CN204993012U - Directly drive formula plane machine controller - Google Patents

Abstract

The utility model discloses a direct-drive planar motor controller, which belongs to the technical field of equipment related to direct-drive planar motors, and comprises an input module, a control module, a current detection module, a power conversion module, a position detection module and a display module. The module is connected to the control module, the current detection module is connected to the planar motor to detect the current of the planar motor, the position detection module is connected to the planar motor to detect the position of the planar motor, the current detection module is connected to the control module, and the position detection module is connected to the control module. The control module is connected to the power conversion module, the power conversion module is connected to the planar motor and outputs the current value to the planar motor according to the instruction of the control module, and the display module is connected to the control module. The utility model solves the problem of the complex structure of the motor controller in the prior art, and has the advantages of being stable and reliable, simple in overall structure, directly realizing the two-dimensional plane motion of the motor without an intermediate conversion link, and the like.

Description

A direct drive planar motor controller

technical field

The utility model belongs to the technical field of related equipment of a direct-drive planar motor, relates to the control direction of a direct-drive planar motor, in particular to a direct-drive planar motor controller.

Background technique

At present, in my country's high-precision manufacturing industry, in order to realize the plane movement of equipment or instruments, X-Y consoles are generally used. Such consoles usually convert the rotary motion of the rotary motor into linear or plane motion through gears or lead screws. The control accuracy of the system is greatly reduced due to the use of conversion links such as gears or lead screws. The direct-drive planar motor is a motor that directly realizes two-dimensional planar motion without intermediate replacement links. However, there are many theoretical studies on this motor and few hardware designs. In view of this, it is necessary to design a hardware circuit of a motor controller to realize the plane motion of the motor in practical applications.

Contents of the invention

According to the deficiencies in the prior art above, the technical problem to be solved by the utility model is to propose a direct drive planar motor controller, by detecting the current position and current of the motor, comparing the given position and the current position to calculate the output current, Driving the motor mover to the designated position solves the problem of complex structure of the motor controller in the prior art, and has the advantages of being stable and reliable. The overall structure is simple, the operation is reliable, and the two-dimensional plane motion of the motor is directly realized without intermediate conversion links.

In order to solve the above technical problems, the technical solution adopted by the utility model is: a direct drive planar motor controller, the direct drive planar motor controller includes an input module, a control module, a current detection module, a power conversion module, a position The detection module and the display module, the input module is connected to the control module and sends the signal input through the input module to the control module, the current detection module is connected to the plane motor to detect the current of the plane motor, and the position detection module is connected to the plane motor to detect the plane The position of the motor, the current detection module is connected to the control module and inputs the detected signal to the control module, the position detection module is connected to the control module and inputs the detected signal to the control module, the control module is connected to the power conversion module, and the power conversion module is connected to the planar motor and The current value is output to the planar motor according to the instruction of the control module, and the display module is connected to the control module and displays information according to the instruction of the control module.

In the above controller, the position detection module adopts a plurality of linear grating sensors, and the linear grating sensors are installed in the X and Y directions of the stator provided inside the planar motor to detect the position of the mover provided in the planar motor in the X and Y directions. For displacement, the linear grating sensor is connected to the control module and sends the detected position information of the planar motor to the control module. The current detection module includes a Hall sensor, a DC conversion unit and an A/D conversion unit, the Hall sensor is connected to the planar motor for the current value of the planar motor, and the DC conversion unit is connected to the Hall sensor to convert the Hall sensor The output current value is converted into a DC analog signal within 0~5V. The A/D conversion unit is connected to the DC conversion unit to convert the output signal of the DC conversion unit into a digital signal. The output terminal of the A/D conversion unit is connected to the control module and The output value of the current detection module is input to the control module. The power conversion module includes a sub-power supply and an H-bridge circuit, the sub-power supply is a 200V DC power supply, the sub-power supply is connected to the H-bridge circuit, and the output end of the H-bridge circuit is connected to a planar motor. The input module is a 4*4 matrix keyboard. The display module is an LED liquid crystal display, and the LED liquid crystal display is connected to the control module and displays information according to the output command of the control. The control module includes an enhanced capture timer, a PWM unit, a timer and a serial interface. The enhanced capture timer is connected to the output end of the linear grating sensor to read the pulse signal of the linear grating sensor. The enhanced capture timer, The PWM unit, the timer and the serial interface are all connected to the control module, and the control module is connected to the input module, the current detection module, the power conversion module and the position detection module through the serial interface. The control module adopts the control chip of MC9S12DP256. The direct-drive planar motor controller includes an I/O peripheral expansion interface, the control module is connected to the I/O peripheral expansion interface, and the external device set by the direct-drive planar motor controller is connected through the I/O peripheral expansion interface. set parts.

The beneficial effects of the utility model are: the utility model provides a direct-drive planar motor controller, the control system adopts the MC9S12DP256 chip, the total power supply module includes a 5V DC power supply to supply power to the controller, and the keyboard and the LED liquid crystal display are used to provide position instructions and The current position display, the linear grating sensor and the current detection module are used to detect the position of the motor mover and the current of the mover; the power conversion module uses the H bridge circuit of 200V DC power supply to provide drive for the motor, and the hardware circuit design of the MC9S12DP256 chip has low cost. , simple structure, stable and reliable, etc., the direct-drive planar motor controller has a simple overall structure and reliable operation, and directly realizes two-dimensional plane motion of the motor without intermediate conversion links.

Description of drawings

The following is a brief description of the content expressed in the drawings of this specification and the marks in the drawings:

Fig. 1 is a working block diagram of a direct-drive planar motor controller according to a specific embodiment of the present invention.

Fig. 2 is a flow chart of the control method of the direct-drive planar motor controller according to the specific embodiment of the present invention.

detailed description

Below, referring to the accompanying drawings, through the description of the embodiments, the specific implementation of the present utility model, such as the shape and structure of each component involved, the mutual position and connection relationship between each part, the function and working principle of each part, and manufacturing The process, operation and use methods, etc. are further described in detail to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concept and technical solutions of the present utility model.

A direct-drive planar motor controller, its working block diagram is shown in Figure 1. The direct-drive planar motor controller includes a total power supply, an input module, a control module, a current detection module, a power conversion module, a position detection module and a display module , the total power supply is connected to the control module to supply power to the direct-drive planar motor controller, the input module is connected to the input terminal of the control module, the input terminals of the current detection module and the position detection module are connected to the planar motor, the current detection module and the position detection module The output end is connected to the control module, the output end of the control module is connected to the input end of the power conversion module, the input end of the power conversion module is connected to the planar motor, and the output end of the control module is connected to the display module.

The total power supply module uses 5V DC power supply to supply power to the controller. The input module is a 4*4 matrix keyboard, which inputs the position information of the specified planar motor and is sent to the control module by the input module. The current detection module is used to detect the current of the planar motor. It mainly detects the magnitude of the mover current of the planar motor. The current detection module includes a Hall sensor, a DC conversion unit and an A/D conversion unit. The Hall sensor is connected to the planar motor for planar The current value of the motor, the DC conversion unit is connected to the Hall sensor to convert the output current value of the Hall sensor into a DC analog signal within 0~5V, and the A/D conversion unit is connected to the DC conversion unit to convert the output of the DC conversion unit The signal is converted into a digital signal, the output terminal of the A/D conversion unit is connected to the control module and the output value of the current detection module is input to the control module. The position detection module is used to detect the current position of the planar motor. The position detection module uses multiple linear grating sensors, and the linear grating sensors are respectively installed in the X-axis and Y-axis grating rulers in the X and Y directions of the stator inside the planar motor. First, to detect the displacement of the mover inside the planar motor in the X and Y directions, the linear grating sensor is connected to the control module and sends the detected current mover position information of the planar motor to the control module.

The control module adopts MC9S12DP256 control chip, which has the advantages of low cost, simple structure, stability and reliability. The control module includes an enhanced capture timer (ECT), a PWM unit, a timer and a serial interface. The enhanced capture timer is connected to the output terminal of the linear grating sensor. The enhanced capture timer is mainly used to read the pulse of the linear grating sensor Signal, enhanced capture timer, PWM unit, timer and serial interface are all connected on the control module. The control module compares the specified position command with the detected current position command according to the received detection data information and the position command of the specified planar motor input by the input module, and uses the force distribution function to obtain different positions and different electromagnetic thrusts generated by the planar motor Under the current value, the control module generates 6 PWM signals with different duty ratios from the PWM unit according to different current values. The PWM signals generated by the control module are input to the power conversion module, and the input current value of the planar motor is obtained through the power conversion module. Drive the motor mover to the specified position. The control module is connected with the input module, the current detection module, the power conversion module and the position detection module through the serial interface.

The power conversion module includes a sub-power supply and an H-bridge circuit. The sub-power supply is a 200V DC power supply. The sub-power supply is connected to the H-bridge circuit. The output end of the H-bridge circuit is connected to the planar motor. The conversion module is connected to the planar motor and outputs the current value to the planar motor according to the instruction of the control module, and the planar motor drives the motor mover to a designated position according to the input current value, thereby realizing the two-dimensional planar motion of the motor.

The display module adopts an LED liquid crystal display to display the current position of the planar motor, and the LED liquid crystal display is connected to the control module, and displays information according to the output command of the control module. The direct drive planar motor controller also includes an I/O peripheral expansion interface, the control module is connected to the I/O peripheral expansion interface, and the peripheral components set by the direct drive planar motor controller are connected through the I/O peripheral expansion interface , such as peripheral components such as display modules.

A control method of a direct-drive planar motor controller, the work flow of which is shown in Figure 2, and the method steps include:

Step 1. The controller initializes peripherals, interrupts and force distribution functions.

Step 2: The current detection module detects the current value of the planar motor and converts it into a digital signal and sends it to the control module.

Step 3: The linear grating sensor detects the current position of the planar motor and sends the detection data signal of the linear grating sensor to the control module.

Step 4: The control module compares the specified position command with the detected current position command according to the data information received in step 2 and step 3 and the position command of the specified planar motor input by the input module, and uses the force distribution function to query the force distribution table , to obtain the current values at different positions and different electromagnetic thrusts generated by the planar motor.

Step 5, the control module generates 6 PWM signals with different duty ratios according to different current values.

Step 6: The PWM signal generated by the control module is input to the power conversion module, and the input current value of the planar motor is obtained through the power conversion module to drive the motor mover to a designated position.

In actual work, the designated position signal of the motor mover input through the keyboard is compared with the actual position signal of the motor mover collected by the grating ruler. The CPU program obtains the current magnitude under different positions and different electromagnetic thrusts according to the force distribution function. MC9S12DP256 according to the The current value generates 6 PWM signals with different duty ratios, and through the power conversion module, the current value input by the motor is obtained, and then the motor mover is driven to the designated position. Considering the hardware circuit and motor operation accuracy, the operating frequency of MC9S12DP256 of the control module is 20MHz, and the specific functions are as follows: the ETC circuit of MC9S12DP256 is used to read the pulse signal of the linear grating sensor, the MC9S12DP256 program calculates the actual displacement of the motor mover, and the keyboard The input displacement is compared to obtain the duty cycle of the PWM waveform, which realizes the input of the control signal of the power conversion circuit, and the timer function of the MC9S12DP256 realizes the setting of the system clock. The initialization of modules such as enhanced capture timer (ECT), PWM module, timer, and serial interface circuit is set through the main program of the system. The MC9S12DP256 of the control module combines the current detection module, the power conversion module, and the linear grating sensor. The PWM signal generated is input to the power conversion module. The two-dimensional plane movement has simple structure and reliable operation.

The utility model has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the utility model is not limited by the above-mentioned methods, as long as various insubstantial improvements are made by adopting the method concept and technical solutions of the utility model, or Directly applying the ideas and technical solutions of the utility model to other occasions without improvement is within the protection scope of the utility model. The protection scope of the present utility model should be determined by the protection scope defined in the claims.

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.