the space of the servo system can be effectively saved, the size of the servo system is reduced, and lead wires among all components of the servo system are reduced.
(2) The position of the magnetic encoder chip is set, and the angle measurement precision is guaranteed.
(3) The DSP processor adopts TMS320F38335GHHA, and the single processor framework does not need DSP and FPGA to communicate, thereby saving space and improving data processing efficiency.
Drawings
FIG. 1 is a schematic block diagram of a servo controller incorporating a magnetic encoder according to an embodiment of the present invention.
1 permanent magnet 2 circuit board 3 servo frame
Detailed Description
The invention is further described below with reference to the figures and examples.
In order to solve the problems of difficult circuit layout and difficult wiring caused by complex structure and tense space of the two-axis frame type servo system, the embodiment integrates a magnetic encoder and a servo control circuit together, and the functional block diagram is shown in fig. 1.
The servo controller comprises a circular permanent magnet 1 and a circuit board 2 which can generate a sinusoidal magnetic field, wherein the circuit board 2 integrates a magnetic encoder chip and a servo control circuit.
The circular permanent magnet 1 is arranged in the center of a rotating shaft of the servo frame 3 and rotates along with the servo frame.
The position constraint of the magnetic encoder chip on the circuit board is as follows: after the circuit board 2 is fixed on the servo frame by using screws, the surface of the chip of the magnetic encoder is aligned with the circular permanent magnet 1, the center of the chip and the center of the circular permanent magnet 1 keep a concentric relation, and the deviation is less than or equal to 0.1 mm.
The circuit board 2 comprises a magnetic encoder chip, a DSP processor, an isolator, a differential level conversion chip and a power supply chip.
The magnetic encoder chip measures the rotation angle of a circular permanent magnet arranged on the servo frame to realize position loop control of the servo system;
the DSP is responsible for angle information acquisition, generating PWM signals to drive a servo system, communicating externally and the like;
the differential level conversion chip converts the input differential signal into a single-ended serial port signal to complete the communication between the DSP processor and the upper computer;
the isolator isolates the PWM signal output by the DSP and outputs the PWM signal to the motor driver to drive the brushless direct current motor;
the power supply chip provides power supply guarantee.
In a preferred embodiment, the circuit board 2 includes a magnetic encoder chip AS5047P, a DSP processor TMS320F38335GHHA, a differential level shift chip LTC2852, a power chip TPS62112, a power chip TPS62460, and an isolation chip ADUM 5410.
The magnetic encoder chip AS5047P communicates with the DSP processor TMS320F38335GHHA using an SPI interface. CS, CLK, SDO and SDI pins of the AS5047P are connected to an SPI interface of the TMS320F38335 GHHA. TMS320F38335GHHA reads angle data measured by AS5047P in accordance with SPI interface protocol.
The LTC2852 converts input 422RX +, 422RX-, 422TX +, 422 TX-differential signals into single-ended serial port signals SCI _ RX and SCI _ TX to access SCI interfaces of the DSP processor TMS320F38335 GHHA.
The power supply chip TPS62112 converts the input 12V power supply voltage into 5V power supply voltage and provides the 5V power supply voltage for the power supply chip TPS 62460.
The power supply chip TPS62460 converts a 5V power supply voltage into 3.3V and 1.9V, wherein 3.3V is provided for the AS5047P, the TMS320F38335GHHA, the LTC2852 and the ADUM 5410. 1.9V was supplied to TMS320F38335 GHHA.
The DSP processor TMS320F38335GHHA outputs 6 paths of PWM signals: PWM1A, PWM1B, PWM2A, PWM2B, PWM3A and PWM3B are connected to the isolation chip ADUM 5410.
The ADUM5410 outputs the isolated 6 paths of PWM signals: PWM1A _ ISO, PWM1B _ ISO, PWM2A _ ISO, PWM2B _ ISO, PWM3A _ ISO, and PWM3B _ ISO are output to motor driver L6234, and the brushless dc motor is driven.
The integrated servo controller is directly arranged at the position of the original encoder to replace the original encoder. The original servo frame, the motor, the encoder and the servo controller of the servo system are simplified into the following forms: servo frame, motor, integrated magnetic encoder's servo controller. The servo frame integrates the servo controller originally placed outside the servo frame, so that the system space can be effectively saved, and lead wires among all components of the system are reduced.
Claims (4)
1. A servo controller integrated with a magnetic encoder is characterized by comprising a permanent magnet capable of generating a sinusoidal magnetic field and a circuit board, wherein the circuit board integrates a magnetic encoder chip and a servo control circuit.
2. A magnetic encoder integrated servo controller according to claim 1,
the permanent magnet is arranged in the center of a rotating shaft of the servo frame and rotates along with the servo frame;
the positions of the magnetic encoder chip on the circuit board are as follows: after the circuit board is fixed on the servo frame, the surface of the magnetic encoder chip is aligned with the permanent magnet, the center of the magnetic encoder chip and the center of the permanent magnet are concentric, and the deviation is less than or equal to 0.1 mm;
the magnetic encoder chip measures the rotation angle of the circular permanent magnet arranged on the servo frame, and position loop control of the servo system is achieved.
3. A magnetic encoder integrated servo controller according to claim 1,
the servo control circuit comprises a DSP processor, an isolator, a differential level conversion chip and a power supply chip;
the DSP is responsible for angle information acquisition, generates PWM signals to drive a servo system and communicates with the outside;
the differential level conversion chip converts the input differential signal into a single-ended serial port signal to complete the communication between the DSP processor and the upper computer;
the isolator isolates the PWM signal output by the DSP and outputs the PWM signal to the motor driver to drive the brushless direct current motor;
the power supply chip provides power supply guarantee.
4. A magnetic encoder integrated servo controller according to claim 3,
the magnetic encoder chip is AS5047P, the DSP processor is TMS320F38335GHHA, the differential level conversion chip is LTC2852, the isolation chip is ADUM5410, and the power supply chips are TPS62112 and TPS 62460;
the power supply chip TPS62112 converts the input 12V power supply voltage into 5V power supply voltage and provides the 5V power supply voltage for the power supply chip TPS 62460;
the power supply chip TPS62460 converts a 5V power supply voltage into 3.3V and 1.9V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910990775.0A CN112684725A (en) | 2019-10-18 | 2019-10-18 | Servo controller integrated with magnetic encoder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910990775.0A CN112684725A (en) | 2019-10-18 | 2019-10-18 | Servo controller integrated with magnetic encoder |
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| CN112684725A true CN112684725A (en) | 2021-04-20 |
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| CN201910990775.0A Pending CN112684725A (en) | 2019-10-18 | 2019-10-18 | Servo controller integrated with magnetic encoder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113958553A (en) * | 2021-11-26 | 2022-01-21 | 杭州辰淼自动化系统有限公司 | CAN bus electro-hydraulic servo valve controller integrated with magnetic encoder |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201489356U (en) * | 2009-07-30 | 2010-05-26 | 嘉善东菱电子科技有限公司 | Servo driver of alternating current asynchronous motor |
| CN102401665A (en) * | 2011-11-16 | 2012-04-04 | 宁波麦克斯电子科技有限公司 | New motor magnetic encoder |
| CN108873770A (en) * | 2018-05-09 | 2018-11-23 | 中国科学院长春光学精密机械与物理研究所 | AS5048A magnetic coder control method and system based on state machine |
| CN209389967U (en) * | 2018-09-18 | 2019-09-13 | 陈义天 | A kind of stepper motor servo controller |
| CN209416358U (en) * | 2018-03-23 | 2019-09-20 | 深圳市新蕾电子有限公司 | A kind of angle magnetic coder signal processing module |
-
2019
- 2019-10-18 CN CN201910990775.0A patent/CN112684725A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201489356U (en) * | 2009-07-30 | 2010-05-26 | 嘉善东菱电子科技有限公司 | Servo driver of alternating current asynchronous motor |
| CN102401665A (en) * | 2011-11-16 | 2012-04-04 | 宁波麦克斯电子科技有限公司 | New motor magnetic encoder |
| CN209416358U (en) * | 2018-03-23 | 2019-09-20 | 深圳市新蕾电子有限公司 | A kind of angle magnetic coder signal processing module |
| CN108873770A (en) * | 2018-05-09 | 2018-11-23 | 中国科学院长春光学精密机械与物理研究所 | AS5048A magnetic coder control method and system based on state machine |
| CN209389967U (en) * | 2018-09-18 | 2019-09-13 | 陈义天 | A kind of stepper motor servo controller |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113958553A (en) * | 2021-11-26 | 2022-01-21 | 杭州辰淼自动化系统有限公司 | CAN bus electro-hydraulic servo valve controller integrated with magnetic encoder |
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