CN201118372Y - Bus intelligent electromotor - Google Patents
Bus intelligent electromotor Download PDFInfo
- Publication number
- CN201118372Y CN201118372Y CNU2007200157427U CN200720015742U CN201118372Y CN 201118372 Y CN201118372 Y CN 201118372Y CN U2007200157427 U CNU2007200157427 U CN U2007200157427U CN 200720015742 U CN200720015742 U CN 200720015742U CN 201118372 Y CN201118372 Y CN 201118372Y
- Authority
- CN
- China
- Prior art keywords
- module
- plc
- control
- servo
- bus
- 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.)
- Expired - Fee Related
Links
Images
Classifications
-
- 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]
Abstract
The utility model discloses a bus type intelligent motor, comprising a motor, a servodrive, an encoder and a radiator, which are integrated. The servodrive is composed of a power unit, a power source unit and a control and PLC circuit unit; wherein the control and PLC circuit unit consists of a first bus protocol analysis module, a servodrive control module, a power drive module, and a position data feedback module, which are used to accomplish basic servocontrol, a second bus protocol analysis module, a PLC interface module and an encoder(incremental and absolute type)/ grating scale processing module. Both bus protocol analysis modules exchange information with a master machine through a physical control module. Based on bus transmission, the intelligent motor is combined with the servodrive. The combination of the PLC, the servodrive and the servo motor effectively improves the reliability of the system, minimizes the size of the system, reduces production cost and reduces design and installation complexity.
Description
Technical field
The utility model relates to a kind of servomotor, relates in particular to the integrate motor that a kind of servo-driver and servomotor become one
Background technology
In the architecture of traditional Digit Control Machine Tool, by simulation or pulse command mode Data transmission, control servo driver drives servomotor is worked between host computer and the servo-driver.Usually, servo-driver and servomotor are two kinds of separate equipment separately, and these two kinds of equipment are installed in respectively on electrical control cubicles and the machine body, and the two connects by electrical connecting wires.There is certain problem in this mode, and as the Chinese patent application that on April 14th, 2006 submitted to, application number 200610050336.4 discloses a kind of integrate motor, and its background technology has partly been described the self-existent separately many shortcomings of two equipment.
In order to solve these problems, this application (200610050336.4) provides a kind of servomotor, it comprises housing and is installed on the bearing of rotor, stator, axle and back shaft in the housing, the stator rear is provided with the radiator of support, encoder, servo-driver and double as back end cover for motor successively, encoder is arranged in the support, servo-driver is packed on the radiator, and servo-driver adopts the all-digital communication mode and directly provides DC power supply by the outside.Hull outside is provided with bus control interface, and the bus driver chip of bus control interface in being installed on servo-driver links to each other with digital signal processor in the servo-driver.Its problem is, this application has only been introduced a kind of integrate motor of realizing with the CAN bus mode, because the restriction of transmission medium and agreement, the transmission rate maximum of data can be to 2Mbps, at the more and more production requirement of two-forty at present, the extensibility of this kind motor is subjected to certain limitation, in addition, this application does not relate to digital control system PLC equipment commonly used and function, therefore exists motor and PLC separately as the problem of autonomous device.
And application number 200710010048.0 Chinese patent application " Buss-type full digital servo-driver " that the applicant submitted on January 15th, 2007, a kind of Buss-type full digital servo-driver is disclosed, its by the super category 5 twisted pair of ethernet physical layer utilization as transmission medium, based on certain host-host protocol, improved the transmission rate of data greatly.This application is incorporated into this paper by reference.Equally, the problem of this application is that servo-driver is connected with same motor as autonomous device as separate equipment, has the not high problem of integrated level between each equipment.
Summary of the invention
The utility model bus type intelligent motor, its purpose are, realize the integrated of servo-driver unit and servomotor, and the PLC function is integrated in the servo-driver unit, thereby reach the purpose that reduces hardware cost, distributes rationally; Another purpose of the present utility model is, relies on the super category 5 twisted pair of Ethernet utilization as some transmission medium machine operation data, thereby reaches the purpose of data high-speed transmission.
To achieve these goals, the utility model has been constructed a kind of bus type intelligent motor, comprises the motor, servo-driver, encoder and the radiator that become one.Motor comprises housing, rotor, stator, output shaft.Servo-driver comprises power cell, power subsystem and control and PLC circuit unit.Wherein, control and PLC circuit unit comprise: the first bus protocol analysis module, servo-drive control module, power driver module, the position data feedback module that 1, are used to finish basic SERVO CONTROL function; 2, the second bus protocol analysis module and PLC interface module, the second bus protocol analysis module is by interaction data between data register and the PLC interface module; And 3, encoders (increment type and absolute value formula)/grating chi processing module, being used for the incremental encoding signal is handled, the encoder processing module is by interaction data between data register and the servo-drive control module; Host computer also obtains the actual location data that described encoder processing module is deposited by first bus protocol analysis module accesses data register.Above-mentioned two bus protocol analysis modules are all by a physical layer control module and host computer interactive information, and according to the communications protocol resolution data; The physical layer control module is used for the transmitting-receiving control of transfer of data in physical layer, is provided with one and receives the physical layer interface of data, a physical layer interface that sends data; The PLC interface module is used to finish input, the output of PLC control.
The utility model bus type intelligent motor characteristics are that also physical layer interface is selected the ethernet physical layer interface for use, and transmission medium is selected super category 5 twisted pair for use.This makes its message transmission rate reach 100Mbps.
The utility model bus type intelligent motor characteristics also are, constitute power cell, power subsystem and the control of servo-driver and PLC circuit unit and are arranged at respectively independently on the surface-mounted integrated circuit.Wherein, the circuit board of power subsystem and control and PLC circuit unit is individually fixed in the both sides of electric motor units rear housing; The power cell circuit board is in the reverse end setting of motor relatively, and the power cell board rear end is provided with fin and blower fan.
The utility model bus type intelligent motor characteristics are that also the first bus protocol analysis module, the second bus protocol analysis module, PLC interface module, encoder processing module are realized by on-chip integration system FPGA.And the servo-drive controller module is realized by DSP or FPGA.In addition, the PLC interface module comprises the PLC I/O interface of 24 inputs, 16 outputs.
By technique scheme, the utility model bus type intelligent motor is combined as a whole servo-driver and motor based on the bus type transmission means.The utility model bus type intelligent motor adopts PLC, servo-driver, servomotor integrated design, be a kind of brand-new design idea, can effectively improve the reliability of system, reduce system bulk, reduce production costs, reduce the complexity of design and installation.In the utility model bus type intelligent motor, the servo-driver unit has been owing to realized the combination partly of PLC (24IN/16OUT) and servo-drive, have powerful, the characteristics of compact conformation.And servo-driver unit and servomotor are become one, selecting ethernet physical layer for use is that RJ-45, bus protocol analysis adopt on-chip integration system FPGA to realize as physical layer, category 5 twisted pair as transmission medium, physical interface, therefore can be by the multiple bus protocol of protocol analysis support based on ethernet physical layer.Improved the transmission rate of data greatly.And the power cell in the servo-driver unit can change according to the difference of power of motor, and structure is flexible; It is DC bus powered that power module adopts, and further reduces volume, thereby reduce installing space, improve installation effectiveness and significantly reduced the line of system, and anti-interference is greatly improved, and therefore reaches the purpose of economize on hardware cost.
Description of drawings
Fig. 1 is the machine construction principle schematic diagram of the utility model bus type intelligent motor;
Fig. 2 is circuit theory diagrams of realizing the servo-driver functional unit in the utility model motor;
Fig. 3 is the functional block diagram that realizes the servo-driver functional unit in the utility model motor;
Fig. 4 realizes its circuit theory module diagram of a kind of specific embodiment of servo-driver functional unit in the utility model motor.
Embodiment
Intelligent electric machine in the utility model adopts modularization, integrated design, inner integrated servo-driver, PLC, 3 kinds of structures of servomotor, between each servo-driver/motor module shared one DC bus powered, can effectively dwindle the volume of this equipment, raise the efficiency.
As shown in Figure 1, the utility model bus type intelligent motor comprises the motor 2, servo-driver 1, encoder and the radiator that become one.Wherein electric motor units 2 comprises housing, rotor, stator and output shaft (all not shown).
Among Fig. 1, the circuit part of servo-driver comprises power cell, power subsystem and control and PLC circuit unit, and this three part is arranged at respectively independently on the surface-mounted integrated circuit.Wherein, control and PLC circuit unit are mainly finished bus communication, servo-drive control and the control of PLC circuit; Power cell receives from the servo-drive information of control module and with the direct current that dc bus transmits and is converted into power output control servomotor, feeds back corresponding data simultaneously to control module.Power cell can be changed according to the difference of power of motor; Encoder is responsible for feeding back the speed data when front motor; Power subsystem is responsible for the entire circuit system suitable power supply is provided.As shown in the figure, the circuit board that power subsystem and control and PLC circuit unit are set is individually fixed in the both sides of electric motor units 2 rear housings, and the power module circuit plate is provided with in the reverse end of relative motor 2, and the power cell board rear end is provided with fin and blower fan.
Independently servo-driver and PLC I/O control is combined as a whole as shown in Figure 2, by a bus control unit and upper machine communication.
In order to realize driver functions, as shown in Figure 3, above-mentioned control and PLC circuit unit comprise two bus protocol analysis modules and a physical layer control module.The function of bus protocol analysis module is used for by physical layer control module and host computer interactive information, according to communications protocol resolving information data.The physical layer control module is used for the transmitting-receiving of control data transmission in physical layer, is provided with one and accepts the physical layer interface of data, a physical layer interface that sends data.Wherein Shang Fang a bus protocol analysis module is controlled its function, power driver module, the traditional servo-driver function of position data feedback module (encoder) realization in conjunction with servo-drive.The input/output function of bus protocol analysis module of below and PLC I/O module realization PLC.And two bus protocol modules and PLC I/O module all have an on-chip integration system FPGA to realize (as Fig. 4).
Under the optimal way, the servo-drive control module is realized by DSP, also can utilize FPGA to realize.Among Fig. 4, the servo-drive control module is exactly the control of 3 loops from inside to outside specifically, electric current loop (torsion loop), speed ring and position ring, can adopt the up-to-date special-purpose fixed-point DSP chip of Electric Machine Control that 150MHz, instruction pipeline operation have 32 word lengths that works in, calculation function is powerful, and the partial arithmetic of position ring can realize in servo system.And this module also has the processing capacity of absolute value encoder, serial ports is set is used to receive serial data (parameter setting and Performance Detection).Can also realize functions such as IPM troubleshooting, dynamic brake processing and the braking processing of bringing back to life, the A/D module is set be used for the analog quantity input of bus current, torque, B phase current, A phase current, speed command, busbar voltage and then realize processing and control.
On-chip integration system FPGA has also realized an encoder processing module, is used for the incremental encoding signal is handled; The encoder processing module is by interaction data between data register transfer effect and the servo-drive control module; Host computer also obtains the actual location data that the encoder processing module is deposited by the bus protocol analysis module of above-mentioned realization SERVO CONTROL function.
In this embodiment, the encoder of PLC and bus control unit and control system and grating chi feedback module all use a slice field programmable device to realize, can use minimum device to finish maximum functions like this.
Bus type intelligent motor of the present utility model can be used for the Chinese patent application 200710010062.0 " a kind of bus-type numerical control system and control method thereof " that the applicant submitted on January 15th, 2007, wherein, adopt super category 5 twisted pair to link to each other between main equipment and the slave unit, adopt the Industrial Ethernet physical layer to do the physical layer protocol transmission, transmission rate can reach 100Mbps.This application 200710010062.0 is combination and this paper by reference.
The above; it only is the preferable embodiment of the utility model; but protection range of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; be equal to replacement or change according to the technical solution of the utility model and inventive concept thereof, all should be encompassed within the protection range of the present utility model.
Claims (7)
1, a kind of bus type intelligent motor comprises the motor (2), servo-driver (1), encoder and the radiator that become one; Described motor (2) comprises housing, rotor, stator, output shaft; It is characterized in that described servo-driver comprises power cell, power subsystem and control and PLC circuit unit; Wherein, described control and PLC circuit unit comprise:
Be used to finish the first bus protocol analysis module, servo-drive control module, power driver module, the position data feedback module of basic SERVO CONTROL function;
The second bus protocol analysis module and PLC interface module, the second bus protocol analysis module is by interaction data between data register and the described PLC interface module; And
An encoder processing module is used for the incremental encoding signal is handled; Described encoder processing module is by interaction data between data register and the servo-drive control module; Host computer also obtains the actual location data that described encoder processing module is deposited by first bus protocol analysis module accesses data register;
Above-mentioned two bus protocol analysis modules are all by a physical layer control module and host computer interactive information, and according to the communications protocol resolution data; Described physical layer control module is used for the transmitting-receiving control of transfer of data in physical layer, is provided with one and receives the physical layer interface of data, a physical layer interface that sends data; Described PLC interface module is used to finish input, the output of PLC control.
2, bus type intelligent motor according to claim 1 is characterized in that, described physical layer interface is selected the ethernet physical layer interface for use, and transmission medium is selected super category 5 twisted pair for use.
3, bus type intelligent motor according to claim 2, it is characterized in that, constitute the described power cell of described servo-driver, described power subsystem and described control and PLC circuit unit and be arranged at independently surface-mounted integrated circuit respectively, the circuit board of described power subsystem and described control and PLC circuit unit is individually fixed in the both sides of described motor (2) rear housing; Described power cell circuit board is provided with in the reverse end of described relatively motor (2), and described power cell board rear end is provided with fin and blower fan.
4, according to claim 1 or 2 or 3 described bus type intelligent motors, it is characterized in that the described first bus protocol analysis module, the second bus protocol analysis module, described PLC interface module, described encoder processing module are realized by on-chip integration system FPGA.
According to claim 1 or 2 or 3 described bus type intelligent motors, it is characterized in that 5, described servo-drive controller module is realized by DSP or FPGA.
According to claim 1 or 2 or 3 described bus type intelligent motors, it is characterized in that 6, described PLC interface module comprises the PLC I/O interface of 24 inputs, 16 outputs.
According to claim 1 or 2 or 3 described bus type intelligent motors, it is characterized in that 7, described encoder is increment type and absolute value formula encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200157427U CN201118372Y (en) | 2007-11-09 | 2007-11-09 | Bus intelligent electromotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200157427U CN201118372Y (en) | 2007-11-09 | 2007-11-09 | Bus intelligent electromotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201118372Y true CN201118372Y (en) | 2008-09-17 |
Family
ID=39992964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200157427U Expired - Fee Related CN201118372Y (en) | 2007-11-09 | 2007-11-09 | Bus intelligent electromotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201118372Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102223045A (en) * | 2010-04-16 | 2011-10-19 | 株式会社电装 | Electric motor device |
| TWI463786B (en) * | 2011-08-26 | 2014-12-01 | Mitsubishi Electric Corp | Integral type servo system, motor system and method for controlling a motor |
| CN105181291A (en) * | 2015-09-06 | 2015-12-23 | 中国科学院力学研究所 | Flow field test apparatus for hypersonic propulsion wind tunnel |
| CN108177148A (en) * | 2018-02-01 | 2018-06-19 | 上海有个机器人有限公司 | A kind of wheel driver, driving wheel and wheeled robot |
| CN108462307A (en) * | 2018-02-23 | 2018-08-28 | 蔺晓燕 | A kind of roller screw electromechanical actuator |
| CN112865618A (en) * | 2020-12-31 | 2021-05-28 | 常州洛源智能科技有限公司 | Motor control system |
-
2007
- 2007-11-09 CN CNU2007200157427U patent/CN201118372Y/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102223045A (en) * | 2010-04-16 | 2011-10-19 | 株式会社电装 | Electric motor device |
| CN102223045B (en) * | 2010-04-16 | 2016-01-20 | 株式会社电装 | Electric machine |
| TWI463786B (en) * | 2011-08-26 | 2014-12-01 | Mitsubishi Electric Corp | Integral type servo system, motor system and method for controlling a motor |
| US8941342B2 (en) | 2011-08-26 | 2015-01-27 | Mitsubishi Electric Corp. | Integrated servo system |
| CN105181291A (en) * | 2015-09-06 | 2015-12-23 | 中国科学院力学研究所 | Flow field test apparatus for hypersonic propulsion wind tunnel |
| CN108177148A (en) * | 2018-02-01 | 2018-06-19 | 上海有个机器人有限公司 | A kind of wheel driver, driving wheel and wheeled robot |
| CN108462307A (en) * | 2018-02-23 | 2018-08-28 | 蔺晓燕 | A kind of roller screw electromechanical actuator |
| CN108462307B (en) * | 2018-02-23 | 2019-10-01 | 蔺晓燕 | A kind of roller screw electromechanical actuator |
| CN112865618A (en) * | 2020-12-31 | 2021-05-28 | 常州洛源智能科技有限公司 | Motor control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101150272A (en) | Bus type intelligent motor | |
| CN201118372Y (en) | Bus intelligent electromotor | |
| CN103199773B (en) | Servo drive system based on bussing technique | |
| CN207339692U (en) | Multiple-axis servo driver | |
| CN201323547Y (en) | Universal subboard of brushless direct current motor | |
| CN103744376B (en) | A kind of servo-driver and the multi-axis control system using the servo-driver | |
| CN103112576A (en) | Steering engine controller | |
| CN100568130C (en) | Buss-type full digital servo-driver | |
| CN201303304Y (en) | Multi-channel high-speed servomotor control device based on FPGA | |
| CN206878730U (en) | motor driver | |
| CN106444536A (en) | Flexible servo drive system | |
| KR100371587B1 (en) | A Flexible/Compact Motor Control Module Based on the CAN Communication Network | |
| CN206489440U (en) | Centralized servo drive system | |
| CN201869145U (en) | Interface signal conversion sub circuit board for electronic reversing motor | |
| CN103701369A (en) | Novel high power density DC brushless motor driver circuit | |
| CN111342709A (en) | Multi-servo motor control system | |
| CN204613716U (en) | A kind of interface module of multi-motor driving centralized control system | |
| CN203094429U (en) | Steering engine controller | |
| CN111497964B (en) | Distributed control system of electrically-driven quadruped robot | |
| CN109015621A (en) | A kind of multi-axis industrial robot's servo-system | |
| CN105373109B (en) | A kind of Delta robots control system | |
| CN102136802A (en) | Current transformer and control device thereof | |
| CN104972287A (en) | Three-degree-of-freedom mechanical arm movement control device | |
| CN216647143U (en) | Compact servo driver | |
| CN201754572U (en) | Multi-stepper-motor control system for plate pressing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080917 Termination date: 20141109 |
|
| EXPY | Termination of patent right or utility model |