CN205105136U - Motor drive - Google Patents
Motor drive Download PDFInfo
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- CN205105136U CN205105136U CN201520858841.6U CN201520858841U CN205105136U CN 205105136 U CN205105136 U CN 205105136U CN 201520858841 U CN201520858841 U CN 201520858841U CN 205105136 U CN205105136 U CN 205105136U
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Abstract
The utility model provides a motor drive relates to drive technical field. Motor drive include control chip and respectively with encoder, H bridge drive circuit, current sampling circuit, pulse direction circuit, encoder output circuit and brake circuit are detected to repeat circuit, supply circuit, position that the control chip electricity is connected, control chip is last be provided with be used for with upper computer connection's host computer interface with be used for the bus interface that is connected through bus and other motor drive, the repeat circuit is used for forwardding control command that the host computer sent extremely other motor drive. The utility model provides a motor drive can realize the control of a plurality of motors under the circumstances that does not increase extra hardware equipment, simultaneously, the function of transmitting of accessible repeat circuit realizes the motor in the different buses of control.
Description
Technical field
The utility model relates to Driving technique field, in particular to a kind of motor driver.
Background technology
In motor driven systems, motor driver is used for drive motors and rotates, and when motor driver receives a pulse signal of controller, it rotates a fixing angle with regard to drive motors by the direction of setting.
At present, control motor in prior art and often adopt single shaft control, if will multijoint control be realized, need user additionally to purchase corresponding hardware device, increase application cost.Meanwhile, in actual applications, motor driver is ripe standardized product, and controller is client development, this structure makes controller must adapt to the bus standard of motor driver, and these bus of multimachine networking can have respective shortcoming, such as development difficulty is large, and hardware cost is high.
Utility model content
The purpose of this utility model is to provide a kind of motor driver, to improve above-mentioned problem.
The utility model is achieved in that
A kind of motor driver, for drive motors, repeat circuit, power supply circuits, position probing encoder, H-bridge drive circuit, current sampling circuit, pulse direction circuit, encoder output circuit and braking circuit that motor driver comprises control chip and is electrically connected with described control chip respectively;
Described control chip is provided with the host computer interface for being connected with host computer and the bus interface for being connected with other motor driver by bus;
Described repeat circuit for the control command that forwards host computer and send to other motor driver described.
Motor driver as above, preferably, described repeat circuit comprises forwarding control chip and four sides push pass aside, the data transmission pin of described forwarding control chip connects an input pin of described control chip by the first resistance (R97), the data receiver pin of described forwarding control chip connects another output pin of described control chip by the second resistance (R70), the 7th terminal that high level pin and described four sides of described forwarding control chip push pass aside is connected, the 8th terminal that the low level pin of described forwarding control chip pushes pass aside by the 3rd resistance (R69) and described four sides is connected.
Motor driver as above, preferably, motor driver also comprises overvoltage crowbar, and described overvoltage crowbar is electrically connected with described control chip.
Overvoltage crowbar is set, when the overtension of motor driver, can be automatically out of service, ensure the security of operation when motor driver.
Motor driver as above, preferably, motor driver also comprises temperature protection circuit, and described temperature protection circuit is electrically connected with described control chip.
Set temperature protective circuit, when motor driver temperature is too high, can be automatically out of service, ensure the security of operation when motor driver.
Motor driver as above, preferably, described host computer interface comprise in CAN communication interface, RS232 interface, USB interface, SPI interface, Centronics interface one or more.
Motor driver as above, preferably, described bus interface is one or more in Ethercat interface, CAN interface, 485 interfaces.
Motor driver as above, preferably, motor driver also comprises firmware downloads circuit, and described firmware downloads circuit is electrically connected with described control chip.
By arranging firmware downloads circuit, corresponding motor drive software can be realized very easily and upgrade.
Motor driver as above, preferably, described position probing encoder is absolute value encoder or incremental encoder.
Motor driver as above, preferably, described control chip is also provided with external input/output interface.
Motor driver as above, preferably, described control chip is ARMSTM103FRBT6 chip.
For prior art, the motor driver that the utility model provides beneficial effect specific as follows:
The motor driver that the utility model provides, control chip is provided with host computer interface and bus interface, the control command that host computer sends can be forwarded to other motor drivers be connected with this motor driver by bus by repeat circuit, to control other machine operation, when not increasing extra hardware device, can realize the control of multiple motor, meanwhile, the forwarding capability by repeat circuit realizes controlling the motor on different bus.
For making above-mentioned purpose of the present utility model, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present utility model, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
The motor driver theory diagram that Fig. 1 provides for the utility model first embodiment;
The circuit diagram of the repeat circuit that Fig. 2 provides for the utility model first embodiment;
The circuit diagram through pulse direction circuit that Fig. 3 provides for the utility model first embodiment;
The circuit diagram through H-bridge drive circuit that Fig. 4 provides for the utility model first embodiment;
The circuit diagram through braking circuit that Fig. 5 provides for the utility model first embodiment;
The circuit diagram of the firmware downloads circuit that Fig. 6 provides for the utility model second embodiment;
The circuit diagram of the overvoltage crowbar that Fig. 7 provides for the utility model second embodiment;
The circuit diagram of the temperature protection circuit that Fig. 8 provides for the utility model second embodiment;
The motor driver theory diagram that Fig. 9 provides for the utility model second embodiment.
Wherein, the corresponding relation between Reference numeral and component names is as follows:
Control chip 101, repeat circuit 102, power supply circuits 103; position probing encoder 104, H-bridge drive circuit 105, current sampling circuit 106; pulse direction circuit 107, encoder output circuit 108, braking circuit 109; host computer interface 110; bus interface 111, overvoltage crowbar 112, temperature protection circuit 113; firmware downloads circuit 114, external input/output interface 115.
Embodiment
In motor driven systems, motor driver is used for drive motors and rotates, and when motor driver receives a pulse signal of controller, it rotates a fixing angle with regard to drive motors by the direction of setting.At present, control motor in prior art and often adopt single shaft control, if will multijoint control be realized, need user additionally to purchase corresponding hardware device, increase application cost.Meanwhile, in actual applications, motor driver is ripe standardized product, and controller is client development, this structure makes controller must adapt to the bus standard of motor driver, and these bus of multimachine networking can have respective shortcoming, such as development difficulty is large, and hardware cost is high.Inventor finds through long-term observation and research, provides the motor driver that the utility model embodiment provides.
Below in conjunction with accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.The assembly of the utility model embodiment describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiment of the present utility model provided in the accompanying drawings and the claimed scope of the present utility model of not intended to be limiting, but selected embodiment of the present utility model is only represented.Based on embodiment of the present utility model, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of the utility model protection.
Embodiment one
Consult Fig. 1, the utility model embodiment provides a kind of motor driver, repeat circuit 102, power supply circuits 103, position probing encoder 104, H-bridge drive circuit 105, current sampling circuit 106, pulse direction circuit 107, encoder output circuit 108 and braking circuit 109 that motor driver comprises control chip 101 and is electrically connected with control chip 101 respectively; Control chip 101 is provided with host computer interface 110 for being connected with host computer and and bus interface 111 for being connected with other motor driver by bus, repeat circuit 102 for the control command that forwards host computer and send to other motor driver.
Host computer interface 110 on control chip 101 is for being connected with host computer, and bus interface 111 is for being connected by the control chip of bus with other motor drivers multiple.Motor driver is to there being a unique address information, target address information is included in control command, after motor driver receives control command, the target address information in its control command and the address information of himself are compared by control chip 101, whether both judgements are identical.If identical, then perform operation corresponding to control command, namely control machine operation.If different, then by repeat circuit 102 this control command is transmitted to the control chip of all other motor drivers connected by bus with it, so that other motor drivers judge that by its control chip whether the target address information in the control command received is identical with the address information that himself is bound, thus realize controlling multiple motor.The implementation of control chip 101 can have multiple, such as ARMSTM103FRBT6 control chip or ARMSTM32F105RBT6 control chip, and what adopt in the present embodiment is ARMSTM103FRBT6 control chip.Wherein, host computer interface 110 on control chip 101 can adopt various ways to realize, as one or more in CAN communication interface, RS232 interface, USB interface, SPI interface, Centronics interface, in the present embodiment, host computer interface 110 adopts the combination of above-mentioned multiple interfaces.Same, bus interface 111 also can have multiple, and as one or more in Ethercat interface, CAN interface, 485 interfaces, in this enforcement, bus interface 111 adopts the combination of above-mentioned multiple interfaces.
Repeat circuit 102 is for forwarding control command, and when the address information of the target address information in instruction processed and motor driver self is different, then control command is sent to other motor drivers by repeat circuit 102 by control chip 101.Consult Fig. 2, repeat circuit 102 comprises resistance R97, resistance R70, electric capacity C67, forwards control chip 101, electric capacity 76, electric capacity C77, resistance R69 and four side push pass aside, forward control chip 101 and comprise data transmission pin TXD, grounding pin GND, power pins VCC, data receiver pin RXD, high level pin CANH and low level pin CANL, four sides are pushed pass aside and are comprised the first terminal, the second terminal, the 3rd terminal, the 4th terminal, Five-terminals, the 6th terminal, the 7th terminal, the 8th terminal, output pin on the one termination control chip 101 of resistance R97, another terminating data sends pin TXD, input pin on the one termination control chip 101 of resistance R70, another terminating data sends pin TXD, one end ground connection of electric capacity C67 and grounding pin GND, another termination 5V power supply and power pins VCC, one end ground connection of electric capacity C76, the other end connects high level pin CANH and the 7th terminal respectively, one end ground connection of electric capacity C77, the other end connects one end of low level pin CANL and resistance R69 respectively, another termination the 8th terminal of resistance R69, the first terminal, second terminal, 3rd terminal, 4th terminal, Five-terminals and the 6th terminal then connect reserved function selector circuit respectively, user can select to run different functions according to from the terminal that functional circuit connects, concrete, function selector circuit comprises electronics R100, resistance R101, resistance R110, resistance R102 and resistance R113, one end of resistance R100 connects 3.3V power supply and the first terminal respectively, one end of other end connecting resistance R101, one end of the other end difference connecting resistance R110 of resistance R101, second terminal and the 4th terminal, one end of the other end difference connecting resistance R102 of resistance R110, 3rd terminal and Five-terminals, the other end of resistance R102 connects the 6th terminal respectively, switch pin on one end of resistance R113 and control chip 101, the other end ground connection of resistance R113.By repeat circuit 102, control command can be forwarded to other motor drivers, when not increasing extra hardware device, the control of multiple motor can be realized, simultaneously, by different bus interface 111, the motor driver that control command can be forwarded in different buses realizes the control to the motor on different bus, when using such as I
2during the network-bus of the short-range transmission of this class of C, by repeat circuit 102, control command can also be realized far distance controlled driver by short range network Bus repeater to the mode of long-range network bus, and then the motor controlled at far-end, in addition, four sides are set in repeat circuit 102 and push pass aside, realizing control 256 motors by forwarding control command, saving hardware resource cleverly.
In the present embodiment, forward control chip 101 and adopt TJA1050 chip, certainly forward control chip 101 and be not limited only to TJA1050 chip, such as, can also adopt TJA1040 chip.
In the process that motor driver runs, pulse direction circuit 107 issues control chip 101 for the pulse signal (i.e. control command) sent by host computer, the circuit structure of pulse direction circuit 107 consults Fig. 3, positive/negative turn of the motor that pulse signal control motor driver after H-bridge drive circuit 105 processes according to control chip 101 drives, the circuit structure of H-bridge drive circuit 105 consults Fig. 4.Current signal, for just sampling to the drive current of motor, is changed into analog signal by current sampling circuit 106, and feeds back to control chip 101, converts digital signal to and calculate rotating torque by control chip 101, thus accurately controls electric machine rotation angle.Position probing encoder 104 for detecting electric machine rotation angle, and feeds back to control chip 101, by encoder output circuit 108 feeds back to host computer after being processed by control chip 101.Braking circuit 109 is for giving outside motor brake control signal, and control motor stalls, the circuit structure of braking circuit 109 consults Fig. 5.The realization of pulse direction circuit 107, H-bridge drive circuit 105, current sampling circuit 106, position probing encoder 104 and braking circuit 109 is prior art, no longer describes in detail at this.
Position probing encoder 104 can have various ways to realize, such as, adopt absolute value encoder or incremental encoder, in the present embodiment, adopts absolute value encoder.Consider the different brands difference of absolute value encoder, two RS-485 communication modules can also be set, can HIPERFACE be supported like this, the absolute value encoder interface of the different brands such as BISS, SSI, and communication speed is up to 20MHZ.
The motor driver that the present embodiment provides can be used for driving brushless servo motor, having brush servomotor, brushless encoderless motor, brushless Hall-free to have encoder motor, linear electric motors, voice coil motor and hollow-cup motor etc.
Embodiment two
Consult Fig. 9, the motor driver that the present embodiment provides is the improvement carried out on the basis of embodiment one, does not relate to part and refer to description in embodiment one in the present embodiment.
When motor driver controls motor, corresponding application program need be coordinated, along with the development of technology, corresponding application program is also in continuous upgrading, so that it is quicker to realize control, accurately, for realizing the upgrade function of application program, the motor driver that the present embodiment provides also is provided with the firmware downloads circuit 114 be electrically connected with control chip 101, during use, corresponding data-interface is coordinated to be directly connected to by motor driver in corresponding developers, software upgrading can be carried out, facilitate user's situ configuration program, the circuit structure of firmware downloads circuit 114 consults Fig. 6.
In the process using motor driver, when the operating voltage of motor is too high, powerful electric current may motor damage, during brownout, also can cause motor tired fall, stall, thus produce the overcurrent being several times as much as rated current, burn out motor.Given this; the motor driver that the present embodiment provides also is provided with the overvoltage crowbar 112 be electrically connected with control chip 101; overvoltage crowbar 112 is for detecting the voltage of the electric power loop electric current of motor; can automatic cut-off power when the value range of voltage higher or lower than setting; play the effect of protection, the circuit structure of overvoltage crowbar 112 consults Fig. 7.
In addition; when the working temperature of motor is too high; also may occur that the situation burning out motor occurs; Given this; the motor driver that the present embodiment provides also is provided with the temperature protection circuit 113 be electrically connected with control chip 101, when circuit temperature is too high, and automatically starting power-off; avoid motor to be burnt, the circuit structure of temperature protection circuit 113 consults Fig. 8.
In the present embodiment, the implementation of overvoltage crowbar 112 and temperature protection circuit 113 is prior art, therefore no longer describes in detail.
Further, control motor for convenience, the present embodiment provides motor driver also on control chip 101, to arrange external input/output interface 115, arranges external input/output interface 115, can be used for external warning device and limit switch etc.
In description of the present utility model, also it should be noted that, unless otherwise clearly defined and limited, term " setting ", " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition the concrete meaning of above-mentioned term in the utility model can be understood.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection range of the present utility model.
Claims (10)
1. a motor driver, for drive motors, it is characterized in that, comprising: control chip and the repeat circuit, power supply circuits, position probing encoder, H-bridge drive circuit, current sampling circuit, pulse direction circuit, encoder output circuit and the braking circuit that are electrically connected with described control chip respectively;
Described control chip is provided with the host computer interface for being connected with host computer and the bus interface for being connected with other motor driver by bus;
Described repeat circuit for the control command that forwards host computer and send to other motor driver described.
2. motor driver according to claim 1, it is characterized in that, described repeat circuit comprises forwarding control chip and four sides push pass aside, the data transmission pin of described forwarding control chip connects an input pin of described control chip by the first resistance (R97), the data receiver pin of described forwarding control chip connects another output pin of described control chip by the second resistance (R70), the 7th terminal that high level pin and described four sides of described forwarding control chip push pass aside is connected, the 8th terminal that the low level pin of described forwarding control chip pushes pass aside by the 3rd resistance (R69) and described four sides is connected.
3. motor driver according to claim 1, is characterized in that, also comprises overvoltage crowbar, and described overvoltage crowbar is electrically connected with described control chip.
4. motor driver according to claim 1, is characterized in that, also comprises temperature protection circuit, and described temperature protection circuit is electrically connected with described control chip.
5. motor driver according to claim 1, is characterized in that, described host computer interface comprise in CAN communication interface, RS232 interface, USB interface, SPI interface, Centronics interface one or more.
6. motor driver according to claim 1, is characterized in that, described bus interface is one or more in Ethercat interface, CAN interface, 485 interfaces.
7., according to the arbitrary described motor driver of claim 1-6, it is characterized in that, also comprise firmware downloads circuit, described firmware downloads circuit is electrically connected with described control chip.
8. motor driver according to claim 7, is characterized in that, described position probing encoder is absolute value encoder or incremental encoder.
9. motor driver according to claim 7, is characterized in that, described control chip is also provided with external input/output interface.
10. motor driver according to claim 7, is characterized in that, described control chip is ARMSTM103FRBT6 chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520858841.6U CN205105136U (en) | 2015-10-30 | 2015-10-30 | Motor drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520858841.6U CN205105136U (en) | 2015-10-30 | 2015-10-30 | Motor drive |
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| CN205105136U true CN205105136U (en) | 2016-03-23 |
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| CN201520858841.6U Active CN205105136U (en) | 2015-10-30 | 2015-10-30 | Motor drive |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107463132A (en) * | 2017-08-23 | 2017-12-12 | 苏州博牛电气有限公司 | A kind of servo motor drive controller of a variety of rotor-position feedback devices of compatibility |
| CN109861593A (en) * | 2018-12-28 | 2019-06-07 | 诺鑫（南通）医疗技术有限公司 | A kind of hollow-cup motor control method |
| WO2020057505A1 (en) * | 2018-09-17 | 2020-03-26 | Chinaleadshine Technology Co., Ltd. | A stepper motor driver with brake drive, driver device and automation device |
| WO2020057507A1 (en) * | 2018-09-17 | 2020-03-26 | Chinaleadshine Technology Co., Ltd. | Closed-loop stepper motor control system, drive device and automation device. |
| CN113157612A (en) * | 2020-01-22 | 2021-07-23 | 海信视像科技股份有限公司 | Interface adapting circuit and display device |
-
2015
- 2015-10-30 CN CN201520858841.6U patent/CN205105136U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107463132A (en) * | 2017-08-23 | 2017-12-12 | 苏州博牛电气有限公司 | A kind of servo motor drive controller of a variety of rotor-position feedback devices of compatibility |
| CN107463132B (en) * | 2017-08-23 | 2024-04-23 | 苏州博牛电气有限公司 | Servo motor driving controller compatible with multiple rotor position feedback devices |
| WO2020057505A1 (en) * | 2018-09-17 | 2020-03-26 | Chinaleadshine Technology Co., Ltd. | A stepper motor driver with brake drive, driver device and automation device |
| WO2020057507A1 (en) * | 2018-09-17 | 2020-03-26 | Chinaleadshine Technology Co., Ltd. | Closed-loop stepper motor control system, drive device and automation device. |
| US20210320600A1 (en) * | 2018-09-17 | 2021-10-14 | China Leadshine Technology Co., Ltd. | Stepper Motor Driver With Brake Drive, Driver Device And Automation Device |
| US11463031B2 (en) | 2018-09-17 | 2022-10-04 | China Leadshine Technology Co., Ltd. | Closed-loop stepper motor control system, drive device and automation device |
| CN109861593A (en) * | 2018-12-28 | 2019-06-07 | 诺鑫（南通）医疗技术有限公司 | A kind of hollow-cup motor control method |
| CN113157612A (en) * | 2020-01-22 | 2021-07-23 | 海信视像科技股份有限公司 | Interface adapting circuit and display device |
| CN113157612B (en) * | 2020-01-22 | 2022-12-13 | 海信视像科技股份有限公司 | Interface adapting circuit and display device |
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Effective date of registration: 20170227 Address after: 518000 Baoan District, Shenzhen, Xin'an street, Baoan District, Baoan, the new generation of information technology industry park, block C, building 215, No. 216,, 218, two Patentee after: Shenzhen Jiayu electromechanical Co. Ltd. Address before: 518054 Nanshan District, Guangdong, Guangxi Temple Road South, South East Avenue, the glory of the new century home A block,, 703 Patentee before: SHENZHEN JOIN-MOTION TECHNOLOGY CO., LTD. |