CN203119841U - Full-digital AC servo driver - Google Patents
Full-digital AC servo driver Download PDFInfo
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- CN203119841U CN203119841U CN 201320088629 CN201320088629U CN203119841U CN 203119841 U CN203119841 U CN 203119841U CN 201320088629 CN201320088629 CN 201320088629 CN 201320088629 U CN201320088629 U CN 201320088629U CN 203119841 U CN203119841 U CN 203119841U
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- microprocessor
- module
- programmable logic
- digital
- motor
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Abstract
The utility model provides a full-digital AC servo driver, which comprises a current detection unit, an encoder and a microprocessor. The current detection unit is connected with the working circuit of a motor so as to acquire the working current of the motor. The current detection unit is also connected with the microprocessor so as to transmit the acquired current signal to the microprocessor. The encoder is arranged on the power output end of the motor and is used for acquiring the position signal of the motor rotor. Meanwhile, the encoder is connected with the microprocessor through a programmable logic unit so as to transmit the position signal to the microprocessor. The microprocessor figures out the position and the current speed of the motor rotor, according to the current signal and the position signal. In this way, the closed-loop control over both the speed and the position of the motor can be realized. The current detection unit of the AC servo driver is independent of a high-accuracy AD converter, so that the anti-interference capability of the full-digital AC servo driver is improved. Meanwhile, the cost of the full-digital AC servo driver is lowered. Therefore, the AC servo driver has the advantages of fast response, stable performance, accurate positioning and greatly improved working performance.
Description
Technical field
The utility model relates to servo-driver, relates in particular to a kind of Digital AC Servo Driver based on New type of current detection method and position feedback.
Background technology
The AC servo of making executive component with permanent magnetic Ac servo motor has become the main flow of electric servo system, and it has good dynamic quality and higher reliability.Along with the develop rapidly of novel electric power electric device and large-scale application-specific integrated circuit, driver develops into digital control and computer control by simulation control, and systemic-function is more and more strong, and structure is simplified day by day.
In the control procedure to AC servo motor, comprise position, rotating speed, the torque of controlling motor, relevant motion control and man-machine interface are all finished in high-performance microprocessor in interior control algolithm, and current detecting and motor position detection are the bases of all control algolithms, be the precondition of design high-performance servo-driver, and existing AC servo driver also have the leeway of further optimizing.
Therefore, be necessary current detecting and the position feedback structure of AC servo driver are improved, to promote the performance of AC servo driver.
The utility model content
The purpose of this utility model provides a kind of Digital AC Servo Driver, to reduce cost, makes its response rapidly, accurate positioning, thereby the service behaviour of lifting AC servo driver.
The utility model is that the technical scheme that its technical problem of solution adopts is,
A kind of Digital AC Servo Driver, include current detecting unit, encoder and microprocessor, current detecting unit links to each other with the operating circuit of motor, gathers the operating current of motor, current detecting unit links to each other with microprocessor, and the current signal of gathering is transferred to microprocessor; Encoder is arranged at the clutch end of motor, this encoder obtains the position signalling of rotor, and link to each other with microprocessor by programmable logic cells, position signalling is transferred to microprocessor, microprocessor is realized speed closed loop control and the position closed loop control of motor according to the current signal of feedback and position and the present speed of position signalling calculating rotor;
Microprocessor has event management unit, and this event handling unit links to each other with PWM output unit, peripheral hardware processing unit and feedback processing unit respectively, and current detecting unit and programmable logic cells link to each other with microprocessor by the feedback processing unit; Microprocessor links to each other with the power rectifier module by power module, and current detecting unit links to each other with the power rectifier module by inversion module, and power module links to each other with inversion module by the optocoupler driver module, and electric power source pair of module microprocessor and inversion module provide power supply; The peripheral hardware processing unit is connected with serial communication module, outer memory module, button display module and fault detection module, and programmable logic cells also is connected with input/output module;
Current detecting unit includes sampling resistor, modulation chip and programmable logic device are isolated in the A/D conversion, sampling resistor inserts in the operating circuit of servo-driver, input and sampling resistor two ends that modulation chip is isolated in the A/D conversion join, electric current flows through sampling resistor, produce voltage and supply with A/D conversion isolation modulation chip, A/D conversion isolation modulation chip is digital signal with the analog signal conversion of this voltage, the output that modulation chip is isolated in the A/D conversion is connected to programmable logic device, digital signal is sent into programmable logic device handle; The A/D conversion is isolated modulation chip and is made of transform coding module and decoding module, the transform coding module comprises ∑-Δ formula over-sampling A/D converter, ∑-Δ formula over-sampling A/D converter is converted into a highspeed serial data stream with the voltage analog signal of input, highspeed serial data stream and sampling clock coding back transfer to decoding module by the isolation strip, after decoding module receives data decode, with the data transaction composition from high-frequency clock and data, by programmable logic device clock and data are handled again; Programmable logic cells and microprocessor join, and programmable logic device is converted into 16 numerical data by the SINC3 filter with the serial data stream of input, and is transferred to microprocessor by SPI synchronous serial interface communication protocol;
Encoder is filled the post of by absolute value encoder; This absolute value encoder can the memory electrical machine position, even after having a power failure, motor has moved the position under external force, absolute value encoder also can be remembered the position of variation.
Advantage of the present utility model is, the current detecting unit that this AC servo driver adopts does not rely on the high-precision A transducer, has strengthened antijamming capability, and has reduced cost, make AC servo driver response fast, stable performance, accurate positioning, service behaviour is improved significantly.
Description of drawings
Fig. 1 is the structural representation of the Digital AC Servo Driver that the utility model proposes;
Fig. 2 is the structural representation of the current detecting unit of this AC servo driver employing.
Embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose with effect is easy to understand, below in conjunction with illustrating and specific embodiment, further set forth the utility model.
As shown in Figure 1, the Digital AC Servo Driver that the utility model proposes includes current detecting unit, encoder and microprocessor, current detecting unit links to each other with the operating circuit of motor, gather the operating current of motor, current detecting unit links to each other with microprocessor, and the current signal of gathering is transferred to microprocessor; Encoder is arranged at the clutch end of motor, this encoder obtains the position signalling of rotor, and link to each other with microprocessor by programmable logic cells, position signalling is transferred to microprocessor, microprocessor is realized speed closed loop control and the position closed loop control of motor according to the current signal of feedback and position and the present speed of position signalling calculating rotor;
Microprocessor has event management unit, and this event handling unit links to each other with PWM output unit, peripheral hardware processing unit and feedback processing unit respectively, and current detecting unit and programmable logic cells link to each other with microprocessor by the feedback processing unit; Microprocessor links to each other with the power rectifier module by power module, and current detecting unit links to each other with the power rectifier module by inversion module, and power module links to each other with inversion module by the optocoupler driver module, and electric power source pair of module microprocessor and inversion module provide power supply; The peripheral hardware processing unit is connected with serial communication module, outer memory module, button display module and fault detection module, and programmable logic cells also is connected with input/output module;
As Fig. 2, current detecting unit includes sampling resistor, modulation chip and programmable logic device are isolated in the A/D conversion, sampling resistor inserts in the operating circuit of servo-driver, input and sampling resistor two ends that modulation chip is isolated in the A/D conversion join, electric current flows through sampling resistor, produce voltage and supply with A/D conversion isolation modulation chip, A/D conversion isolation modulation chip is digital signal with the analog signal conversion of this voltage, the output that modulation chip is isolated in the A/D conversion is connected to programmable logic device, digital signal is sent into programmable logic device handle; The A/D conversion is isolated modulation chip and is made of transform coding module and decoding module, the transform coding module comprises ∑-Δ formula over-sampling A/D converter, ∑-Δ formula over-sampling A/D converter is converted into a highspeed serial data stream with the voltage analog signal of input, highspeed serial data stream and sampling clock coding back transfer to decoding module by the isolation strip, after decoding module receives data decode, with the data transaction composition from high-frequency clock and data, by programmable logic device clock and data are handled again; Programmable logic cells and microprocessor join, and programmable logic device is converted into 16 numerical data by the SINC3 filter with the serial data stream of input, and is transferred to microprocessor by SPI synchronous serial interface communication protocol; Programmable logic device is by the mode of software, gather high-frequency clock and data flow, adopt the SINC3 filter, finish the collection of current data, when having improved reliability, can reach 13 on the effective accuracy, and the response time is less than 4 μ s, do not rely on the high-precision A transducer, strengthened antijamming capability, reduced cost;
Encoder is filled the post of by absolute value encoder, and this absolute value encoder can the memory electrical machine position, even after having a power failure, motor has moved the position under external force, absolute value encoder also can be remembered the position of variation.The absolute value encoder position resolution reaches 17bit, and multi-turn information reaches 16bit.Absolute value encoder transmits data to microcontroller by the serial communication form,
The microprocessor of servo-driver is finished current sample by current sampling unit, detection by encoder feedback completing place and speed, finish the detection of rotor-position, adopt pi regulator, space vector algorithm control motor three-phase current, carry out torque, speed and the Position Control of motor.The current detecting unit that this AC servo driver adopts does not rely on the high-precision A transducer, has strengthened antijamming capability, and has reduced cost, make the AC servo driver response fast, stable performance, accurate positioning, service behaviour is improved significantly.
More than show and described basic principle of the present utility model, principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that describes in above-described embodiment and the specification just illustrates principle of the present utility model; the utility model also has various changes and modifications under the prerequisite that does not break away from the utility model spirit and scope, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (4)
1. Digital AC Servo Driver, it is characterized in that, include current detecting unit, encoder and microprocessor, current detecting unit links to each other with the operating circuit of motor, gather the operating current of motor, current detecting unit links to each other with microprocessor, and the current signal of gathering is transferred to microprocessor; Encoder is arranged at the clutch end of motor, this encoder obtains the position signalling of rotor, and link to each other with microprocessor by programmable logic cells, position signalling is transferred to microprocessor, microprocessor is realized speed closed loop control and the position closed loop control of motor according to the current signal of feedback and position and the present speed of position signalling calculating rotor.
2. a kind of Digital AC Servo Driver according to claim 1, it is characterized in that, microprocessor has event management unit, this event handling unit links to each other with PWM output unit, peripheral hardware processing unit and feedback processing unit respectively, and current detecting unit and programmable logic cells link to each other with microprocessor by the feedback processing unit; Microprocessor links to each other with the power rectifier module by power module, and current detecting unit links to each other with the power rectifier module by inversion module, and power module links to each other with inversion module by the optocoupler driver module, and electric power source pair of module microprocessor and inversion module provide power supply; The peripheral hardware processing unit is connected with serial communication module, outer memory module, button display module and fault detection module, and programmable logic cells also is connected with input/output module.
3. a kind of Digital AC Servo Driver according to claim 1, it is characterized in that, current detecting unit includes sampling resistor, modulation chip and programmable logic device are isolated in the A/D conversion, sampling resistor inserts in the operating circuit of servo-driver, input and sampling resistor two ends that modulation chip is isolated in the A/D conversion join, electric current flows through sampling resistor, produce voltage and supply with A/D conversion isolation modulation chip, A/D conversion isolation modulation chip is digital signal with the analog signal conversion of this voltage, the output that modulation chip is isolated in the A/D conversion is connected to programmable logic device, digital signal is sent into programmable logic device handle; The A/D conversion is isolated modulation chip and is made of transform coding module and decoding module, the transform coding module comprises ∑-Δ formula over-sampling A/D converter, ∑-Δ formula over-sampling A/D converter is converted into a highspeed serial data stream with the voltage analog signal of input, highspeed serial data stream and sampling clock coding back transfer to decoding module by the isolation strip, after decoding module receives data decode, with the data transaction composition from high-frequency clock and data, by programmable logic device clock and data are handled again; Programmable logic cells and microprocessor join, and programmable logic device is converted into 16 numerical data by the SINC3 filter with the serial data stream of input, and is transferred to microprocessor by SPI synchronous serial interface communication protocol.
4. a kind of Digital AC Servo Driver according to claim 1 is characterized in that encoder is filled the post of by absolute value encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320088629 CN203119841U (en) | 2013-02-27 | 2013-02-27 | Full-digital AC servo driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320088629 CN203119841U (en) | 2013-02-27 | 2013-02-27 | Full-digital AC servo driver |
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| Publication Number | Publication Date |
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| CN203119841U true CN203119841U (en) | 2013-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320088629 Expired - Lifetime CN203119841U (en) | 2013-02-27 | 2013-02-27 | Full-digital AC servo driver |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103138663A (en) * | 2013-02-27 | 2013-06-05 | 东菱技术股份有限公司 | Alternating current servo driver based on novel current detection and place feedback structure |
| CN103760788A (en) * | 2013-10-18 | 2014-04-30 | 中山市拓普康自控设备技术有限公司 | Method for realizing position closed-loop controlling by using digital pulse velocity instruction |
| CN104536355A (en) * | 2015-01-21 | 2015-04-22 | 浙江新富凌电气股份有限公司 | Servo driver with touch screen |
| CN108519745A (en) * | 2018-05-03 | 2018-09-11 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of motion controller system |
-
2013
- 2013-02-27 CN CN 201320088629 patent/CN203119841U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103138663A (en) * | 2013-02-27 | 2013-06-05 | 东菱技术股份有限公司 | Alternating current servo driver based on novel current detection and place feedback structure |
| CN103760788A (en) * | 2013-10-18 | 2014-04-30 | 中山市拓普康自控设备技术有限公司 | Method for realizing position closed-loop controlling by using digital pulse velocity instruction |
| CN104536355A (en) * | 2015-01-21 | 2015-04-22 | 浙江新富凌电气股份有限公司 | Servo driver with touch screen |
| CN108519745A (en) * | 2018-05-03 | 2018-09-11 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of motion controller system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: BORLIN TECHNOLOGY CO., LTD. Free format text: FORMER NAME: DORNA TECHNOLOGY CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 314107, No. 99, Chi Chi Road, dry kiln Industrial Park, Jiashan County, Zhejiang, Jiaxing Patentee after: DORNA TECHNOLOGY Co.,Ltd. Address before: 314107, No. 99, Chi Chi Road, dry kiln Industrial Park, Jiashan County, Zhejiang, Jiaxing Patentee before: Dorna Technology Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20130807 |
|
| CX01 | Expiry of patent term |