CN1527473A - Multivariable supersonic motor servo controller based on PWM mode - Google Patents
Multivariable supersonic motor servo controller based on PWM mode Download PDFInfo
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- CN1527473A CN1527473A CNA031582834A CN03158283A CN1527473A CN 1527473 A CN1527473 A CN 1527473A CN A031582834 A CNA031582834 A CN A031582834A CN 03158283 A CN03158283 A CN 03158283A CN 1527473 A CN1527473 A CN 1527473A
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Abstract
The multivariable supersonic motor servo controller in PWM mode as one controller for supersonic motor has micro controller with output connected to the inputs of PWM wave generator and oscillator separately; PWM wave generator with output connected to the inputs of the micro controller and inverter driver circuit separately; oscillator with output connected to the input of the PWM wave generator; inverter driver circuit with output connected to the supersonic motor; position sensor with input signal from the supersonic motor and output connected to the input of signal processor; signal processor with output connected to the input of the micro controller; communication interface circuit with output connected to the input of the micro controller and I/O connected to the I/O of the micro controller. The controller has network interface in industrial bus standard CAN2.0, may be used in the network connection among multiple controllers and between controller and other equipment.
Description
Technical field
The present invention is a kind of device that supersonic motor is controlled, especially a kind of servo controller that has the net connection function, adopts pulse width modulation mode and multivariable Control.
Background technology
Supersonic motor is a kind of novel electrical micro-machine that external the eighties grows up.It utilizes microscopic vibration that the piezoelectric ceramic inverse piezoelectric effect excites as actuating force, by the conversion and the coupling of multiple vibration mode, electric energy is transformed into the drive unit of mechanical energy.Supersonic motor has that low speed high torque, no electromagnetic interference, action response are fast, the operation noiseless, do not have excellent properties such as input self-locking, in the non-continuous movement field, accurate control field is than traditional electrical magneto superior performance.Supersonic motor has broad application prospects in Industry Control, intelligent robot etc. has the system of SERVO CONTROL characteristic.
Supersonic motor is as control element, since the particularity of its internal structure, the more complicated of its corresponding control methods, the working band of supersonic motor is narrow simultaneously, and motor operating state is relatively more responsive to the variation of drive waveforms parameter.More than require to make controller should have higher operational performance and be to guarantee the reliable diversity of the control variables that should have and accuracy, the accuracy that variable parameter is regulated implemented of control strategy.That usually adopts now finishes the monolithic controller of the control and the task of driving with little process chip; Perhaps computer is as the master control core, and microcontroller is an auxiliary control chip, and drive waveforms is difficult to satisfy simultaneously above-mentioned each side requirement by the multimachine controller that shift register serial type mode takes place.Although adopt the controller of digital direct synthesizer to be competent at and since device cost higher relatively for industrialization feasibility not high.Along with the development of semiconductor technology, the widespread usage of novel high-performance microcontroller chip and programmable logic device, the high performance supersonic motor controller that makes development have industrialization prospect becomes possibility.
Summary of the invention
Technical problem: the purpose of this invention is to provide a kind of supersonic motor servo controller based on pulse width modulation mode with net connection function, many control variables.
Technical scheme: the multivariable supersonic motor servo controller based on pulse width modulation mode of the present invention, comprise that part, drive part take place for control section, PWM ripple, control section in this controller comprises microcontroller, oscillator, signal conditioner, position transducer, PWM ripple generating unit is divided into the PWM wave generation circuit, and drive part is inverse changing driving circuit, communication interface circuit; Wherein, the output of microcontroller connects the input of PWM wave generation circuit, oscillator respectively; The output of PWM wave generation circuit connects the input of microcontroller, inverse changing driving circuit respectively; The input of the output termination PWM wave generation circuit of oscillator; The inversion electricity drives the output termination supersonic motor on road; The input signal of position transducer is taken from supersonic motor, its output termination signal conditioner input; The input of the output termination microcontroller of signal conditioner; The output termination microcontroller input of communication interface circuit, the input/output terminal of the input and output termination microcontroller of communication interface circuit.
In the PWM wave generation circuit, its input is that the output " D0～D7 " that the input " A0～A1 " of the input " A0～A7 " of pulse-width control signal latch U3, phase control signal latch U4 and address decoder U6 meets control circuit U1 in the microcontroller reaches " A0～A1 "; The input of counter U5 " CLK " connects output " CLKOUT " end of oscillator U2; The output of PWM wave generation circuit is the grid of triode Q1～Q8 in the output " B15 " of counter U5 and input " CAP " that variable connector U11～U14 output " D " meets control circuit U1 in the microcontroller respectively and the inverse changing driving circuit.
In the PWM wave generation circuit, the output " Q0～Q6 " of pulse-width control signal latch U3 connects the input " A0～A6 " of comparator U7, U8; The output " Q0～Q7 " of phase control signal latch U4 connects the input " A0～A7 " of adder U9; The output of counter U5 " B0～B6 " connects the input " B0～B6 " that meets comparator U7, adder U9 respectively; The output of counter U5 " B7 " connects the input " B7 " of adder U9 and the input " C " of variable connector U11 respectively, and connects the input " C " of variable connector U11 by inverter (U15); Adder U9 output " Q0～Q6 " connects the input " B0～B6 " of comparator U8; Adder U9 output " Q7 " connects the input " C " of variable connector U13 and the input " C " that logical inverter U16 meets variable connector U14; The output of comparator U7, U8 " LE " connects the input " S0 " of variable connector U11, U12 and U13, U14 respectively; The input of variable connector U11～U14 " S1 " ground connection.The communication interface circuit is made up of asynchronous communication interface D1 and controller area net CAN communication interface D2, the input that the output of asynchronous communication interface D1 connects microcontroller is " SCI " end of control circuit U1, control circuit U1 " CAN " end in the input and output termination microcontroller of controller area net CAN communication interface D2.The input signal of position transducer is taken from supersonic motor, its output signal termination signal conditioner circuit input end.The input " QEP " of the output termination microcontroller of signal conditioning circuit.
Beneficial effect: the present invention utilizes the principle of pulse-width modulation to produce two phase PWM ripple, the operation of through inverter circuit signal being amplified the drive controlling motor again according to the state variation and the network instruction of goal-selling by microcontroller.For the generation of PWM ripple, then by counter, adder, comparator, variable connector and oscillator, adopt parallel occurring mode, make it and can reach the purpose of multivariable Control according to micro-controller instructions frequency modulation, phase modulation and accent pulsewidth.The present invention simultaneously adopts PHASE-LOCKED LOOP PLL TECHNIQUE, improves the accuracy and the stability of variable.
It is the control core that this controller scheme has adopted with the microcontroller, it accepts motor operating state feedback signal (orthogonal intersection code signal) in real time and motor operating state is adjusted signal, it is by sending the Waveform Control instruction to parallel pulse-width modulation (PWM) wave generation circuit that is made of counter, comparator and oscillator etc., the pulse-width modulation wave generation circuit is adjusted the drive waveforms of motor with this, make motor operating state follow the variation of goal-selling in real time and change, reach the purpose of servo-actuated control.Microcontroller only as the control core, does not participate in the generation of waveform in this controller, makes the operational capability of controller be guaranteed like this; The pulse-width modulation wave generation circuit adopts the signal parallel occurring mode, have digitized fast frequency hopping, phase modulation and accent pulsewidth function, and have to make stable, the exact figure phase-locked loop link of driving signal frequency, this circuit that the controller parameter is regulated to have accuracy, accuracy and diversity and become possibility.This controller has the network interface that meets industrial bus standard (CAN2.0) simultaneously, can carry out reaching between multi-controller the net connection of controller and other equipment rooms, provides condition for supersonic motor enters complication system, has opened up its application prospect.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.Microcontroller 1, PWM wave generation circuit 2, oscillator 3, signal conditioner 4, inverse changing driving circuit 5, communication interface circuit 6, supersonic motor M1, position transducer M2 are wherein arranged.
Fig. 2 is circuit theory diagrams of the present invention.
Specific embodiments
Multivariable supersonic motor servo controller based on pulse width modulation mode of the present invention, comprise microcontroller 1, PWM wave generation circuit 2, oscillator 3, signal conditioner 4, inverse changing driving circuit 5, communication interface circuit 6, position transducer M2, wherein the output of microcontroller 1 connects the input of PWM wave generation circuit 2, oscillator 3 respectively; The output of PWM wave generation circuit 2 connects the input of microcontroller 1, inverse changing driving circuit 5 respectively; The input of the output termination PWM wave generation circuit 2 of oscillator 3; The inversion electricity drives the output termination supersonic motor M1 on road 5; The input signal of position transducer M2 is taken from supersonic motor M1, its output termination signal conditioner 4 inputs; The input of the output termination microcontroller 1 of signal conditioner 4; The output termination microcontroller input of communication interface circuit 6, the input/output terminal of input and output termination microcontroller 1.
Main element in the circuit of the present invention is:
The M1 supersonic motor; The M2 position transducer;
T1 A phase step-up transformer T2 B phase step-up transformer;
Q1～Q4 A phase full-bridge circuit power tube Q5～Q8 B phase full-bridge circuit power tube;
U17 signal conditioner U9 adder;
U11, U12 A phase variable connector; U13, U14 B phase variable connector;
U15 A phase inverter; U16 B phase inverter;
U7 A phase comparator U8 B phase comparator;
U3 pulse-width control signal latch U5 counter;
U6 2-4 decoder; U4 phase control signal latch;
The U1 control circuit; The U2 oscillating circuit;
The D1 asynchronous communication interface; D2 controller area net communication interface
The PWM wave generation circuit is made up of integrated circuit U3～U16, and its input is that the output " D0～D7 " that the input " A0～A1 " of the input " A0～A7 " of pulse-width control signal latch U3, phase control signal latch U4 and address decoder U6 connects microcontroller (1) reaches " A0～A1 "; The input of counter U5 " CLK " connects oscillator output end " CLKOUT ".The output of PWM wave generation circuit is the grid of power tube Q1～Q8 in the output " B15 " of counter U5 and input " CAP " that variable connector U11～U14 output " D " connects microcontroller respectively and the inverse changing driving circuit.The output of microcontroller " SPI " connects the input " SPI " of oscillator.Inverse changing driving circuit is made up of power tube Q1～Q8 and transformer T1, T2.Wherein power tube Q1～Q4 and transformer T1 form supersonic motor one mutually inversion drive the loop, power tube Q5～Q8 and transformer T2 form supersonic motor another mutually inversion drive the loop.Four inputs of the power tube Q1 of inverse changing driving circuit and the grid of Q4 joins, the grid of power tube Q2 and Q3 joins, the grid of power tube Q1 and Q4 joins, the grid of power tube Q2 and Q3 joins output constituted this circuit; The join emitter of the other end and power tube Q3, the collector electrode of power tube Q4 of the collector electrode of former limit one end of transformer T1 and the emitter of power tube Q1, power tube Q2 joins, and felling is that one tunnel output of inverse changing driving circuit connects supersonic motor; The join emitter of the other end and power tube Q7, the collector electrode of power tube Q8 of the collector electrode of former limit one end of transformer T2 and the emitter of power tube Q5, power tube Q6 joins, and felling is that another road output of inverse changing driving circuit connects supersonic motor.The communication interface circuit is made up of asynchronous communication interface D1 and controller area net (CAN) communication interface D2, the output of asynchronous communication interface D1 connects the input " SCI " of microcontroller, and the input and output of controller area net communication interface D2 connect the input/output terminal " CAN " of microcontroller.The input signal of position transducer is taken from supersonic motor, its output signal termination signal conditioner circuit input end.The input " QEP " of the output termination microcontroller of signal conditioning circuit.
See also accompanying drawing 1 earlier,
It is the control core that this controller scheme has adopted with the microcontroller, it is accepted motor operating state feedback signal (orthogonal intersection code signal) in real time and accepts motor operating state by asynchronous communication interface and adjust signal, it is by sending the Waveform Control instruction to the parallel pulse-width modulation wave generation circuit that is made of counter, comparator and oscillator etc., the pulse-width modulation wave generation circuit is adjusted the drive waveforms of motor with this, make motor operating state follow the variation of goal-selling in real time and change, reach the purpose of servo-actuated control.Microcontroller only as the control core, does not participate in the generation of waveform in this controller, makes the operational capability of controller be guaranteed like this; The pulse-width modulation wave generation circuit adopts the signal parallel occurring mode, have digitized fast frequency hopping, phase modulation and accent pulsewidth function, and have to make stable, the exact figure phase-locked loop link of driving signal frequency, this circuit that the controller parameter is regulated to have accuracy, accuracy and diversity and become possibility.This controller has the network interface that meets industrial bus standard (CAN2.0) simultaneously, can carry out reaching between multi-controller the net connection of controller and other equipment rooms, provides condition for supersonic motor enters complication system, has opened up its application prospect.
Shown in the accompanying drawing 2:
Servo-controlled requirement is to produce frequency, phase difference and adjustable two-phase four road pwm signal drive motors of pulsewidth according to the state variation of goal-selling to supersonic motor, and has the position feedback circuit.For the controller operational capability is guaranteed, the only conduct control core of microcontroller.During work, microcontroller is by the state variation amount of communication interface D1 acceptance presupposition target, accept the network control instruction by communication interface D2, and utilize signal conditioning circuit to accept to pass through the motor operating state amount of position sensor feedback, utilize control algolithm to calculate with this and produce corresponding driving waveform adjustment signal, adjust motor operating state, microcontroller is not participated in the generation of waveform directly.
The waveform of PWM ripple is produced according to the control signal of accepting by the PWM wave generation circuit, this wave generator circuit, by 2-4 decoder U6,8 phase control signal latch U4, pulse-width control signal latch U3,16 digit counter U5,8 adder U9,7 A phase comparator U7,7 B phase comparator U8, A phase inverter U15, B phase inverter U16, A phase variable connector U11 and U12, devices such as B phase variable connector U13 and U14 are formed.They are integrated in the piece of CPLD.Be made up of 2～4 decoder U6 and 8 signal latch U3, U4 with the communication interface circuit of microcontroller, microcontroller is finished the communication with CPLD by its IO space.Circuit adopts the parallel communication mode.8 latch U3, U4 input signals are received the data/address bus in microcontroller IO space jointly, 2～4 decoder U6 are as address decoder, input connects the address bus of input/output space, and output is used for distinguishing gating U4, U5, to distinguish Regulation Control signal and phase modulation control signal.Wherein the output of U4 pulsewidth latch connects the A end of A phase comparator U7 and B phase comparator U8, and U3 is that the output of B phase phase control latch meets B addition musical instruments used in a Buddhist or Taoist mass U9.Circuit is determined B phase as phase reference by adder U9 with A.Circuit adopts asymmetric PWM ripple mode, and sawtooth waveforms is taken place by counter U5, and the counting clock frequency of U5 is provided by the oscillator of outside.The counting that the least-significant byte of U5 from 0 to 255 goes round and begins again, the functional digraph of its numerical value and time are a sawtooth waveforms.When the B end of A phase comparator U7 is received in low 7 outputs of U5, the 8th the gating end of receiving the gating end of A phase variable connector U11 and receiving A phase variable connector U12 by inverter U15 of U5.Because U7 is 7 bit comparators, uniform 2 pulse width signals such as PWM will appear in one 8 count cycles of U5, their difference is the numerical value difference of the 8th of U5 at this moment, when being connected to the gating end to the 8th when making gating signal, generate the PWM ripple in the complementary and band dead band of two-way at the output of U11, U12.The pulsewidth of PWM ripple will relatively be held the decision of A end by another of U7, and the A end is put number by microcontroller U1 by pulse-width control signal latch U3, and just can to control the pulsewidth of PWM ripple be duty ratio to microcontroller like this.
In B phase waveform generation circuit, the numerical value of counter U5 is not directly received B phase comparator U8, but by B addition musical instruments used in a Buddhist or Taoist mass U9 and the B value addition of phase control latch U4 mutually, the sawtooth waveforms in the B phase of the output generation of U9 just forms phase difference with A sawtooth waveforms mutually like this.Low 7 B ends that meet comparator U8 of U9, the 8th of adder U9 will be as the gating signal of B phase variable connector U13, U14 gating end, and pulse-width control signal latch U3 connects the A end of comparator U8, and this part operation principle is with the A phase.So just generated another road PWM ripple that certain phase difference is arranged mutually with A.Microcontroller reaches the purpose of adjusting phase place by the value that changes B phase phase control latch U4.
The PWM wave frequency is determined by the frequency of the input clock signal of counter.Microcontroller U1 produces the oscillator U2 of this clock signal by the control of SPI mouth.The 16th counting end of unison counter U5 and the timer external clock input " CAP " of microcontroller join.So just constituted the clock generating circuit of phase ring function with lock.After microcontroller sends FM signal, its " CAP " end will receive the clock signal that frequency is PWM ripple 8 frequency divisions, inner high-precision system clock compares microcontroller with it with this clock signal, constantly adjust the frequency of the clock signal of oscillator U2, guarantee the precision and the stability of PWM wave frequency.
Inverse changing driving circuit adopts the full-bridge principle, and power tube Q1～Q4 forms A phase full-bridge, and when power tube Q1, Q4 are one group of brachium pontis, power tube Q2, Q3 organize brachium pontis for another.Power tube Q1, Q4 conducting when U11 is output as high level, power tube Q2, Q3 turn-off; Power tube Q2, Q3 conducting when U12 is output as high level, power tube Q1, Q4 turn-off, and produce the power amplification signal of sinusoidal wave like this at the two ends on the former limit of transformer T1, and this signal drives a phase of supersonic motor by the felling of T1.Power tube Q5～Q8 forms B phase full-bridge, and its operation principle is with the A phase, and signal drives another phase of supersonic motor by the felling of transformer T2.
Claims (4)
1, a kind of multivariable supersonic motor servo controller based on pulse width modulation mode, comprise that part, drive part take place for control section, PWM ripple, it is characterized in that the control section in this controller comprises microcontroller (1), oscillator (3), signal conditioner (4), position transducer (M2), PWM ripple generating unit is divided into PWM wave generation circuit (2), and drive part is inverse changing driving circuit (5), communication interface circuit (6); Wherein, the output of microcontroller (1) connects the input of PWM wave generation circuit (2), oscillator (3) respectively; The output of PWM wave generation circuit (2) connects the input of microcontroller (1), inverse changing driving circuit (5) respectively; The input of the output termination PWM wave generation circuit (2) of oscillator (3); The inversion electricity drives the output termination supersonic motor (M1) on road (5); The input signal of position transducer (M2) is taken from supersonic motor (M1), its output termination signal conditioner (4) input; The input of the output termination microcontroller (1) of signal conditioner (4); Output termination microcontroller (1) input of communication interface circuit (6), the input/output terminal of the input and output termination microcontroller (1) of communication interface circuit (6).
2, the multivariable supersonic motor servo controller based on pulse width modulation mode according to claim 1, it is characterized in that in the PWM wave generation circuit (2) that its input is that the output " D0～D7 " that the input " A0～A1 " of the input " A0～A7 " of pulse-width control signal latch (U3), phase control signal latch (U4) and address decoder (U6) connects control circuit (U1) in the microcontroller (1) reaches " A0～A1 "; The input " CLK " of counter (U5) connects output " CLKOUT " end of oscillator (U2); The output of PWM wave generation circuit (2) is that (output " D " of U11～U14) connects the input " CAP " of control circuit (U1) in the microcontroller (1) and the middle triode of inverse changing driving circuit (the 5) (grid of Q1～Q8) respectively for the output " B15 " of counter (U5) and variable connector.
3, according to claim 1 or 2 described described multivariable supersonic motor servo controllers based on pulse width modulation mode, it is characterized in that in PWM wave generation circuit (2) output " Q0～Q6 " of pulse-width control signal latch (U3) connects the input " A0～A6 " of comparator (U7, U8); The output " Q0～Q7 " of phase control signal latch (U4) connects the input " A0～A7 " of adder (U9); The output " B0～B6 " of counter (U5) connects the input " B0～B6 " that connects comparator (U7), adder (U9) respectively; The output " B7 " of counter (U5) connects the input " B7 " of adder (U9) and the input " C " of variable connector (U11) respectively, and connects the input " C " of variable connector (U11) by inverter (U15); Adder (U9) output " Q0～Q6 " connects the input " B0～B6 " of comparator (U8); Adder (U9) output " Q7 " connects the input " C " of variable connector (U13) and the input " C " that logical inverter (U16) meets variable connector (U14); The output " LE " of comparator (U7, U8) connects the input " S0 " of variable connector (U11, U12 and U13, U14) respectively; The input of variable connector U11～U14 " S1 " ground connection.
4, the multivariable supersonic motor servo controller based on pulse width modulation mode according to claim 1, it is characterized in that communication interface circuit (6) is made up of asynchronous communication interface (D1) and controller area net CAN communication interface (D2), the input that the output of asynchronous communication interface (D1) connects microcontroller (1) is " SCI " end of control circuit (U1), " CAN " of control circuit (U1) end in the input and output termination microcontroller (1) of controller area net CAN communication interface (D2).
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| CNA031582834A CN1527473A (en) | 2003-09-22 | 2003-09-22 | Multivariable supersonic motor servo controller based on PWM mode |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101060291B (en) * | 2007-05-25 | 2011-03-09 | 哈尔滨工业大学 | Transformer-free ultrasonic motor driver |
| CN103414376A (en) * | 2013-07-25 | 2013-11-27 | 北京航天控制仪器研究所 | Internally-arranged angle sensor all-in-one ultrasonic motor servo control system |
| CN109450440A (en) * | 2018-10-29 | 2019-03-08 | 中惠医疗科技（上海）有限公司 | Multichannel phase generator |
-
2003
- 2003-09-22 CN CNA031582834A patent/CN1527473A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101060291B (en) * | 2007-05-25 | 2011-03-09 | 哈尔滨工业大学 | Transformer-free ultrasonic motor driver |
| CN103414376A (en) * | 2013-07-25 | 2013-11-27 | 北京航天控制仪器研究所 | Internally-arranged angle sensor all-in-one ultrasonic motor servo control system |
| CN103414376B (en) * | 2013-07-25 | 2015-09-23 | 北京航天控制仪器研究所 | Built-in angular transducer integrative ultrasonic motor servo control system |
| CN109450440A (en) * | 2018-10-29 | 2019-03-08 | 中惠医疗科技（上海）有限公司 | Multichannel phase generator |
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