CN211063493U - Automatic circulation heat dissipation type linear motor motion control platform - Google Patents
Automatic circulation heat dissipation type linear motor motion control platform Download PDFInfo
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- CN211063493U CN211063493U CN202020125333.8U CN202020125333U CN211063493U CN 211063493 U CN211063493 U CN 211063493U CN 202020125333 U CN202020125333 U CN 202020125333U CN 211063493 U CN211063493 U CN 211063493U
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Abstract
The utility model relates to an automatic circulation heat dissipation type linear motor motion control platform, which comprises an upper computer, a lower computer controller and an automatic circulation heat dissipation device, wherein the lower computer controller comprises a temperature control board card, and the upper computer and the lower computer controller are communicated through RS232 serial port lines; the temperature control board card is used for controlling signals for an electric control valve in the automatic circulation heat dissipation device through a serial peripheral interface; a motor temperature sensor is arranged in an area where the temperature heating of a motor rotor of the permanent magnet synchronous linear motor is most obvious; the automatic circulation heat dissipation device comprises a cooling plate, wherein the cooling plate is assembled on the upper side of a coil winding of a motor rotor in a surface-mounted mode, a cooling pipe is laid on the cooling plate, a cooling liquid inlet is connected with an external cooling liquid supply loop through an electric regulating valve, and a valve rod of the electric regulating valve is provided with a valve position sensor; the motor temperature sensor and the electric regulating valve are connected with the temperature control card. The platform overcomes the heating problem of the motor in different motion states, and improves the motion precision of the motor.
Description
Technical Field
The utility model belongs to motion platform and control field specifically are an automatic circulation heat dissipation formula linear electric motor motion control platform.
Background
In the development process of the current manufacturing industry, the requirement on high-performance parts with complex profiles is increasingly large, the requirements on the performance of a numerical control machine tool and the control precision of a feeding motion platform are continuously improved, the control precision of the motion platform on a high-speed occasion is required, and higher technical requirements are provided for the stability of the motion platform on a high-acceleration occasion caused by high-speed frequent start-stop operation.
Compared with the traditional transmission mode of driving the ball screw and the rotary servo motor, the linear motor-driven motion platform does not comprise an intermediate transmission link, directly generates electromagnetic thrust by electric energy to push a rotor of the motor to do linear feeding motion, and has obvious advantages in the aspects of speed, precision and the like.
Application No. 201810842430.6 discloses a linear motion platform comprising: a base; the first moving seat is matched with the base in a guiding mode and can reciprocate relative to the base along the first axial direction; and the linear motion platform further comprises a first heat dissipation device and a second heat dissipation device which are respectively used for dissipating heat of the two linear motors. When the mechanical structure is designed, the motion stroke of the second driving mechanism is limited by the length of the sliding rail, the motor is heated in the operation process and adopts a centralized cooling mode, the heat dissipation efficiency is not high, and the linear motion platform is unevenly heated under different working conditions to cause thermal deformation of the sliding rail.
SUMMERY OF THE UTILITY MODEL
The not enough to prior art, the utility model discloses the technical problem who plans to solve provides an automatic circulation heat dissipation formula linear electric motor motion control platform.
The technical scheme adopted by the utility model for solving the technical problems is to provide an automatic circulation heat dissipation type linear motor motion control platform, which comprises an upper computer, a lower computer controller and a motion platform mechanical part driven by a permanent magnet synchronous linear motor; is characterized in that the control platform also comprises an automatic circulating heat dissipation device, the lower computer controller comprises a motion control board card and a temperature control board card, and the upper computer and the lower computer controller are communicated through an RS232 serial port line; the motion control board card drives a motion platform mechanical part driven by a permanent magnet synchronous linear motor to move through a digital servo driver; the temperature control board card is used for controlling signals for an electric control valve in the automatic circulation heat dissipation device through a serial peripheral interface;
the motor rotor of the permanent magnet synchronous linear motor is a coil winding, the motor stator is a permanent magnet, and a motor temperature sensor is arranged in an area where the temperature heating of the motor rotor of the permanent magnet synchronous linear motor is most obvious;
the automatic circulation heat dissipation device comprises a cooling plate, wherein the cooling plate is assembled on the upper side of a coil winding of a motor rotor in a surface-mounted mode, double-inlet and double-outlet double-layer serpentine cooling pipes are paved on the cooling plate, cooling liquid inlets and outlets of the two layers of cooling pipes are opposite, a cooling liquid inlet is connected with an external cooling liquid supply loop through an electric regulating valve and circulates to a cooling liquid outlet,
a valve rod of the electric regulating valve is provided with a valve position sensor, and the valve position sensor moves along with the valve rod; the motor temperature sensor, the electric regulating valve and the valve position sensor are all connected with the temperature control card.
The motion control board card is an HTBK-200MC06 control board card, wherein a control core of the motion control board card is composed of a cortex M3 high-performance processor and an FPGA chip; the cortex 3 high-performance processor is provided with a serial peripheral equipment SPI interface, a CAN interface and an RS232 interface; the RS232 interface is communicated with an upper computer through an RS232 serial port line, the CAN interface is a standby bus interface, and if no Ethernet control is available, general bus control is carried out;
the cortex 3 high-performance processor is connected with the FPGA chip through the FSMC interface; the FPGA chip includes:
the pulse output module is responsible for controlling the output of pulses, controls the permanent magnet synchronous linear motor in a pulse and direction mode and outputs the differential signals AM 26L S31;
the encoder input module is responsible for receiving XY-axis incremental encoder signals, and integrating the signals into the FPGA for processing after filtering, subdividing and quadruple frequency;
an analog quantity output circuit for controlling the motion of the corresponding axis by using the analog quantity;
the limit switch is designed for two shafts of the motion control card, so that the control card can limit the position or the stroke of mechanical motion conveniently, and the interface is provided with an optical coupling isolation circuit;
a general purpose I/O port module.
Compared with the prior art, the utility model discloses beneficial effect lies in:
1. the utility model discloses relative ordinary motion control platform, newly-increased design out an automatic circulation heat dissipation formula linear electric motor motion control platform and control method, the output of next machine controller is as the input of diaxon motion platform mechanical part, control platform's the existing motion control signal of control signal has temperature control signal again this moment, the feedback signal of linear electric motor motion control platform mechanical part output also is as the input of next machine controller simultaneously, linear electric motor motion control platform mechanical part's output not only has linear electric motor position signal this moment, there is the valve opening signal again, temperature signal etc., good matching has been reached between motion platform mechanical part and the next machine controller (electrical control link), the problem of generating heat under the different motion state of permanent magnet synchronous linear electric motor has been solved, motion control platform's precision has been improved.
2. The utility model discloses according to motion platform operational environment, take the automatic cycle radiating mode, add the surface-mounted cooling plate to motor stator upper portion, increase the convection heat dissipation, direct cooling coil temperature. The common cooling plate pipeline is improved, the cooling pipe material is formed by compounding copper aluminum profiles, the copper aluminum profiles are compounded and have better heat conductivity compared with aluminum alloy, a water cooling mode is adopted for cooling, the relative circulating water cooling of two pipelines is increased, and the cooling temperature of one pipeline is more uniform compared with that of the other pipeline. The application of the automatic circulating heat dissipation device greatly improves the heat dissipation efficiency, and the automatic circulation of the cooling liquid saves the cost and reduces the resource waste.
Drawings
FIG. 1 is an overall frame diagram of the automatic circulation heat dissipation type linear motor motion control platform of the present invention;
FIG. 2 is an external schematic view of the linear motor cooling circulation system of the present invention;
fig. 3 is a frame diagram of the digital servo driver of the present invention;
FIG. 4 is a basic block diagram of the temperature grading control method of the present invention;
FIG. 5 is a schematic diagram of the variation of the opening of the staged control valve with margin of difference according to the present invention;
fig. 6 is a PID control block diagram inside the linear motor driver of the present invention;
fig. 7 is a structural diagram of a two-axis motion platform driven by a linear motor according to the present invention;
FIG. 8 is a view of a single shaft structure of the linear motor of the present invention;
fig. 9 is a pipe distribution diagram of the cooling plate of the linear motor of the present invention;
in the figure:
1. an upper computer; 2. an automatic circulation heat dissipation type motion controller; 3. a power source; 4. RS232 serial port line; 5. an X-axis permanent magnet synchronous linear motor; 6. a Y-axis permanent magnet synchronous linear motor; 7. a keyboard; 8. a display;
21. a motion control board card; 22. a digital servo driver; 23. a temperature control board card;
24. a motor temperature sensor; 25. an electric control valve; 26. a valve position sensor;
211. a CorexM3 high performance processor; 212. an FPGA chip;
2111. an SPI interface; 2112. a CAN interface; 2113. an RS232 interface;
2121. a pulse output module; 2122. an encoder receiving module; 2123. an analog quantity output circuit;
2124. a limit switch; 2125. a general I/O port module;
221. a power source; 222. a controller; 223. a fault protection module; 224. a PWM module; 225, a current feedback module; 226. a power driving module;
231. MCS-51 series single-chip microcomputer; 232. a sampling circuit; 233. an A/D conversion module; 234. a D/A conversion module; 235. an analog quantity output circuit; 236. a position feedback module;
9. a two-axis motion platform; 91. an X-axis feed system; 92. a Y-axis feed system; 911. an X-axis turret;
931. a motor stator; 932. a motor rotor; 933. a standard support aluminum plate; 934. a slider; 935. a square guide rail; 936. a grating scale; 937. a reading gauge head of the grating ruler; 938. a limit sensor; 939. a base; 9310. a cooling plate;
Detailed Description
Specific embodiments of the present invention are given below. The specific examples are only used to illustrate the present invention in further detail, and do not limit the scope of the present invention.
The utility model relates to an automatic circulation heat dissipation formula linear electric motor motion control platform, whole platform comprises host computer (PC) 1, next computer controller automatic circulation heat dissipation formula motion controller 2, power 3, RS232 string oral area 4, the synchronous linear electric motor of X axle permanent magnetism 5, the synchronous linear electric motor of Y axle permanent magnetism 6, keyboard 7, display 8 promptly.
The upper computer 1 is responsible for processing the input instructions with strong human-computer interaction into a format conforming to a communication protocol command frame and sending the instructions to the lower computer through the serial port 4. The upper computer software is application software integrating motion control and temperature control, and a user can communicate with the lower computer through the standard RS232 interface through the upper computer software so as to realize real-time monitoring and online control.
The lower computer controller is an automatic circulation heat dissipation type motion controller 2, the lower computer controller comprises a motion control board card for controlling the motion of a mechanical part of the motion platform driven by the permanent magnet synchronous linear motor and a temperature control board card for controlling the automatic circulation heat dissipation device, and the upper computer and the lower computer controller are communicated through an RS232 serial port line; the motion control board card drives a motion platform mechanical part driven by a permanent magnet synchronous linear motor to move through a digital servo driver; the temperature control board card drives an electric regulating valve in the automatic circulation heat dissipation device to move through a Serial Peripheral Interface (SPI). The control system is mainly responsible for receiving commands transmitted by an upper computer, finishing control over the permanent magnet synchronous linear motor 5 according to the content of the commands, and collecting signals of a temperature sensor to realize automatic cycle heat dissipation control over the motor. Meanwhile, the automatic circulation heat dissipation type motion controller 2 can directly display the temperature and the position of the motor through a keyboard 7 and a display 8 which are expanded by the controller, so that off-line motion control is realized.
The motion control board 21 may be an HTBK-200MC06 control board, wherein the control core of the motion control board 21 is formed by a CortexM3 high-performance processor 211 and an FPGA chip 212. The cortex 3 high performance processor 211 is provided with a serial peripheral SPI interface 2111, a CAN interface 2112, and an RS232 interface 2113. The RS232 interface 2113 communicates with an upper computer through an RS232 serial port line 4, the CAN interface 2112 belongs to a standby bus interface, and general bus control CAN be performed if Ethernet control is not available.
The high-performance processor 211 of the cortex 3 is connected with the FPGA chip 212 through an FSMC interface 213, the FPGA chip 212 is responsible for motion interpolation, encoder feedback receiving, switching value controlling and other functions, according to the function division, the module at the periphery of the FPGA is provided with a pulse output module 2121 which is responsible for controlling the output of pulses, the permanent magnet synchronous linear motor is controlled by using a pulse adding direction mode and is in AM 26L S31 differential output, an encoder input module 2122 which is responsible for receiving XY axis incremental encoder signals, and integrating the signals into the FPGA after filtering, subdividing and quadruplicating frequency for processing, compared with a common encoder module, the integration level is high, so that the power consumption is reduced, the anti-jamming capability is strong, an analog output circuit 2123 which is provided with a +/-10V analog output circuit at the periphery of the FPGA for increasing the analog control performance of a control board card and can control the motion of a corresponding axis by using the analog, a limit switch 2124 which is provided with a four-channel limit switch for two axes of a motion control card and is convenient for limiting the position or stroke of the motion control card, the mechanical motion control card, the interface is provided with.
As shown in fig. 3, the digital servo driver 22 may be a Solo while driver, and is composed of a power supply 221, a controller 222, a fault protection module 223, a PWM module 224, a current feedback module 225, and a power driving module 226. The fault protection module 223 mainly prevents short circuits between motor power outputs, power failures, over-temperature, over/under-voltage, loss of feedback, following errors, and provides current limiting protection. The PWM module, pulse width modulation for short, is a very effective technique for controlling an analog circuit by mainly using the digital output of the controller 222, and has the advantages that signals from a processor to a controlled system are in a digital form, digital-to-analog conversion is not required, and noise influence can be minimized by keeping the signals in a digital form. The current feedback module 225 is substantially comprised of a hall element, an operational amplifier, and an a/D converter. The power driving module 226 mainly drives permanent magnet synchronous linear motors, each of which has a driver driving.
The temperature control board card 23 comprises a single chip microcomputer, a sampling circuit, a position feedback module, an A/D conversion module, a D/A conversion module and an analog quantity output circuit. The temperature control board card selects an MCS-51 series single chip 231 as a control core, the motor temperature sensor 24 selects a DS18B20 temperature sensor, and the temperature sensor can directly convert temperature signals into serial digital signals for processing by the single chip. The actual data are converted into digital signals through an A/D module in the sensor and then transmitted to a single chip microcomputer, the single chip microcomputer compares the digital signals with input data given by a system, the difference value of the digital signals and the input data is sent to a PID controller to be processed through an algorithm to generate control signals, a sampling circuit 232 receives input of the control current signals, the control current signals are converted into a 0-100% opening degree set value after being processed, the current signals are converted in the sampling circuit through a high-end current detection method, and the processed current signals are converted into analog voltage signals. The a/D conversion module 233 may convert the analog signal into a digital signal. The D/a conversion module 234 may convert the digital signal to an analog signal. The analog output circuit 235 is connected to an electric regulating valve, the electric regulating valve 235 is an electronic electric regulating valve KTJ5101D in the type selection, and the regulating valve is large in flow coefficient and large in adjustability. When current or pulse signals with different degrees are output, the electric regulating valve can drive the valve core and the valve rod to generate relative displacement through positive and negative rotation of a motor in the electric regulating valve according to the received signals so as to control the opening of the valve and achieve the aim of analog control. The valve position sensor 26 is connected to the valve stem of the electric control valve 25 to move along with the valve stem, and changes the displacement feedback value. The valve position sensor 26 adopts a Rotry encoder K38 series incremental photoelectric encoder, and compared with an electromagnetic sensor, the electromagnetic sensor has no hysteresis characteristic and high feedback precision. The displacement feedback module 236 processes the valve opening value fed back by the valve position sensor 26 and develops a comparison with the input set point to form a feedback. The hardware circuit for feeding back the data is the prior art, and can be seen in the following documents (Panyuxuan, Dongwolin, Zhanglian, Zhang Chunyu, intelligent regulating valve control system based on SPI drive research [ J ] modern electronic technology, 2018,41(10):1-4.)
The utility model discloses in can directly adopt current control method to realize about the temperature control method in the temperature control card, the control method part does not belong to the protection content of this application, gives a feasible mode below.
Firstly, a motor temperature sensor measures a current motor temperature feedback value, and the processing feedback value is compared with a given temperature set value to obtain a temperature deviation e. As shown in FIG. 4, when the difference between the temperature set value and the feedback value is less than ekWhen (e)kThe threshold value is controlled in a temperature grading way, the value can be flexibly adjusted according to the temperature rise of different permanent magnet synchronous linear motors and specific working condition conditions), and at the moment, e is set temporarily according to the temperature rise of the permanent magnet synchronous linear motors and the industry standardkAnd the PID control with adjustable gain is adopted at 10 ℃, namely the PID control is classified, and each stage adopts different PID control gain parameters so as to solve the contradiction between the control precision and the dynamic performance and reduce the oscillation. When the difference between the temperature set value and the feedback value is larger than ekAnd when the temperature of the motor fluctuates back and forth near a certain value, the opening degree of the electric regulating valve cannot be switched frequently.
PID control with adjustable gain, as shown in FIG. 6, according to the temperature rise control state of the PMSM, the control range is 0-ekThe temperature deviation range is divided into three intervals, namely an interval I, an interval II and an interval III, and different proportional parameters and integral parameters are taken from different intervals, as shown in table 1. The boundary value of the interval I and the interval II is eaThe boundary value between the interval II and the interval III is ebWherein the boundary value e between the interval I and the interval IIaAnd the boundary value e between the interval II and the interval IIIbThe temperature of the permanent magnet synchronous linear motor can be flexibly adjusted according to the temperature rise state of different permanent magnet synchronous linear motors, and when the temperature deviation e is larger than the boundary value e between the interval I and the interval IIaThe temperature rise state is far away from the static balance, and only the transient state needs to be considered at the momentRapidity of response. Thus deviation ea<e<ekIn the process, the temperature control board card 23 controls the integral switch to be switched on, the action of the integral term is cancelled, and only the proportional term acts to improve the response speed of the system and accelerate the response process. When the temperature deviation e is less than the boundary value e between the interval II and the interval IIIbWhen the temperature rise state is close to the static equilibrium position to some extent, the positive equilibrium position is quickly close, and overshoot may be caused. At this time, the rapidity of the transient response should be properly controlled, and the stationarity of the transient response and the accuracy and stability of the steady-state response gradually become main contradictions. Thus when the deviation e<ebIn the process, proportion and integral play roles at the same time, but the integral plays a leading role at the moment so as to improve the damping performance of the system and reduce overshoot in the response process. When deviation eb<e<eaIn the time, the non-sensitive areas of transient response and steady state response change are switched to PI control, and the proportion and the integral play a role at the same time. Wherein Kp1、Kp2、Kp3、Ki1、Ki2Can be obtained by parameter self-tuning. Where e isaIs 5, ebIs 3.
TABLE 1 is the PID control stage control table with adjustable gain of the utility model
Grading control with margin of difference: the variation of the opening of the graded control valve with the margin of difference is shown in FIG. 5, the value of the opening of the valve changes 20% with the variation of the temperature difference every 10 ℃, the temperature stability margin is delta e, and the maximum value of the deviation of one grade and the minimum value of the deviation of the grade are respectively used as et、eqDenotes et-eqAnd when the temperature fluctuates near the critical point of the two adjacent stages of changes, the valve opening degree cannot fluctuate. In the example, the margin Δ e is 10 ℃, then et＝eq+10℃，etSince the temperature is 10 ℃,20 ℃, … and 40 ℃, the valve opening degree is not fluctuated. E.g. et20 deg.C when the temperature difference e is at etWhen the temperature difference e continues to increase when the temperature is close to the critical value of 20 ℃, the temperature difference exceeds etWhen the temperature is 20 ℃, the motor in the electric regulating valve rotates positively, and the opening degree of the valve is increased. When the temperature difference e is reduced, the temperature difference e is lower than etThe temperature difference e is lower than e, the motor in the electric regulating valve can not change when the temperature is 20 DEG CqWhen the temperature is 10 ℃, the motor inside the electric regulating valve can rotate reversely, and the opening degree of the valve is reduced.
The motion control board 21 controls the digital servo driver 22 by adopting a control mode of pulse applying direction, the number of input pulses determines the displacement amount, and the frequency of the pulses determines the displacement speed. Real-time data interaction can be transmitted between the motion control board card 21 and the digital servo driver 22. The motion control card may transmit position, velocity or current signals to the digital servo driver 22, and the digital servo driver 22 may transmit real-time encoder position, actual velocity or actual current signals to the motion control card, or may transmit non-periodic data such as configuration parameters, status information, etc. between the two.
The digital servo driver 22 adopts a current loop, a speed loop and a position loop full closed loop PID control to drive the permanent magnet synchronous linear motor (the specific control process is realized by adopting the prior art), as shown in fig. 6, the current loop in a three-loop PID control structure is used for changing the transfer function of a controlled object so as to improve the rapidity of the system and inhibit the current fluctuation, and the current loop adopts PI control; the speed ring is used for inhibiting the influence of load change and interference force on a control system, reducing the fluctuation of the speed of the workbench and ensuring stable operation, and a PI controller is usually adopted by the speed ring; the position loop is used to eliminate the static error of the displacement and reduce the dynamic following error, and a P controller is often adopted. Because the feedback signal often contains alternating current high-frequency interference signals, the system is easy to be unstable, and a velocity loop front-term filter and a current loop front-term filter are additionally arranged, so that disturbance interference is reduced.
An embodiment of the utility model discloses a diaxon motion platform 9, as shown in fig. 7, concrete permanent magnet synchronous linear electric motor driven motion platform mechanical parts includes: an X-axis feed system 91, a Y-axis feed system 92, and a corresponding feed system drive mechanism 93. The X-axis turret 911 is capable of reciprocating relative to the platform in the X-axis direction; the Y-axis feeding system 92 is arranged above the X-axis turntable 911, the Y-axis feeding system 92 is matched with the X-axis feeding system 91 in a guiding mode, the Y-axis feeding system 92 can reciprocate relative to the X-axis feeding system 91 along the Y-axis direction, and the Y-axis movement direction is perpendicular to the X-axis movement direction. The permanent magnet synchronous linear motor is a coreless linear motor, and has higher acceleration and deceleration.
The XY-axis feeding system has the same structure, and as shown in fig. 8, the feeding system driving mechanism 93 is composed of a motor stator 931, a motor mover 932, a standard supporting aluminum plate 933, a slider 934, a square guide rail 935, a grating scale 936, a grating scale reading gauge 937, a limit sensor 938, a base 939, a motor mover 931, a motor stator 932 and other parts. The linear motor can be regarded as a rotary alternating current permanent magnet synchronous motor which is formed by splitting a rotary alternating current permanent magnet synchronous motor along the radial direction and then spreading the magnetic field of the motor along the circumference, wherein the stator of the rotary motor is equivalent to the stator of the linear motor, the rotor of the rotary motor is equivalent to the rotor of the linear motor, when three-phase alternating current is introduced into the rotor of the motor, a traveling wave magnetic field is generated in an air gap between the rotor and the stator of the linear motor, and electromagnetic thrust is generated under the action of the traveling wave magnetic field and the stator permanent magnet array to push the rotor of the motor, so that the linear motion of a rotor part. The motor rotor 932 is a coil winding and the motor stator 931 is provided as a permanent magnet.
The motor rotor 931 is connected with the adapter 911 through a standard support aluminum plate 933, and the motor rotor 931 can be guided and matched through a sliding block 934 and a square guide rail 935 under the action of a magnetic field to reciprocate along the axial direction.
The XY-axis feeding system further comprises a grating ruler 936 and a grating ruler reading gauge head 937, the grating ruler 936 is arranged on the base, the grating ruler reading gauge head 937 is fixed beside the transfer table 911 and moves along with the transfer table 911, and the grating ruler 936 and the grating ruler reading gauge head 937 are in a non-contact working state and are used for detecting linear displacement of the feeding system in the axis direction, converting an analog measurement value into an incremental output signal and outputting a motion controller to form closed-loop control, so that the control precision and the positioning precision are improved. The XY-axis feed system further includes a limit sensor 938 connected to the limit switch 2124, and mainly used for controlling the stroke of the motion platform and performing limit protection.
The utility model discloses an embodiment of the utility model discloses an automatic circulation heat abstractor, including cooling plate 9310, electric control valve, hydraulic pump, coolant tank, choke valve, heat exchanger, motor temperature sensor, flowmeter, hydraulic pump select poise flourishing NCB-0.6 cycloid gear pump, the transmission is steady, the noise is small, coolant tank selects sealed liquid storage cylinder, play the role of liquid seal, choke valve select Huoji brand S L8-04 choke valve, connect the main pipe, heat exchanger can select Kewei fin type 3HP double-air port radiator, accelerate cooling, the flowmeter selects German liquid turbine flowmeter DN15A type pulse output G type display adds 485 communication, motor rotor is coil winding 932, motor stator 931 is set as permanent magnet, excitation current passes through coil winding and produces loss in coil winding, these losses are almost all converted into heat energy, make coil temperature rise, influence its insulating property and mechanical strength, reduce service life, even damage, according to GB/T14048.1-2000 the temperature switching equipment then the temperature of the control device is reached by the control of the control card, the control device, the control of the temperature of the electric control card, the control card is more the control device is a temperature of the control card, the control card is more suitable for the control a high-temperature of the control card, the control device is more the control device, the control device is a temperature of the control card, the control card is more suitable for the control card, the temperature of the electric motor is higher than the temperature of the electric control card, the temperature of the electric control card, the electric control card is more.
Fig. 2 is an external schematic view of a linear motor circulating cooling system, which is based on the working principle that when a permanent magnet direct current motor needs to be cooled, a hydraulic pump is started, cooling liquid in a cooling liquid tank enters an electric regulating valve through a throttle valve, meanwhile, a temperature control board 23 controls the valve opening of the electric regulating valve through a temperature grading control method, so that the flow of the cooling liquid enters two cooling liquid inlets of a cooling plate of a motor stator in real time regulated along with a temperature signal of a motor temperature sensor, a cooling structure is arranged in the cooling plate, the cooling liquid and the motor stator generate a convection heat exchange process from the inlets to the outlets, the cooling liquid returns to the cooling liquid tank after entering a heat exchanger for cooling, and thus, the motor temperature sensor and a flowmeter are directly connected with a display in a repeated circulating cooling mode, and the temperature and the flow can be monitored in real.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (3)
1. An automatic circulation heat dissipation type linear motor motion control platform comprises an upper computer, a lower computer controller and a motion platform mechanical part driven by a permanent magnet synchronous linear motor; the control platform is characterized by further comprising an automatic circulating heat dissipation device, the lower computer controller comprises a motion control board card and a temperature control board card, and the upper computer and the lower computer controller are communicated through an RS232 serial port line; the motion control board card drives a motion platform mechanical part driven by a permanent magnet synchronous linear motor to move through a digital servo driver; the temperature control board card is used for controlling signals for an electric control valve in the automatic circulation heat dissipation device through a serial peripheral interface;
the motor rotor of the permanent magnet synchronous linear motor is a coil winding, the motor stator is a permanent magnet, and a motor temperature sensor is arranged in an area where the temperature heating of the motor rotor of the permanent magnet synchronous linear motor is most obvious;
the automatic circulation heat dissipation device comprises a cooling plate, wherein the cooling plate is assembled on the upper side of a coil winding of a motor rotor in a surface-mounted mode, double-inlet and double-outlet double-layer serpentine cooling pipes are paved on the cooling plate, cooling liquid inlets and outlets of the two layers of cooling pipes are opposite, a cooling liquid inlet is connected with an external cooling liquid supply loop through an electric regulating valve and circulates to a cooling liquid outlet,
a valve rod of the electric regulating valve is provided with a valve position sensor, and the valve position sensor moves along with the valve rod; the motor temperature sensor, the electric regulating valve and the valve position sensor are all connected with the temperature control card.
2. The motion control platform of claim 1, wherein the motion control board is an HTBK-200MC06 control board, wherein a control core of the motion control board is composed of a cortex m3 processor and an FPGA chip; the cortex 3 processor is provided with a serial peripheral equipment SPI interface, a CAN interface and an RS232 interface; the RS232 interface is communicated with an upper computer through an RS232 serial port line, and the CAN interface is a standby bus interface; the cortex 3 processor is connected to the FPGA chip through the FSMC interface.
3. The motion control platform of claim 1, wherein the valve position sensor is a RotaryencoderK38 series incremental photoelectric encoder, the electric regulating valve is a KTJ5101D electronic electric regulating valve, and the motor temperature sensor is a DS18B20 temperature sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020125333.8U CN211063493U (en) | 2020-01-20 | 2020-01-20 | Automatic circulation heat dissipation type linear motor motion control platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020125333.8U CN211063493U (en) | 2020-01-20 | 2020-01-20 | Automatic circulation heat dissipation type linear motor motion control platform |
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| CN211063493U true CN211063493U (en) | 2020-07-21 |
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| CN202020125333.8U Expired - Fee Related CN211063493U (en) | 2020-01-20 | 2020-01-20 | Automatic circulation heat dissipation type linear motor motion control platform |
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| Country | Link |
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2020
- 2020-01-20 CN CN202020125333.8U patent/CN211063493U/en not_active Expired - Fee Related
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