CN204993012U - Directly drive formula plane machine controller - Google Patents
Directly drive formula plane machine controller Download PDFInfo
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- CN204993012U CN204993012U CN201520826965.6U CN201520826965U CN204993012U CN 204993012 U CN204993012 U CN 204993012U CN 201520826965 U CN201520826965 U CN 201520826965U CN 204993012 U CN204993012 U CN 204993012U
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Abstract
The utility model discloses a directly drive formula plane machine controller belongs to the relevant equipment technical field of the formula of directly driving plane motor, including input module, the control modul, current detection module, the power converting module, position detection module and display module, the input module connection control module, current detection module connects the electric current that is used for detecting the plane motor on the motor of plane, position detection module connects the position that the plane motor was used for detecting the plane motor, the current detection module connection control module, position detection module connection control module, control module connects the power converting module, the plane motor is connected and according to control module's instruction output current value to plane motor to the power converting module, display module connection control module. The utility model provides a complicated problem of machine controller structure among the prior art, possess reliable and stablely, overall simple structure without the buffering link, directly realizes advantages such as motor two dimensional plane motion.
Description
Technical field
The utility model belongs to the relevant device technical field of direct-drive type planar motor, relate to direct-drive type planar motor controlling party to, be specifically related to a kind of direct-drive type planar motor controller.
Background technology
At present in China's high accuracy manufacturing, in order to realize the plane motion of equipment or instrument, general employing X-Y control desk.Such control desk is all by the rotary motion of electric rotating machine usually, is converted to straight line or plane motion by gear or leading screw.Owing to have employed gear or the such conversion links of leading screw, greatly reduce the control precision of system.Direct-drive type planar motor is exactly that one saves without the need to centre dress ring change, directly realizes the motor of two dimensional surface motion, but a lot of for the theoretical research of this motor, and hardware designs is little.Given this, need the hardware circuit designing a kind of electric machine controller, realize the plane motion of motor in actual applications.
Summary of the invention
According to above the deficiencies in the prior art, technical problem to be solved in the utility model proposes a kind of direct-drive type planar motor controller, by detecting current location and the size of current of motor, relatively given position and current location calculate output current size, drive motors mover arrives assigned address, solve the problem of motor controller structure complexity in prior art, there is the advantages such as reliable and stable, general structure is simple, reliable, without intermediate conversion links, directly realize the motion of motor two dimensional surface.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of direct-drive type planar motor controller, described direct-drive type planar motor controller comprises input module, control module, current detection module, power conversion module, position detecting module and display module, the signal inputted by input module is also sent to control module by input module link control module, current detection module is connected to and planar motor is used for the electric current of detection plane motor, position detecting module connects planar motor and is used for the position of detection plane motor, current detection module link control module also inputs the signal that detects to control module, position detecting module link control module also inputs the signal that detects to control module, control module connects power conversion module, power conversion module connects planar motor and according to the instruction output current value of control module to planar motor, display module link control module also shows information according to the instruction of control module.
In above-mentioned controller, described position detecting module adopts multiple linear grating transducer, linear grating transducer is arranged on and the planar motor stator X that is provided with of inside and Y-direction is used for the displacement of mover X that detection plane motor internal is provided with and Y-direction, and linear grating transducer to be connected in control module and will to detect that the positional information of planar motor is sent to control module.Described current detection module comprises Hall element, DC converting unit and A/D converting unit, Hall element is connected to and planar motor is used for the current value of planar motor, DC converting unit connects the DC simulation signal that Hall element is used for being converted to by the output current value of Hall element in 0 ~ 5V, A/D converting unit connects DC converting unit and is used for converting the output signal of DC converting unit to digital signal, and the output valve of current detection module is also input to control module by the output link control module of A/D converting unit.Described power conversion module comprises independent power source and H-bridge circuit, and independent power source is 200V DC power supply, and independent power source connects H-bridge circuit, and the output of H-bridge circuit connects planar motor.Described input module is 4*4 matrix keyboard.Described display module is LED liquid crystal display, and LED liquid crystal display is connected to control module and shows information according to the output order controlled.Described control module comprises enhancement mode and catches timer, PWM unit, timer and serial line interface, enhancement mode catches the pulse signal that output that timer connects linear grating transducer is used for reading linear grating transducer, enhancement mode catches timer, PWM unit, timer and serial line interface and is all connected in control module, and control module connects input module, current detection module, power conversion module and position detecting module by serial line interface.Described control module adopts the control chip of MC9S12DP256.Described direct-drive type planar motor controller comprises and also comprises I/O peripheral expansion interface, and control module connects I/O peripheral expansion interface, is connected the external components of direct-drive type planar motor controller setting by I/O peripheral expansion interface.
The utility model beneficial effect is: the utility model provides a kind of direct-drive type planar motor controller, control system adopts MC9S12DP256 chip, general supply module comprises 5V DC power supply and powers to controller, keyboard and LED liquid crystal display are used to provide position command and current location display, and linear grating transducer, current detection module are used for detecting electric mover position and mover size of current; Power conversion module adopts the H-bridge circuit of 200V DC power supply to provide driving to motor, the hardware circuit design of MC9S12DP256 chip, have with low cost, structure is simple, the advantage such as reliable and stable, direct-drive type planar motor controller general structure is simple, reliable, without intermediate conversion links, directly realize the motion of motor two dimensional surface.
Accompanying drawing explanation
Below the content expressed by this Figure of description and the mark in figure are briefly described:
Fig. 1 is the work block diagram of the direct-drive type planar motor controller of embodiment of the present utility model.
Fig. 2 is the flow chart of the control method of the direct-drive type planar motor controller of embodiment of the present utility model.
Embodiment
Contrast accompanying drawing below, by the description to embodiment, embodiment of the present utility model is as the effect of the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part and operation principle, manufacturing process and operation using method etc., be described in further detail, have more complete, accurate and deep understanding to help those skilled in the art to inventive concept of the present utility model, technical scheme.
A kind of direct-drive type planar motor controller, its work block diagram as shown in Figure 1, direct-drive type planar motor controller comprises general supply, input module, control module, current detection module, power conversion module, position detecting module and display module, general supply link control module is that direct-drive type planar motor controller is powered, input module is connected to the input of control module, the input of current detection module and position detecting module is connected on planar motor, the output of current detection module and position detecting module is connected to control module, the output of control module connects the input of power conversion module, the input of power conversion module connects planar motor, the output of control module connects display module.
General supply module adopts 5V DC power supply to power to controller, and input module is 4*4 matrix keyboard, and the positional information of input given plane motor, is sent to control module by input module.Current detection module is used for the electric current of detection plane motor, the mover size of current of main detection plane motor, current detection module comprises Hall element, DC converting unit and A/D converting unit, Hall element is connected to and planar motor is used for the current value of planar motor, DC converting unit connects the DC simulation signal that Hall element is used for being converted to by the output current value of Hall element in 0 ~ 5V, A/D converting unit connects DC converting unit and is used for converting the output signal of DC converting unit to digital signal, the output valve of current detection module is also input to control module by the output link control module of A/D converting unit.Position detecting module is used for the current location of detection plane motor, position detecting module adopts multiple linear grating transducer, linear grating transducer is arranged on X-axis grating scale in the planar motor stator X that is provided with of inside and Y-direction and Y-axis grating scale respectively, the mover that detection plane motor internal is provided with is in the displacement of X and Y-direction, and linear grating transducer to be connected in control module and will to detect that the current rotor position information of planar motor is sent to control module.
The advantages such as control module adopts the control chip of MC9S12DP256, has with low cost, and structure is simple, reliable and stable.Control module comprises enhancement mode and catches timer (ECT), PWM unit, timer and serial line interface, enhancement mode catches the output that timer connects linear grating transducer, enhancement mode catches the pulse signal that timer is mainly used to read linear grating transducer, and enhancement mode catches timer, PWM unit, timer and serial line interface and is all connected in control module.The position command of the given plane motor that control module inputs according to the detection data message received and input module, the position command of relatively specifying and the current location instruction detected, the power partition function of utilization draws the current value under the different electromagnetic pushs that diverse location and planar motor generate, control module produces the different pwm signal of 6 tunnel duty ratios according to different current value by PWM unit, the pwm signal that control module produces is input to power conversion module, draw the input current value of planar motor through power conversion module, drive motors mover arrives assigned address.Control module connects input module, current detection module, power conversion module and position detecting module by serial line interface.
Power conversion module comprises independent power source and H-bridge circuit, independent power source is 200V DC power supply, independent power source connects H-bridge circuit, the output of H-bridge circuit connects planar motor, adopt the H-bridge circuit of 200V DC power supply to provide driving to planar motor, power conversion module connects planar motor and according to the instruction output current value of control module to planar motor, planar motor is according to input current value, drive motors mover arrives assigned address, thus realizes the motion of motor two dimensional surface.
Display module adopts LED liquid crystal display, is used for the current location of display plane motor, and LED liquid crystal display is connected to control module, and according to the output order display information of control module.Direct-drive type planar motor controller comprises and also comprises I/O peripheral expansion interface, and control module connects I/O peripheral expansion interface, is connected the external components of direct-drive type planar motor controller setting, as external components such as display modules by I/O peripheral expansion interface.
A control method for direct-drive type planar motor controller, as shown in Figure 2, method step comprises its workflow:
Step one, controller initialization peripheral hardware, interrupt and power partition function.
The current value of step 2, current detection module detection plane motor is also converted to digital signal and is sent to control module.
The current location of step 3, linear grating transducer detection plane motor the data detection signal sending linear grating transducer are to control module.
The position command of the given plane motor of the data message that step 4, control module receive according to step 2 and step 3 and input module input, the position command of relatively specifying and the current location instruction detected, utilize power partition function, inquiry power allocation table, draws the current value under the different electromagnetic pushs that diverse location and planar motor generate.
Step 5, control module produce the different pwm signal of 6 tunnel duty ratios according to different current value.
The pwm signal that step 6, control module produce is input to power conversion module, draws the input current value of planar motor through power conversion module, and drive motors mover arrives assigned address.
During real work, the electric mover actual position signal collected by electric mover position designating signal and the grating scale of input through keyboard is compared, CPU program obtains the size of current under diverse location and different electromagnetic push according to power partition function, MC9S12DP256 produces the different pwm signal of 6 tunnel duty ratios according to this current value, through power conversion module, obtain the current value of motor input, and then drive motors mover arrives assigned address.Consider from hardware circuit and motor running precision, the running frequency 20MHz of the MC9S12DP256 of control module, specific implementation function is as follows: adopt the ETC circuit realiration of MC9S12DP256 to the reading of linear grating sensor pulse signal, the actual displacement of MC9S12DP256 program computation electric mover, compare with input through keyboard displacement, draw PWM waveform duty cycle, realize the input of circuit for power conversion control signal, MC9S12DP256 timer function realizes the setting to system clock.The initialization that enhancement mode catches the modules such as timer (ECT), PWM module, timer, serial interface circuit is arranged by system main program.The MC9S12DP256 of control module is in conjunction with current detection module, power conversion module, linear grating transducer, the pwm signal produced is input to power conversion module, the input current value of planar motor is drawn through power conversion module, drive motors mover arrives assigned address, realize the two dimensional surface motion of motor, structure is simple, reliable.
By reference to the accompanying drawings the utility model is exemplarily described above; obvious the utility model specific implementation is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present utility model is conceived and technical scheme is carried out; or design of the present utility model and technical scheme directly applied to other occasion, all within protection range of the present utility model without to improve.The protection range that protection range of the present utility model should limit with claims is as the criterion.
Claims (9)
1. a direct-drive type planar motor controller, it is characterized in that, described direct-drive type planar motor controller comprises input module, control module, current detection module, power conversion module, position detecting module and display module, the signal inputted by input module is also sent to control module by input module link control module, current detection module is connected to and planar motor is used for the electric current of detection plane motor, position detecting module connects planar motor and is used for the position of detection plane motor, current detection module link control module also inputs the signal that detects to control module, position detecting module link control module also inputs the signal that detects to control module, control module connects power conversion module, power conversion module connects planar motor and according to the instruction output current value of control module to planar motor, display module link control module also shows information according to the instruction of control module.
2. direct-drive type planar motor controller according to claim 1, it is characterized in that, described position detecting module adopts multiple linear grating transducer, linear grating transducer is arranged on and planar motor stator X and Y-direction is used for the mover of detection plane motor in the displacement of X and Y-direction, and linear grating transducer to be connected in control module and will to detect that the positional information of planar motor is sent to control module.
3. direct-drive type planar motor controller according to claim 1, it is characterized in that, described current detection module comprises Hall element, DC converting unit and A/D converting unit, Hall element is connected to and planar motor is used for the current value of planar motor, DC converting unit connects the DC simulation signal that Hall element is used for being converted to by the output current value of Hall element in 0 ~ 5V, A/D converting unit connects DC converting unit and is used for converting the output signal of DC converting unit to digital signal, the output valve of current detection module is also input to control module by the output link control module of A/D converting unit.
4. direct-drive type planar motor controller according to claim 1, it is characterized in that, described power conversion module comprises independent power source and H-bridge circuit, and independent power source is 200V DC power supply, and independent power source connects H-bridge circuit, and the output of H-bridge circuit connects planar motor.
5. direct-drive type planar motor controller according to claim 1, is characterized in that, described input module is 4*4 matrix keyboard.
6. direct-drive type planar motor controller according to claim 1, is characterized in that, described display module is LED liquid crystal display, and LED liquid crystal display is connected to control module and shows information according to the output order of control module.
7. direct-drive type planar motor controller according to claim 1, it is characterized in that, described control module comprises enhancement mode and catches timer, PWM unit, timer and serial line interface, enhancement mode catches the pulse signal that output that timer connects linear grating transducer is used for reading linear grating transducer, enhancement mode catches timer, PWM unit, timer and serial line interface and is all connected in control module, and control module connects input module, current detection module, power conversion module and position detecting module by serial line interface.
8. direct-drive type planar motor controller according to claim 7, is characterized in that, described control module adopts the control chip of MC9S12DP256.
9. direct-drive type planar motor controller according to claim 1, it is characterized in that, described direct-drive type planar motor controller comprises and also comprises I/O peripheral expansion interface, control module connects I/O peripheral expansion interface, is connected the external components of direct-drive type planar motor controller setting by I/O peripheral expansion interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520826965.6U CN204993012U (en) | 2015-10-23 | 2015-10-23 | Directly drive formula plane machine controller |
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| CN201520826965.6U CN204993012U (en) | 2015-10-23 | 2015-10-23 | Directly drive formula plane machine controller |
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| CN204993012U true CN204993012U (en) | 2016-01-20 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108539949A (en) * | 2017-03-01 | 2018-09-14 | 台达电子工业股份有限公司 | Moving-magnetic type shifting carrying platform |
| CN111490642A (en) * | 2019-01-29 | 2020-08-04 | 广东极迅精密仪器有限公司 | Displacement device based on Hall effect sensor and planar motor |
| CN113942804A (en) * | 2021-11-10 | 2022-01-18 | 北京航空航天大学 | Logistics transportation system based on linear motor |
-
2015
- 2015-10-23 CN CN201520826965.6U patent/CN204993012U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108539949A (en) * | 2017-03-01 | 2018-09-14 | 台达电子工业股份有限公司 | Moving-magnetic type shifting carrying platform |
| US10601295B2 (en) | 2017-03-01 | 2020-03-24 | Delta Electronics, Inc. | Moving-magnet transfer platform |
| CN108539949B (en) * | 2017-03-01 | 2020-07-31 | 台达电子工业股份有限公司 | Moving magnetic type transfer platform |
| CN111490642A (en) * | 2019-01-29 | 2020-08-04 | 广东极迅精密仪器有限公司 | Displacement device based on Hall effect sensor and planar motor |
| CN111490642B (en) * | 2019-01-29 | 2022-05-20 | 苏州隐冠半导体技术有限公司 | Displacement device based on Hall effect sensor and planar motor |
| CN113942804A (en) * | 2021-11-10 | 2022-01-18 | 北京航空航天大学 | Logistics transportation system based on linear motor |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160120 Termination date: 20161023 |