CN207742518U - Two axis servo motor drive controllers - Google Patents

Abstract

The utility model discloses a kind of two axis servo motor drive controllers, including Servo Control Board and driving power plate, Servo Control Board to be electrically connected using connector with driving power plate, and the circuit structure of motor drive controller is simplified.As it can be seen that on the one hand the motor drive controller of the utility model can reach higher control requirement, appearance is small and exquisite, can be applied to a variety of occasions, on the other hand can also effectively prevent the interference of extraneous electromagnetic signals, stable and reliable in work, convenient for debugging and safeguards.In addition, Servo Control Board using digital signal processing device in such a way that field programmable gate array device is combined come work, have many advantages, such as that high reliability, low cost, operational precision are high.

Description

Two axis servo motor drive controllers

Technical field

A variety of occasions are can be applied to the utility model is related to servo motor driving control system more particularly to one kind and are prevented Only two axis servo motor drive controllers of extraneous electromagnetic signals interference.

Background technology

Servo motor refers to the engine that control machinery element operates in servo-drive system, is that a kind of subsidy motor becomes indirectly Speed variator.

Currently, in servo motor driving control system, servo controller is usually used and is combined with servo-driver Configuration mode.In this configuration mode, servo controller completes position control for receiving the signal from external sensor Algorithm processed, and servo-driver constitutes electric current loop and speed ring.

However, when servo-drive system has specific demand, for example, when servo motor shaft end without or it is difficult to configuration standard volume When code device, the servo motor driving control system is using absolute encoder as servo-drive system position, velocity feedback or the servo Driving control system for electric machine is higher to the bandwidth requirement of speed ring (such as photoelectric tracking servo), at this point, being driven using general servo Dynamic device is difficult to meet system requirements, so as to cause upper with limitation in application.Furthermore servo-driver and servo controller It is connected using cable, it is complicated, and when encountering electromagnetic environment complexity inside servo-drive system, traditional cabled manner It is easy to be interfered by extraneous electromagnetic signals, makes servo-drive system operation irregularity, be not easy to debug and safeguard.

Utility model content

Technical problem to be solved in the utility model is that two axis servo motor drive controllers how to be made to can be applied to A variety of occasions and prevent extraneous electromagnetic signals from interfering.

In order to solve the above-mentioned technical problem, the utility model provides a kind of two axis servo motor drive controllers, including Servo Control Board and driving power plate；Wherein, the Servo Control Board is electrically connected with the driving power plate using connector.

Preferably, the first connector and the second connector, the driving power plate are provided in the Servo Control Board On be provided with third connector and the 4th connector；First connector is electrically connected with the third connector, and described second Connector is electrically connected with the 4th connector.

Preferably, one or more of described first, second, third and fourth connector is the switching of double-row type straight cutting Socket.

Preferably, the 5th connector, the motor that the driving power plate has are additionally provided on the driving power plate Driver is electrically connected by the 5th connector with servo motor.

Preferably, the Servo Control Board includes the chromacoder being sequentially electrically connected, field programmable gate array Device, digital signal processing device, processor, digiverter and integrated operational amplifier.

Preferably, the Servo Control Board further includes level converter, and the field programmable gate array device is logical The level converter is crossed to be electrically connected with the digital signal processing device.

Preferably, the Servo Control Board further includes the data storage being electrically connected with the digital signal processing device Device.

Preferably, the Servo Control Board further includes the supply unit being electrically connected with the digiverter.

Preferably, the chromacoder includes turning for converting multiple signals of the signal from external sensor Parallel operation.

Preferably, the driving power plate includes：

Be electrically connected with servo motor, for storing servo motor braking when feedback energy storage capacitance；

Power supply change-over device for providing power supply for the Servo Control Board；

The motor driver that servo motor is driven；And

It is electrically connected with servo motor, for the electromagnetic relay of circuit protection.

Compared with prior art, one or more of said program embodiment can have the following advantages that or beneficial to effect Fruit：

Using the two axis servo motor drive controllers that the utility model embodiment provides, Servo Control Board and driving power Plate is electrically connected using connector, and the circuit structure of motor drive controller is simplified.As it can be seen that the motor driving of the utility model On the one hand controller can reach higher control requirement, appearance is small and exquisite, can be applied to a variety of occasions, on the other hand can also have Effect prevents the interference of extraneous electromagnetic signals, stable and reliable in work, convenient for debugging and safeguards.In addition, Servo Control Board is using number Signal processing apparatus carrys out work with the mode that field programmable gate array device is combined, and has high reliability, low cost, operation The advantages that precision is high.

Other features and advantages of the utility model will illustrate in the following description, and partly from specification It becomes apparent, or is understood by implementing the utility model.The purpose of this utility model and other advantages can by Specifically noted structure is realized and is obtained in specification, claims and attached drawing.

Description of the drawings

Attached drawing is used to provide a further understanding of the present invention, and a part for constitution instruction, with this practicality Novel embodiment is used together to explain the utility model, does not constitute limitations of the present invention.In the accompanying drawings：

Fig. 1 shows the structural schematic diagram of the two axis servo motor drive controllers of the utility model embodiment；

The Servo Control Board and the connector on driving power plate that Fig. 2 a, 2b respectively illustrate the utility model embodiment Schematic diagram；

Fig. 3 shows the connection diagram of each element in the Servo Control Board of the utility model embodiment.

Specific implementation mode

The embodiment of the utility model is described in detail below with reference to accompanying drawings and embodiments, whereby to the utility model How applied technology method solves technical problem, and the realization process for reaching technique effect can fully understand and implement. If it should be noted that do not constitute conflict, each feature in each embodiment and each embodiment in the utility model It can be combined with each other, be formed by technical solution and both be within the protection scope of the present invention.

It is upper with limitation and easy by outside in application to solve servo motor drive controller in the prior art The technical issues of electromagnetic signal is interfered, the utility model embodiment provide a kind of two axis servo motor drive controllers.

Fig. 1 shows the structural schematic diagram of the two axis servo motor drive controllers of the utility model embodiment.Such as Fig. 1 institutes Show, the two axis servo motor drive controllers 11 of the utility model embodiment include Servo Control Board 12 and driving power plate 13. Servo Control Board 12 is electrically connected with driving power plate 13 using connector.

Using the two axis servo motor drive controllers of the present embodiment, Servo Control Board 12 and driving power plate 13 are to use Connector electrical connection.The technical solution of driver and controller, this practicality are connected in compared with the prior art using cable The circuit structure of novel motor drive controller is simplified, on the one hand reach higher control requirement, appearance It is small and exquisite, a variety of occasions are can be applied to, the interference of extraneous electromagnetic signals on the other hand can also be effectively prevent, it is stable and reliable in work, Convenient for debugging and safeguarding.

Specifically, driver and controller in the prior art are electrically connected using traditional cable, signal transmission Distance (at least 20 centimetres).However, the two axis servo motor drive controllers of the utility model embodiment are to use connector Electrical connection makes signal transmission distance shorten (about 2 millimeters), and high current and signal wire layered arrangement, to prevent outside Electromagnetic signal is interfered, stable and reliable in work, convenient for debugging and is safeguarded.

The Servo Control Board and the connector on driving power plate that Fig. 2 a, 2b respectively illustrate the utility model embodiment Schematic diagram.Specifically, the first connector 121 and the second connector 122 are provided in Servo Control Board 12, in driving power plate Third connector 131 and the 4th connector 132 are provided on 13.First connector 121 is electrically connected with third connector 131, the Two connectors 122 are electrically connected with the 4th connector 132.The electricity of Servo Control Board and driving power plate is realized using two pairs of connectors Connection is conducive to improve the reliability that signal transmits, while also increasing physics between Servo Control Board and driving power plate and connecting The stability connect.

In one preferred embodiment of the utility model, the first connector 121, the second connector 122, third connector 131 and the 4th one or more of connector 132 be double-row type straight cutting multi-tap.

Preferably, the model of the first connector 121 is J56-40ZJ, and the model of the second connector 122 is J56-32ZJ, the The model of three connectors 131 is J56-40ZK, and the model of the 4th connector 132 is J56-32ZK.Double-row type straight cutting switching is inserted Seat tool has hyperboloid wire spring socket and screw thread guide pin, the guide sleeve of locking function, and has a variety of fixed forms, to increase The stability of physical connection between Servo Control Board and driving power plate.

Fig. 3 shows the connection diagram of each element in the Servo Control Board of the utility model embodiment.

As shown in figure 3, Servo Control Board 12 includes chromacoder 1211, the field-programmable gate array being sequentially electrically connected It arranges (FPGA) device 1212, Digital Signal Processing (DSP) device 1213, processor 1214, digiverter 1215 and integrates Operational amplifier 1216.

In one preferred embodiment of the utility model, chromacoder 1211 is preferably RS422 conversion chips.Signal Conversion equipment 1211 includes multiple signal adapters for converting the signal from external sensor.

In the utility model embodiment, set chromacoder 1211 to include the first signal adapter, second Signal adapter, third signal adapter and fourth signal converter, each signal adapter be used to be by RS422 level conversions Transistor-Transistor Logic level.

Specifically, the model MAX490EESA of the first signal adapter.MAX490EESA is the height of MAXIM company production Fast RS422 full-duplex chips.The model DS26LS31CM of second signal converter.The model of third signal adapter DS26LS32CM.DS26LS31CM and DS26LS32CM is the RS422 conversion chips of TI companies production, wherein DS26LS31CM For transmission chip, realize that TTL/COMS turns RS422；DS26LS32CM is to receive chip, realizes that RS422 turns TTL/COMS.4th The model MAX3232EUE of signal adapter.MAX3232EUE is the low pressure RS232 conversion chips of MAXIM company production.

In one preferred embodiment of the utility model, the model of field programmable gate array (FPGA) device 1212 EP2C8Q208I8 is sent for external serial signal to be converted to parallel signal to Digital Signal Processing (DSP) device 1213. EP2C8Q208I8 is the FPGA of ALTERA companies production, operating temperature range：- 40~100 DEG C (junction temperatures)；Door number：8256 (LEs)；Maximum user I/O numbers：158；Supply voltage：1.15V~1.25V (VCCINT)；1.5V,1.8V,2.5V,3.3V (VCCIO)；Source current：17mA(ICCINTO)；0.8mA(ICCIOO).

In one preferred embodiment of the utility model, the model of Digital Signal Processing (DSP) device 1213 TMS320F28335.TMS320F28335 is 28 serial 32 bit DSPs of TI companies production, and which employs high performance processor knots Structure, time for each instruction only need the 6.67ns clock cycle, have floating data processing capacity, in the processing procedure of control algolithm Often there are many floating-point operations, therefore, increases it greatly reduces the difficulty of programming and simultaneously the precision of data calculating. TMS320F28335 is integrated with many system-level functions：With full duplex SCI mouthfuls of 3 tunnel, 2 road SPI mouthfuls, 32 bit parallel datas are total Line, I2C, I/O, CAN bus, these interfaces greatly reduce the complexity that data processing is carried out using FPGA for data exchange Property.Data start bit is judged as FPGA receives serial data and first has to program, and programs realization data receiver, and is utilized The SCI mouths of TMS320F28335 only need to simply be configured corresponding registers, so that it may to receive transmission data automatically, use Family is without programming.In this way, the number of element and the face of circuit board can be greatly reduced while the reliability for improving system Product, reduces the cost of system and reduces the complexity of programming.

In one preferred embodiment of the utility model, the model AD5447 of digiverter 1215.AD5447 is The two-way 12-bit digital-to-analog converter of AD companies production, according to the different circuit in periphery, its analog quantity range exported can change, The program exports analog quantity ranging from -10V~+10V, high linearity, high-precision, it is high mutually make an uproar, high-conversion rate.

In one preferred embodiment of the utility model, the model OP07 of integrated operational amplifier 1216.

The specific operation process of Servo Control Board 12 is as follows：

First, external signal is received by the external sensor of servo-drive system, in the present embodiment, which can be with It is incremental encoder, the absolute type encoder etc. of RS422 level.The external signal of reception is sent to servo by external sensor The chromacoder 1211 of control panel 12 is sent after completing signal conversion by chromacoder 1211 to field-programmable Gate array (FPGA) device 1212 carries out signal processing, calculates the position signal of servo-drive system, completes the serioparallel exchange of signal, Be then sent to Digital Signal Processing (DSP) device 1213, by the data/address bus of Digital Signal Processing (DSP) device 1213 send to Processor 1214 is completed position signal and is resolved, and speed signal resolves.Digital Signal Processing (DSP) device 1213 will calculate Controlled quentity controlled variable is sent to digiverter 1215 by parallel data transmission mouth XD0~XD11, while passing through field programmable gate The address decoding of array (FPGA) device 1212 completes the control A of digiverter 1215, the selection of channel B, chip selection signal And read-write.Finally, the 0~10V of analog signal exported digiverter 1215 by integrated operational amplifier 1216 Be converted to -10V~+10V.

Servo Control Board 12 further includes the supply unit 1217 being electrically connected with digiverter 1215, supply unit 1217 Model be preferably REF102, for providing 10V reference voltages for digiverter 1215.

Preferably, chromacoder 1211 includes being converted for converting multiple signals of the signal from external sensor Device.

In the utility model embodiment, set chromacoder 1211 to include the first signal adapter, second Signal adapter, third signal adapter and fourth signal converter.Field programmable gate array (FPGA) device 1212 passes through After first signal adapter (MAX490EESA) carries out level conversion to the signal from external sensor of acquisition, send to number Signal processing (DSP) device 1213 carries out signal processing.Field programmable gate array (FPGA) device 1212 passes through second signal Converter (DS26LS31CM) send the signal from external sensor of acquisition to digital signal according to the signal format of regulation It handles (DSP) device 1213 and carries out signal processing.Field programmable gate array (FPGA) device 1212 is converted by third signal Device (DS26LS32CM) receives the control signal from external sensor, at the scene in programmable gate array (FPGA) device 1212 Serioparallel exchange is completed, is sent to processor 1214 by the data/address bus of Digital Signal Processing (DSP) device 1213.Field-programmable Gate array (FPGA) device 1212 is received by fourth signal converter (MAX3232EUE) or is sent from external sensor RS232 data complete serioparallel exchange in programmable gate array (FPGA) device 1212 at the scene, pass through Digital Signal Processing (DSP) data/address bus of device 1213 is sent to processor 1214.

Servo Control Board 12 further includes the data storage 1218 being electrically connected with Digital Signal Processing (DSP) device 1213, It is stored data in data storage 1218 using the SPI mouths of Digital Signal Processing (DSP) device 1213.

In one preferred embodiment of the utility model, the model M25P05 of data storage 1218.M25P05 is ST The 512Kflash storage chips of company's production, sector write the time and are<3ms, full chip erasure time are<2s, sector erasing time <1s, time data memory>20 years, 100000 read-writes can be carried out.

Servo Control Board 12 further includes level converter 1219, and field programmable gate array device 1212 is turned by level Changing device 1219 is electrically connected with Digital Signal Processing (DSP) device 1213.

In one preferred embodiment of the utility model, the model SN74LVTH16245 of level converter 1219. SN74LVTH16245 is the electrical level transferring chip of TI companies production, operating voltage 3.3V or 5V, output level voltage 3.3V or 5V.Because the I/O port of field programmable gate array (FPGA) device 1212 is all 3.3V level, and correlator difference chip (for example, RS422 conversion chips, second signal converter (DS26LS31CM) etc.) level converted is 5V, so level converter 1219 are here used for 3.3V level conversions being 5V level.

The Servo Control Board 12 of the utility model embodiment is using field programmable gate array (FPGA) device 1212 and number The hardware circuit that word signal processing (DSP) device 1213 is combined completes servo-drive system all data to be dealt with, fully profit With the parallel processing capability of field programmable gate array (FPGA) device 1212, the string that the external sensor of servo-drive system is received Row signal, while parallel signal is converted to, and Digital Signal Processing (DSP) device 1213 is sent to by data/address bus, accelerate The transmission rate of signal, has many advantages, such as that high reliability, low cost, circuit structure are simple, operational precision is high.

Driving power plate 13 includes：Storage capacitance, power supply change-over device, motor driver and electromagnetic relay.Storage Capacitance is electrically connected with servo motor, is used for feedback energy when storing servo motor braking；Power supply change-over device is used to be servo Control panel 12 provides power supply；Motor driver is for driving servo motor；Electromagnetic relay is electrically connected with servo motor, For circuit protection.

Preferably, storage capacitance is high-energy capacitor, and model is THC1W-63V2800uF-K.

Preferably, the model HPQ40T480512-TD of power supply change-over device.HPQ40T480512-TD is DC/DC power supplys 48V DC power supplies are converted to+12V, -12V and+5V by conversion chip.

Preferably, the model WHI60/10 of motor driver.WHI60/10 is ELMO motor drivers, can pass through software It is internally configured as electric current loop, speed ring or position ring in WHI60/10.Since the utility model is related to a kind of two axis servo motors Drive control device, there are two motor drivers in parallel, each motor driver to control respectively for setting in driving power plate 13 Make a servo motor.

Preferably, the model JGW-3019A of electromagnetic relay.

The 5th connector is additionally provided on driving power plate 13, the motor driver that driving power plate 13 has is by the 5th Connector is electrically connected with servo motor.Preferably, the model of the 5th connector is DC-37PL.

The specific operation process of driving power plate 13 is as follows：By power supply change-over device by the external dc electricity of 36V~52V Source is converted to+12V, -12V and+5V, and power supply is provided for Servo Control Board 12.Motor control signal is completed by motor driver Drive amplification.Storage capacitance completes the energy storage of system in servo-drive system plugging, and power supply is kept to stablize.Electromagnetism Relay is to be powered on to brake when powering on for the motor with brake, machine winding is disconnected, and then make brake Disconnect, ensure motor can rotate freely, normal operation；In power down, by machine winding short circuit, make servo-drive system in power down With certain damping.

The concrete operations of the two axis servo motor drive controllers of the utility model are as follows：

Position sensor signal is received by the first signal adapter (MAX490EESA), at the scene programmable gate array (FPGA) serioparallel exchange of data is completed in device 1212, then the data by Digital Signal Processing (DSP) device 1213 are total Line is sent to processor 1214.After being handled in Digital Signal Processing (DSP) device 1213, digiverter can be passed through 1215 pairs of driving power plates 13 control, and pass through DA Analog controls position, speed, electric current；Fourth signal can also be passed through The rs 232 serial interface signal of converter (MAX3232EUE) controls driving power plate 13, and position, speed are controlled by RS232 serial ports Deng；Driving power plate 13 can also be controlled by pwm signal, control position, speed etc..Certainly, these control modes It is alternatively, being only different the software difference used needed for configuration.

After receiving host computer order data by the first signal adapter (MAX490EESA), pass through level converter 1219 are converted to the level signal that Digital Signal Processing (DSP) device 1213 can receive, and then pass to Digital Signal Processing (DSP) the SCIRXDA mouths of device 1213 carry out the reception of order data, and Digital Signal Processing (DSP) device 1213 is according to order Data acquire sensing data by MAX485 to obtain the current state of servo-drive system in real time, and pass through Digital Signal Processing (DSP) device 1213 is compared according to the order data that the current state and host computer of servo-drive system require and obtains departure, High-precision floating-point operation, control algolithm are carried out using Digital Signal Processing (DSP) device 1213, calculates controlled quentity controlled variable, number Signal processing (DSP) device 1213 is interacted by data parallel bus with digiverter 1215 again, and digital control amount is turned It is changed to simulation controlled quentity controlled variable, external control devices is resent to and is operated according to host computer requirement with controlling servo-drive system, with this Meanwhile Digital Signal Processing (DSP) device 1213 carries out data interaction in real time with data storage 1218, by required data (including：System initialization data, historical failure information etc.) it is preserved.

Using the two axis servo motor drive controllers that the utility model embodiment provides, Servo Control Board and driving power Plate is electrically connected using connector, and the circuit structure of motor drive controller is simplified.As it can be seen that the motor driving of the utility model On the one hand controller can reach higher control requirement, appearance is small and exquisite, can be applied to a variety of occasions, on the other hand can also have Effect prevents the interference of extraneous electromagnetic signals, stable and reliable in work, convenient for debugging and safeguards.In addition, Servo Control Board is using number Signal processing apparatus carrys out work with the mode that field programmable gate array device is combined, and has high reliability, low cost, operation The advantages that precision is high.

Although embodiment disclosed in the utility model is as above, the content is only to facilitate understand this practicality Novel and use embodiment, is not limited to the utility model.Skill in any the utility model technical field Art personnel can be in the formal and details of implementation under the premise of not departing from spirit and scope disclosed in the utility model On make any modification and variation, but the scope of protection of the utility model, the model that must be still defined with appended claims Subject to enclosing.

Claims (9)

1. a kind of two axis servo motor drive controllers, which is characterized in that including Servo Control Board and driving power plate；Wherein, The Servo Control Board is electrically connected with the driving power plate using connector；

Wherein, it is provided with the first connector and the second connector in the Servo Control Board, is provided on the driving power plate Third connector and the 4th connector；First connector is electrically connected with the third connector, second connector with The 4th connector electrical connection.

2. two axis servo motor drive controller according to claim 1, which is characterized in that described first, second, third It is double-row type straight cutting multi-tap with one or more of the 4th connector.

3. two axis servo motor drive controller according to claim 1, which is characterized in that on the driving power plate also It is provided with the 5th connector, the motor driver that the driving power plate has passes through the 5th connector and servo motor electricity Connection.

4. two axis servo motor drive controller according to any one of claim 1 to 3, which is characterized in that described to watch It includes the chromacoder being sequentially electrically connected, field programmable gate array device, digital signal processing device, place to take control panel Manage device, digiverter and integrated operational amplifier.

5. two axis servo motor drive controller according to claim 4, which is characterized in that the Servo Control Board is also wrapped Level converter is included, the field programmable gate array device passes through the level converter and the Digital Signal Processing Device is electrically connected.

6. two axis servo motor drive controller according to claim 5, which is characterized in that the Servo Control Board is also wrapped Include the data storage being electrically connected with the digital signal processing device.

7. two axis servo motor drive controller according to claim 6, which is characterized in that the Servo Control Board is also wrapped Include the supply unit being electrically connected with the digiverter.

8. two axis servo motor drive controller according to claim 4, which is characterized in that the chromacoder packet Include multiple signal adapters for converting the signal from external sensor.

9. two axis servo motor drive controller according to any one of claim 1 to 3, which is characterized in that the drive Dynamic power panel includes：

Be electrically connected with servo motor, for storing servo motor braking when feedback energy storage capacitance；

Power supply change-over device for providing power supply for the Servo Control Board；

The motor driver that servo motor is driven；And

It is electrically connected with servo motor, for the electromagnetic relay of circuit protection.