CN205566144U - Many motors speed servo drive control structure - Google Patents

Many motors speed servo drive control structure Download PDF

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Publication number
CN205566144U
CN205566144U CN201620313984.3U CN201620313984U CN205566144U CN 205566144 U CN205566144 U CN 205566144U CN 201620313984 U CN201620313984 U CN 201620313984U CN 205566144 U CN205566144 U CN 205566144U
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CN
China
Prior art keywords
module
motor
fpga
bldcm
dsp
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201620313984.3U
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Chinese (zh)
Inventor
李鑫
戈宝军
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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Priority to CN201620313984.3U priority Critical patent/CN205566144U/en
Application granted granted Critical
Publication of CN205566144U publication Critical patent/CN205566144U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model provides a many motors speed servo drive control structure, the intelligent alarm device comprises a master control module, drive module, the BLDCM brushless DC motor module, wherein host system includes PSD and DSP and FPGA chip, drive module includes buffer circuit and power circuit, wherein host system and drive module are connected, drive module and BLDCM brushless DC motor module are connected, BLDCM brushless DC motor module and host system are connected, many motors speed servo drive control structure is constituteed jointly to these several modules, DSP follows speed detection value, current detection value that FPGA read the motor, and DSP issues the electric current loop numerical result and gives FPGA, fluctuate counter produced in electric current loop numerical result that FPGA issued DSP and the FPGA module triangular wave carries out producing after the comparison 12 way PWM signals. The utility model provides a to the problem of many electric machine controls in the industry, system simple structure has realized that the controller is miniaturized to can realize the speed servo control of many motor high accuracy.

Description

A kind of many motor speeds servo drive control structure
Technical field
The speed that this utility model relates in Industry Control multiple electric motors carries out accurate control field, a kind of many motor speeds servo drive control structure.
Background technology
Speed servo is one of important component part of servo-control system, is widely used in fields such as electric automobile, electric wheelchair and robots.In these areas, generally require and use multiple electric motors simultaneously, and there is the demand of synchronous velocity control.Traditional mode, it is all to use controller based on single microcontroller or single fixed-point dsp to control single motor, realized the Synchronization Control of speed between these controllers by bus communication, there are 2 deficiencies in it: 1. this system structure is complicated, and cost is high;2. controller is difficult to the complicated Speed servo control algorithm of multi-machine system.FPGA can substitute the logic circuit of complexity, PSD itself has that time response is fast and position resolution relatively advantages of higher, drives servo field to have wide application prospects at motor, and, use Floating-point DSP to facilitate implementation the control methods of complexity in controlling platform, complete high-precision Speed servo control.
Summary of the invention
This utility model purpose is to provide a kind of many motor speeds servo drive control structure, and to solve the problem in industry controlled multiple electric motors, system structure is simple, it is achieved that controller miniaturization, and is capable of multiple electric motors speed and accurately controls.
For reaching above-mentioned purpose, this utility model solves technical problem and be the technical scheme is that a kind of many motor speeds servo drive control structure, including main control module, drive module, BLDCM brshless DC motor module, wherein main control module includes field-programmable microcontroller peripheral chip (PSD) and DSP and fpga chip, module is driven to include isolating circuit and power circuit, wherein main control module is connected with driving module, main control module output PWM ripple, module is driven to be connected with BLDCM brshless DC motor module, BLDCM brshless DC motor module is connected with main control module by Hall element, these modules collectively constitute based on DSP and FPGA many motor speeds servo drive control.
Described main control module is the feature that dsp chip has high-performance, highly compatible, low-power consumption, easy exploiting, low-work voltage, the highly integrated algorithm of FPGA can realize the complicated Speed servo control algorithm of multi-machine system, and two chips are connected by bus can realize data sharing.
Described driving module includes power circuit, isolation circuit, current detection circuit, A/D change-over circuit, power circuit selects IRAMS10UP60B integrated power module, and select high speed photo coupling HCPL2531 to realize the isolation of pwm signal, Hall current sensor LTS6-NP detects bus current, and A/D selection 14,4 passages are sampled simultaneously, the AD7865AS-2 of parallel output.
Described BLDCM brshless DC motor module is a brshless DC motor, accepts the signal of drive circuit, and the hall signal of BLDCM brshless DC motor is finally passed to main control module by electric machine rotation.
Driving constructed by this utility model controls platform and can be good at completing 2 the even independence of multiple stage BLDCM or collaborative Speed servo control simultaneously.This solution simplifies the structure of rate servo system, reduce cost, and there is good function expansibility and the ability of the complicated Speed servo control realizing many motors.
This utility model advantage be following some: one, FPGA can substitute complexity logic circuit, at simplied system structure.Two, use PSD to connect Floating-point DSP and facilitate implementation the control algolithm of complexity, complete high-precision Speed servo control.Three, there is good function expansibility and realize the ability of complicated Speed servo control of many motors.
Accompanying drawing explanation
Accompanying drawing 1 is this utility model schematic diagram.
Detailed description of the invention
Specific structural features and implementation below in conjunction with accompanying drawing 1 many motor speed a kind of to this utility model servo drive control structure are described further with the effect reached.
Hardware elementary diagram a kind of many motor speeds servo drive control structure includes main control module, drive module, BLDCM brshless DC motor module, wherein main control module includes PSD and DSP and fpga chip, module is driven to include isolating circuit, power circuit, current detection circuit, A/D change-over circuit, wherein main control module is connected with driving module, main control module output PWM ripple, this waveshape signal is transferred to BLDCM brshless DC motor module through isolation circuit and power circuit, module is driven to be connected with BLDCM brshless DC motor module, the hall signal of BLDCM brshless DC motor is transferred to main control module, these modules collectively constitute many motor speeds servo drive control structure.
The function that master controller DSP undertakes is mainly the calculating of control algolithm, its program is divided into mastery routine and two parts of interrupt handling routine, motor speed ring PID and electric current loop PID is initialized by mastery routine, motor carries out in interrupt routine speed ring, electric current loop calculates and speed sync resume module, subsequent device is considered as the hardware device of system, Hall input signal feeding FPGA is carried out velocity measuring by BLDCM1 velocity measuring module and BLDCM2 velocity measuring module, then is read in from FPGA by DSP.
Module is there is in FPGA with PWM, triangular wave comparison method is used to produce PWM, the same triangular wave that the BLDCM electric current loop result of calculation issued by DSP and up-down counter in module produce produces 12 road pwm signals after comparing, when result of calculation is more than triangular wave numerical value, the Continuity signal of bridge power tube in output;When result of calculation is less than triangular wave numerical value, the shutdown signal of bridge power tube in output, the parameter that module occurs by changing PWM can change the chopping frequency of PWM easily, when closed between the midpoint of section be simultaneously load into the electric current loop result of calculation of motor, it is ensured that the synchronization of motor PWM signal.

Claims (1)

1. motor speed servo drive control structure more than a kind, it is characterized in that: include main control module, drive module, BLDCM brshless DC motor module, wherein main control module includes field-programmable microcontroller peripheral chip (PSD) and DSP and fpga chip, module is driven to include isolating circuit and power circuit, wherein main control module is connected with driving module, main control module output PWM ripple, module is driven to be connected with BLDCM brshless DC motor module, BLDCM brshless DC motor module is connected with main control module by Hall element, these modules collectively constitute many motor speeds servo drive control structure.
CN201620313984.3U 2016-04-15 2016-04-15 Many motors speed servo drive control structure Expired - Fee Related CN205566144U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620313984.3U CN205566144U (en) 2016-04-15 2016-04-15 Many motors speed servo drive control structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620313984.3U CN205566144U (en) 2016-04-15 2016-04-15 Many motors speed servo drive control structure

Publications (1)

Publication Number Publication Date
CN205566144U true CN205566144U (en) 2016-09-07

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CN201620313984.3U Expired - Fee Related CN205566144U (en) 2016-04-15 2016-04-15 Many motors speed servo drive control structure

Country Status (1)

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CN (1) CN205566144U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107748519A (en) * 2017-11-02 2018-03-02 中国航天科技集团公司烽火机械厂 A kind of driving control system and its controller used and control method
CN109980996A (en) * 2019-04-28 2019-07-05 大陆智源科技(北京)有限公司 Brushless DC motor drives integration system and driving method
WO2021016872A1 (en) * 2019-07-30 2021-02-04 深圳市大疆创新科技有限公司 Multi-motor driving method, electronic speed control, power system, unmanned aerial vehicle and storage medium
CN112350622A (en) * 2020-11-12 2021-02-09 北京卫星制造厂有限公司 Lunar soil drilling sampling load driven motor control system and method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107748519A (en) * 2017-11-02 2018-03-02 中国航天科技集团公司烽火机械厂 A kind of driving control system and its controller used and control method
CN109980996A (en) * 2019-04-28 2019-07-05 大陆智源科技(北京)有限公司 Brushless DC motor drives integration system and driving method
WO2021016872A1 (en) * 2019-07-30 2021-02-04 深圳市大疆创新科技有限公司 Multi-motor driving method, electronic speed control, power system, unmanned aerial vehicle and storage medium
CN112350622A (en) * 2020-11-12 2021-02-09 北京卫星制造厂有限公司 Lunar soil drilling sampling load driven motor control system and method

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160907

Termination date: 20170415

CF01 Termination of patent right due to non-payment of annual fee