CN205679961U - A kind of electric machine controller and electric system and the joint using this electric system - Google Patents
A kind of electric machine controller and electric system and the joint using this electric system Download PDFInfo
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- CN205679961U CN205679961U CN201620616017.4U CN201620616017U CN205679961U CN 205679961 U CN205679961 U CN 205679961U CN 201620616017 U CN201620616017 U CN 201620616017U CN 205679961 U CN205679961 U CN 205679961U
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Abstract
The utility model relates to a kind of electric machine controller and electric system and the joint using this electric system, wherein, described electric machine controller, comprising: fpga chip；CPU, described CPU burning is in described fpga chip；Electric machine control system, described electric machine control system is realized by hardware program language, and burning is in described fpga chip, and is connected with CPU to control motor；Motor signal acquisition system, described motor signal acquisition system is realized by hardware program language, and burning is in described fpga chip, and is connected with CPU to receive motor signal.Described electric machine controller functional module can be programmed realizing as required；The extension of interface and reduced cost are low；Physical pins can arbitrary disposition, interface position flexibility is high, it is simple to wiring；Board area can be reduced by built-in for substantial amounts of external circuit, thus realize the electromechanical integration of height.
Description
Technical field
The utility model belongs to robot control field, particularly to a kind of electric machine controller and electric system and make
With the joint of this electric system.
Background technology
Joint is the elementary cell of mechanical arm, and the control to mechanical arm depends on the control to joint.Under normal circumstances, close
Joint is it suffices that require as follows:
(1) needing the embedded controller with polytype interface on joint, described interface at least needs multiple format, many
Planting function, even needing the sensor interface of customization function, motor drives the communication bus interface of interface and high speed.
But in prior art, on controller, the usual quantity of interface, position and function are all fixing, if on meeting
State requirement, then need substantial amounts of peripheral circuit to realize that interface is expanded or functions expanding, in addition it is also necessary to use software to realize fixed
The interface of function processed, in addition it is also necessary to substantial amounts of software algorithm goes to realize signal transacting.
This can cause peripheral circuit cost to increase, and material and maintenance cost increase；CPU loss is excessive, signal transmission cycle
Long, low to the control accuracy in joint；For different configuration of joint, it is impossible to realize Rapid transplant, development cost is high.
(2) volume of this controller is little as far as possible, in order to be embedded in joint, and this is conducive to reducing mechanical arm
Volume, improves its integrated level.
But, peripheral circuit area of the prior art is excessive, causes controller to reduce, it is impossible to realize the machine of height
Electrical integrated.
In sum, interface position, the quantity of existing controller is fixed with function.
Utility model content
The purpose of this utility model is to solve interface position, quantity and fixing the asking of function of prior art middle controller
Topic.
For achieving the above object, the utility model provides a kind of electric machine controller, comprising:
Fpga chip；
CPU, described CPU burning is in described fpga chip；
Electric machine control system, described electric machine control system is realized by hardware program language, and burning is in described FPGA core
Piece, and be connected with CPU to control motor；
Motor signal acquisition system, described motor signal acquisition system is realized by hardware program language, and burning is in institute
State fpga chip, and be connected to receive motor signal with CPU.
Further, described fpga chip uses ALTERA EP3C family chip.
Further, described CPU is NIOS II microprocessor.
Further, electric machine control system includes:
Motor drive module, described motor drive module connects described CPU, is used for receiving described cpu instruction to drive electricity
Machine, and gather motor rotor position；
Motor braking module, described motor braking module connects described CPU, is used for receiving described cpu instruction to brake electricity
Machine.
Further, motor drive module includes:
PWM generator, is used for sending control signal to drive motor；
Hall signal collector, is used for gathering motor rotor position.
Further, motor signal acquisition system includes:
Torque sensor receiver module, described torque sensor receiver module connects described CPU, for passing moment information
It is defeated by described CPU, and receive the instruction that described CPU issues；
Position receiver module, described position receiver module connects described CPU, for positional information is transferred to described CPU,
And receive the instruction that described CPU issues；
Current acquisition module, described current acquisition module connects described CPU, for current information is transferred to described CPU,
And receive the instruction that described CPU issues.
Further, position receiver module includes:
Photoelectric encoder receiver module, for receiving the absolute location information of motor；
Magnetic coder receiver module, for receiving the relative position information of motor.
Further, also include:
Upper strata communication module, described upper strata communication module is realized by hardware program language, and burning is in described FPGA core
Piece, described upper strata communication module connects described CPU, is used for transmitting top level control device command information to described CPU, and receives described
CPU feedack.
Further, described fpga chip is additionally provided with On Chip RAM, PIO and JTAG.
Compared with prior art, the technical program has the advantage that
The electric machine controller of the technical program uses fpga chip, and the method for programming can be used to realize functional module,
And build corresponding external interface.Theoretically, as long as the pin of chip and internal logical resource are enough, it is possible to according to need
It is programmed to realize required functional module and external interface.Which overcome the number of ports of prior art middle controller
The fixing problem of amount, position, function；The electric machine controller functional module of the technical program can be programmed realizing as required；
The extension of interface and reduced cost are low；Physical pins can arbitrary disposition, interface position flexibility is high, it is simple to wiring；Can be by greatly
The external circuit of amount is built-in, reduces board area, thus realizes the electromechanical integration of height.
Further, functional module can be realized by hardware program language, and the programming of described hardware language can realize to letter
Number hardware handles, its processing mode is parallel mode, and speed is fast.
The utility model also provides a kind of electric system, comprising:
Above-mentioned electric machine controller；
Motor, described motor is connected with described electric machine control system and motor signal acquisition system.
Further, also include:
Three-phase inverting circuit, motor is connected with PWM generator by three-phase inverting circuit, and described PWM generator is by control
The driving of three-phase inverting circuit processed control motor.
Further, also include:
Decelerator, described decelerator is connected with motor；
Band-type brake, described band-type brake is connected with decelerator and motor braking module.
Further, also include:
Magnetic coder, described magnetic coder is connected with motor and magnetic coder receiver module.
Further, also include:
Torque sensor, described torque sensor is connected with torque sensor receiver module, and passes through decelerator and motor
Connect.
Further, also include:
Absolute position transducer, described absolute position transducer is connected with motor by decelerator, to gather the exhausted of motor
To positional information；
Photoelectric encoder, described photoelectric encoder is connected with absolute position transducer and photoelectric encoder receiver module, institute
State photoelectric encoder to encode absolute location information, and the absolute location information transmission after coding is connect to photoelectric encoder
Receive module.
Compared with prior art, the technical program has the advantage that
The electric system of the technical program includes electric machine controller, and described electric machine controller uses fpga chip, can adopt
Realize functional module by the method for programming, and build corresponding external interface.Theoretically, if the pin of chip and inside
Logical resource enough, it is possible to be programmed as required to realize required functional module and external interface.This overcomes
The fixing problem of the interface quantity of prior art middle controller, position, function；The electric machine controller function mould of the technical program
Block can be programmed realizing as required；The extension of interface and reduced cost are low；Physical pins can arbitrary disposition, interface position spirit
Activity is high, it is simple to wiring；Board area can be reduced by built-in for substantial amounts of external circuit, thus realize the electromechanical of height
Change.
The utility model also provides a kind of joint, comprising: more than one above-mentioned electric system.
Compared with prior art, the technical program has the advantage that
The joint of the technical program includes electric system, and described electric system includes electric machine controller, and described motor controls
Device uses fpga chip, the method for programming can be used realizing functional module, and build corresponding external interface.In theory
Say, as long as the pin of chip and internal logical resource are enough, it is possible to be programmed as required to realize required function
Module and external interface.Which overcome the fixing problem of the interface quantity of prior art middle controller, position, function；This skill
The electric machine controller functional module of art scheme can be programmed realizing as required；The extension of interface and reduced cost are low；Physics
Pin can arbitrary disposition, interface position flexibility is high, it is simple to wiring；Board face can be reduced built-in for substantial amounts of external circuit
Long-pending, thus realize the electromechanical integration of height.
Brief description
Fig. 1 is the schematic diagram of electric machine controller in the utility model first embodiment；
Fig. 2 is the schematic diagram of electric system in the utility model the second embodiment.
(note: shown structure in accompanying drawing simply to illustrate that the signal of the utility model feature, be not intended to according to attached
Structure shown in figure.)
Detailed description of the invention
Understandable for enabling above-mentioned purpose of the present utility model, feature and advantage to become apparent from, below in conjunction with the accompanying drawings to this
The specific embodiment of utility model is described in detail.
First embodiment
Present embodiments provide a kind of electric machine controller.
With reference to Fig. 1, the electric machine controller of the present embodiment includes that fpga chip, CPU, electric machine control system and motor signal are adopted
Collecting system.
Described fpga chip can use the method for programming realizing functional module, and builds corresponding external interface.Reason
Say on Lun, as long as the pin of chip and internal logical resource are enough, it is possible to be programmed as required needed for realize
Functional module and external interface.
In the present embodiment, the method for programming can be hardware program language, such as VHDL language.Functional module uses hardware
Programming language realizes, can realize the hardware handles to signal, its processing mode is parallel mode, and speed is fast.
In the present embodiment, described fpga chip uses ALTERA EP3C family chip.
Described CPU is realized by hardware program language, and burning is in described fpga chip, in the present embodiment, and described CPU
For NIOS II microprocessor.
Described electric machine control system is realized by hardware program language, and burning is in described fpga chip, and is connected with CPU
To control motor.
With reference to Fig. 1, in the present embodiment, described electric machine control system includes motor drive module and motor braking module.
Described motor drive module connects described CPU, is used for receiving described cpu instruction driving motor, and gathers motor
Rotor-position.
In the present embodiment, motor drive module includes PWM generator and hall signal collector.
Described PWM generator is used for sending control signal to drive motor；Described hall signal collector is used for gathering electricity
Machine rotor position.
Described motor braking module connects described CPU, is used for receiving described cpu instruction with braking motor.
Described motor signal acquisition system is realized by hardware program language, and burning is in described fpga chip, and and CPU
Connect to receive motor signal.
In the present embodiment, motor signal acquisition system includes: torque sensor receiver module, position receiver module and electricity
Stream acquisition module.
Described torque sensor receiver module connects described CPU, is used for being transferred to moment information described CPU, and receives
The instruction that described CPU issues.
Described position receiver module connects described CPU, is used for being transferred to positional information described CPU, and receives described CPU
The instruction issued.
In the present embodiment, position receiver module includes photoelectric encoder receiver module and magnetic coder receiver module.
Described photoelectric encoder receiver module is for receiving the absolute location information of motor；Described magnetic coder receives mould
Block, for receiving the relative position information of motor.
Described current acquisition module connects described CPU, is used for being transferred to current information described CPU, and receives described CPU
The instruction issued.
In the present embodiment, described electric machine controller also includes upper strata communication module, and described upper strata communication module is by firmly
Part programming language realizes, and burning connects described CPU in described fpga chip, described upper strata communication module, is used for transmitting upper strata
Controller command information gives described CPU, and receives described CPU feedack.
In the present embodiment, described fpga chip is additionally provided with On Chip RAM, PIO and JTAG.
It is fixing that the electric machine controller of the present embodiment overcomes the interface quantity of prior art middle controller, position, function
Problem；Electric machine controller functional module can be programmed realizing as required；The extension of interface and reduced cost are low；Physical pins
Can arbitrary disposition, interface position flexibility is high, it is simple to wiring；Board area can be reduced built-in for substantial amounts of external circuit, from
And realize the electromechanical integration of height.
Second embodiment
Present embodiments provide a kind of electric system.
With reference to Fig. 2, the electric system of the present embodiment includes: the electric machine controller described in motor and first embodiment.Described
Motor is connected with electric machine control system and the motor signal acquisition system of described controller.
Described electric machine controller uses fpga chip, the method for programming can be used realizing functional module, and build
Corresponding external interface.Theoretically, as long as the pin of chip and internal logical resource are enough, it is possible to carry out as required
Programming is to realize required functional module and external interface.
With reference to Fig. 2, in the present embodiment, described electric system also includes: three-phase inverting circuit.
Described motor is connected with PWM generator by three-phase inverting circuit, and described PWM generator is by control three-phase inversion
The driving of circuit control motor.
When joint needs motion, described CPU sends driving instruction and controls to described PWM generator, described PWM generator
Three-phase inverting circuit makes motor drive, thus realizes the motion in joint.Motor activation bit is fed back to institute by described PWM generator
State CPU.
In the present embodiment, also include: decelerator and band-type brake.
Described decelerator is connected with motor.
Described band-type brake is connected with decelerator and motor braking module.
When joint needs braking, described CPU sends braking instruction to described motor braking module, described motor braking mould
Braking instruction is sent to described band-type brake and decelerator by block, is realized the braking of motor by band-type brake and decelerator.
In the present embodiment, also include magnetic coder.
Described magnetic coder is connected with motor and magnetic coder receiver module.
In the present embodiment, also include torque sensor.
Described torque sensor is connected with torque sensor receiver module, and is connected with motor by decelerator.
In the present embodiment, also include absolute position transducer and photoelectric encoder.
Described absolute position transducer is connected with motor by decelerator, to gather the absolute location information of motor.
Described photoelectric encoder is connected with absolute position transducer and photoelectric encoder receiver module, described photoelectric encoder
The absolute location information of absolute position transducer collection is encoded, and sends the absolute location information after coding to photoelectricity
Encoder receiver module.
The electric system of the technical program includes electric machine controller, overcome prior art middle controller interface quantity,
The fixing problem of position, function；The electric machine controller functional module of the technical program can be programmed realizing as required；Interface
Extension and reduced cost low；Physical pins can arbitrary disposition, interface position flexibility is high, it is simple to wiring；Can be by substantial amounts of
External circuit is built-in, reduces board area, thus realizes the electromechanical integration of height.
3rd embodiment
Present embodiments provide a kind of joint comprising the electric system described in more than one second embodiment, described
It is provided with described electric system in joint.
Described joint includes electric system, and described electric system includes described electric machine controller, and described electric machine controller is adopted
With fpga chip, the method for programming can be used realizing functional module, and build corresponding external interface.Theoretically, only
Pin and the internal logical resource of wanting chip are enough, it is possible to be programmed as required with realize required functional module and
External interface.Which overcome the fixing problem of the interface quantity of prior art middle controller, position, function；The technical program
Electric machine controller functional module can be programmed as required realize；The extension of interface and reduced cost are low；Physical pins can
Arbitrary disposition, interface position flexibility is high, it is simple to wiring；Board area can be reduced built-in for substantial amounts of external circuit, thus
Realize the electromechanical integration of height.
The above, preferred embodiment only of the present utility model, it is not intended to limit protection of the present utility model
Scope, all any modification, equivalent and improvement etc. made within spirit of the present utility model and principle, should be included in
Within protection domain of the present utility model.
Claims (10)
1. an electric machine controller, it is characterised in that include:
Fpga chip；
CPU, described CPU burning is in described fpga chip；
Electric machine control system, described electric machine control system is realized by hardware program language, and burning is in described fpga chip, and
It is connected with CPU to control motor；
Motor signal acquisition system, described motor signal acquisition system is realized by hardware program language, and burning is in described
Fpga chip, and be connected with CPU to receive motor signal.
2. electric machine controller according to claim 1, it is characterised in that electric machine control system includes:
Motor drive module, described motor drive module connects described CPU, is used for receiving described cpu instruction driving motor, and
Gather motor rotor position；
Motor braking module, described motor braking module connects described CPU, is used for receiving described cpu instruction with braking motor.
3. electric machine controller according to claim 2, it is characterised in that motor drive module includes:
PWM generator, is used for sending control signal to drive motor；
Hall signal collector, is used for gathering motor rotor position.
4. electric machine controller according to claim 1, it is characterised in that motor signal acquisition system includes:
Torque sensor receiver module, described torque sensor receiver module connects described CPU, for being transferred to moment information
Described CPU, and receive the instruction that described CPU issues；
Position receiver module, described position receiver module connects described CPU, is used for being transferred to positional information described CPU, and connects
Receive the instruction that described CPU issues；
Current acquisition module, described current acquisition module connects described CPU, is used for being transferred to current information described CPU, and connects
Receive the instruction that described CPU issues.
5. electric machine controller according to claim 4, it is characterised in that position receiver module includes:
Photoelectric encoder receiver module, for receiving the absolute location information of motor；
Magnetic coder receiver module, for receiving the relative position information of motor.
6. an electric system, it is characterised in that include:
Electric machine controller as described in claim 1-5 is arbitrary；
Motor, described motor is connected with described electric machine control system and motor signal acquisition system.
7. electric system according to claim 6, it is characterised in that also include:
Three-phase inverting circuit, motor is connected with PWM generator by three-phase inverting circuit, and described PWM generator is by control three
The driving of phase inverter circuit control motor.
8. electric system according to claim 6, it is characterised in that also include:
Decelerator, described decelerator is connected with motor；
Band-type brake, described band-type brake is connected with decelerator and motor braking module.
9. electric system according to claim 8, it is characterised in that also include:
Torque sensor, described torque sensor is connected with torque sensor receiver module, and is connected with motor by decelerator.
10. a joint, it is characterised in that include:
The arbitrary described electric system of more than one claim 6-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620616017.4U CN205679961U (en) | 2016-06-21 | 2016-06-21 | A kind of electric machine controller and electric system and the joint using this electric system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620616017.4U CN205679961U (en) | 2016-06-21 | 2016-06-21 | A kind of electric machine controller and electric system and the joint using this electric system |
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| CN205679961U true CN205679961U (en) | 2016-11-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105911928A (en) * | 2016-06-21 | 2016-08-31 | 尔智机器人（上海）有限公司 | Electric motor controller, electric motor system and joint adopting electric motor system |
-
2016
- 2016-06-21 CN CN201620616017.4U patent/CN205679961U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105911928A (en) * | 2016-06-21 | 2016-08-31 | 尔智机器人（上海）有限公司 | Electric motor controller, electric motor system and joint adopting electric motor system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 200000 2 floor of building 13, 27 Jinqiao Road, Pudong New Area Free Trade Zone, Shanghai. Patentee after: Erzhi Robot (Zhuhai) Co., Ltd. Address before: 200000 2 floor of building 13, 27 Jinqiao Road, Pudong New Area Free Trade Zone, Shanghai. Patentee before: (Shanghai) Co., Ltd. Erzhi robot |
|
| CP01 | Change in the name or title of a patent holder |