CN118100694A - Direct-current common bus double-shaft expandable servo driving device and control method thereof - Google Patents

Direct-current common bus double-shaft expandable servo driving device and control method thereof Download PDF

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Publication number
CN118100694A
CN118100694A CN202410021580.6A CN202410021580A CN118100694A CN 118100694 A CN118100694 A CN 118100694A CN 202410021580 A CN202410021580 A CN 202410021580A CN 118100694 A CN118100694 A CN 118100694A
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CN
China
Prior art keywords
circuit
driving device
module
common bus
main controller
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
CN202410021580.6A
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Chinese (zh)
Inventor
曹祥
谭先锋
夏亮
陈光明
陈吉奎
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.)
Foshan Hs Roboter Corp
Chongqing Robotics Institute
Original Assignee
Foshan Hs Roboter Corp
Chongqing Robotics Institute
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 Foshan Hs Roboter Corp, Chongqing Robotics Institute filed Critical Foshan Hs Roboter Corp
Priority to CN202410021580.6A priority Critical patent/CN118100694A/en
Publication of CN118100694A publication Critical patent/CN118100694A/en
Pending legal-status Critical Current

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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
    • 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
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention relates to the technical field of servo drive, in particular to a direct current common bus double-shaft expandable servo drive device and a control method thereof, wherein the direct current common bus double-shaft expandable servo drive device comprises a power supply module and a plurality of drive modules, the drive modules comprise a main controller, an FPGA (field programmable gate array), a communication module, an inverter circuit and an encoder circuit, and the communication module is communicated with an upper computer through an EtherCAT bus protocol to obtain instruction information; the FPGA acquires the position information of a motor encoder through an encoder circuit; the main controller reads the data in the communication module and the FPGA respectively for processing, and generates two PWM waves to drive the motors to rotate, so that the problem that the existing servo driving device can only be used for controlling two motors and cannot be provided with a plurality of driving modules by one power module is solved.

Description

Direct-current common bus double-shaft expandable servo driving device and control method thereof
Technical Field
The invention relates to the technical field of servo driving, in particular to a direct current common bus double-shaft expandable servo driving device and a control method thereof.
Background
With the improvement of automation capability of various industries, the servo driving device is widely applied. The servo driving device is also called a servo driver, is usually in a single-shaft form, namely one servo driving device and drives one motor, and along with the development of industrial robots, integrated servo driving devices specially used for adapting four shafts and six shafts, namely one set of servo driving device can drive four or six motors, but the servo driving device belongs to special servo driving devices in the subdivision industry and has low expandability. Automatic horizontal lifting, the servo driving device in the single-shaft form is low in energy utilization rate, multi-shaft in use, large in size and high in cost.
Currently, the prior art (CN 213715755U) discloses a dual-axis servo driver comprising: the power interface is used for accessing a power supply; a controller; and the double-shaft power board is connected with the power interface and the controller, and the controller controls the double-shaft power board to acquire the power and respectively provide power for the first motor and the second motor.
By adopting the mode, the direct current bus can only be used for controlling two motors, one power supply module cannot be provided with a plurality of driving modules, and the expandability is not achieved.
Disclosure of Invention
The invention aims to provide a direct current common bus double-shaft expandable servo driving device and a control method thereof, and aims to solve the problem that the existing servo driving device can only be used for controlling two motors and cannot be provided with a plurality of driving modules by one power module.
In order to achieve the above object, in a first aspect, the present invention provides a dc common bus biaxial expandable servo driving device, including a power module and a plurality of driving modules, wherein the driving modules are respectively connected with the power module;
The driving module comprises a main controller, an FPGA, a communication module, an inverter circuit and an encoder circuit, wherein the FPGA and the communication module are respectively connected with the main controller, the main controller is connected with the inverter circuit, and the encoder circuit is connected with the FPGA.
The power module comprises a rectifying circuit, a soft start circuit, a voltage detection circuit and a bleeder circuit, wherein the soft start circuit is connected with the rectifying circuit, the voltage detection circuit is connected with the soft start circuit, and the bleeder circuit is connected with the soft start circuit .
The driving module further comprises a communication debugging port and a key nixie tube display circuit, wherein the communication debugging port is connected with the communication module, and the key nixie tube display circuit is connected with the main controller.
The driving module further comprises a protection detection circuit, and the protection detection circuit is connected with the inverter circuit and the main controller.
In a second aspect, a control method of a direct current common bus double-shaft expandable servo driving device is applied to the direct current common bus double-shaft expandable servo driving device in the first aspect, and the control method includes the following steps:
the communication module is communicated with the upper computer through the EtherCAT bus protocol to acquire instruction information;
The FPGA acquires the position information of a motor encoder through an encoder circuit;
And the main controller reads the data in the communication module and the FPGA respectively for processing, and generates two PWM waves to drive the motor to rotate.
The invention discloses a direct current common bus double-shaft expandable servo driving device, which comprises a power module and a plurality of driving modules, wherein the driving modules are respectively connected with the power module; the driving module comprises a main controller, an FPGA, a communication module, an inverter circuit and an encoder circuit, wherein the FPGA and the communication module are respectively connected with the main controller, the main controller is connected with the inverter circuit, and the encoder circuit is connected with the FPGA. The communication module is communicated with the upper computer through an EtherCAT bus protocol to acquire instruction information; the FPGA acquires the position information of a motor encoder through an encoder circuit; the main controller reads the data in the communication module and the FPGA respectively for processing, and generates two PWM waves to drive the motors to rotate, so that the problem that the existing servo driving device can only be used for controlling two motors and cannot be used for controlling one power module to carry out multiple driving modules is solved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a direct current common bus double-shaft expandable servo driving device.
Fig. 2 is a schematic diagram of the structure of the power module.
Fig. 3 is a schematic diagram of the structure of the driving module.
FIG. 4 is a flow chart of a control method of a direct current common bus double-shaft expandable servo driving device
Fig. 5 is a schematic diagram of a control method of a direct current common bus double-shaft expandable servo driving device.
The device comprises a 1-power module, a 2-driving module, an 11-soft start circuit, a 12-rectifying circuit, a 13-voltage detection circuit, a 14-bleeder circuit, a 21-main controller, a 22-FPGA, a 23-communication module, a 24-inverter circuit, a 25-encoder circuit, a 26-communication debugging port, a 27-key nixie tube display circuit and a 28-protection detection circuit.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
Referring to fig. 1 to 3, in a first aspect, the present invention provides a dc common bus dual-axis expandable servo driving device, which includes a power module 1 and a plurality of driving modules 2, wherein the driving modules 2 are respectively connected with the power module 1;
The driving module 2 comprises a main controller 21, an FPGA22, a communication module 23, an inverter circuit 24 and an encoder circuit 25, wherein the FPGA22 and the communication module 23 are respectively connected with the main controller 21, the main controller 21 is connected with the inverter circuit 24, and the encoder circuit 25 is connected with the FPGA 22.
In the present embodiment, scalability: the power supply modules 1 and the driving modules 2 are tightly attached, the adjacent power supply modules and the driving modules are connected and transmitted by using copper bars to form a common direct current bus, and a plurality of driving modules 2 can be tightly attached to the back of one power supply module 1.
The FPGA22 reads the feedback position information of the two motor encoders through the encoder circuit 25 and transmits the feedback position information to the main control MCU; the LAN9252 receives an instruction from the host computer to the driving module 2, and then the main control MCU reads the instruction. The main control MCU generates respective PWM waveforms through calculation according to respective instructions and fed back position information, and drives the inversion module to output alternating current for driving the motor, wherein the energy of the inversion module is from a direct current bus. The communication module 23 communicates with the upper computer through the EtherCAT bus protocol to acquire instruction information; the FPGA22 acquires the position information of a motor encoder through an encoder circuit 25; the main controller 21 reads the data in the communication module 23 and the FPGA22 respectively for processing, and generates two PWM waves to drive the motors to rotate, thereby solving the problem that the existing servo driving device can only be used for controlling two motors and cannot control one power module 1 to carry a plurality of driving modules 2.
Further, the power module includes a rectifying circuit 12, a soft start circuit 11, a voltage detection circuit 13, and a relief circuit 14, wherein the soft start circuit 11 is connected with the rectifying circuit 12, the voltage detection circuit 13 is connected with the soft start circuit 11, and the relief circuit 14 is connected with the soft start circuit 11 .
In the present embodiment, the soft start circuit 11 is matched with the rectifying circuit 12 to rectify ac to dc, and the soft start circuit 11 can prevent the impact of large current after rectification on the capacitor in the power module 1 at the initial stage of power-up. The voltage detection circuit 13 detects the voltage of the rectified dc bus PN, and when the driving module 2 performs deceleration braking, the dc bus voltage PN increases, and if the voltage exceeds a set voltage threshold, the bleeder circuit 14 operates to reduce the voltage of the dc bus PN. The dc bus provides energy to the inverter section of the drive module 2.
Further, the driving module 2 further includes a communication debug port 26 and a key nixie tube display circuit 27, the communication debug port 26 is connected with the communication module 23, and the key nixie tube display circuit 27 is connected with the main controller 21.
In this embodiment, in order to debug the servo performance, the data in the servo can be displayed on the computer software through the communication debug port 26, and the user can set the servo parameters by using the display part of the key nixie tube.
Further, the driving module 2 further includes a protection detection circuit 28, and the protection detection circuit 28 is connected to the inverter circuit 24 and to the main controller 21.
In this embodiment, the protection detection circuit 28 detects the state of the inverter circuit 24 in real time, and if an abnormal condition exists, signals the main control MCU to perform the deceleration and shutdown of the protection driving module 2.
Scalability: the power supply modules 1 and the driving modules 2 are tightly attached, the adjacent power supply modules and the driving modules are connected and transmitted by using copper bars to form a common direct current bus, and a plurality of driving modules 2 can be tightly attached to the back of one power supply module 1.
The FPGA22 reads the feedback position information of the two motor encoders through the encoder circuit 25 and transmits the feedback position information to the main control MCU; the LAN9252 receives an instruction from the host computer to the driving module 2, and then the main control MCU reads the instruction. The main control MCU generates respective PWM waveforms through calculation according to respective instructions and fed back position information, and drives the inversion module to output alternating current for driving the motor, wherein the energy of the inversion module is from a direct current bus. The communication module 23 communicates with the upper computer through the EtherCAT bus protocol to acquire instruction information; the FPGA22 acquires the position information of a motor encoder through an encoder circuit 25; the main controller 21 reads the data in the communication module 23 and the FPGA22 respectively for processing, and generates two PWM waves to drive the motors to rotate, thereby solving the problem that the existing servo driving device can only be used for controlling two motors and cannot control one power module 1 to carry a plurality of driving modules 2.
Referring to fig. 4 to 5, in a second aspect, a control method of a dc common bus biaxial expandable servo driving device is applied to the dc common bus biaxial expandable servo driving device of the first aspect, and includes the following steps:
S1, a communication module 23 communicates with an upper computer through an EtherCAT bus protocol to acquire instruction information;
specifically, a LAN9252 chip is used to communicate with an upper computer through the EtherCAT bus protocol to obtain instruction information, and the FPGA22.
S2, the FPGA22 acquires the position information of a motor encoder through an encoder circuit 25;
Specifically, the position information of the motor encoder is acquired through the encoder circuit 25.
S3, the main controller 21 respectively reads the data in the communication module 23 and the FPGA22 for processing, and generates two PWM waves to drive the motor to rotate.
Specifically, the main control MCU reads the data in the LAN9252 (the communication module 23) and the FPGA22, and processes the data, and finally generates PWM waves for controlling the two motors, respectively, to drive the motors to rotate. Meanwhile, in order to facilitate the debugging of the servo performance, the data in the servo can be displayed on the computer software through the communication debugging port 26, and the user can set the servo parameters by using the display part of the key nixie tube. The protection detection circuit 28 detects the state of the inverter circuit 24 in real time, and if an abnormal situation exists, signals are sent to the main control MCU, and the main control MCU carries out deceleration and shutdown to protect the driving module 2;
The main control MCU generates two interrupts (marked as an interrupt A1 and an interrupt A2) in a timing interval of 125us through a timer A, and at the starting moment of entering the interrupt A1 and the interrupt A2, the timing time of the timer B is 35us at a zero clearing timing B, and the generated interrupts are the interrupt B1 and the interrupt B2.
At the interrupt A1 and the interrupt A2, the master MCU sends signals to the FPGA22 to start reading the encoder, and can read the motor encoder data at the interrupt B1 and the interrupt B2, respectively. At the same time, at the interruption B1 and the interruption B2, the master control MCU reads the instruction information in the LAN9252 chip, and then runs the servo position loop, the speed loop, and the current loop in the interruption B1 and the interruption B2, respectively.
This method enables control of the position loop, speed loop, and current loop 16k (62.5 us) at a frequency of 8k (125 us) PWM, which is a unique method of the present invention. Under certain conditions, the higher control frequency is beneficial to improving the control performance.
The beneficial effects are that:
The energy utilization rate is improved: the invention adopts a double-shaft expandable servo driving device in a direct current common bus form, and the rectification part of alternating current to direct current is independently manufactured into a power supply module, and a plurality of driving modules share the direct current bus. The form can improve the energy utilization rate and reduce the waste of energy.
Scalability: the double-shaft expandable servo driving device adopts one driving module to control the rotation of two motors, and a plurality of driving modules can share a direct current bus to realize double-shaft expandability. The design enables the servo driving device to adapt to the uncertainty of the number of motors in the automation industry.
Diversity selection: in the existing four-axis and six-axis servo driver devices, an FPGA or other SOC chips are generally adopted, and the chip selection is single. The dual-shaft expandable servo driving device can adopt a universal MCU to control two servo motors, so that more chip selection and flexibility are provided, and the diversity selection of different requirements is met.
Volume and cost are reduced: compared with a single-shaft type servo driving device, the double-shaft type servo driving device adopts a double-shaft extensible design, reduces the volume and the cost, and improves the overall cost performance.
In the control method, the control frequencies of the position loop, the speed loop and the current loop 16k (62.5 us) can be realized at the frequency of 8k (125 us) PWM, which is a unique method of the invention. Under certain conditions, the higher control frequency is beneficial to improving the control performance.
In summary, compared with the prior art, the invention has the advantages of improving the energy utilization rate, expandability, selecting diversity, reducing the volume cost and the like, and simultaneously improving the control performance.
The foregoing disclosure is only illustrative of a preferred embodiment of a dc common bus dual-axis expandable servo driving device and a control method thereof, but it is not limited thereto, and those skilled in the art will appreciate that all or part of the procedures for implementing the embodiments are equivalent and still fall within the scope of the invention.

Claims (5)

1. A DC common bus double-shaft expandable servo driving device is characterized in that,
The device comprises a power supply module and a plurality of driving modules, wherein the driving modules are respectively connected with the power supply module;
The driving module comprises a main controller, an FPGA, a communication module, an inverter circuit and an encoder circuit, wherein the FPGA and the communication module are respectively connected with the main controller, the main controller is connected with the inverter circuit, and the encoder circuit is connected with the FPGA.
2. A DC common bus biaxial expandable servo driving device as set forth in claim 1, wherein,
The power module comprises a rectifying circuit, a soft start circuit, a voltage detection circuit and a relief circuit, wherein the soft start circuit is connected with the rectifying circuit, the voltage detection circuit is connected with the soft start circuit, and the relief circuit is connected with the soft start circuit.
3. A DC common bus biaxial expandable servo driving device as set forth in claim 2, wherein,
The driving module further comprises a communication debugging port and a key nixie tube display circuit, wherein the communication debugging port is connected with the communication module, and the key nixie tube display circuit is connected with the main controller.
4. A DC common bus biaxial expandable servo driving device as set forth in claim 3, wherein,
The driving module further comprises a protection detection circuit, and the protection detection circuit is connected with the inverter circuit and the main controller.
5. A control method of a direct current common bus double-shaft expandable servo driving device, which is applied to the direct current common bus double-shaft expandable servo driving device as set forth in any one of claims 1 to 4, and is characterized by comprising the following steps:
the communication module is communicated with the upper computer through the EtherCAT bus protocol to acquire instruction information;
The FPGA acquires the position information of a motor encoder through an encoder circuit;
And the main controller reads the data in the communication module and the FPGA respectively for processing, and generates two PWM waves to drive the motor to rotate.
CN202410021580.6A 2024-01-05 2024-01-05 Direct-current common bus double-shaft expandable servo driving device and control method thereof Pending CN118100694A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410021580.6A CN118100694A (en) 2024-01-05 2024-01-05 Direct-current common bus double-shaft expandable servo driving device and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410021580.6A CN118100694A (en) 2024-01-05 2024-01-05 Direct-current common bus double-shaft expandable servo driving device and control method thereof

Publications (1)

Publication Number Publication Date
CN118100694A true CN118100694A (en) 2024-05-28

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Country Status (1)

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