CN205883108U - Anti impact load's servo controller - Google Patents
Anti impact load's servo controller Download PDFInfo
- Publication number
- CN205883108U CN205883108U CN201620881979.2U CN201620881979U CN205883108U CN 205883108 U CN205883108 U CN 205883108U CN 201620881979 U CN201620881979 U CN 201620881979U CN 205883108 U CN205883108 U CN 205883108U
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- module
- signal processing
- digital signal
- processing module
- servo controller
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Abstract
The utility model discloses an anti impact load's servo controller, including digital signal processing module, digital signal processing module and input module are connected, and digital signal processing module still is connected with electrical resolver, and electrical resolver and actuating mechanism are connected, and digital signal processing module and storage module are connected, and digital signal processing module still is connected with digital signal processing module 0, storage module takes EEPROM for E2PROM, electrical resolver becomes digital converter for AU6802 tracking formula soon. The device crawl work in the twinkling of an eye, continuous operation in short -term, the anti impact load disturbance in aspects such as empty load and load ability reinforce can satisfy certain and equip the requirement of actual measurement index, satisfies certain equipment system's operation requirement.
Description
Technical field
This utility model belongs to resistance to shock loads technical field, relates to the servo controller of a kind of resistance to shock loads.
Background technology
At present, existing servo controller system is made up of servo controller and actuator motor etc..It is mostly used for
Traditional plant equipment, in Digit Control Machine Tool, industrial robot, bonding machine, elevator, textile machine, various cutting machine；In reality
In running, loading the most stable, without impact anticlimax phenomenon, without weight shock loading, its dynamic characteristic and static characteristic are basic
Meet plant equipment requirement.
But for the active force actuator of certain change system, in driving-chain, operating mode is extremely complex, load has heavily to be impacted
The characteristic of load so that generic servo controller can not meet its performance requirement, dynamically landing is serious, and recovery time is long.
Utility model content
The purpose of this utility model is the shortcoming overcoming above-mentioned prior art, it is provided that the servo control of a kind of resistance to shock loads
Device processed.The work of this device moment crawl, working the most continuously, the aspect resistance to shock loads disturbance ability such as unloaded and loading is strong, energy
Enough meet certain equipment actual measurement index request, meet the use requirement of certain change system.
The purpose of this utility model solves by the following technical programs:
The servo controller of this resistance to shock loads, including digital signal processing module, digital signal processing module is with defeated
Entering module to connect, digital signal processing module is also connected with rotary transformer, and rotary transformer is connected with actuator, numeral letter
Number processing module is connected with memory module, and digital signal processing module is also connected with power module；Described memory module is
E2PROM band EEPROM (Electrically Erasable Programmable Read Only Memo)；Described rotary transformer is that the rotation of AU6802 tracking mode becomes digital converter.
Further, feature of the present utility model also resides in:
Wherein it is provided with inversion module between digital signal processing module and input module.
Wherein inversion module be model be the SPM of PM600DV1A060.
Wherein between inversion module and digital signal processing module, parallel join has drive circuit module and electricity flow control module
Block.
Wherein current control module uses magnetic balance type Hall current feedback, and the corresponding speed of current control module is 1us.
Wherein actuator is AC servo motor.
Wherein AC servo motor every phase winding back-emf is sinusoidal wave.
Wherein memory module is connected with pulse interface, and memory module is also connected with control interface.
Wherein controlling interface is that I/O controls interface.
Wherein digital signal processing module is connected with host computer device by communication interface.
The beneficial effects of the utility model are: E2PROM composition peripheral hardware circuit be responsible for variable parameter process and
Complete exterior I/O signal management, the function such as P-pulse command signal processes, the process of fault-signal；AU6802 is capable of
The digitized that motor position signal is monitored in real time, and the resolution of AU6802 is available for user and selects, for different tracking speed
Degree, optional different resolution, it is possible to ensure stability and the susceptiveness of signal.
Further, using PM600DV1A060 as inversion module, this device is hybrid integrated power device, by having
Igbt chip and Drive Protecting Circuit thereof by current sense function form；Wherein Drive Protecting Circuit is overheated, short-circuit and deficient
Pressure locking protection circuit, improves the reliability of controller.
Further, current control module uses magnetic balance type Hall current feedback, and corresponding speed is 1us, its output
Form is current signal, is converted into voltage signal through resistance, it is achieved that the isolation of strong and weak electricity；Current control module is by rationally
Current sample opportunity is set, it is possible to eliminate the switching noise of power tube.
Further, AC servo motor, and AC servo motor every phase winding back-emf and input current are used
Waveform is all sinusoidal wave, and phase current and winding back emf phase, moment and sinusoidal magnitude are proportional；Every sinusoidal mutually
The frequency of ripple back-emf and phase current is determined by rotor speed, detects that rotor is relative to fixed by rotor-position sensor
The absolute position of son, and produce sinusoidal wave phase current, make this electric current keep homophase with this opposite potential.
Accompanying drawing explanation
Fig. 1 is schematic block circuit diagram of the present utility model.
Wherein: 1 is input module；2 is conversion module；3 is storage and interface module；4 is power module；5 connect for pulse
Mouthful；6 drive circuit modules；7 is inversion module；8 is actuator；9 is current control module；10 is rotary transformer；11 are
Digital signal processing module；12 is communication interface；13 is host computer device；14 for controlling interface；15 is analog interface.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in further detail:
The servo controller of a kind of resistance to shock loads of this utility model, as it is shown in figure 1, include digital signal processing module
11, digital signal processing module 11 can complete the servo control task that requirement of real-time is high, this task include electric current, speed and
The control of three the digital regulated rings in position and regulation, and pwm signal generation etc.；Digital signal processing module 11 use 12 high
Speed A/D chip is to current sample；Digital signal processing module 11 is connected with input module 1, and input module 1 provides input current,
And power module 4 is connected with input module 1；It is provided with inversion module between input module 1 and digital signal processing module 11
7, inversion module 7 is the SPM of PM600DV1A060 for model, and this device is hybrid integrated power device, by having
The igbt chip of current sense function and Drive Protecting Circuit composition thereof, it is overheated, short-circuit and under-voltage that this Drive Protecting Circuit includes
Locking protection circuit.
Also it is arranged in parallel drive circuit module 6 between inversion module 7 and digital signal processing module 11 and electric current has controlled
Module 9；Wherein drive circuit module 6 is the drive circuit driving actuator 8；Wherein current control module 9 uses magnetic balance
Formula Hall current feeds back, and its corresponding speed is 1us, and output form is current signal, and current signal is converted into through resistance
Voltage signal, it is achieved that the isolation of strong and weak electricity；And by hardware filtering and control module 9 rationally arrange current sample time
Machine, it is possible to filter the switching noise of power tube；Wherein inversion module 7 is also connected with actuator 8, and actuator 8 is watched for exchange
Taking motor, every phase winding back-emf of AC servo motor and input current waveform are all sinusoidal wave, and phase current and motor are the most electric
Gesture phase, moment and sinusoidal magnitude are proportional；The frequency of every sinusoidal wave back-emf and phase current mutually is by rotor
Rotating speed determines, detects the rotor absolute position relative to stator by rotor-position sensor, servo-driver forces
Produce sinusoidal wave phase current, and make this electric current and this opposite potential strictly keep homophase.
Being provided with rotary transformer 10 between actuator 8 and digital signal processing module 11, rotary transformer 10 is
The rotation of AU6802 tracking mode becomes digital converter, and this device is capable of the digitized that motor position signal detects in real time, and should
The resolution of device is available for user and selects, for different tracking velocities, optional different resolution.Can by parameter configuration
Ensure stability and the susceptiveness of signal.
Digital signal processing module 11 is also connected with storage and interface module 3, and storage and interface module 3 are E2PROM is charged
Erarable Programmable Read only Memory, storage and interface module 3 are responsible for variable parameter and are processed, complete exterior I/O signal management, position
Put pulse command signal process, the function such as the process of fault-signal；Storage and interface module 3 are also connected with control interface 14, control
Interface 14 processed controls interface for I/O；Storage and interface module 3 are also connected with pulse interface 5.
Digital signal processing module 11 is also connected with communication interface 12, and communication interface 12 is connected with host computer device 13, on
Position machine 13 is upper PC.
Workflow of the present utility model is: host computer device 13 passes through communication interface 12 to digital signal processing module 11
Carrying out data exchange, the exchange of these data includes that parameter is uploaded, instructed lower dress, working order shows, COM1 is arranged, revolve change zero
The position data message such as adjustment, driver I/O mouth state, malfunction coefficient mutual；And this servo controller uses standard
RS422 electrical communication agreement.Digital signal processing module 11 can be carried out self-inspection by the communication protocol of agreement, speed sets
Put, enable setting, and utilize I/O mouth that its operation is controlled.
In this utility model, current control module 9 is linear current controller.AC servo motor feedback current and reference
Electric current compares, and errors signal, after PI regulates, uses SVPWM mode to export PWM waveform, controls current of electric and follows finger
Make electric current.During low speed, owing to winding back emf is less, the integral action regulated by PI can the interference of basic neutralisation back-emf,
Thus total current controling characteristic is good.During high speed, due to the interference of winding back emf so that applied voltage and the difference of electromotive force
Value reduces, and current changing rate reduces, and will appear from obvious amplitude, phase deviation between actual current and given electric current.When motor turns
When speed is the highest, actual current is difficult to follow the tracks of given electric current.In order to improve the dynamic following performance of electric current loop, before system stability
Put, the rate mu-factor of electric current loop should be improved as far as possible, reduce integration time constant, to reduce the back-emf shadow to this link
Ring.In certain change system, it is desirable to there is the strongest resistance to shock loads disturbance ability, there is during high speed the strongest overload capacity,
Therefore PWM cycle and special current regulation control algorithm must be adjusted.For the design of speed control, it is similarly benefit
Repay the hardware filtering of speed preset input signal, velocity feedback is provided with signal software filtering.Before system speed is stable
Put, the rate mu-factor of speed ring should be improved as far as possible, reduce integration time constant.
Claims (10)
1. the servo controller of a resistance to shock loads, it is characterised in that include digital signal processing module (11), digital signal
Processing module (11) is connected with input module (1), and digital signal processing module (11) is also connected with rotary transformer (10), rotates
Transformator (10) is connected with actuator (8), and digital signal processing module (11) is connected with storage and interface module (3), numeral
Signal processing module (11) is also connected with power module (4)；
Described storage and interface module (3) are E2PROM band EEPROM (Electrically Erasable Programmable Read Only Memo)；
Described rotary transformer (10) is that the rotation of AU6802 tracking mode becomes digital converter.
The servo controller of resistance to shock loads the most according to claim 1, it is characterised in that described Digital Signal Processing mould
Inversion module (7) it is provided with between block (11) and input module (1).
The servo controller of resistance to shock loads the most according to claim 2, it is characterised in that described inversion module (7) is
Model is the SPM of PM600DV1A060.
The servo controller of resistance to shock loads the most according to claim 2, it is characterised in that described inversion module (7) with
Between digital signal processing module (11), parallel join has drive circuit module (6) and current control module (9).
The servo controller of resistance to shock loads the most according to claim 4, it is characterised in that described current control module
(9) using magnetic balance type Hall current feedback, the corresponding speed of current control module (9) is 1us.
The servo controller of resistance to shock loads the most according to claim 1, it is characterised in that described actuator (8) is
AC servo motor.
The servo controller of resistance to shock loads the most according to claim 6, it is characterised in that described AC servo motor is every
Phase winding back-emf is sinusoidal wave.
The servo controller of resistance to shock loads the most according to claim 1, it is characterised in that described storage and interface module
(3) being connected with pulse interface (5), storage and interface module (3) are also connected with control interface (14).
The servo controller of resistance to shock loads the most according to claim 8, it is characterised in that described control interface (14) is
I/O controls interface.
10. according to the servo controller of the resistance to shock loads described in claim 1-9 any one, it is characterised in that described number
Word signal processing module (11) is connected with host computer device (13) by communication interface (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620881979.2U CN205883108U (en) | 2016-08-15 | 2016-08-15 | Anti impact load's servo controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620881979.2U CN205883108U (en) | 2016-08-15 | 2016-08-15 | Anti impact load's servo controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205883108U true CN205883108U (en) | 2017-01-11 |
Family
ID=57704296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620881979.2U Expired - Fee Related CN205883108U (en) | 2016-08-15 | 2016-08-15 | Anti impact load's servo controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205883108U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109317883A (en) * | 2018-11-29 | 2019-02-12 | 合肥常青机械股份有限公司 | A kind of ring disk-like accessory robot automation's welding system |
-
2016
- 2016-08-15 CN CN201620881979.2U patent/CN205883108U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109317883A (en) * | 2018-11-29 | 2019-02-12 | 合肥常青机械股份有限公司 | A kind of ring disk-like accessory robot automation's welding system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20180815 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |