CN209497405U - A kind of AGV servo motor driving control system - Google Patents
A kind of AGV servo motor driving control system Download PDFInfo
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- CN209497405U CN209497405U CN201821730507.2U CN201821730507U CN209497405U CN 209497405 U CN209497405 U CN 209497405U CN 201821730507 U CN201821730507 U CN 201821730507U CN 209497405 U CN209497405 U CN 209497405U
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- agv
- servo motor
- slave station
- motor driving
- control unit
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Abstract
The utility model discloses a kind of AGV servo motor driving control systems, it is characterized in that, AGV servo motor driving control system includes servo motor, sensor, AGV interface board and PC control unit, the PC control unit is used to control the behavior and movement of AGV, the servo motor is used to drive the behavior or movement of AGV, the sensor is for feeding back the behavior and movement of AGV, it is communicated between the PC control unit and the AGV interface board by EtherCAT Ethernet, the servo motor and the sensor between AGV interface board and the PC control unit by EtherCAT Ethernet by being communicated.The utility model has the advantages that the utility model is communicated by EtherCAT carries out the interaction of AGV motion control instruction, all kinds of servo controllers are effectively compatible with, it is portable good；By open source operating system and carry out that kernel-driven is integrated, and the real-time of innovatory algorithm communication process guarantees the stability and safety of motion control.
Description
Technical field
The utility model relates to a kind of AGV trolley technical field, in particular to a kind of AGV servo motor drive control system
System.
AGV servo motor driving control system.
Background technique
It needs to control motor with PLC in AGV drive system, to carry out the motion control of trolley.Common practice is now
It is driven using brshless DC motor, but brshless DC motor only receives analog signals, the transmission of signal must pass through
Signal wire, it is very complicated so as to cause entire drive system wiring.And the control period of brshless DC motor is 30ms, there is also
Low-response and disadvantage at high cost.
Utility model content
The purpose of the utility model is to provide a kind of AGV servo motor driving control systems, effectively improve response speed,
And it effectively reduces cost.
The technology employed by the present utility model is a kind of AGV servo motor driving control system, AGV servo motor
Driving control system includes servo motor, sensor, AGV interface board and PC control unit, the PC control unit
For controlling the behavior and movement of AGV, the servo motor is used to drive the behavior or movement of AGV, the sensor for pair
The behavior and movement of AGV is fed back, and passes through EtherCAT ether between the PC control unit and the AGV interface board
Net is communicated, and the servo motor and the sensor between AGV interface board and the PC control unit by leading to
EtherCAT Ethernet is crossed to be communicated.
Further, the AGV servo motor driving control system of the utility model, the EtherCAT industry ethernet mould
Formula includes main website and several slave stations, and the main website includes EtherCAT bus communication interface and AGV main control unit, the slave station packet
Servo motor and sensor are included, is connected between the main website and the slave station by EtherCAT Ethernet.
Further, the AGV servo motor driving control system of the utility model, the slave station include the first slave station, the
Two slave stations, the main website connect first slave station, and first slave station connects second slave station.
Further, the AGV servo motor driving control system of the utility model, the slave station include the first slave station, the
Two slave stations, the main website are separately connected first slave station and the second slave station.
Further, the AGV servo motor driving control system of the utility model, the sensor include encoder, top
Spiral shell instrument and accelerometer are sent to PC control for acquiring and converting the sensing data, and by the data after conversion
Unit is calculated, then is carried out corresponding control return control instruction according to calculated result by PC control unit and given servo electricity
Machine, to pass through the behavior and movement of the control control AGV to servo motor.
Further, the AGV servo motor driving control system of the utility model, the servo motor include for motor and
Servo-driver, the sensor are encoder, and the servo-driver controls the motor and rotates, described in the motor drive
Encoder rotation, the sensor, to servo-driver, form a closed-loop control by feedback signal.
Further, the AGV servo motor driving control system of the utility model, including several AGV, several AGV
The AGV interface board of servo motor driving control system exists in a distributed way, in a distributed manner the existing AGV interface board with
The PC control unit is connected as entirety by industrial field bus.
The utility model has the advantages that the utility model is communicated by EtherCAT carries out the interaction of AGV motion control instruction, it is effectively compatible each
Class servo controller is portable good；By open source operating system and to carry out kernel-driven integrated, innovatory algorithm communication process
Real-time guarantees the stability and safety of motion control.
Detailed description of the invention
The structural schematic diagram of Fig. 1, the utility model AGV servo motor driving control system.
The system schematic of Fig. 2, the utility model AGV servo motor driving control system.
The control connection schematic diagram of Fig. 3, the utility model AGV servo motor driving control system.
Specific embodiment
The utility model AGV servo motor driving control system is described in detail with reference to the accompanying drawings of the specification.
As shown in Figures 1 to 3, a kind of AGV servo motor driving control system of the utility model, the driving of AGV servo motor
Control system includes servo motor, sensor, AGV interface board and PC control unit, and the PC control unit is used for
The behavior and movement of AGV are controlled, the servo motor is used to drive the behavior or movement of AGV, and the sensor is used for AGV's
Behavior and movement are fed back, between the PC control unit and the AGV interface board by EtherCAT Ethernet into
Row communication, the servo motor and the sensor between AGV interface board and the PC control unit by passing through
EtherCAT Ethernet is communicated.
Further, the AGV servo motor driving control system of the utility model, the EtherCAT industry ethernet mould
Formula includes main website and several slave stations, and the main website includes EtherCAT bus communication interface and AGV main control unit, the slave station packet
Servo motor and sensor are included, is connected between the main website and the slave station by EtherCAT Ethernet.
Further, the AGV servo motor driving control system of the utility model, the slave station include the first slave station, the
Two slave stations, the main website connect first slave station, and first slave station connects second slave station.
Further, the AGV servo motor driving control system of the utility model, the slave station include the first slave station, the
Two slave stations, the main website are separately connected first slave station and the second slave station.
Further, the AGV servo motor driving control system of the utility model, the sensor include encoder, top
Spiral shell instrument and accelerometer are sent to PC control for acquiring and converting the sensing data, and by the data after conversion
Unit is calculated, then is carried out corresponding control return control instruction according to calculated result by PC control unit and given servo electricity
Machine, to pass through the behavior and movement of the control control AGV to servo motor.
Further, the AGV servo motor driving control system of the utility model, the servo motor include for motor and
Servo-driver, the sensor are encoder, and the servo-driver controls the motor and rotates, described in the motor drive
Encoder rotation, the sensor, to servo-driver, form a closed-loop control by feedback signal.According to AGV trolley
Driving method may include multiple motors, such as motor 1, motor 2, motor 3, motor 4, motor 5, motor 6 ..., Duo Ge electricity
Machine and encoder can be directly connected with AGV interface board by EtherCAT Ethernet.Certainly here according to actual conditions,
AGV can and encoder given by position signal is fed back to AGV executing agency positioner, speed control
Device, power controller and electric machine controller (PMSM) carry out closed-loop control to the movement of AGV.
Further, the AGV servo motor driving control system of the utility model, including several AGV, several AGV
The AGV interface board of servo motor driving control system exists in a distributed way, in a distributed manner the existing AGV interface board with
The PC control unit is connected as entirety by industrial field bus.
The utility model has the advantages that the AGV servo motor driving control system of the utility model, due to the servo motor, sensor
Between (encoder) and the AGV interface board, communication is all made of net between the AGV interface board and the PC control unit
The form that line is connected directly, wiring is simple, and failure rate is low, and since servo motor precision is high, price is low, controllable axis
It is more, so that control period 2ms, response are fast.
Certainly, the above description is not intended to limit the present invention, and the utility model is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made in the essential scope of the utility model, are also answered
Belong to the protection scope of the utility model.
Claims (7)
1. a kind of AGV servo motor driving control system, which is characterized in that AGV servo motor driving control system includes servo
Motor, sensor, AGV interface board and PC control unit, the PC control unit are used to control the behavior of AGV and move
Make, the servo motor is used to drive the behavior or movement of AGV, and the sensor carries out for the behavior to AGV with movement anti-
Feedback, is communicated between the PC control unit and the AGV interface board by EtherCAT Ethernet, the servo electricity
Machine and the sensor between AGV interface board and the PC control unit by EtherCAT Ethernet by being led to
News.
2. AGV servo motor driving control system according to claim 1, which is characterized in that the EtherCAT ether
Network bus mode includes main website and several slave stations, and the main website includes EtherCAT bus communication interface and AGV main control unit, institute
Stating slave station includes servo motor and sensor, is connected between the main website and the slave station by EtherCAT Ethernet.
3. AGV servo motor driving control system according to claim 2, which is characterized in that the slave station includes first
Slave station, the second slave station, the main website connect first slave station, and first slave station connects second slave station.
4. AGV servo motor driving control system according to claim 2, which is characterized in that the slave station includes first
Slave station, the second slave station, the main website are separately connected first slave station and the second slave station.
5. AGV servo motor driving control system according to claim 1, which is characterized in that the sensor includes compiling
Code device, gyroscope and accelerometer for acquiring and converting the sensing data, and send the data after conversion to upper
Machine control unit is calculated, then is carried out corresponding control return control instruction according to calculated result by PC control unit and given
Servo motor, to pass through the behavior and movement of the control control AGV to servo motor.
6. AGV servo motor driving control system according to claim 5, which is characterized in that the servo motor includes
For motor and servo-driver, the sensor is encoder, and the servo-driver controls the motor rotation, the motor
The encoder is driven to rotate, the sensor, to servo-driver, forms a closed-loop control by feedback signal.
7. -6 any AGV servo motor driving control system according to claim 1, which is characterized in that including several
The AGV interface board of AGV, several AGV servo motor driving control systems exist in a distributed way, existing in a distributed manner
The AGV interface board is connected as entirety by industrial field bus with the PC control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821730507.2U CN209497405U (en) | 2018-10-24 | 2018-10-24 | A kind of AGV servo motor driving control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821730507.2U CN209497405U (en) | 2018-10-24 | 2018-10-24 | A kind of AGV servo motor driving control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209497405U true CN209497405U (en) | 2019-10-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201821730507.2U Active CN209497405U (en) | 2018-10-24 | 2018-10-24 | A kind of AGV servo motor driving control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111342709A (en) * | 2020-02-27 | 2020-06-26 | 超同步股份有限公司 | Multi-servo motor control system |
| WO2021147351A1 (en) * | 2020-07-17 | 2021-07-29 | 之江实验室 | Ethercat p bus technology-based multi-axial servomotor control system and method |
| CN114035573A (en) * | 2021-10-15 | 2022-02-11 | 上海铁路通信有限公司 | An AGV peripheral control method based on PLC controller |
-
2018
- 2018-10-24 CN CN201821730507.2U patent/CN209497405U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111342709A (en) * | 2020-02-27 | 2020-06-26 | 超同步股份有限公司 | Multi-servo motor control system |
| WO2021147351A1 (en) * | 2020-07-17 | 2021-07-29 | 之江实验室 | Ethercat p bus technology-based multi-axial servomotor control system and method |
| CN114035573A (en) * | 2021-10-15 | 2022-02-11 | 上海铁路通信有限公司 | An AGV peripheral control method based on PLC controller |
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