CN208226915U - A kind of multi- drive synchronization device - Google Patents

Abstract

The utility model discloses a kind of multi- drive synchronization devices, including human-computer interaction module, intelligent central control module, motor synchronized drive module and high-speed stepper motor array, the human-computer interaction module is connect with intelligent central control module, the intelligent central control module is connect with motor synchronized drive module, the motor synchronized drive module is connect with high-speed stepper motor array, the high-speed stepper motor array is made of several high-speed stepper motors, and every high-speed stepper motor is individually connect with motor drive module.The problem of it is not flexible that the utility model solves more motor deployment way, synchronization accuracy and running speed can just be applicable in the overwhelming majority application in cultural creative field.

Description

A kind of multi- drive synchronization device

Technical field

The utility model relates to electric transmission control technology more particularly to a kind of multi- drive synchronization devices.

Background technique

With fast development industrial in recent years, various mechanical performances and product quality requirement are gradually increased, only Control for a motor is no longer satisfied the development need of modern science and technology in certain occasions, and people is needed to go control more Platform motor, allows its preferably coordinated operation.Such as in printing industry, in manufacturing, more motors are all used in entertainment industry Coordination operation, and keep the coordination operations of more motors there are two types of modes:

1, it mechanical system: is connected using mechanical synchronizer and needs synchronous all motors, tooth belt etc. can be passed through Driving form.

In traditional transmission system, it is ensured that certain relationship of speed between multiple executive components, including guarantee its Between speed sync or with certain speed ratio, realized frequently with machine driving rigid linking device.If but sometimes multiple holding Mechanical driving device between units is larger, the distance between executive component farther out when, just have to be considered as the non-of independent control Rigid attachment drive method；

2, electric control method: using the frequency converter or special purpose driver controlled with closed-loop speed or angle, on motor It is equipped with encoder angularly or velocity sensor enjoys oneself to heart's content closed-loop synchronization control to more motors.

As can be seen from the above electric control method is obviously more more flexible than mechanical system, but from having production on the market at present From the point of view of product, the deployment combination of motor is substantially to need to customize, and synchronization accuracy is difficult to ensure, the speed of service Be it is partially slow, these defects are in some specific application fields, and such as cultural creative field, existing multi-motor coordination mode just seems It is difficult to competent.

Utility model content

In view of the deficiencies of the prior art, the utility model provides one kind to solve more motor deployment way not flexible, synchronous The problem of precision and running speed, can just be applicable in the multi- drive synchronization device of the overwhelming majority application in cultural creative field.

The technical solution of the utility model are as follows: a kind of multi- drive synchronization device, including human-computer interaction module, Intelligent central control Molding block, motor synchronized drive module and high-speed stepper motor array, it is characterised in that: in the human-computer interaction module and intelligence Control module connection is entreated, the intelligent central control module is connect with motor synchronized drive module, the synchronous driving mould of the motor Block is connect with high-speed stepper motor array, and the high-speed stepper motor array is made of several high-speed stepper motors, every high speed Stepper motor is individually connect with the motor drive module for being equipped with velocity compensator.

The motor synchronized drive module includes FPGA pulse control circuit, stepper motor driving circuit, grating sensor And velocity compensator, the FPGA pulse control circuit, stepper motor driving circuit, high-speed stepper motor and grating sensor are suitable Sequence connection, each high-speed stepper motor and its stepper motor driving circuit are a relatively independent closed-loop systems, each high speed It is coupled between the closed-loop system of stepper motor using velocity compensator.

The high-speed stepper motor array is made of eight high-speed stepper motors.

To be more than two and parallel with one another, each motor synchronized drive module connects the motor synchronized drive module quantity It is connected to a high-speed stepper motor array.

The human-computer interaction module is hand-held remote control terminal.

The utility model has the beneficial effect that

1, motor deployed position and its shape of composition can scene flexible deployments as needed；

2, it is coupled between the closed-loop system of each motor using velocity compensator, cooperates the motor synchronized drive module, it is mostly electric Machine realizes precise synchronization, synchronization accuracy≤0.18 turn；

3, lifting speed can arbitrarily be set between 0.8~3.2 revolutions per second；

4, high-speed stepper motor can self-locking and power-off protection, i.e., once set initial position, power-off is re-powered Afterwards, motor can be automatically adjusted to the position before power down；

5, it supports starting, stop vibration-damping function, is i.e. slowly starting, ramp up, slowly slow down, taper off, prevent electricity Machine quick start stops bring inertial error and acutely shake；

6, between human-computer interaction module and intelligent central control module signal transmission support RS485 the standard agreements such as 232 Control, support it is wired or wireless transmission.

Detailed description of the invention

Fig. 1 is the connection schematic diagram of the utility model.

Fig. 2 is the structural schematic diagram of the synchronous drive part of the utility model motor.

In figure: 1- human-computer interaction module, 2- intelligent central control module, 3- motor synchronized drive module, 4- high speed stepping Motor array.

Specific embodiment

Specific embodiment of the present utility model is described further with reference to the accompanying drawing:

As depicted in figs. 1 and 2, a kind of multi- drive synchronization device, including human-computer interaction module 1, intelligent central control module 2, motor synchronized drive module 3 and high-speed stepper motor array 4, the human-computer interaction module 1 connect with intelligent central control module 2 It connects, the intelligent central control module 2 is connect with motor synchronized drive module 3, the motor synchronized drive module 3 and high trot It is connected into motor array 4, the motor synchronized drive module includes FPGA pulse control circuit, stepper motor driving circuit, light Gate sensor and velocity compensator, the FPGA pulse control circuit, stepper motor driving circuit, high-speed stepper motor and grating Sensor is linked in sequence, and confirms before motor synchronized drive module operation to original position of electric motor's rotator, and when operation is examined Measured motor operating status is reacted on the human-computer interaction module by the intelligent central control module, the high speed stepping Motor array 4 is made of several high-speed stepper motors, and each high-speed stepper motor is individually connect with motor synchronized drive module 3, The high-speed stepper motor array is made of several high-speed stepper motors, and every high-speed stepper motor is individually and motor drive module Connection, each high-speed stepper motor and its stepper motor driving circuit are a relatively independent closed-loop system, each high trot Velocity compensator is used to couple between the closed-loop system of motor.

Further, the intelligent central control module can use ARM micro-chip processor, the FPGA pulse control electricity Road can carry out pulse control using EP2C8Q208C8 chip, and the stepper motor driving circuit can use L297 and L298 Chip portfolio, wherein L297 chip can generate 4 phase control signals, in switching mode the electricity in adjustable stepper motor winding Stream, L298 chip can allow when not depending on input signal or device forbidden to work, and the grating sensor can be real When provide motor current rotor location information give intelligent central control module, lifting system accuracy and reliability.

Human-computer interaction module 1 can be hand-held remote control terminal, be also possible to computer PC, and human-computer interaction module 1 receives input After instruction, be converted into digital signal, and by the RS485 of standard the agreements such as 232 through wire transmission or wireless signal transmission to intelligence Can central control module 2, the standard RS485 of the implementation case 232 agreements, be also possible to Bluetooth protocol, Lora association in practice Other agreements such as view, human-computer interaction module 1 can be with the whole speeds of service of setting high-speed stepping motor array 4, runing time, fortune Row distance is also possible to individually control a certain stepper motor in array and operates according to the value of setting, is also possible to whole control High-speed stepper motor array 4 according to setting value overall operation；

After intelligent central control module 2 receives the operational order of human-computer interaction module 1, the fortune of motor is converted instructions into Rotary speed instruction, and start and stop vibration damping algorithm operation is carried out, so that motor is operated according to the requirement of operational order, and By the running speed instruction after conversion by the RS485 of standard the agreements such as 232 issue electricity through wire transmission or wireless signal transmission Machine synchronized drive module 3, the standard RS485 of the implementation case 232 agreements, be also possible to Bluetooth protocol, Lora association in practice Other agreements such as view, start and stop vibration damping algorithm principle of operation is slowly to start, and is ramped up, and slowly slows down, tapers off, Prevent motor quick start from stopping bring inertial error and acutely shake,

The running speed instruction that the motor synchronized drive module 3 issues include but is not limited to enabled instruction, halt instruction, Running speed instruction, the instruction of stepper motor address information, the instruction of 3 address information of motor synchronized drive module etc., in the intelligence Control module 2 is entreated to issue motor operation instruction to motor synchronized drive module 3, motor synchronized drive module 3 can be an object Reason module is also possible to multiple physical modules, and the intelligent central control module 2 has the function of storage, can after a loss of power still So remember the operational order from human-computer interaction module 1；

Motor synchronized drive module 3 receives the motor operation control command from intelligent central control module 2, by its turn Change the pwm signal that stepper motor can identify into, and logical according to voltage, the current requirements of high-speed stepper motor with the semaphore request It crosses wired mode and is transmitted to high-speed stepper motor array 4, motor synchronized drive module 3 is that each high-speed stepper motor has Individual transmission line, i.e. high-speed stepper motor array 4 can be controlled individually or integrally be controlled, can also part entirety portion Divide individually, in the implementation case, 3 maximum of motor synchronized drive module can connect 8 high-speed stepper motors, if to connect more High-speed stepper motor, then can multiple motor synchronized drive modules 3 in parallel, the motor synchronized drive module 3 has storage Function can store the motor operation control command from intelligent central control module 2, can still remember to come from after a loss of power The motor operation control command of intelligent central control module 2, and motor is adjusted into the state to power down after re-powering, from And achieve the purpose that self-locking and power-off protection；

High-speed stepper motor array 4 is at most made of 8 high-speed stepper motors, the shape of 8 high-speed stepper motors composition Including but not limited to the array configurations such as circular arrangement, arranged in a straight line, rectangular arranged, oval shaped arrangements, each high speed stepping electricity Machine passes through wired connection with motor synchronized drive module 3；Each motor and its speed control are one relatively independent Closed-loop system is coupled using velocity compensator between the closed-loop system of each motor, takes velocity compensation between the closed-loop system of each motor Device coupling, really realizes precise synchronization in conjunction with motor synchronized drive module 3 according to the damped coefficient relationship between each motor.

After disposing good each module according to demand, need to carry out initial position calibration to each high-speed stepper motor, Initial position calibration can be carried out to each high-speed stepper motor by human-computer interaction module 1, the present apparatus can be remembered after calibration Then the firmly initial position starts entirety by 4 overall operational command of high-speed stepper motor array, is stopped, operating speed The operations such as degree, distance, to achieve the purpose that multi- drive synchronization is run.

Utility model works process are as follows: human-computer interaction module receives manual operation instruction, is converted into digital signal biography Intelligent central control module is transported to, it is synchronous to motor by issuing motor operation instruction after operation by intelligent central control module Drive module, motor synchronized drive module pass the driving signal that the operation instruction received is converted into high-speed stepper motor array High-speed stepper motor array is transported to, to control the operating of high-speed stepper motor array.

The description of the embodiments and the specification only illustrate the principle of the present utility model and most preferred embodiment, is not taking off Under the premise of from the spirit and scope of the utility model, the utility model also has various changes and improvements, these changes and improvements It falls within the scope of the claimed invention.

Claims (5)

1. a kind of multi- drive synchronization device, including human-computer interaction module, intelligent central control module, motor synchronized drive module and High-speed stepper motor array, it is characterised in that: the human-computer interaction module is connect with intelligent central control module, in the intelligence Centre control module is connect with motor synchronized drive module, and the motor synchronized drive module is connect with high-speed stepper motor array, The high-speed stepper motor array is made of several high-speed stepper motors, and every high-speed stepper motor is individually and equipped with velocity compensation The motor drive module of device connects.

2. multi- drive synchronization device according to claim 1, it is characterised in that: the motor synchronized drive module includes FPGA pulse control circuit, stepper motor driving circuit, grating sensor and velocity compensator, the FPGA pulse control electricity Road, stepper motor driving circuit, high-speed stepper motor and grating sensor are linked in sequence, the step of each high-speed stepper motor and it It is a relatively independent closed-loop system into motor-drive circuit, is mended between the closed-loop system of each high-speed stepper motor using speed Device is repaid to be coupled.

3. multi- drive synchronization device according to claim 1, it is characterised in that: the high-speed stepper motor array is by eight High-speed stepper motor composition.

4. multi- drive synchronization device according to claim 1, it is characterised in that: the motor synchronized drive module quantity is More than two and parallel with one another, each motor synchronized drive module is respectively connected with a high-speed stepper motor array.

5. multi- drive synchronization device according to claim 1, it is characterised in that: the human-computer interaction module is hand-held remote control Terminal.