CN210347796U - Small-sized digital low-voltage alternating current servo system based on CAN bus - Google Patents
Small-sized digital low-voltage alternating current servo system based on CAN bus Download PDFInfo
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- CN210347796U CN210347796U CN201920620306.5U CN201920620306U CN210347796U CN 210347796 U CN210347796 U CN 210347796U CN 201920620306 U CN201920620306 U CN 201920620306U CN 210347796 U CN210347796 U CN 210347796U
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Abstract
The utility model discloses a servo system is exchanged to small-size digital low pressure based on CAN bus, include, controller, power module, power return circuit and upper communication module, upper communication module includes CAN bus communication module, wireless communication module and digital IO module, and the motor among the servo is PMSM. The utility model discloses a set up CAN bus communication module and make the system support the CAN bus, the utility model discloses light-duty more, it is miniaturized, CAN bear more abominable environmental requirement, support PMSM, support wireless communication, CAN realize wireless information transmission.
Description
Technical Field
The utility model particularly relates to a servo system is exchanged to small-size digital low pressure based on CAN bus.
Background
Along with the improvement of industrial automation level, automation surpasss traditional mill scope gradually, realizes in wider environment, to removing automatic direction development promptly, and neotype servo needs the energy supply who removes, need provide accurate positional information, needs wireless information transmission, needs light-dutyization, and the miniaturization can bear abominable environmental requirement, and this has provided the challenge to traditional servo. The current alternating current servo system capable of supporting the CAN bus is a product oriented to factory automation, the input voltage is AC220V or AC380V, the servo system cannot realize mobile power supply and wireless information transmission, the light and small size cannot be realized, and only stable factory environment CAN be borne.
Therefore, a small-sized digital low-voltage ac servo system capable of supporting the CAN bus is urgently needed.
SUMMERY OF THE UTILITY MODEL
To the problem that above-mentioned prior art exists, the utility model provides a servo system is exchanged to small-size digital low pressure based on CAN bus.
In order to realize the purpose, the utility model discloses a technical scheme is: a small-sized digital low-voltage AC servo system based on CAN bus comprises,
a controller for controlling the servo system;
the power supply module is used for providing power input for the servo system;
the power loop drives the motor through the driving circuit; and
the upper communication module is used for providing upper command input;
the controller is respectively connected with the upper communication module and the power loop, and the power loop is also respectively connected with the power module and the motor;
the upper communication module comprises a communication module and a communication module,
the CAN bus communication module is used for realizing the upper position, networking and synchronization of the servo system;
the wireless communication module is used for realizing remote mobile interaction of data; and
the digital I/O module is used for inputting and outputting digital signals;
the CAN bus communication module, the wireless communication module and the digital I/O module are respectively connected with the controller.
The motor is a permanent magnet synchronous motor.
Further, the input of the power supply module is a low-voltage direct current voltage, and the low-voltage direct current voltage is less than 100V.
Further, the servo system further comprises,
the analog signal sensing circuit is used for providing analog signal sampling conditioning for the servo system;
the state indicating module is used for providing running state indication;
the auxiliary power supply module is used for providing an auxiliary power supply for the servo system; and
at least one encoder for detecting a position signal of the motor and providing an input for position and speed control;
the controller is also respectively connected with the encoder, the analog signal sensing circuit and the state indicating module, and the auxiliary power supply module is connected with the power supply module.
Further, the encoder is an absolute value encoder, an incremental encoder, a rotary transformer or a hall sensor.
Further, the analog signal sensing circuit includes,
the bus current detection circuit is used for detecting bus current and providing input for short-circuit protection and overload protection;
the bus voltage detection circuit is used for detecting bus voltage and providing input for overvoltage protection and undervoltage protection;
the phase current detection circuit is used for detecting phase current and providing input for motor control;
the temperature detection circuit is used for detecting the surface temperatures of the environment and the power components and providing input for temperature calibration and over-temperature protection;
the bus current detection circuit, the bus voltage detection circuit, the phase current detection circuit and the temperature detection circuit are respectively connected with the controller.
Furthermore, the CAN bus is connected with an upper computer through one port of the CAN bus communication module, and is connected with a next servo system through the other port of the CAN bus communication module, so that networking and synchronization among the servo systems are realized;
further, the wireless communication module provides a wireless communication connector, and realizes remote mobile interaction of data through the SPI and the UART.
Furthermore, the controller is also connected with a CAN bus slave station controller in a bidirectional mode, the CAN bus is connected with the CAN bus slave station controller in a bidirectional mode, and the servo system realizes communication between a CAN bus master station and the controller through the CAN bus slave station controller.
Further, the auxiliary power supply module is also provided with a power supply independently.
Furthermore, the power circuit is arranged on the heat dissipation substrate, the heat dissipation substrate comprises a bottom substrate, the bottom substrate is used for heat dissipation of the power circuit, the power circuit is arranged on the bottom substrate for heat dissipation, thermal resistance is greatly reduced, and heat dissipation performance of the servo system is improved.
Further, the base substrate is an aluminum substrate.
Furthermore, the analog signal sensing circuit is also arranged on the heat dissipation substrate, so that the heat dissipation performance of the servo system is further improved, and meanwhile, the power loop and the analog signal sensing circuit are arranged on the heat dissipation substrate, so that the size of the servo system is effectively reduced, and the miniaturization requirement is met.
Compared with the prior art, the utility model has the advantages of: the utility model discloses a set up CAN bus communication module and make the system support the CAN bus, the utility model discloses light-duty more, it is miniaturized, CAN bear more abominable environmental requirement, support PMSM, support wireless communication, CAN realize wireless information transmission.
Drawings
Fig. 1 is a block diagram of an embodiment of the present invention;
fig. 2 is a block diagram of another embodiment of the present invention;
fig. 3 is a block diagram of another embodiment of the present invention.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
Referring to fig. 1-3, a small digital low voltage ac servo system based on CAN bus includes,
a controller 100 for controlling the servo system;
a power module 200 for providing power input to the servo system;
a power circuit 300 for driving the motor 400 through a driving circuit; and
the upper communication module is used for providing upper command input;
the controller 100 is respectively connected with the upper communication module and the power loop 300, and the power loop 300 is also respectively connected with the power module 200 and the motor 400;
wherein, the upper communication module comprises a communication module,
the CAN bus communication module 510 is used for realizing the upper position, networking and synchronization of the servo system;
a wireless communication module 520 for implementing data remote mobile interaction; and
a digital I/O module 530 for input and output of digital signals;
the CAN bus communication module 510, the wireless communication module 520, and the digital I/O module 530 are connected to the controller 100, respectively.
The motor 400 is a permanent magnet synchronous motor.
Further, the input of the power module 200 is a low voltage dc voltage, which is less than 100V.
Further, the servo system further comprises,
the analog signal sensing circuit 600 is used for providing analog signal sampling conditioning for the servo system;
a status indication module 700 for providing an operational status indication;
an auxiliary power supply module 800 for providing an auxiliary power supply for the servo system; and
at least one encoder 900 for detecting a position signal of the motor 400, providing input for position and speed control;
the controller 100 is further connected to the encoder 900, the analog signal sensing circuit 600, and the status indication module 700, and the auxiliary power module 800 is connected to the power module 200.
Wherein, the auxiliary power module 800 is also provided with a power supply separately.
The encoder 900 is an absolute value encoder 910, an incremental encoder 920, a rotary transformer 930, or a hall sensor.
In which the analog signal sensing circuit 600 includes,
a bus current detection circuit 610 for detecting bus current and providing input for short circuit protection and overload protection;
a bus voltage detection circuit 620 for detecting bus voltage and providing input for overvoltage protection and undervoltage protection;
a phase current detection circuit 630 for detecting phase current and providing input for motor control;
the temperature detection circuit 640 is used for detecting the surface temperatures of the environment and the power components and providing input for temperature calibration and over-temperature protection;
the bus current detection circuit 610, the bus voltage detection circuit 620, the phase current detection circuit 630, and the temperature detection circuit 640 are connected to the controller 100, respectively.
Furthermore, the CAN bus is connected with an upper computer through one port of the CAN bus communication module 510, and is connected with the next servo system through the other port of the CAN bus communication module 510, so that networking and synchronization among the servo systems are realized;
further, the wireless communication module 520 provides a wireless communication interface for implementing remote mobile interaction of data through SPI and UART.
Further, the controller 100 is also connected with a CAN bus slave station controller in a bidirectional manner, the CAN bus is connected with the CAN bus slave station controller in a bidirectional manner, and the servo system realizes communication between the CAN bus master station and the controller 100 through the CAN bus slave station controller.
Further, the power circuit 300 is disposed on a heat dissipation substrate (not shown in the figure), which includes a bottom substrate for heat dissipation of the power circuit 300, and the heat dissipation is performed by disposing the power circuit 300 on the bottom substrate, thereby greatly reducing the thermal resistance and improving the heat dissipation performance of the servo system. Preferably, the base substrate is an aluminum substrate.
In another embodiment, the analog signal sensing circuit 600 is also disposed on the heat dissipation substrate, so as to further improve the heat dissipation performance of the servo system, and meanwhile, the power loop 300 and the analog signal sensing circuit 600 are disposed on the heat dissipation substrate, so as to effectively reduce the volume of the servo system and achieve the requirement of miniaturization.
In another embodiment, the servo system simultaneously supports the absolute value encoder 910, the incremental encoder 920 and the rotary transformer 930, after the servo system is started, the encoder 900 is selected through the configuration file, the position feedback information of the motor 400 can be provided through the absolute value encoder 910, the speed feedback information of the motor 400 can be calculated through the incremental encoder 920, the position signal of the motor 400 is detected through the rotary transformer 930, an input is provided for position and speed control, and position and speed closed-loop control is performed in the controller 100; current closed-loop control is performed in the controller 100 based on the feedback signal detected by the phase current detection circuit 630; overvoltage and undervoltage protection is performed according to feedback signals detected by the bus voltage detection circuit 620, overcurrent protection is performed according to feedback signals detected by the bus current detection circuit 610, overtemperature protection is performed according to feedback signals detected by the temperature detection circuit 640, state information of servo system operation is provided through signals of the state indication module 700, meanwhile, the servo system supports CAN bus communication upper-level through the CAN bus communication module 510, digital I/O control is achieved through the digital I/O module 530, and data of the servo system are fed back to the cloud of the server through a wireless communication joint of the wireless communication module 520.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. A small-sized digital low-voltage AC servo system based on CAN bus is characterized in that it comprises,
a controller for controlling the servo system;
the power supply module is used for providing power input for the servo system;
the power loop drives the motor through the driving circuit; and
the upper communication module is used for providing upper command input;
the controller is respectively connected with the upper communication module and the power loop, and the power loop is also respectively connected with the power module and the motor;
the upper communication module comprises a communication module and a communication module,
the CAN bus communication module is used for realizing the upper position, networking and synchronization of the servo system;
the wireless communication module is used for realizing remote mobile interaction of data; and
the digital I/O module is used for inputting and outputting digital signals;
the CAN bus communication module, the wireless communication module and the digital I/O module are respectively connected with the controller;
the motor is a permanent magnet synchronous motor;
the servo system further comprises a servo control unit for controlling the servo control unit,
the analog signal sensing circuit is used for providing analog signal sampling conditioning for the servo system;
the state indicating module is used for providing running state indication;
the auxiliary power supply module is used for providing an auxiliary power supply for the servo system; and
at least one encoder for detecting a position signal of the motor and providing an input for position and speed control;
the controller is also respectively connected with the encoder, the analog signal sensing circuit and the state indicating module, and the auxiliary power supply module is connected with the power supply module;
the encoder is an absolute value encoder, an incremental encoder, a rotary transformer or a Hall sensor;
the analog signal sensing circuit includes a voltage sensing circuit,
the bus current detection circuit is used for detecting bus current and providing input for short-circuit protection and overload protection;
the bus voltage detection circuit is used for detecting bus voltage and providing input for overvoltage protection and undervoltage protection;
the phase current detection circuit is used for detecting phase current and providing input for motor control;
the temperature detection circuit is used for detecting the surface temperatures of the environment and the power components and providing input for temperature calibration and over-temperature protection;
the bus current detection circuit, the bus voltage detection circuit, the phase current detection circuit and the temperature detection circuit are respectively connected with the controller.
2. The system of claim 1, wherein the input of the power module is a low voltage dc voltage, the low voltage dc voltage being less than 100V.
3. The system of claim 1, wherein the power circuit is disposed on a heat sink substrate, the heat sink substrate comprising a bottom substrate for heat dissipation of the power circuit.
4. The system of claim 3, wherein the analog signal sensing circuit is also disposed on the heat sink substrate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920620306.5U CN210347796U (en) | 2019-05-01 | 2019-05-01 | Small-sized digital low-voltage alternating current servo system based on CAN bus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920620306.5U CN210347796U (en) | 2019-05-01 | 2019-05-01 | Small-sized digital low-voltage alternating current servo system based on CAN bus |
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| Publication Number | Publication Date |
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| CN210347796U true CN210347796U (en) | 2020-04-17 |
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| CN201920620306.5U Active CN210347796U (en) | 2019-05-01 | 2019-05-01 | Small-sized digital low-voltage alternating current servo system based on CAN bus |
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