CN206489440U - Centralized servo drive system - Google Patents
Centralized servo drive system Download PDFInfo
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- CN206489440U CN206489440U CN201621240524.9U CN201621240524U CN206489440U CN 206489440 U CN206489440 U CN 206489440U CN 201621240524 U CN201621240524 U CN 201621240524U CN 206489440 U CN206489440 U CN 206489440U
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Abstract
The utility model is related to robotic technology field, discloses a kind of centralized servo drive system.In the utility model, centralized servo drive system includes：First servo control module, N number of servo power module and at most 2N motor；Include at least N number of adaptive network interface on first servo control module；N number of servo power module is communicated to connect by N number of adaptive network interface and the first servo control module respectively；N number of servo power module passes through ethernet communication with the first servo control module；Wherein, each servo power module includes the drive circuit of two groups of independence；The connection corresponding with motor of every group of drive circuit；Drive circuit works for motor.The utility model embodiment, the real-time synchronization control of the servo-drive system number of axle, power, the flexible configuration of IO quantity and Duo Tai servomotors can be realized, and meet robot servo control require while, reduce the volume of robot control cabinet, simplify wiring, reduce robot servo system cost.
Description
Technical field
The utility model is related to robotic technology field, more particularly to a kind of centralized servo drive system.
Background technology
At present, in the control to robot, frequently with the mode of many single-axis servo cascades, for the drive of each axle
It is dynamic, all include control panel, power amplifier board, peripheral interface and motor respectively, robot controller by fieldbus, train of pulse or
The control interfaces such as analog quantity realize the independent control to each motor, and then realize the control to robot pose.
During the utility model is realized, inventor has found that prior art at least has problems with：First, in machine
In the control of device people, every servo-driver include control panel, power amplifier board and peripheral interface, and each with a motor phase
Even.Wherein, information exchange is carried out using the self defined interface of nonstandardized technique between control panel, power amplifier board and peripheral interface, do not had
Standby interchangeability；When field application demand changes or during some damage parts, it is necessary to change whole servo-driver, safeguard
Cost is high；Second, in the robot system using many single-axis servo cascades, the encoder of every motor is required to individually
Cable is connected to independent servo-driver, and longer encoder cable is easily interfered reduction system reliability, and cable
Cost is higher.In addition, every servo is required to single control interface and shell, volume also can be accordingly larger, and wiring is complicated, is
Cost of uniting is higher.
Utility model content
The purpose of the utility model embodiment is to provide a kind of centralized servo drive system, it is possible to achieve servo system
Unite the number of axle, power, the real-time synchronization control of the flexible configuration of IO quantity and Duo Tai servomotors, and meeting robot servo
Control while require, reduce the volume of robot control cabinet, simplify wiring, reduce robot servo system cost.
In order to solve the above technical problems, embodiment of the present utility model provides a kind of centralized servo drive system,
Including：First servo control module, N number of servo power module and at most 2N motor；Wrapped on first servo control module
Include at least N number of adaptive network interface；N number of servo power module passes through N number of adaptive network interface and described the respectively
One servo control module is communicated to connect；N number of servo power module passes through ether Netcom with first servo control module
Letter；Wherein, each servo power module includes the drive circuit of two groups of independence；The drive circuit and the motor are one by one
Correspondence connection；The drive circuit works for motor.
The utility model embodiment in terms of existing technologies, the first servo control module and N number of servo power mould
Block is communicated to connect, and each servo power module can at most drive 2 motors.So, the centralized servo-drive system can root
The quantity of servo power module is configured according to the number of axle of situ machine people, 2N root axles can be at most driven simultaneously, are conducive to raising to watch
The flexibility of dress system.Present embodiment, it is possible to achieve the real-time synchronization control of many servomotors, and meeting robot
Servo is controled while require, can reduce the volume of robot control cabinet, simplifies wiring, reduction robot servo system into
This.
In addition, in the utility model embodiment, in addition to：Encoder interfaces module；First servo control module
On also include the N+1 adaptive network interface；The encoder interfaces module and all motor connections；The encoder
Interface module is also connected to the N+1 adaptive network interface by Ethernet；Wherein, the motor includes encoder；
The encoder interfaces module at least includes 2N encoder interfaces；The encoder and the encoder interfaces are correspondingly
Connection；The encoder interfaces module receives the feedback data of all encoders by the encoder interfaces, and will connect
All feedback data received are combined into a frame ethernet data frame, send to first servo control module.This implementation
In mode, encoder interfaces module can be placed on nearly motor side, for example, be placed in the body of robot, so, and each motor is only
It is that may be connected to coder module to need very short encoder cable, and encoder interfaces module is only led to the first servo control module
A twisted pair line connection is crossed, the interference free performance of encoder can be improved, simplifies wiring, reduction cable and wiring cost.
In addition, in the utility model embodiment, in addition to：The input/output module；The first servo control molding
Also include the N+2 adaptive network interface on block；The input/output module is connected to the N+2 certainly by Ethernet
Network interface is adapted to, for handling all input signals and output signal in the servo drive system, and result is defeated
Go out to first servo control module.In present embodiment, can be according to robot ancillary equipment the need for, selection connection is different
The input/output module of type, including analog input and output module, digital quantity input/output module etc., and can flexibly match somebody with somebody
The quantity and performance of input and output point are put, the adaptability of servo-drive system can be improved.In addition, the input/output module with it is described
The data received and dispatched between first servo control module are interacted by customized ethernet data frame；So, input and output
Module, only by a twisted pair line connection, can simplify wiring, the structure of servo-drive system is more with the first servo control module
Succinctly.
In addition, in the utility model embodiment, encoder interfaces module and first servo control module pass through the
One twisted pair line connection；The input/output module passes through the second twisted pair line connection with first servo control module；Described
One servo control module also respectively by first twisted-pair feeder, second twisted-pair feeder be the encoder interfaces mould
Block, the input/output module are powered.In present embodiment, N+1 and N+2 network interface in the first servo-control system possess
POE (Power over Ethernet, PoE) function, can be respectively to compile by the first twisted-pair feeder, the second twisted-pair feeder
Code device interface module, input/output module are powered, this way it is possible to avoid while data transfer, additionally increasing supply line.
Encoder interfaces module only needs a servo control module of twisted pair line connection first just can be normal respectively with input/output module
Work, improves the ease for use of system.
In addition, in the utility model embodiment, all network interfaces are adaptive network interface；Concentrated described
Formula servo drive system initial phase, the module that first servo control module is connected according to the network interface
The mode of operation of each network interface of type configuration.In present embodiment, all adaptive network interfaces can be according to machine
People's application needs the module type that arbitrarily configuration interface is connected, and can be according to the convenient grafting nearby of distribution, without checking the number
Take a seat.
Brief description of the drawings
Fig. 1 is the structure chart of the centralized servo drive system according to the utility model first embodiment；
Fig. 2 is the structure chart of the centralized servo drive system according to the utility model second embodiment；
Fig. 3 is to transmit schematic diagram according to the PoE Ethernets of the utility model second embodiment；
Fig. 4 is the structure chart of the centralized servo drive system according to the embodiment of the utility model the 3rd；
Fig. 5 is the structure chart of the centralized servo drive system according to the embodiment of the utility model the 4th.
Embodiment
It is new to this practicality below in conjunction with accompanying drawing to make the purpose of this utility model, technical scheme and advantage clearer
Each embodiment of type is explained in detail.However, it will be understood by those skilled in the art that each in the utility model
In embodiment, in order that reader more fully understands the application and proposes many ins and outs.But, even if without these skills
Art details and many variations based on following embodiment and modification, can also realize the application technical side claimed
Case.
First embodiment of the present utility model is related to a kind of centralized servo drive system, as shown in figure 1, including：The
One servo control module, N number of servo power module and at most 2N motor.
Include at least N number of adaptive network interface 100 on first servo control module, N number of servo power module is led to respectively
N number of adaptive network interface 100 is crossed to be connected by ethernet communication with the first servo control module.Wherein, each servo power
Module to multi-link 2 motors, each servo power module includes the drive circuit of two groups of independence, above-mentioned drive circuit and motor
Correspondence connection, wherein, drive circuit works for motor.Centralized servo drive system uses standard industry Ethernet
(PowerLink/EtherCAT) data interaction is carried out with robot controller (host node).First servo control module can be adopted
Framework is controlled with SoC (on-chip system) FPGA.Wherein, ethernet communication function is realized by FPGA, and arm processor is mainly used
In completion motor control algorithms.
Arm processor performance used in present embodiment is higher.Specifically, with reference to existing use Cortex M4 series
ARM chips, highest frequency 168MHz, with floating-point operation processor, is performed once simple under Keil three-levels optimization grade
The calculating of position ring+speed ring+electric current loop needs 20us, and according to 8 axles are driven simultaneously, the motor control algorithms execution time is less than
35us is assessed, and selected arm processor frequency needs to be higher than 800MHz.Currently, XilinxSerial SoC
FPGA can meet requirement, and it is internally integrated Dual-core ARM Cortex-A9 MPCore, and frequency is higher than 800MHz.Due to this
Embodiment builds 6 tunnel complementary output PWM (pulse width modulation) peripheral hardwares, the first servo control in the FPGA of servo power module
ARM only needs to carry out the correlation computations of motor control on molding block, PWM duty cycle information is then exported, to senior on ARM
Timer peripheral hardware is not required.
Specifically, servo power module can use integrated two groups of drives in Integration Design, each servo power module
Dynamic circuit, two motors can be driven simultaneously.Wherein, fpga chip realizes internal Ethernet, PWM generations, current sample and mistake
The functions such as stream protection, in addition, using an A/D chip or MCU to slow analogs such as module temperature, motor temperature, busbar voltages
Amount signal is sampled.First servo control module issues the duty cycle information of each module, servo power mould by Ethernet
The duty cycle information is converted to corresponding pwm signal by block, inputs corresponding drive circuit motor operation.
Table 1 intends the power cell used
For the flexibility of strengthening system, drive circuit can use AA, BB and AB combination, i.e. servo power mould
Block is divided into 2 equal-wattage units of installation and 2 big types of different capacity unit two.The AB forms combination selection of close power section
The power cell of same package different output current, as listed in table 1.
Because the PIM prices that the L_B1e 6IGBT modules encapsulated are encapsulated with L_B1e are more or less the same, to reduce servo power mould
The species of block, can replace FP15R12W1T4/FP10R12W1T4 modules come the power list of compatible 2KW power with FS25R12W1T4
The servo unit of member, i.e. below 3KW uses the 6IGBT modules that L_B1e is encapsulated, and is designated as A；3KW-6KW servo unit uses L_
The 6IGBT modules of B1c encapsulation, are designated as B, then the combining form of power cell, as shown in table 2：
The power cell combining form of table 2
In the utility model embodiment, the first servo control module is communicated to connect with N number of servo power module, is each watched
2 motors can at most be driven by taking power model.So, servo-drive system can configure servo work(according to the number of axle of situ machine people
The quantity of rate module, 2N root axles can be at most driven simultaneously, be conducive to improving the flexibility of servo-drive system.Present embodiment, can
To realize the real-time synchronization control of many servomotors, and meet robot servo control require while, can reduce
The volume of robot control cabinet, simplifies wiring, reduces robot servo system cost.
Second embodiment of the present utility model is related to a kind of centralized servo drive system.Second embodiment is first
Further improvement is made on the basis of embodiment, has mainly theed improvement is that：In the utility model second embodiment, collection
Chinese style servo drive system also includes, encoder interfaces module and input/output module.As shown in Fig. 2 in present embodiment, with
N is illustrated exemplified by taking 2.Centralized servo drive system includes：First servo control module, two servo power modules, four
Individual motor (the 1st to 4 motor), a coder module and an input/output module.
Include four adaptive network interfaces on first servo control module, be first network interface 101, the second net respectively
Network interface 102, the 3rd network interface 103 and the 4th network interface 104.Two servo power modules pass through first network respectively
Interface 101, the second network interface 102 and the first servo control module are communicated to connect.Each servo power module can connect two
Individual motor, wherein, each servo power module can include two groups of drive circuits, drive circuit connection corresponding with motor.Coding
Device interface module is connected to the 3rd network interface 103 by Ethernet, and input/output module is connected to the 4th net by Ethernet
Network interface 104.
First network interface 101, the second network interface 102, the 3rd network interface 103 and the 4th network interface 104 can
Internal private network interface is thought, for connecting servo power module, encoder interfaces module and input/output module.These
Interface physical layer is required using the ethernet physical layer for meeting the consensus standards of IEEE 802.3, data link layer according to real-time synchronization
Simplified in FPGA and changed, communication speed 100Mbps.
Encoder interfaces module also with four motor connections.Wherein, motor includes encoder, and encoder interfaces module can
With the network interface and included including a network interface and four encoder interfaces, encoder interfaces module by its own
3rd network interface 103 of one servo control module is connected, the encoder in motor and the encoder in encoder interfaces module
Interface connects one to one.Encoder interfaces module can receive the feedback data of all encoders, example by encoder interfaces
Such as, the positional information of all encoders, and the feedback data of reception is combined into a frame Ethernet data frames, send to the first servo
Control module, wherein, the information of 8 encoders can be at most gathered simultaneously per block encoder interface module.
Encoder interfaces module in present embodiment, can support the encoder type of existing main flow, including three kinds：
(1) communication-type position coder.The communication-type encoder interfaces such as TAMAGAWA, HEIDENHAIN and Nikon are accorded with
Close 485 consensus standards, hardware circuit is identical, only communications protocol is different, thus this 3 absolute value encoder can share it is same
Encoder interfaces plate.
(2) become and sine and cosine encoder for rotation, it is impossible to the decoding chip, it is necessary to extra, phase are directly decoded using FPGA
Can not be compatible between mutually, it need to respectively design a encoder interfaces module for both encoders.
Include a network interface in input/output module, the 4th of the first servo control module the is connected to by Ethernet
Network interface.Input/output module is used to handle input signals and output signal all in centralized servo drive system, and
Result is exported to the first servo control module.Input/output module is articulated in the first servo by internal industry ethernet
In control module, first network interface 101, the second network interface 102, the 3rd network interface 103 and the 4th network interface 104
Any selection can be facilitated to use according to distribution.
Using FPGA+ADC/DAC framework inside input/output module, for there was only the module of digital IO, make
Communication and DIO management functions are realized with 1 FPGA.In addition, slave unit of the input/output module as PoE, can be watched by first
Take control module and 24V power supplys are provided, then the power supply needed for each road is locally converted to.
Encoder interfaces module passes through the first twisted pair line connection, input/output module and first with the first servo control module
Servo control module passes through the second twisted pair line connection.First servo control module also passes through the first twisted-pair feeder, the second multiple twin respectively
Line is encoder interfaces module, input/output module is powered.Specifically, with reference to IEEE 802af standards, the first SERVO CONTROL
All-network interface in module can be designed as the main equipment for possessing PoE (Power over Ethernet) function, i.e.
While carrying out data transmission, moreover it is possible to which the equipment for connection provides power supply.First servo control module can pass through first pair
Twisted wire, the second twisted-pair feeder carry out data transmission with coder module, input/output module respectively, can also pass through the first multiple twin
Line, the second twisted-pair feeder be respectively coder module, input/output module provide power supply, and provide power supply process will not to
The transmission of too net signal is interfered.So, encoder interfaces module each only needs to a twisted-pair feeder with input/output module
Connecting the first servo control module i.e. can be with normal work, as shown in figure 3, power supply provides equipment 301 and power supply application apparatus 302
Connected by empty pin 303 and signal pins 304, data transfer is transmitted by signal pins 304, power supply provides equipment 301 and passes through sky
Pin 303 is that power supply application apparatus 302 is powered.
The PoE supplied character parameters of defined are in IEEE 802af：
(1) voltage is between 44~57V, and representative value is 48V.
(2) it is 550mA to allow maximum current, and maximum starting current is 500mA.
(3) exemplary operation electric current is 10~350mA, and overload detection electric current is 350~500mA.
(4) under idle condition, maximum demand electric current is 5mA.
(5) the electrical power request of 3.84~12.95W, five grades is provided for PD equipment, maximum is no more than 13W.
In present embodiment, encoder interfaces module and input/output module according to input and output in existing servo-drive system with
Encoder section carries out power consumption assessment：
In encoder interfaces module, according to used 17, the river multi-turn absolute value encoder TS5667N2300 that rub of servo more
Handbook understands that in the normal mode of operation, encoder 5V powers, and consumption electric current representative value is 70mA, is 110mA to the maximum, presses
Maximum value calculation, each encoder interfaces module at most can 8 encoders of band, then now encoder consumption peak power be 8*
5*110*10-3=4.4W；Encoder decoding chip ADM485 (SOIC encapsulation), it can be seen from its handbook, maximum power dissipation is
450mW, then power consumption is 8 axles altogether：3.6W；FPGA, PHY chip, transformer, power conversion chip and other power attenuations etc.
Overall estimate power is calculated by 3W, then the coder module total power consumption is 4.4+3.6+3=11W.
In input/output module, numeral input, numeral output, analog input and analog output are calculated by 8 tunnels.Tool
Say, numeral input body：By 3.3V, calculated per 5mA all the way, then total power consumption is 8*3.3*5*10-3=0.127W；Numeral output：
By 3.3V, calculated per 10mA all the way, then total power consumption is 8*3.3*10*10-3=0.254W；Simulation input is exported：Based on coming by 10V
Calculate, per being calculated all the way by 10mA, then total power consumption is 4*10*10*10-3=0.4W；FPGA, PHY chip, transformer, Power convert
The overall estimate such as chip and other power attenuations power is calculated by 3W, then the coder module total power consumption is 0.254+0.127+
0.4+3=3.781W.
In present embodiment, PoE supply voltages can be fixed as 24V, and maximum current can be 500~600ma, according to
Upper Estimation of energy consumption, supplied character can meet the confession of input/output module and encoder interfaces module specified in IEEE 802af
Electricity is required.In addition, according to the application method recommended in IEEE 802af, using 5 classes, surpass 5 classes or more preferable twisted-pair feeder when, power supply
The transmission of ethernet signal will not be interfered.
The reference of specific work process is provided in ieee standard, detection, device class is roughly divided into, starts to power, supplies
5 processes of electricity and power-off, because the equipment in present embodiment is special equipment, and device type is limited and controllable, so this
Using continuous power supply or power supply-detection-power supply both of which in embodiment.
The all-network interface of first servo control module is adaptive network interface, in servo drive system initialization
Stage, the first servo control module configures the work of each network interface according to the module type being connected with each network interface
Operation mode.Specifically, in the first servo control module configuration phase, FPGA recognizes connected module type first, judges
Whether link block needs PoE to power, and facility information is fed back to robot controller by configuration after completing, and according to feedback letter
Breath automatically configures the mode of operation of interface.In present embodiment, a set of servo drive can drive up to 8 axles or most simultaneously
Many 5 input/output modules.
For example, when the first network interface 101 on the first servo control module connects servo power module, first network
Interface 101 can automatically configure the type of its own according to the actual demand of the servo power module connected, i.e. due to watching
Power supply need not be provided by taking power model, therefore, and first network interface 101 is automatically configured to only provide the function of data transfer.
When the 3rd network interface 103 of the first servo control module connects encoder interfaces module, because encoder interfaces module is needed
Power supply is provided, therefore, the 3rd interface module 103 is automatically configured to both carry out data transmission, and power supply can be provided again
Function.In addition, in actual disposition, network interface can also be according to the convenient grafting nearby of distribution, without sitting in the right seat.
In the utility model embodiment, the first servo-control system can pass through the first twisted-pair feeder, the second twisted-pair feeder point
Power supply is not provided for encoder interfaces module, input/output module, it is to avoid extra configuration power supply module, simplified servo-drive
The structure of system.All-network interface in centralized servo drive system is disposed as adaptive interface, adds interface
Flexibility, reduces the complexity of wiring, while shortening the transmission range of encoder and input and output primary signal, possesses
Wrong retransmission mechanism.And it is possible to realize each interface while carrying out data transmission, moreover it is possible to for the equipment offer electricity connected
Source.So, encoder interfaces module and input/output module respectively just can be with by a twisted pair line connection servo control module
Normal work.In addition, twisted-pair feeder has more preferable pliability and reliability, it is easy to connect up, and advantage of lower cost, meanwhile, it is double
Twisted wire uses differential signal transmission information, and interference to external world is with very strong inhibitory action.
In addition, can also include five, the network interfaces such as six on the first servo control module, accordingly, centralization is watched
Three, the servo power modules such as four can be included by taking drive system.Above-mentioned network interface is adaptive interface, Ke Yigen
According to the quantity for the motor that connection is needed in actual items, the quantity of drive circuit is automatically configured, and connect according to actual needs
Servo power module quantity, automatically configure connection needed for interface quantity.So, improving servo drive system can expand
Malleability.
3rd embodiment of the present utility model is related to a kind of centralized servo drive system.3rd embodiment is second
Further improvement is made on the basis of embodiment, has mainly theed improvement is that：In the embodiment of the utility model the 3rd, collection
Chinese style servo drive system also includes, Active Front End power module.As shown in Figure 4.
Active Front End power module is inputted by digital quantity, output signal is connected with the first servo control module, and two are watched
Take power model and power module is connected to by dc bus, when electric power generation is run, power module can will be unnecessary
Energy feedback is to power network.Specifically, Active Front End power module includes power power-supply and control power supply two parts.Wherein, work(
Rate power supply provides suitable busbar voltage for servo power module, improves power factor, meanwhile, also will when electric power generation is run
Unnecessary energy feedback is to power network.First servo control module is inputted by digital quantity, output signal controls opening for power module
Stop, notify the first servo control module to take corresponding measure also by input/output signal when power module breaks down.Control
The 24V power supplys that power supply processed can be commonly used from industrial circle, are that the control circuit and motor internal contracting brake in servo drive system are powered.
In the utility model embodiment, servo power module is connected to Active Front End power module by dc bus,
When electric power generation is run, system can be by power module by unnecessary energy feedback to power network, without external braking resistor.
So, energy can be saved, using electricity wisely cost, meanwhile, improve the control performance of servo-drive system.
4th embodiment of the present utility model is related to a kind of centralized servo drive system.4th embodiment is the 3rd
Further improvement is made on the basis of embodiment, has mainly theed improvement is that：In the embodiment of the utility model the 4th, also
Including the second servo control module and 2N+1 to 4N motor.As shown in figure 5, being carried out in present embodiment so that N takes 2 as an example
Explanation, i.e. centralized servo drive system can also include the second servo control module and the 5th to 8 motor.
It can also include wrapping on the 5th network interface 105, the second servo control module on first servo control module
Include the 6th network interface 106.5th network control interface 105 is connected with the 6th network control interface 106.Second servo control
Molding block is used to control the 5th to the 8th motor.
5th network interface 105 and the 6th network interface 106 can be standard industry Ethernet interface, will support simultaneously
Two kinds of standard for Fieldbus of PowerLink and EtherCAT.On hardware, EtherCAT link layers are realized usually using ASIC, thing
The PHY chip for managing layer can not be compatible with PowerLink, but under SOC Mode, EtherCAT IP kernels support RMII interfaces, compatible
The LAN8710 PHY chips that Powerlink communications network interfaces are used.In addition, Powerlink/EtherCAT FSMC interfaces
Only wait signals, interrupt signal are different, and compatibility can be made during hardware design.Software aspects, due to being all by SoC FPGA
Logic realization, Powerlink/EtherCAT inconsistence problems are easier to realize.According to experience before, EtherCAT after cutting
Resource shared by IP is about 12000~13000 logic units, 4 M4K RAM；Resource shared by PowerLink IP is about
8000 logic units, select the fpga chip of respective volume can be while both compatible buses.In, in configuration rank
Section, bus type selects corresponding bus type according to used in robot controller, without designing a variety of servo controls
Unit processed.
First servo control module is connected with the second servo control module by the 5th with the 6th network interface.Second watches
Taking control module also includes the 7th network interface, the 8th network interface, the 9th network interface and the 10th network interface, wherein, second
Servo control module is connected by the 7th network interface, the 8th network interface with two servo power modules, the second servo control molding
Block is connected by the 9th network interface with addressable port module, is connected by the 10th network interface with input/output module.Second watches
Take control module be used for control the 5th to the 8th motor.
In present embodiment, the first servo control module can cascade the second servo control module, the second servo control molding
Block and the first servo control module are similar, can connect servo power module, encoder interfaces module and input and output mould
Block, and for controlled motor.So, when needing more multiple resource in practical application, it can be cascaded by the 5th network interface
Second servo control module.And by cascading the second control module, the quantity of network interface can be increased, to meet reality
Demand.
In addition, according to actual needs, the second servo control module can also cascade the 3rd servo control module, the 4th servo
Control module etc..
In addition, the whether external ethernet bus or first between the first servo control module and robot controller
Inside industry ethernet between servo control module and servo power module, input/output module, encoder interfaces module, it is right
Communication time has certain requirement, is specially：Transmission time (including FPGA processing times, PHY processing times, signal transmission
Time etc.) be less than minimum controlling cycle, i.e., it is 800us for the 5th network interface 105, the 6th network interface 106, for the 1st
To the 4th network interface, the 7th to the 10th network interface is 50us.Because Ethernet is operated in full-duplex mode, transmission time according to
On send out/issue maximum digit calculate.Receive and dispatch communication data take CPU time it is sufficiently small, this time plus CPU other
Task time is less than electric current loop cycle, i.e. 50us.
5th and the 6th EPA network interface can meet requirement of the present embodiment on communication time.Specifically
Say, the experience of robot application according to before, the minimum instruction cycle that robot controller can be set, control byte was total as 800us
Number is generally per the byte of axle 12, then adds torque and each 2 bytes of position feed-forward, is every byte of axle 16, then 6 axle+8bit inputs are defeated
The transmission total amount of byte gone out is 97 bytes, is calculated herein by 100 bytes.For transmission time, 100Mbps Ethernets are every
Bit transmission times are 10ns, then the transmission time needed for robot issues data every time is 10* (100*8+20+60) ns=
14.4us.Wherein, 20ns is frame head frame gap value, and 60ns is the value of SOC bags；For CPU holding times, according to
PowerLink CPU holding times are estimated, and the total time for transmitting CPU shared by above-mentioned data is about 30us (with CPU frequencies
Rate is unrelated).According to each electric current loop cycle be 50us calculate, then averagely arrive each electric current loop time be 30/ (800/50)=
1.875us。
1st to the 4th network interface, and the transmission time of the 7th to the 10th network interface can meet communication need, but
CPU holding times are long when using Cortex M4 ARM, if using integrated Dual-core ARM Cortex-A9
MPCore SoC FPGA, CPU holding times will significantly shorten, the need for can meeting real-time communication.Specifically, according to existing
Existing demand signals in system：For servo power unit, PWM duty cycle precision 16bit, each tunnel of module 3, totally 6 tunnel；Electricity
Accuracy of detection 16bit, including U, V, W phase current and the tunnel of bus current 4 are flowed, totally 8 tunnel；In addition some input/output control signals and
Feedback signal, issues data volume 100bit or so, uploads data volume 140bit or so.It is at most same for encoder interfaces module
When connect 8 encoders, calculated according to 17 absolute value encoders of currently used multi-turn, each encoder at most uploads 17
Individual pen information, 16 multi-turn information and 8 warning messages, issue 8 bit instruction information.For input/output module, with data volume
Maximum 8 road AI and 8 road AO modules are estimated, it is assumed that AD/DA precision 16bit, then it is 128bit to upload and issue data.It is right
For transmission time, master control is about 10* (140+20)=1.6us with power cell transmission time, and wherein 20ns is estimation
The additional digit of agreement；Master control is 10* (17+16+8+20) * 8=4.88us with the encoder interfaces module transfer time；Master control with
Input/output module transmission time is 10* (128+20)=1.48us.For CPU holding times, power model and coding
The information of device needs the read-write in electric current loop is interrupted to complete, and input/output information can be placed on backstage execution.To drive 8 electricity simultaneously
The extreme condition of machine is estimated, to be set to standard outside the FSMC of currently used Cortex M4 16bit data wires, is performed
Bus operation time is about 150ns, and the information for the non-16bit integral multiples of single transmission is needed according to the conversion that rounds up
(such as encoder individual pen information 17bit), then CPU holding times are about (4*240+8* (32+16*2+16))/16*0.15=
15us。
To improve efficiency of transmission and considering autgmentability, communications protocol is used：The form of type+data.As shown in table 3, no
The data length of same type is different, but is all fixed.Type is used for indicating the data of disparate modules, can also increase as needed
Plus request-reply type etc..
Table 3：Internal ethernet communication agreement
Agreement is needed to support short bag transmission (being less than most short 60 byte of standard ethernet), and frame head and 8 are simplified in use
CRC (restarts communication) after error.Communication mechanism is triggered using ARM, i.e. ARM issues data, and triggering master control FPGA sends data, respectively
Daughter card sends out data on being connected to after frame head.
The transmission range of primary signal is short in present embodiment it can be seen from analysis more than, it is possible to reduce signal is done
The probability disturbed, and ethernet communication possesses error retransmission mechanism：Data are after first time receives frame head, at the time of delay is fixed
Come into force, be the make-up time in the moment, if CRC malfunctions, corrected within this time.
It is noted that each module involved in present embodiment is logic module, and in actual applications, one
Individual logic unit can be a part for a physical location or a physical location, can also be with multiple physics lists
The combination of member is realized.In addition, will be with not solving this reality in innovative part of the present utility model, present embodiment in order to protrude
Introduced with new proposed technical problem relation less close unit, but this is not intended that in present embodiment and it is not present
Its unit.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific implementation of the present utility model
Example, and in actual applications, can to it, various changes can be made in the form and details, without departing from spirit of the present utility model
And scope.
Claims (7)
1. a kind of centralized servo drive system, it is characterised in that including：First servo control module, N number of servo power module
With at most 2N motor；
Include at least N number of adaptive network interface on first servo control module；N number of servo power module is led to respectively
N number of adaptive network interface is crossed to communicate to connect with first servo control module；N number of servo power module and described the
One servo control module passes through ethernet communication；
Wherein, each servo power module includes the drive circuit of two groups of independence；Every group of drive circuit and the electricity
Machine correspondence is connected；The drive circuit works for motor.
2. centralized servo drive system according to claim 1, it is characterised in that also include：Encoder interfaces module；
Also include the N+1 adaptive network interface on first servo control module；
The encoder interfaces module and all motor connections；The encoder interfaces module is also connected to by Ethernet
The N+1 adaptive network interface；
Wherein, the motor includes encoder；The encoder interfaces module at least includes 2N encoder interfaces；The coding
Device is connected correspondingly with the encoder interfaces；
The encoder interfaces module receives the feedback data of all encoders by the encoder interfaces, and will receive
All feedback data be combined into a frame ethernet data frame, send to first servo control module.
3. centralized servo drive system according to claim 2, it is characterised in that also include：Input/output module；Institute
Stating also includes the N+2 adaptive network interface on the first servo control module；
The input/output module is connected to the N+2 adaptive network interface by Ethernet, for handling described watch
All input signals and output signal in drive system are taken, and result is exported to first servo control module.
4. centralized servo drive system according to claim 3, it is characterised in that the encoder interfaces module and institute
State the first servo control module and pass through the first twisted pair line connection；The input/output module is led to first servo control module
Cross the second twisted pair line connection；
First servo control module is also connect by first twisted-pair feeder, second twisted-pair feeder for the encoder respectively
Mouth mold block, the input/output module are powered.
5. centralized servo drive system according to claim 4, it is characterised in that all network interfaces are adaptive
Answer network interface；
In the centralized servo drive system initial phase, first servo control module is according to the network
The module type of interface connection configures the mode of operation of each network interface.
6. centralized servo drive system according to claim 5, it is characterised in that also including Active Front End power supply mould
Block；
The Active Front End power module is inputted by digital quantity, output signal is connected with first servo control module；
N number of servo power module is connected to the Active Front End power module by dc bus；When the electric power generation
During operation, excess energy is fed back to power network by the Active Front End power module.
7. centralized servo drive system according to claim 6, it is characterised in that also including the second servo control module
And 2N+1 to 4N motor；
Also include the N+3 network interface on first servo control module；Include N on second servo control module
+ 4 network interfaces；First servo control module is connected to second servo control module by N+3 network interfaces
N+4 network interfaces；
Second servo control module is used to control 2N+1 to the 4N motor.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444536A (en) * | 2016-11-17 | 2017-02-22 | 上海新时达电气股份有限公司 | Flexible servo drive system |
| CN109463037A (en) * | 2017-05-26 | 2019-03-12 | 深圳配天智能技术研究院有限公司 | Servo-system, motor, absolute type encoder and its signal processing circuit |
| CN110154030A (en) * | 2019-06-13 | 2019-08-23 | 哈尔滨玄智科技有限公司 | A kind of robot control method, robot and controlling terminal |
| CN112750568A (en) * | 2020-12-25 | 2021-05-04 | 深圳市越疆科技有限公司 | Cooperative robot system and external integrated cable thereof |
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2016
- 2016-11-17 CN CN201621240524.9U patent/CN206489440U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444536A (en) * | 2016-11-17 | 2017-02-22 | 上海新时达电气股份有限公司 | Flexible servo drive system |
| CN106444536B (en) * | 2016-11-17 | 2023-08-11 | 上海新时达电气股份有限公司 | Flexible servo drive system |
| CN109463037A (en) * | 2017-05-26 | 2019-03-12 | 深圳配天智能技术研究院有限公司 | Servo-system, motor, absolute type encoder and its signal processing circuit |
| CN109463037B (en) * | 2017-05-26 | 2022-04-26 | 深圳配天智能技术研究院有限公司 | Servo system, motor, absolute encoder and signal processing circuit thereof |
| CN110154030A (en) * | 2019-06-13 | 2019-08-23 | 哈尔滨玄智科技有限公司 | A kind of robot control method, robot and controlling terminal |
| CN112750568A (en) * | 2020-12-25 | 2021-05-04 | 深圳市越疆科技有限公司 | Cooperative robot system and external integrated cable thereof |
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