CN211127647U - Compact three-closed-loop integrated server - Google Patents
Compact three-closed-loop integrated server Download PDFInfo
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- CN211127647U CN211127647U CN202020150537.7U CN202020150537U CN211127647U CN 211127647 U CN211127647 U CN 211127647U CN 202020150537 U CN202020150537 U CN 202020150537U CN 211127647 U CN211127647 U CN 211127647U
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Abstract
The utility model discloses a three closed loop integral type servers of compact, include: the controller performs feedback regulation according to at least one of the current of the motor coil, the rotating speed of the motor rotating shaft and the position of the motor rotating shaft, and outputs a corresponding control signal to the power output circuit, so that the accurate control of the torque force, the rotating speed, the rotating angle and the number of turns output by the shaft of the servo motor is realized; and the servo motor, the current sampling circuit, the speed displacement acquisition circuit, the controller, the power output circuit and the communication circuit are integrated into a servo system, and the servo system has the characteristics of small volume and convenience in installation.
Description
Technical Field
The utility model relates to a servo control technical field, concretely relates to three closed loop integral type servers of compact.
Background
The motor can be applied to various fields, such as intelligent robots, machine tool machining, electric batch driving and the like, an existing motor control system is usually a servo system, driving parameters of the motor are controlled through the servo system, and a currently common servo system is a three-closed-loop servo system which respectively controls coil current of the motor, rotating speed of a rotating shaft of the motor and position parameters of the rotating shaft of the motor.
In some fields, such as electric screwdriver, the requirement of a user on the control precision of a motor is higher and higher, one of the prerequisites for ensuring the precision of a three-closed-loop servo system is that the current of a motor coil needs to be sampled with high precision, the current of the motor coil is usually sampled directly through a sampling resistor in the prior art and is limited by the precision of the sampling resistor, the precision of the sampled current is lower on one hand, and the sampled current has noise interference on the other hand.
Disclosure of Invention
The utility model discloses the main technical problem who solves how to provide an integral type server who satisfies power and precision demand.
In one embodiment, a compact three-closed-loop integrated servo is provided, comprising: the device comprises a servo motor, a current sampling circuit, a speed displacement acquisition circuit, a controller, a power output circuit, a digital input circuit, a digital output circuit and a communication circuit;
the current sampling circuit is used for sampling the current of the servo motor coil and feeding back to the controller, and comprises: the circuit comprises a sampling resistor, a differential amplifier, a first resistor and a first capacitor; the power output circuit is connected with the servo motor through a sampling resistor; one end of the sampling resistor is connected with a first input end of the differential amplifier, the other end of the sampling resistor is connected with a second input end of the differential amplifier, and an output end of the differential amplifier is connected with one end of the first capacitor and the controller through the first resistor; the other end of the first capacitor is grounded;
the speed displacement acquisition circuit is used for acquiring the rotating speed and the position of the rotating shaft of the servo motor and feeding the rotating speed and the position back to the controller;
the input end of the controller is respectively connected with the output ends of the current sampling circuit and the speed displacement acquisition circuit and is used for carrying out feedback regulation according to at least one of the current of the servo motor coil, the rotating speed of the servo motor rotating shaft and the position of the servo motor rotating shaft and outputting a corresponding control signal to the power output circuit;
the input end of the controller is connected with the output end of the digital input circuit, and the output end of the digital input circuit is connected with one output end of the current acquisition circuit and the speed displacement acquisition circuit; the output end of the controller is connected with the input end of the digital output circuit;
the input end of the power output circuit is connected with the output end of the digital output circuit and is used for converting the control signal output by the controller into a corresponding servo motor driving signal and outputting the servo motor driving signal to the servo motor;
the communication circuit is used for communicating with an upper computer and is connected with the controller.
Further, the speed and displacement acquisition circuit comprises a rotary encoder, a photoelectric encoder, a magnetic angle encoder, a hall sensor or a rotary transformer.
Further, the speed and displacement acquisition circuit comprises a rotary encoder and an encoder acquisition circuit, wherein the encoder acquisition circuit comprises a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a seventh capacitor and a four-way differential line receiver; one end of the second resistor is connected with an A + signal output end of the rotary encoder and one end of a third resistor, the other end of the third resistor is connected with one end of a fourth capacitor, one end of a fourth resistor and the C-end of the four-way differential line receiver, and the other end of the fourth resistor is connected with a first voltage supply end V1; the other end of the second resistor is connected with an A-signal output end of the rotary encoder and one end of a fifth resistor, the other end of the fifth resistor is connected with one end of a sixth resistor, the other end of a fourth capacitor and a C + end of the four-way differential line receiver, and the other end of the sixth resistor is connected with a first voltage supply end; one end of the seventh resistor is connected with a B + signal output end of the rotary encoder and one end of the eighth resistor, the other end of the eighth resistor is connected with one end of the fifth capacitor, one end of the ninth resistor and a B-end of the four-way differential line receiver, and the other end of the ninth resistor is connected with a first voltage supply end V1; the other end of the seventh resistor is connected with a B-signal output end of the rotary encoder and one end of a tenth resistor, the other end of the tenth resistor is connected with one end of an eleventh resistor, the other end of a fifth capacitor and a B + end of the four-way differential line receiver, and the other end of the eleventh resistor R11 is connected with a first voltage supply end V1; the G end of the four-way differential line receiver is connected with the first voltage providing end V1 and one end of a sixth capacitor, the G-end of the four-way differential line receiver is grounded, and the other end of the sixth capacitor is grounded; the end of the four-way differential line receiver is connected with the first voltage providing end and one end of a seventh capacitor, the GND end of the four-way differential line receiver is grounded, and the other end of the seventh capacitor is grounded; the OUTB end of the four-way differential line receiver is connected with one end of a twelfth resistor, and the other end of the twelfth resistor is a first output end of the speed displacement acquisition circuit and is connected with the controller and one end of a thirteenth resistor; the OUTC end of the four-way differential line receiver is connected with one end of a fourteenth resistor, and the other end of the fourteenth resistor is a second output end of the speed displacement acquisition circuit and is connected with the controller and one end of a fifteenth resistor; the other end of the thirteenth resistor and the other end of the fifteenth resistor R15 are grounded.
Furthermore, the controller comprises an MCU chip, and the input end of the MCU chip is connected with the output end of the digital input circuit; the output end of the MCU chip is connected with the output end of the digital output circuit.
Further, the digital input circuit comprises an inverter, a nineteenth resistor, a twentieth resistor, a twenty-first resistor, a ninth capacitor, a tenth capacitor, a first optical coupler and a first light emitting diode; the cathode of the first light emitting diode is the input end of the digital input circuit and is connected with one of the current sampling circuit and the speed displacement acquisition circuit; one end of the nineteenth resistor is connected with a third voltage supply end, and the other end of the nineteenth resistor is connected with a 1 st pin of the first optocoupler, one end of the twentieth resistor and one end of the tenth capacitor; the anode of the first light emitting diode is connected with the No. 2 pin of the first optocoupler, the other end of the twentieth resistor and the other end of the tenth capacitor; a 4 th pin of the first optocoupler is connected with one end of a twenty-first resistor, one end of a ninth capacitor and the input end of the phase inverter; the other end of the twenty-first resistor is connected with a No. 3 pin of the first optocoupler and a second voltage supply end; the 5 th pin of the first optocoupler and the other end of the ninth capacitor are both grounded; and the output end of the phase inverter is the output end of the digital input circuit and is connected with the MCU chip.
Further, the digital output circuit comprises a twenty-second resistor, a twenty-third resistor, a twenty-fourth resistor, a twenty-fifth resistor, a diode, a first transistor, a second optocoupler and a second light emitting diode; one end of a twenty-second resistor is connected with the MCU chip, the other end of the twenty-second resistor is connected with a control electrode of a first transistor, a first electrode of the first transistor is connected with a 1 st pin of a second optocoupler, and the twenty-third resistor is also connected with a second voltage supply end; the No. 2 pin of the second optocoupler and the second pole of the first transistor are both grounded; a pin 4 of the second optical coupler is connected with one end of a twenty-fourth resistor, and a pin 3 of the second optical coupler is connected with one end of a twenty-fifth resistor and a control electrode of the second transistor; the other end of the twenty-fifth resistor is a first output end of the digital output circuit and is connected with the power output circuit, the first pole of the second transistor and the anode of the diode; the other end of the twenty-fourth resistor is connected with the cathode of the second light-emitting diode; the anode of the second light emitting diode is the second output end of the digital output circuit and is connected with the power output circuit, the second pole of the second transistor and the cathode of the diode.
Further, the MCU chip is a TMS320F28035 chip.
The device further comprises a memory for storing the process parameters, wherein the input end of the memory is connected with the upper computer through a communication circuit and used for modifying the process parameters stored in the memory through the upper computer, and the output end of the memory is connected with the controller and used for outputting the process parameters to the controller, so that the controller controls the servo motor to execute the preset process according to the process parameters.
Further, the communication circuit comprises an RS485 interface circuit and a CAN bus interface circuit.
Further, the servo motor comprises an alternating current permanent magnet synchronous motor, a hybrid stepping motor, a direct current brushless motor and an alternating current motor; the coil phase number of the servo motor comprises a single-phase motor, a two-phase motor, a three-phase motor and a four-phase motor.
According to the compact three-closed-loop integrated server of the embodiment, the servo motor, the current sampling circuit, the speed displacement acquisition circuit, the controller, the power output circuit and the communication circuit are integrated into a servo driving system, so that the compact three-closed-loop integrated server has the characteristics of small volume and convenience in installation; and the current sampling circuit inputs the voltage signal acquired by the sampling resistor into the differential amplifier, because the differential amplifier has the characteristics of symmetry and negative feedback, the static working point can be effectively stabilized, the differential mode signal in the voltage signal is amplified to inhibit a common mode signal, the anti-interference capability is excellent, and the voltage signal output by the differential amplifier is converted into a current signal after being filtered and then output, so that the sampled current signal has strong anti-interference capability, and the precision of the sampling current is improved.
Drawings
FIG. 1 is a block diagram of a compact three-closed-loop integrated server according to an embodiment;
FIG. 2 is a circuit diagram of a current sampling unit of an embodiment;
FIG. 3 is a circuit diagram of a speed displacement acquisition circuit according to one embodiment;
FIG. 4 is a circuit diagram of a digital input circuit of an embodiment;
FIG. 5 is a circuit diagram of a digital output circuit of an embodiment;
FIG. 6 is a circuit diagram of a power output circuit of an embodiment;
FIG. 7 is a circuit diagram of an RS485 interface circuit of an embodiment;
fig. 8 is a circuit diagram of a CAN bus interface circuit of an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
In this embodiment, referring to fig. 1, fig. 1 is a block diagram of a three-closed-loop integrated server according to an embodiment, including: servo motor 70, current sampling circuit 50, speed displacement acquisition circuit 40, controller 30, power output circuit 60, memory 20 and communication circuit 10. The output ends of the current sampling circuit 50 and the speed displacement acquisition circuit 40 are connected with the input end of the controller 30, the output end of the controller 30 is connected with the driven servo motor 70 through the power output circuit 60, and the memory 20 is connected with the controller 30 through the communication circuit 10. The servo motor in the embodiment comprises an alternating current permanent magnet synchronous motor, a hybrid stepping motor, a direct current brushless motor and an alternating current motor; the coil phase number of the servo motor comprises a single-phase motor, a two-phase motor, a three-phase motor and a four-phase motor.
The current sampling circuit 50 is used for sampling the current of the servo motor coil and feeding the current back to the controller, the current sampling circuit 50 and the controller 30 form a current loop, and the controller 30 controls the current of the servo motor coil through the current fed back by the current loop.
The speed and displacement acquisition circuit 40 is used for acquiring the rotating speed and the position of the rotating shaft of the servo motor and feeding the rotating speed and the position back to the controller 30; the speed displacement acquisition circuit 40 and the controller 30 form a speed loop and a position loop, and the controller 30 controls the servo motor through speed and position signals of the servo motor rotating shaft fed back by the speed loop and the position loop respectively.
The controller 30 is configured to perform feedback adjustment according to at least one of a current of the servo motor coil, a rotation speed of the servo motor rotating shaft, and a position of the servo motor rotating shaft, and output a corresponding control signal to the power output circuit; that is, in the present embodiment, at least one, any two, or all three closed loops of the current loop, the speed loop, and the position loop may be selected to control the servo motor; the feedback regulation in this embodiment may be an existing feedback control algorithm, such as a PID, PI, or other control algorithm.
The input end of the power output circuit 60 is connected to the output end of the controller 30, and is configured to convert the control signal output by the controller 30 into a corresponding servo motor driving signal, and output the servo motor driving signal to the servo motor 70.
The communication circuit 10 is used for communicating with an external upper computer, and the communication circuit 10 is connected with the controller 30.
The memory 20 is used for storing process parameters, an input end of the memory is connected with the upper computer through a communication circuit and used for modifying the process parameters stored in the memory through the upper computer, an output end of the memory is connected with the controller and used for outputting the process parameters to the controller, so that the controller controls the servo motor to execute a preset process according to the process parameters, and if the driving circuit of the embodiment is introduced into the electric batch, the process parameters in the embodiment can be the number of turns required by screwing or unscrewing the screw in the electric batch, the rotating speed of each turn and the like.
In this embodiment, the hardware circuit further includes a power supply circuit, configured to supply power to the hardware circuit, and having at least two output terminals: a first voltage supply terminal V1 and a second voltage supply terminal V2. The first voltage supply terminal V1 provides 5V DC, and the second voltage supply terminal V2 provides 3.3V DC.
If the servo motor is a single-phase motor, a current sampling circuit 50 correspondingly samples the current of the coil of the single-phase motor; if the servo motor is a two-phase motor, the two current sampling circuits correspondingly sample the currents of the two-phase motor coils respectively; if the servo motor is a three-phase motor, the three current sampling circuits correspondingly sample the currents of the three-phase motor coils respectively. In this embodiment, taking a single-phase motor as an example, the current sampling circuit is shown in fig. 2, and includes a sampling resistor R, a differential amplifier U1, a first resistor R1, a first capacitor C1, a second capacitor C2, and a third capacitor C3. The current sampling circuit 50 is connected to the servo motor through a sampling resistor R, in other words, the sampling resistor R is connected in series with the single phase of the servo motor coil, so as to detect the current output by the power output circuit 60 to the single phase of the servo motor coil, that is, the single phase current of the servo motor coil. One end of a sampling resistor R is connected with a first input terminal In of a differential amplifier U1, the other end of the sampling resistor R is connected with a second input terminal + IN of a differential amplifier U1, a GND terminal of the differential amplifier U1 and a VREF2 terminal are both grounded, and an output terminal OUT of the differential amplifier U1 is connected with one end of a first capacitor C1 and a controller through a first resistor R1; the other end of the first capacitor C1 is grounded, the V + end of the differential amplifier U1 is grounded through a second capacitor C2, and the VREF1 end of the differential amplifier U1 is grounded through a third capacitor C3. It can be seen that the single-phase current of the servo motor coil flows in from one end of the sampling resistor R and flows out from the other end of the sampling resistor R, a voltage is generated at two ends of the sampling resistor R, and the voltage is input to the differential operational amplifier U1 for amplification, then filtered by the RC filter circuit (R1 and C1), and output to the corresponding input end of the controller 30. Because of differential amplification and filtering, the sampled voltage value is more accurate, and the controller 30 can obtain the corresponding current according to the voltage value. In this embodiment, the differential amplifier U1 has a model AD 8210.
As shown in fig. 3, in the present embodiment, the speed displacement acquisition circuit 40 includes a rotary encoder (not shown), a first filter circuit 410, a second filter circuit 420, and a conversion circuit 430. The rotary encoder is connected to the conversion circuit 430 through the first filter circuit 410 and the second filter circuit 420. The first filter circuit 410 is configured to filter one path of differential signals output by the rotary encoder, and the second filter circuit 420 is configured to filter the other path of differential signals output by the rotary encoder. The conversion circuit 430 is used to convert the filtered differential signal into a single-ended signal. Through filtering and conversion, the accuracy of the rotational speed and position acquisition can be improved, and the control precision of the servo motor 70 is further improved.
The first filter circuit 410 includes a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, and a fourth capacitor C4, the second filter circuit 420 includes a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, and a fifth capacitor C5. conversion circuit 430, and includes a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixth capacitor C6, a seventh capacitor C7, and a fourth differential line receiver U2., where the model of the fourth differential line receiver U2 in this embodiment is 26L S32 AC.
One end of the second resistor R2 is connected with an A + signal output end of the rotary encoder and one end of the third resistor R3, and the A + signal output end of the rotary encoder outputs an A + signal. The other end of the third resistor R3 is connected to one end of the fourth capacitor C4, one end of the fourth resistor R4, and the C-end of the four-way differential line receiver U2, and the other end of the fourth resistor R4 is connected to the first voltage supply terminal V1. The other end of the second resistor R2 is connected with an A-signal output end of the rotary encoder and one end of the fifth resistor R5, and the A-signal output end of the rotary encoder outputs an A-signal. The other end of the fifth resistor R5 is connected to one end of the sixth resistor R6, the other end of the fourth capacitor C4 and the C + end of the four-way differential line receiver U2, and the other end of the sixth resistor R6 is connected to the first voltage supply end V1; one end of the seventh resistor R7 is connected with a B + signal output end of the rotary encoder and one end of the eighth resistor R8, and the B + signal output end of the rotary encoder outputs a B + signal. The other end of the eighth resistor R8 is connected to one end of the fifth capacitor C5, one end of the ninth resistor R9 and the B-end of the four-way differential line receiver U2, and the other end of the ninth resistor R9 is connected to the first voltage supply terminal V1; the other end of the seventh resistor R7 is connected with a B-signal output end of the rotary encoder and one end of the tenth resistor R10, and the B-signal output end of the rotary encoder outputs a B-signal. The other end of the tenth resistor R10 is connected to one end of an eleventh resistor R11, the other end of the fifth capacitor C5 and the B + end of the four-way differential line receiver U2, and the other end of the eleventh resistor R11 is connected to the first voltage supply end V1; the G end of the four-way differential line receiver U2 is connected with the first voltage supply end V1 and one end of a sixth capacitor C6, the G-end of the four-way differential line receiver U2 is grounded, and the other end of the sixth capacitor C6 is grounded; the VCC terminal of the four-way differential line receiver U2 is connected to the first voltage supply terminal V1 and one end of the seventh capacitor C7, the GND terminal of the four-way differential line receiver U2 is grounded, and the other end of the seventh capacitor C7 is grounded; the OUTB terminal of the four-way differential line receiver U2 is connected to one terminal of the twelfth resistor R12. The other end of the twelfth resistor R12 is a first output end PGB of the speed displacement acquisition circuit 40, and is connected to the corresponding input end of the controller 30 and one end of the thirteenth resistor R13; the OUTC terminal of the four-way differential line receiver U2 is connected to one terminal of a fourteenth resistor R14. The other end of the fourteenth resistor R14 is a second output end PGA of the speed displacement acquisition circuit 40, and is connected to the corresponding input end of the controller 30 and one end of the fifteenth resistor R15; the other end of the thirteenth resistor R13 and the other end of the fifteenth resistor R15 are grounded. The A + end of the four-way differential line receiver U2 and the D + end of the four-way differential line receiver U2 are both connected with a first voltage providing end V1, and the A-end of the four-way differential line receiver U2 and the D-end of the four-way differential line receiver U2 are both grounded. Because the output of the rotary encoder is provided with symmetrical negative signals, common mode noise is inhibited in a subsequent conversion circuit, and only useful differential mode signals are taken, so that the rotary encoder is strong in anti-interference capability and can transmit a longer distance.
The controller 30 in this embodiment includes an MCU chip, a digital input circuit, and a digital output circuit, wherein an input terminal of the MCU chip is connected to an output terminal of the digital input circuit, and an output terminal of the digital input circuit is connected to one of the current collecting circuit and the speed displacement collecting circuit; the output end of the MCU chip is connected with the output end of the digital output circuit, and the output end of the digital output circuit is connected with the input end of the power output circuit. The signal of the MCU chip in this embodiment is TMS320F 28035.
As shown in fig. 4, the digital input circuit includes an inverter Q1, a nineteenth resistor R19, a twentieth resistor R20, a twenty-first resistor R21, a ninth capacitor C9, a tenth capacitor C10, a first optical coupler U4, and a first light emitting diode D1. In this embodiment, the model of the inverter Q1 is MC74HC14A, and the model of the first optocoupler U4 is opto iso 2. The optical coupler can be used for realizing signal isolation, and the stability is improved. The cathode of the first light-emitting diode D1 is the input end of the digital input circuit and is connected with one of the current sampling circuit and the speed displacement acquisition circuit; one end of the nineteenth resistor R19 is connected to a third voltage supply terminal COM +, which may be an output terminal of the power supply circuit. The other end of the nineteenth resistor R19 is connected with a 1 st pin of a first optocoupler U4, one end of a twentieth resistor R20 and one end of a tenth capacitor C10; the anode of the first light emitting diode D1 is connected with the 2 nd pin of the first optocoupler U4, the other end of the twentieth resistor R20 and the other end of the tenth capacitor C10; a 4 th pin of the first optical coupler U4 is connected with one end of a twenty-first resistor R21, one end of a ninth capacitor C9 and the input end of an inverter Q1; the other end of the twenty-first resistor R21 is connected with a 3 rd pin of a first optocoupler U4 and a second voltage supply end V2; the 5 th pin of the first optocoupler U4 and the other end of the ninth capacitor C9 are both grounded; and the output end of the phase inverter Q1 is the output end of the digital input circuit and is connected with the MCU chip.
As shown in fig. 5, the digital output circuit includes a twenty-second resistor R22, a twenty-third resistor R23, a twenty-fourth resistor R24, a twenty-fifth resistor R25, a diode D, a first transistor Q25, a second optocoupler U25 and a second light emitting diode 25. in the present embodiment, the model of the second optocoupler U25 is T25P 281-1, signal isolation can be realized by using an optocoupler, and stability is improved, one end of the twenty-second resistor R25 is connected to an MCU chip, the other end of the twenty-second resistor R25 is connected to a control electrode of the first transistor Q25, a first electrode of the first transistor Q25 is connected to a 1 st pin of the second optocoupler U25, a thirteenth resistor R25 is further connected to a second voltage supply terminal V25, a 2 nd pin of the second optocoupler U25 and a second electrode of the first transistor Q25 are both grounded, a 4 th pin of the second optocoupler U25 is connected to one end of the twenty-fourth resistor R25, a negative electrode of the second optocoupler R25 is connected to a positive electrode of the first transistor Q25, a negative electrode of the second optocoupler 25, a negative electrode of the second transistor Q25 and a negative electrode of the second transistor Q25, the second diode 25 is connected to a positive electrode of the second diode 25, the second diode R25 is connected to a positive electrode of the second diode 25, the second transistor Q25, the second diode 36.
As shown in fig. 6, the power output circuit 60 is composed of a plurality of MOS transistors and a plurality of resistors, and the control signal output by the controller 30 controls the on/off of each MOS transistor, thereby controlling the currents output by the four output terminals a + a, a-, B + a, and B-of the power output circuit 60. The servo motor 70 of the utility model can be a single-phase, two-phase, three-phase or four-phase motor, and the single-phase motor connects the two ends of the motor coil with A + a and A-respectively; the two-phase motor connects two ends of one group of coils with A + a and A-respectively, and the other group of coils with B + a and B-respectively; the three-phase motor connects three coils with A + a, A-B + a according to U, V, W three connection points after star or triangle connection; the four-phase motor connects the four coils to A + a, A-, B + a and B-respectively according to A, B, C, D four connection points after star or quadrilateral connection. It can be seen that the utility model discloses can drive single-phase, double-phase, three-phase and four-phase motor.
The communication circuit 10 includes an RS485 interface and an RS485 interface circuit. As shown in fig. 7, the RS485 interface circuit includes an analog-to-digital converter U6 and other electronic components, in this embodiment, the analog-to-digital converter U6 is of a model AD 483E.
The communication circuit 10 further includes a CAN interface and a CAN interface circuit. The CAN interface circuit is shown in fig. 8 and includes an isolated CAN transceiver U7, which is an isolated CAN transceiver U7 of iso-1050 model in this embodiment, and other electronic components.
It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.
Claims (10)
1. A compact three-closed-loop, integrated server, comprising: the device comprises a servo motor, a current sampling circuit, a speed displacement acquisition circuit, a controller, a power output circuit, a digital input circuit, a digital output circuit and a communication circuit;
the current sampling circuit is used for sampling the current of the servo motor coil and feeding back to the controller, and comprises: the circuit comprises a sampling resistor, a differential amplifier, a first resistor and a first capacitor; the power output circuit is connected with the servo motor through a sampling resistor; one end of the sampling resistor is connected with a first input end of the differential amplifier, the other end of the sampling resistor is connected with a second input end of the differential amplifier, and an output end of the differential amplifier is connected with one end of the first capacitor and the controller through the first resistor; the other end of the first capacitor is grounded;
the speed displacement acquisition circuit is used for acquiring the rotating speed and the position of the rotating shaft of the servo motor and feeding the rotating speed and the position back to the controller;
the input end of the controller is respectively connected with the output ends of the current sampling circuit and the speed displacement acquisition circuit and is used for carrying out feedback regulation according to at least one of the current of the servo motor coil, the rotating speed of the servo motor rotating shaft and the position of the servo motor rotating shaft and outputting a corresponding control signal to the power output circuit;
the input end of the controller is connected with the output end of the digital input circuit, and the output end of the digital input circuit is connected with one output end of the current acquisition circuit and the speed displacement acquisition circuit; the output end of the controller is connected with the input end of the digital output circuit;
the input end of the power output circuit is connected with the output end of the digital output circuit and is used for converting the control signal output by the controller into a corresponding servo motor driving signal and outputting the servo motor driving signal to the servo motor;
the communication circuit is used for communicating with an upper computer and is connected with the controller.
2. The compact three-closed-loop, unitary servo of claim 1, wherein the speed displacement acquisition circuit comprises a rotary encoder, a photoelectric encoder, a magnetic angle encoder, a hall sensor, or a rotary transformer.
3. The compact, triple-closed-loop, unitary servo of claim 2, wherein the speed displacement acquisition circuit comprises a rotary encoder and an encoder acquisition circuit comprising a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a seventh capacitor, and a four-way differential line receiver; one end of the second resistor is connected with an A + signal output end of the rotary encoder and one end of a third resistor, the other end of the third resistor is connected with one end of a fourth capacitor, one end of a fourth resistor and the C-end of the four-way differential line receiver, and the other end of the fourth resistor is connected with a first voltage supply end V1; the other end of the second resistor is connected with an A-signal output end of the rotary encoder and one end of a fifth resistor, the other end of the fifth resistor is connected with one end of a sixth resistor, the other end of a fourth capacitor and a C + end of the four-way differential line receiver, and the other end of the sixth resistor is connected with a first voltage supply end; one end of the seventh resistor is connected with a B + signal output end of the rotary encoder and one end of the eighth resistor, the other end of the eighth resistor is connected with one end of the fifth capacitor, one end of the ninth resistor and a B-end of the four-way differential line receiver, and the other end of the ninth resistor is connected with a first voltage supply end V1; the other end of the seventh resistor is connected with a B-signal output end of the rotary encoder and one end of a tenth resistor, the other end of the tenth resistor is connected with one end of an eleventh resistor, the other end of a fifth capacitor and a B + end of the four-way differential line receiver, and the other end of the eleventh resistor R11 is connected with a first voltage supply end V1; the G end of the four-way differential line receiver is connected with the first voltage providing end V1 and one end of a sixth capacitor, the G-end of the four-way differential line receiver is grounded, and the other end of the sixth capacitor is grounded; the end of the four-way differential line receiver is connected with the first voltage providing end and one end of a seventh capacitor, the GND end of the four-way differential line receiver is grounded, and the other end of the seventh capacitor is grounded; the OUTB end of the four-way differential line receiver is connected with one end of a twelfth resistor, and the other end of the twelfth resistor is a first output end of the speed displacement acquisition circuit and is connected with the controller and one end of a thirteenth resistor; the OUTC end of the four-way differential line receiver is connected with one end of a fourteenth resistor, and the other end of the fourteenth resistor is a second output end of the speed displacement acquisition circuit and is connected with the controller and one end of a fifteenth resistor; the other end of the thirteenth resistor and the other end of the fifteenth resistor R15 are grounded.
4. The compact triple-closed-loop integrated servo of claim 1, wherein the controller comprises an MCU chip, an input of the MCU chip is connected to an output of the digital input circuit; the output end of the MCU chip is connected with the output end of the digital output circuit.
5. The compact triple-closed-loop unitary servo of claim 4, wherein said digital input circuit comprises an inverter, a nineteenth resistor, a twentieth resistor, a twenty-first resistor, a ninth capacitor, a tenth capacitor, a first optocoupler, and a first light emitting diode; the cathode of the first light emitting diode is the input end of the digital input circuit and is connected with one of the current sampling circuit and the speed displacement acquisition circuit; one end of the nineteenth resistor is connected with a third voltage supply end, and the other end of the nineteenth resistor is connected with a 1 st pin of the first optocoupler, one end of the twentieth resistor and one end of the tenth capacitor; the anode of the first light emitting diode is connected with the No. 2 pin of the first optocoupler, the other end of the twentieth resistor and the other end of the tenth capacitor; a 4 th pin of the first optocoupler is connected with one end of a twenty-first resistor, one end of a ninth capacitor and the input end of the phase inverter; the other end of the twenty-first resistor is connected with a No. 3 pin of the first optocoupler and a second voltage supply end; the 5 th pin of the first optocoupler and the other end of the ninth capacitor are both grounded; and the output end of the phase inverter is the output end of the digital input circuit and is connected with the MCU chip.
6. The compact, triple-closed-loop, unitary servo of claim 4, wherein the digital output circuit comprises a twenty-second resistor, a twenty-third resistor, a twenty-fourth resistor, a twenty-fifth resistor, a diode, a first transistor, a second optocoupler, and a second light emitting diode; one end of a twenty-second resistor is connected with the MCU chip, the other end of the twenty-second resistor is connected with a control electrode of a first transistor, a first electrode of the first transistor is connected with a 1 st pin of a second optocoupler, and the twenty-third resistor is also connected with a second voltage supply end; the No. 2 pin of the second optocoupler and the second pole of the first transistor are both grounded; a pin 4 of the second optical coupler is connected with one end of a twenty-fourth resistor, and a pin 3 of the second optical coupler is connected with one end of a twenty-fifth resistor and a control electrode of the second transistor; the other end of the twenty-fifth resistor is a first output end of the digital output circuit and is connected with the power output circuit, the first pole of the second transistor and the anode of the diode; the other end of the twenty-fourth resistor is connected with the cathode of the second light-emitting diode; the anode of the second light emitting diode is the second output end of the digital output circuit and is connected with the power output circuit, the second pole of the second transistor and the cathode of the diode.
7. The compact three-closed-loop integrated server of claim 4, wherein the MCU chip is a TMS320F28035 chip.
8. The compact three-closed-loop integrated servo device as claimed in claim 1, further comprising a memory for storing process parameters, wherein an input end of the memory is connected to the upper computer through a communication circuit for modifying the process parameters stored in the memory through the upper computer, and an output end of the memory is connected to the controller for outputting the process parameters to the controller, so that the controller controls the servo motor to execute a preset process according to the process parameters.
9. The compact three-closed-loop unitary servo of claim 1 wherein said communication circuit comprises an RS485 interface circuit and a CAN bus interface circuit.
10. The compact triple-closed-loop, integrated servo of claim 1 wherein the servo motor comprises an ac permanent magnet synchronous motor, a hybrid stepper motor, a dc brushless motor, an ac motor; the coil phase number of the servo motor comprises a single-phase motor, a two-phase motor, a three-phase motor and a four-phase motor.
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Effective date of registration: 20220927 Address after: E103, Block E, Hongwan Business Center, Gushu Community, Xixiang Street, Baoan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen Miao Neng Technology Co.,Ltd. Address before: E201, Block E, Hongwan Business Center, Gushu Community, Xixiang Street, Baoan District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN CASTDSERVO TECHNOLOGY Co.,Ltd. |