CN113467362A - Integrated control system - Google Patents
Integrated control system Download PDFInfo
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- CN113467362A CN113467362A CN202110759829.XA CN202110759829A CN113467362A CN 113467362 A CN113467362 A CN 113467362A CN 202110759829 A CN202110759829 A CN 202110759829A CN 113467362 A CN113467362 A CN 113467362A
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- servo
- module
- servo driver
- servo motor
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- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Multiple Motors (AREA)
- Programmable Controllers (AREA)
Abstract
The invention discloses an integrated control system, which relates to the field of electrical integrated control systems, and comprises: the PLC unit is used for controlling the first servo unit and the second servo unit to work; the first servo unit is used for positioning when the first servo motor works; the first servo unit includes: the first servo driver module is used for controlling the first servo motor module in three modes of position, speed and moment to realize high-precision positioning of the transmission system; compared with the prior art, the invention has the beneficial effects that: the signals of the invention are simultaneously accessed into the servo unit and the PLC unit, the plurality of servo units are linked, and a plurality of dimensions of the product can be produced at the same time through the linkage of the plurality of servos.
Description
Technical Field
The invention relates to the field of electrical integrated control systems, in particular to an integrated control system.
Background
The servo driver is an important component of modern motion control and is widely applied to automation equipment such as industrial robots and numerical control machining centers. Especially, a servo driver applied to control an alternating current permanent magnet synchronous motor has become a research hotspot at home and abroad. Current, speed and position 3 closed-loop control algorithms based on vector control are commonly adopted in the current AC servo driver design. Whether the speed closed loop design in the algorithm is reasonable or not plays a key role in the whole servo control system, particularly the performance of speed control.
At present, a servo motor is controlled through a servo driver in the market, high-precision positioning of a transmission system is achieved, but when a plurality of servo drivers work together, the linkage of the plurality of servo drivers is difficult, and improvement is needed.
Disclosure of Invention
The present invention is directed to an integrated control system to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme:
an integrated control system comprising:
the PLC unit is used for controlling the first servo unit and the second servo unit to work;
the first servo unit is used for positioning when the first servo motor works;
the first servo unit includes:
the first servo driver module is used for controlling the first servo motor module in three modes of position, speed and moment to realize high-precision positioning of the transmission system;
the first servo motor module is used for receiving the pulse input by the first servo driver module and rotating a corresponding angle so as to realize displacement;
the first encoder module is used for measuring the magnetic pole position, the rotation angle and the rotation speed of the first servo motor module;
the second servo unit is used for positioning when the second servo motor works; a plurality of servo units can exist according to actual requirements;
the second servo unit includes:
the second servo driver module is used for controlling the second servo motor module through three modes of position, speed and moment to realize high-precision positioning of the transmission system;
the second servo motor module is used for receiving the pulse input by the second servo driver module and rotating a corresponding angle so as to realize displacement;
the second encoder module is used for measuring the magnetic pole position, the rotation angle and the rotation speed of the second servo motor module;
the PLC unit is connected with a first servo driver module and a second servo driver module, the first servo driver module is connected with a first servo motor module, the first servo motor module is connected with a first encoder module, the first encoder module is connected with the first servo driver module, the second servo driver module is connected with a second servo motor module, the second servo motor module is connected with a second encoder module, and the second encoder module is connected with the second servo driver module.
As a still further scheme of the invention: the first servo driver module comprises a first servo driver, the second servo driver module comprises a second servo driver, a high-speed pulse output port of the first servo driver is connected with a high-speed pulse input port of the second servo driver, and the field travel switch is connected with the second servo driver through signals.
As a still further scheme of the invention: the PLC unit comprises a PLC, the first servo driver and the second servo driver are connected through a CAN bus, and the CAN bus is connected to a communication terminal of the PLC.
As a still further scheme of the invention: three-phase alternating current connects first fuse, and first wave filter is connected to the first fuse other end, and first servo driver is connected to the first wave filter other end.
As a still further scheme of the invention: the three-phase alternating current is connected with the second fuse, the other end of the second fuse is connected with the second filter, and the other end of the second filter is connected with the second servo driver.
Compared with the prior art, the invention has the beneficial effects that: the signals of the invention are simultaneously accessed into the servo unit and the PLC unit, the plurality of servo units are linked, and a plurality of dimensions of the product can be produced at the same time through the linkage of the plurality of servos.
Drawings
FIG. 1 is a schematic diagram of an integrated control system.
Fig. 2 is a circuit diagram of an integrated control system.
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 embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Referring to fig. 1, an integrated control system includes:
the PLC unit is used for controlling the first servo unit and the second servo unit to work;
the first servo unit is used for positioning when the first servo motor module works;
the first servo unit includes:
the first servo driver module is used for controlling the first servo motor module in three modes of position, speed and moment to realize high-precision positioning of the transmission system;
the first servo motor module is used for receiving the pulse input by the first servo driver module and rotating a corresponding angle so as to realize displacement;
the first encoder module is used for measuring the magnetic pole position, the rotation angle and the rotation speed of the first servo motor module;
the second servo unit is used for positioning when the second servo motor module works; a plurality of servo units can exist according to actual requirements;
the second servo unit includes:
the second servo driver module is used for controlling the second servo motor module through three modes of position, speed and moment to realize high-precision positioning of the transmission system;
the second servo motor module is used for receiving the pulse input by the second servo driver module and rotating a corresponding angle so as to realize displacement;
the second encoder module is used for measuring the magnetic pole position, the rotation angle and the rotation speed of the second servo motor module;
the PLC unit is connected with a first servo driver module and a second servo driver module, the first servo driver module is connected with a first servo motor module, the first servo motor module is connected with a first encoder module, the first encoder module is connected with the first servo driver module, the second servo driver module is connected with a second servo motor module, the second servo motor module is connected with a second encoder module, and the second encoder module is connected with the second servo driver module.
In this embodiment: referring to fig. 2, the first servo driver module includes a first servo driver (UD-TPL), the second servo driver module includes a second servo driver (UD-ASL), a high-speed pulse output port of the first servo driver is connected to a high-speed pulse input port of the second servo driver, and the field trip switch signal is connected to the second servo driver.
After the high-speed pulse input and output ports of the servo drivers (the number of the servo units is determined according to actual requirements without being limited to two), when one servo driver fails, other servo drivers can change the running state at the same time, so that loss is avoided.
In this embodiment: referring to fig. 2, the PLC unit includes a PLC, the first servo driver and the second servo driver are connected by a CAN bus, and the CAN bus is connected to a communication terminal of the PLC.
The position direction signal and the pulse prohibition signal of the servo driver are given by the PLC, the PLC writes operation signals into the two servo drivers respectively according to the field switch signals read by the input end, and the servo drivers drive the motors to operate according to the received signals.
In this embodiment: referring to fig. 2, the three-phase ac power is connected to a first fuse (QF-TPL), the other end of the first fuse is connected to a first filter (LS2), and the other end of the first filter is connected to a first servo driver.
In this embodiment: referring to fig. 2, the three-phase ac power is connected to a second fuse (QF-ASL), the other end of the second fuse is connected to a second filter (LS3), and the other end of the second filter is connected to a second servo driver.
The fuse is used for protecting the circuit and preventing the circuit of the circuit from being overlarge and damaging each device. The filter can effectively filter the frequency point of the specific frequency in the three-phase power line or the frequencies except the frequency point to obtain a power signal of the specific frequency.
The working principle of the invention is as follows: the PLC unit writes operation signals into a first servo driver module and a second servo driver module respectively according to field switch signals read by an input end, and the first servo driver module and the second servo driver module control the first servo motor module and the second servo motor module to work; the first encoder module and the first servo driver module cooperate together to obtain the specific position of the first servo motor module, the second encoder module and the second servo driver module cooperate together to obtain the specific position of the second servo motor module, high-speed pulse signal exchange exists between the first servo driver module and the second servo driver module, and when a communication fault terminal occurs, the second servo driver module can change along with the operation state of the first servo driver module, so that loss is reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. An integrated control system, characterized by:
the integrated control system includes:
the PLC unit is used for controlling the first servo unit and the second servo unit to work;
the first servo unit is used for positioning when the first servo motor works;
the first servo unit includes:
the first servo driver module is used for controlling the first servo motor module in three modes of position, speed and moment to realize high-precision positioning of the transmission system;
the first servo motor module is used for receiving the pulse input by the first servo driver module and rotating a corresponding angle so as to realize displacement;
the first encoder module is used for measuring the magnetic pole position, the rotation angle and the rotation speed of the first servo motor module;
the second servo unit is used for positioning when the second servo motor works; a plurality of servo units can exist according to actual requirements;
the second servo unit includes:
the second servo driver module is used for controlling the second servo motor module through three modes of position, speed and moment to realize high-precision positioning of the transmission system;
the second servo motor module is used for receiving the pulse input by the second servo driver module and rotating a corresponding angle so as to realize displacement;
the second encoder module is used for measuring the magnetic pole position, the rotation angle and the rotation speed of the second servo motor module;
the PLC unit is connected with a first servo driver module and a second servo driver module, the first servo driver module is connected with a first servo motor module, the first servo motor module is connected with a first encoder module, the first encoder module is connected with the first servo driver module, the second servo driver module is connected with a second servo motor module, the second servo motor module is connected with a second encoder module, and the second encoder module is connected with the second servo driver module.
2. The integrated control system of claim 1, wherein the first servo driver module comprises a first servo driver, the second servo driver module comprises a second servo driver, the high speed pulse output port of the first servo driver is connected to the high speed pulse input port of the second servo driver, and the field stroke switch is in signal communication with the second servo driver.
3. The integrated control system of claim 1, wherein the PLC unit includes a PLC, and the first servo driver and the second servo driver are connected by a CAN bus, the CAN bus being connected to a communication terminal of the PLC.
4. The integrated control system of claim 1, wherein the three-phase ac power is connected to a first fuse, the first fuse having another end connected to a first filter, the first filter having another end connected to the first servo driver.
5. The integrated control system of claim 4, wherein the three-phase AC power is connected to a second fuse, the second fuse having another end connected to a second filter, the second filter having another end connected to the second servo driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110759829.XA CN113467362A (en) | 2021-07-05 | 2021-07-05 | Integrated control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110759829.XA CN113467362A (en) | 2021-07-05 | 2021-07-05 | Integrated control system |
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| Publication Number | Publication Date |
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| CN113467362A true CN113467362A (en) | 2021-10-01 |
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| CN202110759829.XA Pending CN113467362A (en) | 2021-07-05 | 2021-07-05 | Integrated control system |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09222910A (en) * | 1996-02-20 | 1997-08-26 | Yaskawa Electric Corp | Controller for multiaxes robot |
| CN102581745A (en) * | 2012-02-29 | 2012-07-18 | 清华大学 | Handling robot system for chemical mechanical polishing |
| CN203726491U (en) * | 2013-11-20 | 2014-07-23 | 皖西学院 | Intelligent manipulator |
| CN104260093A (en) * | 2014-07-30 | 2015-01-07 | 华南理工大学 | Delta parallel-connection manipulator control system |
| CN204666719U (en) * | 2015-06-04 | 2015-09-23 | 北京华电天仁电力控制技术有限公司 | A kind of device for testing power for Wind Turbine Electric Pitch System system |
| CN209215924U (en) * | 2018-12-24 | 2019-08-06 | 昆明理工大学 | A kind of servo motor two-axle interlocking system based on PLC control |
-
2021
- 2021-07-05 CN CN202110759829.XA patent/CN113467362A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09222910A (en) * | 1996-02-20 | 1997-08-26 | Yaskawa Electric Corp | Controller for multiaxes robot |
| CN102581745A (en) * | 2012-02-29 | 2012-07-18 | 清华大学 | Handling robot system for chemical mechanical polishing |
| CN203726491U (en) * | 2013-11-20 | 2014-07-23 | 皖西学院 | Intelligent manipulator |
| CN104260093A (en) * | 2014-07-30 | 2015-01-07 | 华南理工大学 | Delta parallel-connection manipulator control system |
| CN204666719U (en) * | 2015-06-04 | 2015-09-23 | 北京华电天仁电力控制技术有限公司 | A kind of device for testing power for Wind Turbine Electric Pitch System system |
| CN209215924U (en) * | 2018-12-24 | 2019-08-06 | 昆明理工大学 | A kind of servo motor two-axle interlocking system based on PLC control |
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