CN205622559U

CN205622559U - Full cut -off ring step motor servo control system based on etherCAT

Info

Publication number: CN205622559U
Application number: CN201620359349.9U
Authority: CN
Inventors: 沈钢群
Original assignee: SHANGHAI ANPU MINGZHI AUTOMATION EQUIPMENT CO Ltd
Current assignee: SHANGHAI ANPU MINGZHI AUTOMATION EQUIPMENT CO Ltd
Priority date: 2016-04-26
Filing date: 2016-04-26
Publication date: 2016-10-05
Anticipated expiration: 2026-04-26

Abstract

The utility model relates to a full cut -off ring step motor servo control system based on etherCAT, including shared memory and respectively with shared memory is connected based on ARM's etherCAT communication subsystem and because DSP's motor drive full closed loop control subsystem. Compared with the prior art, the utility model has the advantages of low -cost, high communication speed, high accuracy, high performance, high reliability, full rate.

Description

Closed-loop motor servo-control system based on EtherCAT

Technical field

This utility model relates to a kind of motor servo-control system, especially relates to a kind of based on EtherCAT Closed-loop motor servo-control system.

Background technology

At present, industry spot is more and more frequent for the demand of fieldbus, and function and performance for bus are also wanted Ask more and more higher.

Traditional industrial field bus, such as buses such as RS485, CAN, speed is low, and data transfers is little, special Not being more to need to reduce speed to realize the reliability of transmission when long-distance transmissions, no person needs additionally to increase Repeater reduces the decay of signal, thus improves speed, but increases wiring difficulty and loaded down with trivial details simultaneously, and increases into This.It addition, traditional industrial real time ethernet protocol Modbus/TCP, EtherNet/IP etc., due to unmodified Ethernet protocol also realizes communication by Software Protocol Stack, and the packing of packet and parsing inevitably result in certain meaning Time delay in justice, so also failing to the real-time reached truly.

It addition, fieldbus action actuating mechanism based on high-performance two-forty, great majority drive for AC servo at present Dynamic device, but in some application scenario, such as measuring instrument, engraving machine, carpenter's processing etc., need low-power high-torque, In high precision, and multi-shaft interlocked and multi-axis synchronized control equipment, if using servosystem, then need to be equipped with and slow down Devices etc., considerably increase cost.

Utility model content

Defect that the purpose of this utility model is contemplated to overcome above-mentioned prior art to exist and provide a kind of based on The closed-loop motor servo-control system of EtherCAT, based on the response time hard real-time industrial less than 1ms Ethernet EtherCAT real-time industrial ethernet fieldbus, uses high-precision encoder position feedback, is equipped with the Two encoder input interfaces, it is achieved low cost truly, high traffic rate, in high precision, high-performance, height Reliability, the closed-loop stepping servo of full rate control drive system.

The purpose of this utility model can be achieved through the following technical solutions:

A kind of closed-loop motor servo-control system based on EtherCAT, this system and EtherCAT master Stand communication connection, it is characterised in that described control system include shared drive and respectively with shared Memory linkage EtherCAT communication subsystem based on ARM and motor based on DSP drive full closed loop control subsystem.

Described EtherCAT communication subsystem based on ARM includes the EtherCAT communication mould being sequentially connected with Block and EtherCAT application layer protocol module, described EtherCAT communication module and EtherCAT master station communication Connecting, described EtherCAT application layer protocol module drives full closed loop control subsystem to be connected with motor.

Described EtherCAT communication module is provided with the DC synchronous signal output end for realizing multi-axis synchronized control.

Described motor based on DSP drives full closed loop control subsystem to include, and motor controls to drive module, power Amplifier module, motor module and detection and feedback module, described motor controls to drive module, merit Rate amplifier module, motor module are sequentially connected with, described detection and feedback module respectively with motor mould Block, motor control to drive module to connect.

Described motor module is provided with the encoder for reflecting motor position information.

Compared with prior art, this utility model has the advantage that

1) traffic rate is high, and based on EtherCAT communication bus, the transmitting-receiving speed of data is fast, and high effectively；

2) wiring is the simplest, supports various network topology structure, and wiring is simple, almost without distance limit；

3) multi-axial Simultaneous is high, and the synchronizing signal output of EtherCAT can realize the most much higher axle synchronicity；

4) in high precision, high responsiveness energy, be equipped with high-precision encoder position signal parts, use closed loop or Closed-loop control system, can reach the highest positioning precision and high responsiveness energy；

5) the motor temperature rise low life-span is long, and motor uses servo control technique, dynamic according to load information in real time Adjustment current of electric exports, such that it is able to realize the low-temperature-rise of motor, lengthens the life-span of motor；

6) low-speed and large-torque, driving body is motor, relative to servo electrical machinery system, has at low speed itself High-torque characteristic.It addition, native system servo control algorithm, in the case of boost, expanded motor overload capacity, Realize the output of high-torque in short-term.

Accompanying drawing explanation

Fig. 1 is structural representation of the present utility model；

Fig. 2 is the structural representation that this utility model is detailed.

Wherein 1 is EtherCAT communication subsystem based on ARM, and 2 is that motor based on DSP driving is fully closed Ring controls subsystem, and 3 is shared drive, and 4 is EtherCAT main website, and 5 is mechanical system actuator, and 11 are EtherCAT communication module, 12 is EtherCAT application layer protocol module, 21 motors control driving modules, 22 For power amplifier module, 23 is motor module, and 24 is detection and feedback module.

Detailed description of the invention

Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is entered Row clearly and completely describes, it is clear that described embodiment is a part of embodiment of the present utility model, and not It is whole embodiments.Based on the embodiment in this utility model, those of ordinary skill in the art are not making creation Property work on the premise of the every other embodiment that obtained, all should belong to the scope of this utility model protection.

Embodiment

As it is shown in figure 1, a kind of closed-loop motor servo-control system based on EtherCAT, this system with EtherCAT main website 4 communicates to connect, described control system include shared drive 3 and respectively with shared drive The EtherCAT communication subsystem 1 based on ARM connected and motor based on DSP drive full closed loop control System 2；

Described EtherCAT communication subsystem 1 based on ARM receives the data of EtherCAT main website, and presses According to application layer protocol resolve command, it is sent to motor and drives full closed loop control subsystem, or drive fully closed from motor Ring controls to obtain in subsystem motor status information, and is packaged into EtherCAT communications data frame and is transmitted back to EtherCAT main website；

Described motor based on DSP driving full closed loop control subsystem 2 detects in shared drive and passes through The control command of EtherCAT communication subsystem, according to the feedback information obtained the configuration combining user, closed loop Or Full-closed servo controls motor.Additionally, this subsystem also comprises I/O control module, system protection mould Block, such as excess temperature, crosses the abnormal protections such as stream, overvoltage.

As in figure 2 it is shown, what described EtherCAT communication subsystem 1 based on ARM included being sequentially connected with EtherCAT communication module 11 and EtherCAT application layer protocol module 12, described EtherCAT communication mould Block 11 communicates to connect with EtherCAT main website 4, described EtherCAT application layer protocol module and 12 motors Full closed loop control subsystem 2 is driven to connect；

Described EtherCAT communication module 11, sends for Frame based on EtherCAT agreement and receives, Configure according to agreement regulation and user, process and resolve corresponding data block, and store to corresponding to communication module Stored memory；

Described EtherCAT application layer protocol module 12, from the stored memory of EtherCAT communication module, Obtain data, according to different input definition, process operation and the data of EtherCAT state of communication protocols machine The parsing of bag and packing, and on this basis, process user application layer protocol package.

The DC synchronizing signal that described EtherCAT communication module 11 is provided with for realizing multi-axis synchronized control is defeated Go out end.

Described motor based on DSP drive full closed loop control subsystem 2 include motor control to drive module 21, Power amplifier module 22, motor module 23 and detection and feedback module 24, described motor controls Module 21, power amplifier module 22, motor module 23 is driven to be sequentially connected with, described detection and feedback Module 24 controls to drive module 23 to be connected with motor module 21, motor respectively；

Described motor control to drive module 21 according to motor position information, current of electric feedback information, drive defeated Enter information of voltage, in conjunction with user's reference command by EtherCAT communication subsystem, calculate output in real time and control Signal；If user's configuration enables full closed loop control pattern, the most also need to input the position letter of mechanical system actuator Breath, full closed loop control input control signal.

Motor is controlled to drive the control signal of module input to be amplified by described power amplifier module 22, and Input is to motor module；

Described motor module 23 according to power amplifier output signal, control the new position of motor； Motor comprises 2 phases, 3 phases and 5 phase motors.

Described detection and feedback module 24 detect the current and voltage signals of motor, positional information and actuator position Confidence ceases, and calculates the speed of motor, position or the position of actuator, feeds back to motor and controls to drive module.

This utility model system uses double-nuclear DSP/ARM framework, communication system and drive system independent different Platform runs, and DSP carries out closed loop motor control, and ARM core does EtherCAT communication system, by sharing Internal memory form carries out data interaction.Can also use DSP+ARM dual processor framework, same DSP is electricity Machine controls, and ARM core can do EtherCAT communication system.The framework that native system is used includes but does not limits In this design, other such as monokaryon system authority also among this utility model protection.

The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility model not office Being limited to this, any those familiar with the art, can be easily in the technical scope that this utility model discloses Expect amendment or the replacement of various equivalence, these amendment or replace all should contain protection domain of the present utility model it In.Therefore, protection domain of the present utility model should be as the criterion with scope of the claims.

Claims

1. a closed-loop motor servo-control system based on EtherCAT, this system and EtherCAT Master station communication connects, it is characterised in that described control system includes shared drive and connects with shared drive respectively The EtherCAT communication subsystem based on ARM connect and motor based on DSP drive full closed loop control subsystem.

A kind of closed-loop of based on EtherCAT the most according to claim 1 motor SERVO CONTROL system System, it is characterised in that described EtherCAT communication subsystem based on ARM includes being sequentially connected with EtherCAT communication module and EtherCAT application layer protocol module, described EtherCAT communication module with EtherCAT master station communication connects, and described EtherCAT application layer protocol module drives full closed loop control with motor Subsystem connects.

A kind of closed-loop of based on EtherCAT the most according to claim 2 motor SERVO CONTROL system System, it is characterised in that it is same that described EtherCAT communication module is provided with the DC for realizing multi-axis synchronized control Step signal output part.

A kind of closed-loop of based on EtherCAT the most according to claim 1 motor SERVO CONTROL system System, it is characterised in that described motor based on DSP driving full closed loop control subsystem includes that motor controls to drive Dynamic model block, power amplifier module, motor module and detection and feedback module, described motor controls Driving module, power amplifier module, motor module to be sequentially connected with, described detection is with feedback module respectively Control to drive module to be connected with motor module, motor.

A kind of closed-loop of based on EtherCAT the most according to claim 4 motor SERVO CONTROL system System, it is characterised in that be provided with the encoder for reflecting motor position information in described motor module.