CN1198188C - DC motor servo driving system based on network - Google Patents

Abstract

The present invention discloses a DC motor servo driving system based on a network, which comprises a control module, a drive module and a network interface module, which are connected into a whole via two 40-pin sockets. The servo drive system of the present invention establishes a network control system formed by the connection of one or more servo driving devices and a PC or other control devices via RS485 and CAN bus interfaces and realizes the drive and the control to a multi-shaft mechanism in a serial network control mode. The DSP obtains motion commands and motion parameters from the network interfaces, calculates motion servo of motor coded disc signals or sampled data of motor armature current via a software control program to produce PWM output signals and realizes the output control of a motor drive loop and the serial coordination control of multi-shaft drive via the PWM signals. The present invention is suitable for the drive and the control to robots, numerical control machines and production lines.

Description

A kind of based on network direct current generator servo drive system

Technical field

The present invention relates to a kind of motor driver, be meant a kind of based on network direct current generator servo drive system especially, this system is applicable to the motor-driven motion controls of all kinds of needs such as robot, numerically-controlled machine, production line.

Background technology

Traditional high-precision motor motion control is the separate development of road that separates with driver according to controller always.Traditional motor driver adopts the method for mimic channel control the earliest, development along with microelectric technique, numeral, simulation control have appearred, then along with DSP (Digital Signal Processor, digital signal processor) development of technology and large-scale application environment, digital control motor driver occurs, and the Electric Machine Control special DSP occurred.The digital Electric Machine Control that appears as of Electric Machine Control special DSP provides wide development space.Electric Machine Control special DSP inside has the generation and the detecting unit of the perfect needed various types of signal of Electric Machine Control, has alleviated the burden of the CPU (Center Processor Unit, CPU (central processing unit)) of DSP inside greatly.Along with the development of field bus technique, RS485, CAN fieldbus such as (a kind of networks of Controller Area Network monitoring of equipment and control) has obtained using widely simultaneously.The collection control that develops into networking of these technology provides technical conditions with the electric machinery control device that drives one.Simultaneously, along with the change of mechanical industry and robot, production line, motor-driven and control system dirigibility are required more and more higher, to satisfy the fast-changing needs of product and workflow.Therefore, the mode that traditional control separates with driving can not adapt to the needs of modern product development because structure is cumbersome, line is various.

The driving of present direct current generator has two kinds of situations, and a kind of is application simulation drives motor, the another kind of singlechip technology drive motor of using.The mimic channel drive motor is made up of four parts: triangle wave generating circuit, pulse modulated circuit, PWM produce circuit and function amplifying circuit, the Micro Controller Unit (MCU) driving technology is formed motor driven systems by Micro Controller Unit (MCU) driving and motion controller, total system also is made up of four parts: single-chip microcomputer carries out software programming and control signal transmission, be connected with processor controls by the I/O interface, control treatment module can produce pwm pulse control; Optical code disk and position feedback realize the test of motor corner displacement.This driving circuit is that with the difference of the application's patent controller separates with single-chip microcomputer, be connected by the I/O interface, make the slow and information channel few (8) of the speed of its data transfer, no networking function, storer and bus expansion difficulty are not easy to realize jointly controlling of multi-axle motor drive system.

Summary of the invention

The invention provides a kind of control and be the motor servo drive system of one with driving, utilized the Electric Machine Control special DSP enrich hardware performance and computing time resource, fieldbus is blended in wherein, realize the control and the driving of single device, adapted to the development need of modern machines people, numerically-controlled machine, production line operation.It is the motor servo drive that a kind of integrated network technology, movement locus control and motor-driven are controlled to be one.

The present invention is a kind of based on network direct current generator servo drive system, comprise PC, direct current generator and code-disc, also comprise servo drive system, CAN bus interface, RS485 interface, described servo drive system is made up of control module, driver module and Network Interface Module, the three links into an integrated entity by the socket of two 40 pins, observing on the basis of RS485 communication protocol, by the CAN bus interface, the realization PC is communicated by letter with the single serial of multiaxis driving mechanism and is connected with the serial networking.

Described communication interface circuit connects and composes by motor chip TMS320F240 type DSP and communication interface chip MAX491 and 29 connectors, motor chip DSP has 132 ends, interface chip has 14 ends, and 43,44,63 ends of motor chip DSP link to each other with 2,5,4 ends of interface chip respectively; 3,6,7 end ground connection of interface chip, 14 termination powers, 1,8,13 ends are unsettled; 6,7 ends of 11,12 termination J1 sockets of interface chip, 9,10 termination J1 sockets 8,9 of interface chip, be thus connected and on the 4th end of J1, J2 socket, produce 485P respectively and be connected signal with 485N, 4 end 485P of J1 socket are input end when the serial networking, 4 end 485N of J2 socket are output terminal, and 485P is connected the serial networking that realizes the many motors of multiaxis successively with 485N and connects.

The automatic configuration circuit in the address of described serial networking: the automatic configuration circuit in address is made up of DSP, code translator GAL22V10, networking control chip SJA1000, transceiver PCA82C250 device, wherein: PC sends to DSP to the networking address in the mode of Frame, DSP is connected with code translator, again with networking control chip be connected thereafter; The configuration address of DSP is after the control of networking control chip enables decoder for decoding, on the networking control chip, produce address gating signal, gating signal is after transceiver is made level conversion, send to the CAN bus, in bus hub, just obtain the high and low level of the control module gating in the servo drive system; Circuit connecting is: 4,3,2 ends of 116,117, the 118 termination code translators of DSP, 35,41,130,1,132,53,40 ends of DSP link to each other with 5,6,7,8,9,18,15 ends of code translator respectively; 13,14 ends of code translator are unsettled, 12 end ground connection, 1 termination time clock, 24 termination powers; On 10,20,21,22,23 ends of code translator, produce output signal, and be connected on the networking control chip SJA1000,22,23,21,20,10 ends of code translator link to each other with 4,3,5,6,16 ends of networking control chip respectively, on D0～D7 end of 23,24,25,26,27,28,1,2 termination DSP of networking control chip; 11,22,18,12 termination power VCC of networking control chip, 8,21,15 end ground connection, 7,1 end is unsettled, 17 termination filter capacitor C1,9,10 termination crystal oscillator pipe Y1; 1,4,5 ends of 13,19,20 termination transceivers of networking control chip, 8 ends of transceiver are through resistance R 3 ground connection, and 6,7 are output termination J socket, 3 termination powers of transceiver, 2 end ground connection; 1,6,7,12 ends of J socket are unsettled, 7 ends of 2,8 termination transceivers of J socket, the noble potential of output CAN bus, the electronegative potential of the 6 ends output CAN bus of 4,10 termination transceivers of J socket.

Described driving circuit is made of 2 half-bridge driver IR2104,4 power MOSFET tube IRFP150N, DSP produces pwm signal and gives the high and low level that 2 half-bridge drivers change 12V into, and the drive axle drives motor of forming by 4 IRFP150N rotates by control signal; Grating encoder and the coaxial installation of rotating shaft, backfeed loop is made of with the code-disc signal feedback circuit the armature supply feedback, current feedback realizes the current monitoring of motor, the code-disc signal feedback realizes the monitoring of motor corner displacement, and according to monitor signal adjustment pwm control signal, realize the real-time control of multiaxis mechanism, wherein 2 half-bridge driver IR2104 form the bridge driving circuit, and 4 discrete component IRFP150N form the H bridge circuit.

Servo drive system of the present invention can pass through RS485 or CAN bus interface, can set up single or at the most 32 servo-actuating devices be connected with PC.

A kind of based on network direct current generator servo drive system of the present invention has following characteristics:

1, integrates control and drive, by current feedback and code-disc signal feedback, can adjust the pwm control signal of motor in real time, realize that the coordination of multiple axes system is controlled.

2, the multiaxis multi-computer system is carried out serial communication and serial networking mode, transmit data by Frame, frame adopts U format, makes it should be applied to big system servocontrol.Simultaneously, when controlling object was huge, the communication line of serial communication was few, simple in structure, and reducing and having saved is physical construction and the utility appliance of installing and support the line of communicating by letter.

3, control of the present invention, driving, three modules of interface adopt three circuit boards to realize, three circuit boards link into an integrated entity by two 40 needle sockets, one of them socket is used to transmit the external memory interface signal of DSP, 16 data lines, 8 data lines and interruption are arranged, resets, logic such as read-write.The control signal of another socket transmission controlling and driving plate comprises PWM, code-disc signal, A/D analog quantity, digital I/O signal.The The whole control system modularization is with conspicuous characteristics, easily uses and maintenance, and is easy to detect.

4, by control panel and interface board circuit, the connection of upper and lower module during the serial networking, be that the pairing of 485N-485P connects and to change control panel socket J1 into and be connected with the chain of J2, make networking easy, by automatic configuration circuit in networking address and program, can reach the associating networking of 32 motors at most, its networking capability is more much bigger than existing system.

5, drive plate except that drive with control function, also have the defencive function of power level conversion and voltage, electric current, when occur owing, when excess current and voltage, holding circuit can be cut off whole outputs of drive system automatically.

Description of drawings

Fig. 1 is a general structure block diagram of the present invention.

Fig. 2 is a multiaxis networking structure block diagram of the present invention.

Fig. 3 is a group-net communication interface schema of the present invention.

Fig. 4 is networking address configuration figure of the present invention.

Fig. 5 is a structure of driving unit block diagram of the present invention.

Fig. 6 is a dsp chip interface schema of the present invention.

Fig. 7 is a group-net communication circuit diagram of the present invention.

Fig. 8 is a group-net communication interface socket connection layout of the present invention.

Fig. 9 is a code translator interface schema of the present invention.

Figure 10 is networking address configuration circuit of the present invention and connecting interface.

Figure 11 is a power level transition diagram of the present invention.

Figure 12 is driving circuit figure of the present invention.

Figure 13 is a driving interface of the present invention.

Figure 14 is a socket connection layout of the present invention.

Embodiment

The present invention is described in further detail below in conjunction with drawings and Examples.

The present invention is a kind of based on network direct current generator servo drive system, comprises PC, servo drive system, direct current generator and code-disc.This servo drive system mainly is made up of control module, driver module and Network Interface Module, and three modules link into an integrated entity by the socket of two 40 pins.Observing on the basis of RS485 communication protocol, by the CAN bus interface, the realization PC is communicated by letter with the single serial of multiaxis driving mechanism and is connected with the serial networking.To the networking mode of multiple axes system be one main many from, promptly having only a control module is primary module, primary module is exactly the control module that connects PC, all the other modules are from module, master slave relation can not arbitrarily change (as shown in Figure 2).Serial networking of the present invention and communication function are mainly realized by the automatic configuration circuit of communication interface circuit and serial networking address.Driver module is realized motor-driven, current monitoring and monitoring position and motor coordination control.

Communication interface circuit: connect and compose (as shown in Figure 3) by motor special chip TMS320F240 type DSP and communication interface sheet MAX491 and 29 connectors.DSP has 132 ends (as shown in Figure 6), interface chip MAX491 has 14 ends (as shown in Figure 7), 43,44,63 ends of DSP link to each other with 2,5,4 ends of IC4 respectively, 3,6, the 7 end ground connection of IC4,14 termination powers, 1,8,13 ends are unsettled, 6,7 ends of 11,12 termination J1 sockets, 9, the 10 termination J1 sockets 8,9 of IC4 are thus connected and produce 485P respectively be connected signal with 485N on the 4th end of 2 socket J1, J2.485P is that input end links to each other with the 485N of previous control panel when the serial networking, and 485N is that output terminal links to each other with the 485P of a back control panel, and 485P is connected the serial networking that realizes the many motors of multiaxis successively with 485N and connects (as shown in Figure 4).

The automatic configuration circuit in the address of serial networking (shown in Fig. 4,9,10): the automatic configuration circuit in address is made up of DSP, GAL22V10, SJA1000, PCA82C250 device, wherein: PC sends to DSP (as shown in Figure 4) to the networking address in the mode of Frame, DSP is connected with the GAL22V10 code translator, again with SJA1000 be connected thereafter.The configuration address via controller SJA1000 of DSP enables to decipher behind the GAL22V10, on SJA1000, produce address gating signal, gating signal sends to the CAN bus after transceiver PCA82C250 makes level conversion, just obtain the high and low level of control module gating in bus hub.Circuit connecting is as follows:

116 of DSP, 117,4 of 118 termination code translator 6AL22V10,3,2 ends, 35 of DSP, 41,130,1,132,53,40 ends respectively with 5 of code translator GAL22V10,6,7,8,9,18,15 ends link to each other, 13 of code translator GAL22V10,14 ends are unsettled, 12 end ground connection, 1 termination time clock, 24 termination powers, at U1 chip 10,20,21,22, produce output signal on 23 ends, and be connected on the networking control chip SJA1000,22 of GAL22V10,23,21,20,10 ends respectively with 4 of U2 SJA1000,3,5,6,16 ends link to each other, 23 of U2,24,25,26,27,28,1, on the D0 of 2 termination DSP～D7 end, 11 of U2,22,18,12 termination power VCC, 8 of U2,21,15 end ground connection, 7 of U2,1 end is unsettled, 17 termination filter capacitor C1,9 of U2,10 termination crystal oscillator pipe Y1,13 of U2,19,1 of 20 termination U3 transceiver PCA82C250,4,5 ends, 8 ends of U3PCA82C250 are through the R3 resistance eutral grounding, 6,7 end output terminal combination hub J, 3 termination powers, 2 end ground connection.

1,6,7,12 ends of J socket are unsettled, 7 ends of 2,8 termination U3, the noble potential of output CAN bus, 6 ends of 4,10 termination U3, the electronegative potential of output CAN bus.

PC sends to DSP to the networking address in the mode of Frame, is the base unit of communication with the Frame, for expansion needs, adopts indefinite frame length, and length is specified by particular data in the frame.

Length: comprise transmit leg group address+sender address+target side group address+target side address+order code+data block, must not surpass 0xFF.

Group address: definition at present: main frame be fixed as 0x00, Drive Module be 0x01-0xFE, 0xFE represents the Drive Module of all groups, 0xFF represents the driver of unallocated address.

Address: 0x00: main frame; 0x01-0xFD: Drive Module; 0xFE: All Drives module in the group; 0xFF: the Drive Module of unallocated address.

Order code: 0x00-07F: Electric Machine Control instruction; 0x80-0xFF: network system operational order.

Data block: concrete implication is explained by order code.

Check code: to the CRC16 check results of all data from length to the data block, 16.

Shown in Fig. 5,12, driving circuit is made of DSP, 2 transistor IR2104,4 power MOSFET tube IRFP150N, DSP produces pwm signal and gives the high-low level that IR2104 changes 12V into, and the drive axle drives motor of forming by 4 IRFP150N rotates by control signal.Grating encoder and the coaxial installation of rotating shaft, therefore, backfeed loop is made of with the code-disc signal feedback circuit the armature supply feedback.Current feedback realizes the current monitoring of motor, and the code-disc signal feedback realizes the monitoring of motor corner displacement, and adjusts pwm control signal according to monitor signal, realizes the real-time control of multiaxis mechanism.Wherein 2 IR2104 form the bridge driving circuit, and 4 discrete component IRFP150N form the H bridge circuit.Figure 11 provides power supply by the level shifting circuit that LM2575 constitutes to the bridge driving circuit.

The CPU of system control unit adopts the TMS320F240 type Electric Machine Control special DSP of TI as shown in Figure 1, the outside brilliant shake of 10MHz, innernal CPU speed 20MHz.Extend out two SRAM-IS61C1024,128K * 8Bit and form 16 external memory storages of program (debugging use) and data transmission jointly.Communication interface is RS232/RS485, has multiaxis mechanism networking function when using RS485.

Motor servocontrol driver element is made up of power unit, bridge drive part, drive axle circuit and holding circuit.Power unit is realized the conversion of 24V～12V, 24V～5V.Bridge drives the pwm signal from CPU element is changed into the voltage that can drive the H bridge.The output of drive axle is used for drive motor.Holding circuit realizes by hardware configuration, by sampling to current of electric, with setting value relatively, send control signal, when occurring, when under-voltage, electric current, automatically shutting down gauge tap.

TMS320F240 is by ' several parts such as C2xxCPU nuclear, internal storage, external memory interface, time management unit, FLL (PLL), A/D converter, asynchronous serial port (SCI), synchronous serial interface (SPI), house dog, digital I/O, jtag interface constitute.Except ' C2xxCPU nuclear and the external memory interface, all the other each parts all are called as peripheral hardware in the sheet, and their control register is hinted obliquely at data or the input/output space of CPU all.Synchronous serial interface does not use, and its pin is used for wire jumper setting (also can be used as SPI uses) as digital I/O.

Outside brilliant shake is 10MHz, through the PLL unit of DSP inside, produces CPU and the required required required clock of clock, house dog of 20MHz clock signal, A/D converter of external memory interface.And the interior remainder of sheet all uses the clock of 10MHz.

The external memory interface of DSP provides addressing 64K program, 64K data, the needed signal of 64KI/O.As shown in Figure 1: on control module, extend out 16 the external memory storage that two SRAM-IS61C1024,128K * 8Bit form program (debugging is used) and data use jointly.Their highest addresses line A16 connects PS (program storage selection) signal of DSP, thereby has realized program, data sharing a slice storer.

Time management unit is mainly produced by PWM and signal capture two parts are formed.The pwm signal of output is used to control motor, and the signal capture part then is used for the discriminating and the counting of the orthogonal intersection code signal of code-disc generation.

A/D converter is made up of the individual switching channel of two 10 precision separate converters and 16 (each independently converter use 8).Except because the electric current of sampling motor, the some position device output voltage on the driver element that also is used to sample and use A/D as the user.

External MAX491 or MAX233-SO are used for realizing communicating by letter with master controller with digital I/O signal cooperation.The baud rate support is up to 19200 (20MHz).

RS232 or RS485 be according to the wire jumper setting, can use among RS232 or the RS485 any one.When using RS232, the signal of the SCI unit of DSP is connected on the MAX233-SO.Do not possess network savvy this moment, can only be as point-to-point control.When using RS485, the signal of the SCI unit of DSP is connected on the MAX491, and the I/O pin of DSP is connected to the output enable of MAX491 simultaneously.Possess network savvy this moment, and 32 nodes can be arranged at most in the network.And, the DB9 socket on shared two control modules of RS232 and RS485.Can connect a last node and next node in the network respectively.

CAN uses SJA1000 as the CAN controller, and PCA82C250 is as transceiver.As shown in Figure 5: GAL22V10 has used the plug of two 6 cores always as address decoding, and preceding 6 and back 6 corresponding pin connect together fully, can use the chain connected mode like this between a plurality of servo drives.

Drive system comprises power supply, bridge driving, H drive axle and holding circuit composition, mainly contains power device and forms.

The core of power circuit is two LM2575, realizes the conversion of 24V/12V, 24V/5V, rated current 1A.5V output is used for control module, and 12V output is used for the bridge chip for driving and uses.

Bridge drives by two IR2104 and startup electric capacity, current-limiting resistance to be formed.Realization will change the voltage signal of control switch mosfet from the pwm signal of control unit into.Attention: because the IR2104 special principle, the dutycycle of pwm signal can not be 0% and 100%, otherwise IR2104 is with cisco unity malfunction.

The H drive axle is as shown in Figure 11: the MOSFET pipe by 4 N channel-type IRFP150N constitutes, this type MOSFET pipe maximum voltage 100V, maximum current 41A.Heat radiator of each IRFP150N configuration.

Holding circuit is made of sampling resistor, comparison potentiometer, LM243 and logic judging circuit.LM243 compares sampling resistor voltage signal of sending here and the voltage signal that compares potentiometer output, the output corresponding control logic.This logic is carried out logical operation with the motor brake signal that control module is exported again then, determines the control of IR2104 brake signal.

System bus is as shown in Figure 14: by the socket transmission of two 40 pins.One of them socket mainly transmits the external memory interface signal of DSP, 16 data lines, 8 data lines and interruption are arranged, resets, logic such as read-write.The control signal of another transmission control drive unit comprises PWM, code-disc signal, A/D analog quantity, digital I/O signal.

Claims (6)

1, a kind of based on network direct current generator servo drive system, comprise PC, servo drive system, CAN bus interface, direct current generator and code-disc, it is characterized in that also comprising the RS485 interface, described servo drive system is made up of control module, driver module and Network Interface Module, the three links into an integrated entity by the socket of two 40 pins, interface by the RS485/CAN bus connects, and realizes that PC is connected with the serial networking with the serial communication of multiaxis driving mechanism.

2, direct current generator servo drive system according to claim 1, it is characterized in that: the serial communication interface circuit of described PC and multiaxis driving mechanism connects and composes with communication interface chip MAX491 (IC4) and 29 connectors (J1, J2) by motor chip TMS320F240 type DSP (IC1), motor chip (IC1) has 132 ends, interface chip (IC4) has 14 ends, and 43,44,63 ends of motor chip (IC1) link to each other with 2,5,4 ends of interface chip (IC4) respectively; 3,6,7 end ground connection of interface chip (IC4), 14 termination powers, 1,8,13 ends are unsettled; 6,7 ends of 11,12 termination J1 sockets of interface chip (IC4), 9,10 termination J1 sockets 8,9 of interface chip (IC4), be thus connected and on the 4th end of 2 sockets (J1, J2), produce 485P respectively and be connected signal with 485N, 4 end 485P of J1 socket are input end when the serial networking, 4 end 485N of J2 socket are output terminal, and 485P is connected the serial networking that realizes the many motors of multiaxis successively with 485N and connects.

3, direct current generator servo drive system according to claim 1, it is characterized in that: the automatic configuration circuit in address of the serial networking in the described servo drive system: the automatic configuration circuit in address is made up of DSP (IC1), code translator GAL22V10 (U1), networking control chip SJA1000 (U2), transceiver PCA82C250 (U3) device, wherein: PC sends to DSP (IC1) to the networking address in the mode of Frame, DSP (IC1) is connected with code translator (U1), again with networking control chip (U2) be connected thereafter; The configuration address of DSP (IC1) is after networking control chip (U2) control enables code translator (U1) decoding, go up the generation address gating signal at networking control chip (U2), gating signal is after transceiver (U3) is made level conversion, send to the CAN bus, in bus hub, just obtain the high and low level of the control module gating in the servo drive system; Circuit connecting is: 4,3,2 ends of 116,117, the 118 termination code translators (U1) of DSP (IC1), 35,41,130,1,132,53,40 ends of DSP (IC1) link to each other with 5,6,7,8,9,18,15 ends of code translator (U1) respectively; 13,14 ends of code translator (U1) are unsettled, 12 end ground connection, 1 termination time clock, 24 termination powers; On 10,20,21,22,23 ends of code translator (U1), produce output signal, and be connected on the networking control chip SJA1000,22,23,21,20,10 ends of code translator (U1) link to each other with 4,3,5,6,16 ends of networking control chip (U2) respectively, on D0～D7 end of 23,24,25,26,27,28,1,2 termination DSP (IC1) of networking control chip (U2); 11,22,18,12 termination power VCC of networking control chip (U2), 8,21,15 end ground connection, 7,1 end is unsettled, 17 termination filter capacitor C1,9,10 termination crystal oscillator pipe Y1; 1,4,5 ends of 13,19,20 termination transceivers (U3) of networking control chip (U2), 8 ends of transceiver (U3) are through resistance R 3 ground connection, and 6,7 is output terminal combination hub (J), 3 termination powers of transceiver (U3), 2 end ground connection; 1,6,7,12 ends of socket (J) are unsettled, 7 ends of 2,8 termination transceivers (U3) of socket (J), the noble potential of output CAN bus, the electronegative potential of the 6 ends output CAN bus of 4,10 termination transceivers (U3) of socket (J).

4; direct current generator servo drive system according to claim 1; it is characterized in that: the driver module in the described servo drive system is by power supply; bridge drives; drive axle circuit and holding circuit are formed; power supply is realized 24V/12V; the conversion of 24V/5V; bridge drives the pwm signal from DSP is changed into the voltage that can drive the H bridge; the output of drive axle is used for drive motor; holding circuit is realized by hardware configuration; by sampling to current of electric; compare with setting value; send control signal; when occurring; under-voltage; during electric current, automatically shut down gauge tap.

5, direct current generator servo drive system according to claim 4, it is characterized in that: 2 half-bridge drivers of power driving circuit (IC3 and IC4) IR2104 of driver module, 4 power MOSFET tube IRFP150N constitute in the servo drive system, DSP (IC1) produces pwm signal and gives the high and low level that half-bridge driver (IC3 and IC4) changes 12V into, and the drive axle drives motor of forming by 4 IRFP150N rotates by control signal; Grating encoder and the coaxial installation of rotating shaft, backfeed loop is made of with the code-disc signal feedback circuit the armature supply feedback, current feedback realizes the current monitoring of motor, the code-disc signal feedback realizes the monitoring of motor corner displacement, and according to monitor signal adjustment pwm control signal, realize the real-time control of multiaxis mechanism, wherein 2 half-bridge drivers (IC3 and IC4) IR2104 forms the bridge driving circuit, and 4 discrete component IRFP150N form the H bridge circuit.

6, direct current generator servo drive system according to claim 1 is characterized in that: by RS485 or CAN bus interface, can set up single or at the most 32 servo drives be connected with PC.

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