CN206193479U - Special low pressure servo driver of AGV based on SOC framework - Google Patents
Special low pressure servo driver of AGV based on SOC framework Download PDFInfo
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- CN206193479U CN206193479U CN201621192237.5U CN201621192237U CN206193479U CN 206193479 U CN206193479 U CN 206193479U CN 201621192237 U CN201621192237 U CN 201621192237U CN 206193479 U CN206193479 U CN 206193479U
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Abstract
The utility model discloses a special low pressure servo driver of AGV based on SOC framework, including power module, procedure download module, LCD display module, SOC processor module, encoder interface module, IPM control module, servo motor module, memory module and RS communication module, SOC processor module comprises ARMA position loop speed ring, FPGA electric current loop, PWM and encoder interface. The utility model discloses a special low pressure servo driver of AGV based on SOC framework relies on the FPGA technique can realize that one drags four drive control, arrives AGV automobile body drive end with data transmission in real time through industrial bus moreover, the on -vehicle system of real time control, and in certain cycle, real -time and dispatch system communication makes dispatch system master the information of whole AGV automobile body in real time simultaneously. So not only greatly reduced AGV's production and research and development cost, moreover greatly reduced the space in the AGV car, make the miniaturized reality that becomes of AGV, simultaneously convenient and AGV servo drive system's debugging and maintenance.
Description
Technical field
The utility model is related to technical field of servo control, especially a kind of AGV Special low-voltage servos based on SOC frameworks
Driver.
Background technology
AGV is（Automated Guided Vehicle）Abbreviation, imply that " automatical pilot transportation vehicle ", refer to be equipped with
Electricity magnetically or optically waits homing guidance device, and it can be travelled along the guide path of regulation, with safeguard protection and various transfers
The transport vehicle of function, AGV belongs to wheeled mobile robot（WMR――Wheeled Mobile Robot）Category.
Servo-drive system, is to export position, orientation, state of object etc., can follow appointing for input quantity (or set-point)
The automatic control system that meaning changes and changes.And in automatic control system, can be with certain degree of accuracy responsive control signal
System be referred to as servomechanism, also known as servo-drive system.The main task of servo is, by the requirement of control command, power to be put
Greatly, the treatment such as conversion and regulation and control, torque, speed and the position control for exporting drive device obtains very flexible.
Existing AGV drive systems all constitute a control for wheel by a servo-driver with unification servomotor
System processed, such one 4 wheel AGV will need 4 servo-drivers to go to control 4 servomotors, not only increase in this case
AGV production costs have also occupied the inner space of a large amount of AGV cars, are AGV cars cannot be minimized, while debugging and maintenance AGV
Servo-drive system also becomes comparatively laborious.
The content of the invention
The purpose of this utility model is to provide a kind of AGV Special low-voltage servo-drivers based on SOC frameworks, to solve
The problem proposed in above-mentioned background technology.
To achieve the above object, the utility model provides following technical scheme：A kind of AGV based on SOC frameworks is special low
Pressure servo-driver, including power module, download program module, LCD display module, SOC processor modules, encoder interfaces mould
Block, IPM control modules, servomotor module, memory modules and RS communication modules, the output end of the power module are electrically connected with
On the input of SOC processor modules and encoder interfaces module, described program download module, LCD display module, internal memory mould
The output end of block and RS communication modules electrically controls to be connected with the input of SOC processor modules；The SOC processor modules
It is made up of ARMA position rings speed ring, FPGA electric current loops, PWM and encoder interfaces, the output end electricity of ARMA position ring speed rings
Property is connected on the input of FPGA electric current loops, and the output end of FPGA electric current loops is electrically connected on the input of PWM, PWM
Output end be electrically connected on the input of IPM control modules, the output end of IPM control modules is electrically connected at servo electricity
On the input of machine module, the output end of servomotor module is electrically connected on the input of encoder interfaces module, described
The output end of encoder interfaces module is electrically connected on the input of encoder interfaces.
As further program of the utility model：Power module is linked on professional transformer by vehicle power, transformation
Device conversion is output as 24V, ± 15, the different electrical power of 5V.
As further program of the utility model：LCD display module is 128 × 64 lattice display modules.
As further program of the utility model：Encoder interfaces module has four interfaces.
As further program of the utility model：IPM control modules have four interfaces.
As further program of the utility model：Servomotor module has four servomotors.
Compared with prior art, the utility model beneficial effect：
AGV Special low-voltage servo-drivers based on SOC frameworks of the present utility model, rely on FPGA technology to realize one
Four drive control is dragged, and transfers data to AGV car body drive ends in real time by industrial bus, the vehicle-mounted system of real-time control
System, while within certain cycle, being communicated with scheduling system in real time, makes scheduling system grasp the information of whole AGV car bodies in real time.
So production and the R＆D costs of AGV are not only greatly reduced, and greatly reduces the in-car spaces of AGV, make AGV small
Type becomes a reality, while convenient debugging and maintenance with AGV servo drive systems.
Brief description of the drawings
Fig. 1 is system architecture schematic diagram of the present utility model；
Fig. 2 is power module circuitry design drawing；
Fig. 3 is memory modules circuit design drawing；
Fig. 4 is download program Modular circuit design figure；
Fig. 5 is SOC module circuit design drawing；
Fig. 6 is RS232 communication interface modules circuit design drawings；
Fig. 7 is LCD display module circuit design drawing；
Fig. 8 is coder module circuit design drawing；
Fig. 9 is IPM Modular circuit design figures.
In figure：1- power modules；2- download program modules；3- LCD display modules；4- SOC processor modules；41-
ARMA9 position ring speed rings；42-FPGA electric current loops；43-PWM；44- encoder interfaces 43；5- encoder interfaces modules；6-
IPM control modules；7- servomotor modules；8- memory modules；9-RS232 communication modules.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Fig. 1 is referred to, in the utility model embodiment, a kind of AGV Special low-voltage servo-drivers based on SOC frameworks,
Including power module 1, download program module 2, LCD display module 3, SOC processor modules 4, the control of encoder interfaces module 5, IPM
Molding block 6, servomotor module 7, memory modules 8 and RS232 communication modules 9, the output end of power module 1 are electrically connected at
On the input of SOC processor modules 4 and encoder interfaces module 5, power module 1 is linked into professional transformer by vehicle power
On, and conversion is output as 24V, ± 15, the different electrical power of 5V, download program module 2, LCD display module 3, the and of memory modules 8
The output end of RS232 communication modules 9 is electrically controlled to be connected with the input of SOC processor modules 4, and download program module 2 is used
In program is downloaded into chip by J17 interfaces, LCD display module 3 is 128 × 64 lattice display modules, and for showing
Show system mode, memory modules 8 are used in the software actuating section and RAM data shifting value of SOC to memory system, RS232
Communication module 9 is used for the transmission of serial data and receives, and SOC processor modules 4 are by ARMA9 position rings speed ring 41, FPGA electricity
Stream ring 42, PWM43 and encoder interfaces 44 are constituted, and the output end of ARMA9 position rings speed ring 41 is electrically connected at FPGA electric currents
On the input of ring 42, the output end of FPGA electric current loops 42 is electrically connected on the input of PWM43, the output end electricity of PWM43
Property is connected on the input of IPM control modules 6, and the output end of IPM control modules 6 is electrically connected at servomotor module 7
On input, IPM control modules 6 have four interfaces, and IPM modules 6 are responsible for the switch module of control servomotor, servo electricity
The output end of machine module 7 is electrically connected on the input of encoder interfaces module 5, and servomotor module 7 has four servos
Motor, the output end of encoder interfaces module 5 is electrically connected on the input of encoder interfaces 44, encoder interfaces module 5
Four interfaces are had, and encoder interfaces module 8 is responsible for receiving the encoder retaking of a year or grade value sended over from servomotor, by whole
Individual value come determine servo rotation speed and position.AGV Special low-voltage servo-drives based on SOC frameworks of the present utility model
Device, relies on the technology of FPGA electric current loops 42 to realize that one drags four drive control, and in real time pass data by industrial bus
It is defeated to AGV car body drive ends, real-time control onboard system, while within certain cycle, being communicated with scheduling system in real time, makes tune
Degree system grasps the information of whole AGV car bodies in real time.So production and the R＆D costs of AGV are not only greatly reduced, and
And the in-car spaces of AGV are greatly reduced, minimize AGV and become a reality, while the convenient debugging with AGV servo drive systems
With maintenance.
In sum：AGV Special low-voltage servo-drivers based on SOC frameworks of the present utility model, with prior art phase
Than, traditional servo-driver can be completely replaced, and production cost will not be increased, while debugging and maintenance AGV servo-drive systems
Also it is more convenient to become.
Fig. 2 is referred to, is power module circuitry design drawing in the utility model embodiment, mainly connect vehicle power
Enter onto professional transformer, the need for transformer can be according to load, export 24V, ± 15V, 5V etc. multiple power sources signal.
Fig. 3 is referred to, is memory modules circuit design drawing in the utility model embodiment, mainly open the software of SOC
Dynamic part and RAM data shifting value in memory system, wherein M8.H1A1, A8, C1, C9, D2, E9, H2, H9, B2, D9, K2,
K8, N1, R1, R9 pin are the 1.5V voltages of input, and A0-A14 inputs are address bus, and DQ0-DQ15 is data/address bus,
CK, CKE, CS, RSA, CAS, WE etc. are controlling bus.
Fig. 4 is referred to, is download program Modular circuit design figure in the utility model embodiment, program is eventually through J17
Interface is downloaded in chip, and FT232HQ-TRAY chips therein are exactly and the rear end by the core devices in download program to IC
The 74LCX126BQX of access is a driving chip, is responsible for giving arch enough driving currents.
Fig. 5 is referred to, in the utility model embodiment, Fig. 5 is SOC module circuit design drawing, and the module is whole system
Key control unit, totally 484 I/O pins, a part is PS ARM Core Features, and a part is PL fpga logic functions.
The control of software algorithm and hardware adaptor for this controller is all based on IC designs.PS parts therein are ARM A9
Kernel, the position ring control program and speed ring control program of servo are processed all in this ring.
Fig. 6 is referred to, is RS232 communication interface modules circuit design drawings in the utility model embodiment, the module is responsible for
The transmission of serial data and reception, Pin4,23 responsible and SOC main control chips links carry out the communication of data, and Pin14,15 are
It is responsible for the interface to host computer communication.
Fig. 7 is referred to, is LCD display module circuit design drawing in the utility model embodiment, Pin1-4 accesses 1uf electricity
Hold, Pin5 is contrast plant-grid connection pin, PinCS, RES, DC, SCLK SDIN are the control port of LCD, and the module is
128*64 lattice display modules, can show the car body work state information such as man, English alphabet.
Fig. 8 is referred to, is encoder circuit design drawing, the encoder output of servomotor in the utility model embodiment
Interface is linked into the module by P1, and AM26LS32ACD therein is the IC for single-ended signal being converted into differential signal, and
74LVC14 is a driving direction device.Code device signal can be sent in FPGA by whole IC.
Fig. 9 is referred to, is IPM Modular circuit design figures in the utility model embodiment, W, V, U are to access three phase electric machine
Interface.And IN_WH, IN_VH, IN_UH are the interfaces of PWM input signals, FO P_W P_V P_U are alarm output signals
Interface, whole IC needs ± 15V power.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, can in other specific forms realize that this practicality is new
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each implementation method is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Specification an as entirety, the technical scheme in each embodiment can also be formed into those skilled in the art through appropriately combined
May be appreciated other embodiment.
Claims (6)
1. a kind of AGV Special low-voltage servo-drivers based on SOC frameworks, including power module（1）, download program module（2）、
LCD display module（3）, SOC processor modules（4）, encoder interfaces module（5）, IPM control modules（6）, servomotor module
（7）, memory modules（8）With RS232 communication modules（9）, it is characterised in that：The power module（1）Output end be electrically connected with
In SOC processor modules（4）With encoder interfaces module（5）Input on；Described program download module（2）, LCD display mould
Block（3）, memory modules（8）With RS232 communication modules（9）Output end with SOC processor modules（4）Input electrically control
System connection；The SOC processor modules（4）By ARMA9 position ring speed rings（41）, FPGA electric current loops（42）、PWM（43）And volume
Code device interface（44）Composition, ARMA9 position ring speed rings（41）Output end be electrically connected at FPGA electric current loops（42）Input
On end, FPGA electric current loops（42）Output end be electrically connected at PWM（43）Input on, PWM（43）Output end electrically connect
It is connected on IPM control modules（6）Input on, IPM control modules（6）Output end be electrically connected at servomotor module（7）
Input on, servomotor module（7）Output end be electrically connected at encoder interfaces module（5）Input on, it is described
Encoder interfaces module（5）Output end be electrically connected at encoder interfaces（44）Input on.
2. a kind of AGV Special low-voltage servo-drivers based on SOC frameworks according to claim 1, it is characterised in that：Institute
State power module（1）It is linked on professional transformer by vehicle power, transformer conversion is output as 24V, ± 15, the difference electricity of 5V
Source.
3. a kind of AGV Special low-voltage servo-drivers based on SOC frameworks according to claim 1, it is characterised in that：Institute
State LCD display module（3）It is 128 × 64 lattice display modules.
4. a kind of AGV Special low-voltage servo-drivers based on SOC frameworks according to claim 1, it is characterised in that：Institute
State encoder interfaces module（5）Have four interfaces.
5. a kind of AGV Special low-voltage servo-drivers based on SOC frameworks according to claim 1, it is characterised in that：Institute
State IPM control modules（6）Have four interfaces.
6. a kind of AGV Special low-voltage servo-drivers based on SOC frameworks according to claim 1, it is characterised in that：Institute
State servomotor module（7）Have four servomotors.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621192237.5U CN206193479U (en) | 2016-11-03 | 2016-11-03 | Special low pressure servo driver of AGV based on SOC framework |
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| CN201621192237.5U CN206193479U (en) | 2016-11-03 | 2016-11-03 | Special low pressure servo driver of AGV based on SOC framework |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107465367A (en) * | 2017-08-14 | 2017-12-12 | 广东工业大学 | A kind of method and device of motor control |
| CN109194230A (en) * | 2018-11-14 | 2019-01-11 | 苏州绿控新能源科技有限公司 | A kind of hardware-accelerated method of electric current loop in permanent magnet synchronous motor control algolithm |
| CN110932647A (en) * | 2019-12-21 | 2020-03-27 | 中国船舶重工集团公司第七一七研究所 | Universal servo drive circuit for high-frequency alternating current and direct current motor |
-
2016
- 2016-11-03 CN CN201621192237.5U patent/CN206193479U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107465367A (en) * | 2017-08-14 | 2017-12-12 | 广东工业大学 | A kind of method and device of motor control |
| CN109194230A (en) * | 2018-11-14 | 2019-01-11 | 苏州绿控新能源科技有限公司 | A kind of hardware-accelerated method of electric current loop in permanent magnet synchronous motor control algolithm |
| CN110932647A (en) * | 2019-12-21 | 2020-03-27 | 中国船舶重工集团公司第七一七研究所 | Universal servo drive circuit for high-frequency alternating current and direct current motor |
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Address after: No. 917 Bao'an Road, Baoshan District, Shanghai, 201900 Patentee after: Saihe Intelligent Technology (Shanghai) Co.,Ltd. Country or region after: China Address before: Room 4445-Z, No. 1325 Mudanjiang Road, Baoshan District, Shanghai, 201999 Patentee before: SH INTELLIGENT EQUIPMENT (SHANGHAI) CO.,LTD. Country or region before: China |
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