CN201477412U - Fully-digital direct current servo drive - Google Patents
Fully-digital direct current servo drive Download PDFInfo
- Publication number
- CN201477412U CN201477412U CN2009202040421U CN200920204042U CN201477412U CN 201477412 U CN201477412 U CN 201477412U CN 2009202040421 U CN2009202040421 U CN 2009202040421U CN 200920204042 U CN200920204042 U CN 200920204042U CN 201477412 U CN201477412 U CN 201477412U
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- mosfet
- bridge
- control chip
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Abstract
The utility model discloses a fully-digital direct current servo drive, which comprises a main control chip circuit, an H bridge driving circuit, a simulation voltage input circuit, a current sampling circuit and an H bridge MOSFET circuit, wherein the H bridge driving circuit, the simulation voltage input circuit and the current sampling circuit are respectively connected with the main control chip circuit; and the H bridge MOSFET circuit is respectively connected with the H bridge driving circuit and the current sampling circuit. The fully-digital direct current servo drive is characterized in that the current sampling circuit is a single-channel current sampling circuit and has only one sampling resistor; one end of the current sampling circuit is connected with a source electrode of an MOSFET at the bottom of one side bridge arm of the H bridge MOSFET circuit and the other end of the current sampling circuit is connected with common ground; and a source electrode of an MOSFET at the bottom of the other side bridge arm of the H bridge MOSFET circuit is also connected with the common ground. The fully-digital direct current servo drive is also provided with a coder interface circuit, a serial port communication circuit and a status indication circuit. The utility model has the advantages of simple current sampling circuit, low cost, small PCB occupied space and convenience for distributing panels. The utility model also realizes full digitalization of the circuit so as to overcome the defects of inherent drift and disperse parameters of a simulation circuit and can be compatible with differential and single-ended coders.
Description
Technical field
The utility model relates to servo-driver, particularly relates to a kind of total digital DC servo-driver.
Background technology
The DC servo driver relies on its excellent driveability, in field extensive application such as industry, medical treatment, national defence.Typical DC servo driver comprises three closed loop adjustment loops: position loop, speed loop and current return, mode of operation comprise position, speed and torque mode.Traditional DC servo driver adopts mimic channel or half word circuit, is core with the operational amplifier, causes driver current and voltage sample complexity, and bad adaptability is easily affected by environment, has shortcomings such as parameter drift and adjustment inconvenience.Along with the development of microprocessor technology, A/D interface technology and power semiconductor technologies, it is the digital control system of core that modern DC servo driver has generally adopted with the microprocessor.The H bridge driving circuit, aanalogvoltage input circuit, eeprom circuit, current sampling circuit, voltage sampling circuit, temperature sampling circuit and the current foldback circuit that generally comprise the main control chip circuit, are connected respectively with the main control chip circuit, and the H bridge MOSFET circuit that is connected with current foldback circuit with H bridge driving circuit, current sampling circuit, voltage sampling circuit respectively.Not only can adopt the control algolithm process information, and have electric current and voltage sample is simple, parameter adjustment is convenient, system performance is to advantages such as environmental parameter are insensitive by microprocessor.In addition, digital control system can also make full use of ripe network interconnection technique, realizes the multimachine parallel running.Yet existing digital DC servo-driver remains in the current sampling circuit complexity, and the cost height accounts for that the PCB space is big, the defective of inconvenient fabric swatch, and, incompatible differential type of encoder interface circuit and monofocal scrambler, bad adaptability; No serial communication interface can not be finished the adjustment and the debugging of each regulating loop parameter by the communication interface circuit; In addition, condition indication circuit has only the light on and off of trouble light, and expressing information is too simple.
Summary of the invention
Technical problem to be solved in the utility model is to overcome the defective that above-mentioned existing DC servo driver exists, and proposes a kind of total digital DC servo-driver.
Technical matters of the present utility model is solved by the following technical solutions:
This total digital DC servo-driver, the H bridge driving circuit, aanalogvoltage input circuit, the current sampling circuit that comprise the main control chip circuit, are connected respectively with the main control chip circuit, and the H bridge MOSFET circuit that is connected with H bridge driving circuit, current sampling circuit respectively.
The characteristics of this total digital DC servo-driver are:
Described current sampling circuit is the single channel current sample circuit, has only a sampling resistor, the one end is connected with the source electrode of a MOSFET of the bottom of H bridge MOSFET circuit one side brachium pontis, the public ground of another termination, and the source electrode of a MOSFET of the bottom of H bridge MOSFET circuit opposite side brachium pontis also connects public ground.With the bottom of common employing at H bridge MOSFET circuit left and right sides brachium pontis, perhaps in the bottom of H bridge MOSFET circuit left and right sides brachium pontis a sampling resistor being set respectively compares, save the current sampling circuit of a passage, it is simple to have current sampling circuit, cost is low, accounts for the advantage that the PCB space is little, make things convenient for fabric swatch.
Technical matters of the present utility model adopts following further technical scheme to be solved:
Be provided with encoder interface circuit, the output terminal of described encoder interface circuit is connected with described main control chip circuit, and its input end is connected with the DC motor rotor location signal output part.The DC motor rotor location analog information is converted to digital quantity by encoder interface circuit, realizes the circuit total digitalization.
Also be provided with serial communication circuit, an end of described serial communication circuit is connected with described main control chip circuit, and the other end and outside host computer PC or commissioning device that can communication are connected.Can accept the external movement steering order easily by serial communication circuit, can also finish adjustment, debugging and the test-run a machine operation of each regulating loop parameter, and in parameter adjustment, debugging and test-run a machine operational process, check respective waveforms and failure logging.
Also be provided with the condition indication circuit that comprises trouble light, the input end of described condition indication circuit is connected with described main control chip circuit.Represent different failure modes by the trouble light different number of times that glimmer, to inform the user.
Further again technical scheme below technical matters of the present utility model adopts is solved:
Be provided with eeprom circuit, described eeprom circuit is connected with described main control chip circuit.
Be provided with voltage sampling circuit, the output terminal of described voltage sampling circuit is connected with described main control chip circuit, and input end is connected with the output terminal of H bridge MOSFET circuit.
Be provided with current foldback circuit, the output terminal of described current foldback circuit is connected with described main control chip circuit, and input end is connected with the output terminal of H bridge MOSFET circuit.
Be provided with temperature sampling circuit, the output terminal of described temperature sampling circuit is connected with described main control chip circuit.
The beneficial effect that the utility model is compared with the prior art is: it is the digital control system of core that the utility model adopts with the microprocessor, current sampling circuit is the single channel current sample circuit, has only a sampling resistor, it is simple to have current sampling circuit, cost is low, accounts for the advantage that the PCB space is little, make things convenient for fabric swatch.Be provided with the encoder interface circuit that the DC motor rotor location analog information is converted to digital quantity by encoder interface circuit, the total digitalization of realization circuit, eliminating the shortcoming that intrinsic drift of mimic channel and parameter are disperseed, and can strengthen adaptability, compatible differential type and monofocal scrambler.Also be provided with the serial communication circuit that can be connected with outside host computer PC or commissioning device that can communication, can accept the external movement steering order easily by serial communication circuit, wherein the mode position instruction is a pulse command, velocity mode and torque mode instruction are the output of aanalogvoltage input circuit, to realize instruction mode control, adapt to the various control requirements occasion; Can also finish adjustment, debugging and the test-run a machine operation of each regulating loop parameter by serial communication circuit, three closed loop adjustment loops are set: the parameter of position loop, speed loop and current return respectively separately, suitably reduce or each parameter of other loop of zero setting simultaneously, and in parameter adjustment, debugging and test-run a machine operational process, check respective waveforms and failure logging.Also be provided with condition indication circuit, circulation makes the trouble light different number of times that glimmer represent different failure modes in setting-up time, to inform the user.
Description of drawings
Fig. 1 is that the circuit of the utility model embodiment is formed block scheme;
Fig. 2 is the circuit diagram of the main control chip circuit 1 among Fig. 1;
Fig. 3 is the circuit diagram of the aanalogvoltage input circuit 2 among Fig. 1;
Fig. 4 is the circuit diagram of the eeprom circuit 3 among Fig. 1;
Fig. 5 is the circuit diagram of the condition indication circuit 4 among Fig. 1;
Fig. 6 is the circuit diagram of the serial communication circuit 5 among Fig. 1;
Fig. 7 is the circuit diagram of the encoder interface circuit 6 among Fig. 1;
Fig. 8 is the circuit diagram of the H bridge driving circuit 7 among Fig. 1;
Fig. 9 is the circuit diagram of the current sampling circuit 8 among Fig. 1;
Figure 10 is the circuit diagram of the H bridge MOSFET circuit 9 among Fig. 1;
Figure 11 is the circuit diagram of the voltage sampling circuit 10 among Fig. 1;
Figure 12 is the circuit diagram of the current foldback circuit 11 among Fig. 1;
Figure 13 is the circuit diagram of the temperature sampling circuit 12 among Fig. 1.
Embodiment
Below in conjunction with embodiment and contrast accompanying drawing the utility model is described in further detail.
A kind of total digital DC servo-driver shown in Fig. 1～13; the H bridge driving circuit 7, aanalogvoltage input circuit 2, eeprom circuit 3, current sampling circuit 8, voltage sampling circuit 10, temperature sampling circuit 12 and the current foldback circuit 11 that comprise main control chip circuit 1, are connected respectively with main control chip circuit 1, and the H bridge MOSFET circuit 9 that is connected with H bridge driving circuit 7, current sampling circuit 8, voltage sampling circuit 10 and current foldback circuit 11 respectively.
Be provided with encoder interface circuit 6, its output terminal is connected with main control chip circuit 1, and input end is connected with DC motor rotor location signal output part EA, EB.The DC motor rotor location analog information is converted to digital quantity by encoder interface circuit 6, realizes the circuit total digitalization, eliminating the shortcoming that intrinsic drift of mimic channel and parameter are disperseed, and can strengthen adaptability, compatible differential type and monofocal scrambler.
Also be provided with serial communication circuit 5, an end of serial communication circuit 5 is connected with main control chip circuit 1, and the other end and outside host computer PC or commissioning device that can communication are connected.Can accept the external movement steering order easily by serial communication circuit, wherein the mode position instruction is a pulse command, velocity mode and torque mode instruction are the output of aanalogvoltage input circuit, to realize instruction mode control, adapt to the various control requirements occasion; Can also finish adjustment, debugging and the test-run a machine operation of each regulating loop parameter by serial communication circuit, three closed loop adjustment loops are set: the parameter of position loop, speed loop and current return respectively separately, suitably reduce or each parameter of other loop of zero setting simultaneously, and in parameter adjustment, debugging and test-run a machine operational process, check respective waveforms and failure logging.
Also be provided with the condition indication circuit 4 that comprises trouble light, its input end is connected with main control chip circuit 1.
The main control chip circuit 1 of the total digital DC servo-driver of this embodiment, its main control chip adopts single-chip microcomputer or DSP, receive outside source-control card respectively, pulse (PUL) that PLC or other similar control device provide and direction (DIR) signal, aanalogvoltage AIN from aanalogvoltage input circuit 2, enable the DC motor rotor location signal EA of EN signal and encoder interface circuit 6 feedbacks, EB, and the current feedback signal ISO after current sampling circuit 8 processing, temperature signal OT after voltage sampling signal VS after voltage sampling circuit 10 is handled and temperature sampling circuit 12 are handled, be converted into digital quantity at the A/D of main control chip port, after the processing of the inner employing of main control chip control algolithm, direct output pwm signal, deliver to H bridge MOSFET circuit 9 through H bridge driving circuit 7 then, to drive the direct current generator rotation.Perhaps break down the back by current foldback circuit 11, temperature sampling circuit 12, close PWM when voltage sampling circuit 10 provides corresponding protection; and the relevant protection of output indicator signal is given condition indication circuit 4; circulation makes the trouble light different number of times that glimmer represent different failure modes in setting-up time, to inform the user.
Above content be in conjunction with concrete preferred implementation to further describing that the utility model is done, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field, make some being equal under the prerequisite of the utility model design and substitute or obvious modification not breaking away from, and performance or purposes are identical, all should be considered as belonging to protection domain of the present utility model.
Claims (8)
1. total digital DC servo-driver, the H bridge driving circuit, aanalogvoltage input circuit, the current sampling circuit that comprise the main control chip circuit, are connected respectively with the main control chip circuit, and the H bridge MOSFET circuit that is connected with H bridge driving circuit, current sampling circuit respectively, it is characterized in that:
Described current sampling circuit is the single channel current sample circuit, has only a sampling resistor, the one end is connected with the source electrode of a MOSFET of the bottom of H bridge MOSFET circuit one side brachium pontis, the public ground of another termination, and the source electrode of a MOSFET of the bottom of H bridge MOSFET circuit opposite side brachium pontis also connects public ground.
2. total digital DC servo-driver as claimed in claim 1 is characterized in that:
Be provided with encoder interface circuit, the output terminal of described encoder interface circuit is connected with described main control chip circuit, and its input end is connected with the DC motor rotor location signal output part.
3. total digital DC servo-driver as claimed in claim 1 is characterized in that:
Be provided with serial communication circuit, an end of described serial communication circuit is connected with described main control chip circuit, and the other end and outside host computer PC or commissioning device that can communication are connected.
4. total digital DC servo-driver as claimed in claim 1 is characterized in that:
Be provided with the condition indication circuit that comprises trouble light, the input end of described condition indication circuit is connected with described main control chip circuit.
5. as any described total digital DC servo-driver in the claim 1 to 4, it is characterized in that:
Be provided with eeprom circuit, described eeprom circuit is connected with described main control chip circuit.
6. as any described total digital DC servo-driver in the claim 1 to 4, it is characterized in that:
Be provided with voltage sampling circuit, the output terminal of described voltage sampling circuit is connected with described main control chip circuit, and input end is connected with the output terminal of H bridge MOSFET circuit.
7. as any described total digital DC servo-driver in the claim 1 to 4, it is characterized in that:
Be provided with current foldback circuit, the output terminal of described current foldback circuit is connected with described main control chip circuit, and input end is connected with the output terminal of H bridge MOSFET circuit.
8. as any described total digital DC servo-driver in the claim 1 to 4, it is characterized in that:
Be provided with temperature sampling circuit, the output terminal of described temperature sampling circuit is connected with described main control chip circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202040421U CN201477412U (en) | 2009-08-20 | 2009-08-20 | Fully-digital direct current servo drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202040421U CN201477412U (en) | 2009-08-20 | 2009-08-20 | Fully-digital direct current servo drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201477412U true CN201477412U (en) | 2010-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202040421U Expired - Lifetime CN201477412U (en) | 2009-08-20 | 2009-08-20 | Fully-digital direct current servo drive |
Country Status (1)
| Country | Link |
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| CN (1) | CN201477412U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102075137A (en) * | 2010-12-30 | 2011-05-25 | 清华大学 | High-bandwidth servo drive circuit with integral type current amplitude limiter |
| CN109649300A (en) * | 2019-01-14 | 2019-04-19 | 重庆双俊远智能科技有限责任公司 | A kind of intelligent supervisor core mainboard control system |
-
2009
- 2009-08-20 CN CN2009202040421U patent/CN201477412U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102075137A (en) * | 2010-12-30 | 2011-05-25 | 清华大学 | High-bandwidth servo drive circuit with integral type current amplitude limiter |
| CN109649300A (en) * | 2019-01-14 | 2019-04-19 | 重庆双俊远智能科技有限责任公司 | A kind of intelligent supervisor core mainboard control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: SHENZHEN LEADSHINE TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: LEISAI ELECTROMECHANICAL TECH. DEV. CO., LTD., SHENZHEN CITY Effective date: 20111014 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20111014 Address after: 518054 Shenzhen city Nanshan District Nanyou Cheonan Industrial Zone Deng Liang road six building four unit B Patentee after: Shenzhen Leadshine Intelligent Control Co., Ltd. Address before: 518054 Liang Liang Road, Shenzhen, Guangdong, Nanshan District Patentee before: Shenzhen Leadshine Technology Co., Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100519 |
|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Shenzhen Leadshine Intelligent Control Co., Ltd. Document name: Notification of Expiration of Patent Right Duration |