CN212210879U - Brushless direct current servo system - Google Patents
Brushless direct current servo system Download PDFInfo
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- CN212210879U CN212210879U CN202021121809.7U CN202021121809U CN212210879U CN 212210879 U CN212210879 U CN 212210879U CN 202021121809 U CN202021121809 U CN 202021121809U CN 212210879 U CN212210879 U CN 212210879U
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Abstract
The utility model provides a brushless DC servo system, through setting up A phase current acquisition circuit and B phase current acquisition circuit, gather the current signal of U and V end on the brushless DC servo motor respectively, and A phase current acquisition circuit and B phase current acquisition circuit all adopt the mode of difference amplification, when three-phase full-bridge inverter circuit is in the chopping state, can eliminate fortune by a wide margin and put input imbalance and low frequency noise, can reduce the remaining detuning volume that causes because of the chopper switch action simultaneously, and then at the moment of switching on of three-phase full-bridge inverter circuit, guarantee to adopt accurate direct current bus current; through setting up A looks electric current and flowing through sampling protection circuit and B looks electric current and flowing through sampling protection circuit, when the voltage value of A looks electric current acquisition circuit and B looks electric current acquisition circuit output is greater than 5V, then the power is cut off, avoids the voltage that is higher than 5V to burn out the controller, has also avoided three-phase full-bridge inverter circuit overload work.
Description
Technical Field
The utility model relates to a brushless DC servo field especially relates to a brushless DC servo.
Background
Motion control is a branch of automation that uses devices known as servos, such as hydraulic pumps, linear actuators, or electric motors, to control the position or speed of a machine. The modern motion control system mainly comprises a direct current speed regulating system, an alternating current speed regulating system and a servo system. If the actuating mechanism selects the brushless dc servo motor and the motion control system selects the servo system, the system for controlling the motion of the brushless dc servo motor is called the brushless dc servo system, and the structure of the brushless dc servo system is shown in fig. 1, and the principle is as follows: starting the motor according to an initial sequence of position parameters, rotating speed parameters and Hall sensor output signals set by user requirements, detecting the position of a motor rotor and phase currents of a three-phase winding of the motor, and feeding the phase currents back to a speed adjusting ring and a current adjusting ring to adjust the rotating speed of the motor; meanwhile, output pulses of the photoelectric encoder are counted, an actual position is calculated according to the number of the output pulses, a result of comparison between a real position value and a set value of the valve is used as input of the position regulator, the motor reversing and starting process is controlled by the output of the speed regulator, and the motor stopping process is controlled by the output of the position regulator, so that the position can be accurately controlled.
Both the speed regulation ring and the current regulation ring require sampling of the current through the motor winding. The current on the motor winding can be obtained by sampling the current passing through the direct current bus on the inversion unit, but the current sampling of the direct current brushless driver is different from that of the direct current brush motor, and when the inversion unit is in a chopping working state, the bus current is also discontinuous necessarily, so that the sampling direct current bus current needs to be obtained by a special method, and the accurate direct current bus current can be obtained only by ensuring that the sampling time is the conduction time of the inversion unit every time. Therefore, be brushless DC servo motor and adopt the condition of contravariant unit drive brushless DC servo motor to actuating mechanism, the utility model provides a brushless DC servo system through the structure of optimizing current acquisition circuit, makes its sampling constantly all be the switching on constantly of contravariant unit, and then improves the degree of accuracy of current sampling, realizes brushless DC servo system's accurate control.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a brushless DC servo system, through the structure of optimizing current acquisition circuit, make its sampling constantly all be the switching-on moment of contravariant unit, and then improve the degree of accuracy of current sampling, realize brushless DC servo system's accurate control.
The technical scheme of the utility model is realized like this: the utility model provides a brushless DC servo system, which comprises a controller, a power amplifier, a three-phase full-bridge inverter circuit, a brushless DC servo motor, a power module and a current acquisition circuit, wherein the current acquisition circuit comprises an A-phase current acquisition circuit and a B-phase current acquisition circuit;
the power supply module is electrically connected with the power supply end of each device, the controller outputs PWM waves to the power amplifier, the power amplifier amplifies the PWM waves, the amplified signals are inverted into three-phase alternating currents U, V and W through the three-phase full-bridge inverter circuit, and the three-phase alternating currents U, V and W are respectively and correspondingly electrically connected with the wiring terminals of the brushless direct current servo motor one by one;
the input end of the A-phase current acquisition circuit is electrically connected with a terminal of the three-phase full-bridge inverter circuit for outputting three-phase alternating current U, and the output end of the A-phase current acquisition circuit is electrically connected with a first feedback end of the controller;
the input end of the phase B current acquisition circuit is electrically connected with a terminal of the three-phase full-bridge inverter circuit for outputting three-phase alternating current V, and the output end of the phase B current acquisition circuit is electrically connected with a second feedback end of the controller.
On the basis of the technical scheme, preferably, the device further comprises an A-phase current sampling protection circuit and a B-phase current sampling protection circuit;
the input end of the A-phase current-flowing sampling protection circuit is electrically connected with a connection point between the A-phase current acquisition circuit and a first feedback end of the controller, and the output end of the A-phase current-flowing sampling protection circuit is electrically connected with the cut-off end of the power supply module;
the input end of the B-phase current-flowing sampling protection circuit is electrically connected with a connection point between the B-phase current acquisition circuit and the second feedback end of the controller, and the output end of the B-phase current-flowing sampling protection circuit is electrically connected with the on-off end of the power module.
On the basis of the above technical solution, preferably, the a-phase current acquisition circuit includes: resistors R40-R46, a capacitor C15 and an operational amplifier LM 358;
the terminal of the three-phase full-bridge inverter circuit for outputting the three-phase alternating current U is electrically connected with one end of a resistor R42 and a pin 3 of an operational amplifier LM358 through a resistor R41, the other end of the resistor R42 is electrically connected with one end of a resistor R43 and one end of a resistor R44, the other end of a resistor R43 is electrically connected with a power module, the other end of the resistor R44 is grounded, a pin 2 of the operational amplifier LM358 is grounded through a resistor R40, two ends of a resistor R46 are connected between a pin 2 and a pin 1 of the operational amplifier LM358 in parallel, a pin 1 of the operational amplifier LM358 is electrically connected with a first feedback end of a controller through a resistor R45, one end of a capacitor C15 is electrically connected with a connection point between the resistor R45 and the first feedback end of the controller, and the other end of the capacitor C.
On the basis of the above technical solution, preferably, the a-phase current sampling protection circuit includes: resistors R54-R56 and an operational amplifier LM 358;
the non-inverting input end of the operational amplifier LM358 is electrically connected with the first feedback end of the controller through the resistor R54, the inverting input end of the operational amplifier LM358 is electrically connected with the power supply module through the resistor R55, and the output end of the operational amplifier LM358 is electrically connected with the cut-off end of the power supply module through the resistor R56.
On the basis of the technical scheme, the photoelectric encoder and the differential TTL module are preferably further included;
the photoelectric encoder outputs three groups of sine/cosine signals which are respectively marked as A +, A-, B +, B-, Z + and Z-;
and the A +, A-, B + and B-signals are converted by the differential to TTL module respectively and output A, B, Z-phase signals, and the A, B, Z-phase signals are electrically connected with a third feedback end of the controller respectively.
The utility model discloses a brushless DC servo has following beneficial effect for prior art:
(1) the current signals of the U end and the V end of the brushless direct current servo motor are respectively acquired by arranging the phase-A current acquisition circuit and the phase-B current acquisition circuit, and the phase-A current acquisition circuit and the phase-B current acquisition circuit both adopt a differential amplification mode, so that when the three-phase full-bridge inverter circuit is in a chopping state, operational amplifier input imbalance and low-frequency noise can be greatly eliminated, residual detuning caused by the action of a chopping switch can be reduced, and accurate direct current bus current is guaranteed to be acquired at the conduction time of the three-phase full-bridge inverter circuit;
(2) through setting up A looks electricity and flowing through sampling protection circuit and B looks electricity and flowing through sampling protection circuit, be used for the overcurrent protection to A looks current acquisition circuit and B looks current acquisition circuit respectively, be greater than 5V when the voltage value of A looks current acquisition circuit and B looks current acquisition circuit output, then flow through sampling protection circuit and B looks electricity through sampling protection circuit through A looks electricity and cut off the power, avoid being higher than 5V's voltage burnout controller, also avoided three-phase full-bridge inverter circuit overload work.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a structural diagram of a brushless dc servo system according to the present invention;
fig. 2 is a circuit diagram of an a-phase current acquisition circuit and an a-phase current oversampling protection circuit in the brushless dc servo system of the present invention;
fig. 3 shows a B-phase current acquisition circuit and a B-phase current sampling protection circuit in a brushless dc servo system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work all belong to the protection scope of the present invention.
First, the difference between the brushed dc motor and the brushless dc motor will be described. The permanent magnets in the brushed dc motor are mounted on the stator and the windings are mounted on the rotor, so that during rotation, the current in the windings is commutated by the mechanical carbon brushes and the commutator on the rotor. However, the brush dc motor has low safety because sparks are generated due to the existence of the commutator and the carbon brush. The winding of the brushless DC motor is arranged on the stator, the permanent magnet is arranged on the rotor, the mechanical commutator and the carbon brush are eliminated, the mechanical reliability is greatly enhanced, the power consumption of the brushless DC motor is generated in the stator, the shell can be conveniently used for cooling, and the efficiency of the brushless DC motor is greatly improved. Since the brushed dc motors and the brushless dc motors are structurally different, the current sampling of the dc brushless driver is different from the current sampling of the dc brushed motor drive.
The current sampling of the existing direct current brushless driver is voltage of the output end of the inverter unit, but when the inverter unit is in a chopping working state, the bus current is also discontinuous necessarily, so that a special method is needed for sampling the direct current bus current, and accurate direct current bus current can be guaranteed to be sampled only when the fact that the sampling time is all the on time of the inverter unit at each time is guaranteed. Therefore, in order to solve the above problem, as shown in fig. 1, the utility model discloses a brushless dc servo system, it includes controller, power amplifier, three-phase full-bridge inverter circuit, brushless dc servo motor, power module, current acquisition circuit, a looks current flow sampling protection circuit, B looks current flow sampling protection circuit, photoelectric encoder and difference commentaries on classics TTL module.
And the controller is mainly used for outputting the PWM wave, receiving the current feedback signal and the position feedback signal, and adjusting the waveform of the PWM wave according to the current feedback signal and the position feedback signal so as to control the reversing and starting processes of the motor and the stopping process of the motor to accurately control the position. In this embodiment, the algorithm improvement of the controller is not involved, and therefore, the description thereof will not be repeated.
The power amplifier is selected to amplify the voltage to be enough for driving the motor, because the power of the brushless direct current motor to be controlled is larger, and the normal voltage amplification cannot be normally controlled. If a three-phase inverter bridge circuit is selected from the drive circuits of the brushless direct current motor, six power switch devices are provided, if each power switch device is driven by an independent drive circuit, six drive circuits are needed, so that at least six independent direct current power supplies are needed to independently supply power for the six power switch devices, the complexity of the circuit is greatly increased, and the reliability of the circuit is reduced. Therefore, in this embodiment, the IR2136 chip is used as a power amplifier, which can output the driving pulses of the 6-way power switch device, thereby simplifying the circuit and improving the reliability of the circuit.
The three-phase full-bridge inverter circuit converts the driving pulse output by the power amplifier into three-phase alternating current U, V, W for driving the brushless direct current servo motor; the three-phase alternating current U, V and W are respectively electrically connected with the wiring terminals of the brushless DC servo motor in a one-to-one correspondence manner. In this embodiment, the three-phase full-bridge inverter circuit adopts an existing circuit diagram, and does not involve improvement of the three-phase full-bridge inverter circuit, so that a description thereof will not be repeated.
The current acquisition circuit is used for forming negative feedback for the current loop to provide feedback current; the power supply module is electrically connected with the power supply end of each device. In this embodiment, the current collection circuit includes an a-phase current collection circuit and a B-phase current collection circuit. Since the ABC three-phase current is added to equal to 0, the phase a and phase B currents are obtained, that is, the phase C current is obtained, in this embodiment, only the phase a current acquisition circuit and the phase B current acquisition circuit are provided, and the phase a current acquisition circuit and the phase B current acquisition circuit have the same structure, so in this embodiment, only the structure and principle of the phase a current acquisition circuit are described, and the circuit diagram of the phase B current acquisition circuit is shown in fig. 3.
And the A-phase current acquisition circuit is used for acquiring an A-phase current value on the brushless DC servo motor and taking the current value as a negative feedback signal of a current loop. In this embodiment, the input terminal of the phase-a current acquisition circuit is electrically connected to the terminal of the three-phase full-bridge inverter circuit outputting the three-phase alternating current U, and the output terminal of the phase-a current acquisition circuit is electrically connected to the first feedback terminal of the controller. As shown in fig. 2, the a-phase current collecting circuit includes: resistors R40-R46, a capacitor C15 and an operational amplifier LM 358; specifically, a terminal of the three-phase full-bridge inverter circuit outputting the three-phase alternating current U is electrically connected with one end of a resistor R42 and a pin 3 of the operational amplifier LM358 through a resistor R41, the other end of the resistor R42 is electrically connected with one end of a resistor R43 and one end of a resistor R44, the other end of a resistor R43 is electrically connected with the power module, the other end of the resistor R44 is grounded, a pin 2 of the operational amplifier LM358 is grounded through a resistor R40, two ends of the resistor R46 are connected between the pin 2 and the pin 1 of the operational amplifier LM358 in parallel, the pin 1 of the operational amplifier LM358 is electrically connected with a first feedback end of the controller through a resistor R45, one end of a capacitor C15 is electrically connected with a connection point between the resistor R45 and the first feedback end of the controller, and the other end of the capacitor C15. The LM358 is in a dual-power mode, a differential amplifier is formed by the resistor R40, the resistor R41, the resistor R42, the resistor R46 and the LM358, and the amplification factor is 4.7 times; the resistor R43 and the resistor R44 form a filter resistor; the resistor R45 and the capacitor C15 form an RC low-pass filter.
And the power supply module is used for providing working voltage of each component. In this embodiment, three fixed voltage output types are required in total: 3.3V of the controller; 5V of a photoelectric encoder; 15V of the power amplifier. In the embodiment, TPS5430 is selected to output 5V fixedly, and then the output 3.3V fixedly is output by AMS 1117-3.3; the power supply of 15V is boosted by 5V from the MC34063 chip. The circuitry of the power supply module is well known in the art and, therefore, its structure and principles will not be discussed again.
The phase-A current sampling protection circuit and the phase-B current sampling protection circuit are respectively used for overcurrent protection of the phase-A current acquisition circuit and the phase-B current acquisition circuit, and the phase-A current sampling protection circuit and the phase-B current acquisition circuit have the same structure, so that the phase-A current sampling protection circuit and the phase-B current sampling protection circuit have the same structure, and only the structure and the principle of the phase-A current sampling protection circuit are described herein. In this embodiment, the input end of the a-phase current-through sampling protection circuit is electrically connected with a connection point between the a-phase current acquisition circuit and the first feedback end of the controller, and the output end of the a-phase current-through sampling protection circuit is electrically connected with the cut-off end of the power module; as shown in fig. 2, the a-phase current-sampling protection circuit includes: resistors R54-R56 and an operational amplifier LM 358; specifically, the non-inverting input terminal of the operational amplifier LM358 is electrically connected to the first feedback terminal of the controller through the resistor R54, the inverting input terminal of the operational amplifier LM358 is electrically connected to the power supply module through the resistor R55, and the output terminal of the operational amplifier LM358 is electrically connected to the cut-off terminal of the power supply module through the resistor R56. In this embodiment, the operational amplifier LM358, the resistor R54, and the resistor R55 constitute a comparator, and the resistor R56 constitutes an isolation resistor; the cut-off end of the power module is an ENA pin of the TPS5430 chip. When the voltage of the A-phase current flowing through the input end of the sampling protection circuit is more than 5V, the output end outputs 0V voltage, the voltage is connected to an ENA pin of the chip, the controller is controlled to be turned off to protect the circuit, and the overload work of the three-phase full-bridge inverter circuit is avoided.
The photoelectric encoder is internally provided with a machine tool fixed part, an indication code disc is arranged on a moving part, and three groups of sine/cosine signals are generated by rotating the code disc at a certain angle and are respectively marked as A +, A-, B +, B-, Z + and Z-, wherein A + and A-are collectively called as A-phase signals; b + and B-are collectively called B phase signals; z + and Z-are collectively referred to as Z-phase signals; the AB two groups of signals are position detection pulse signals, and the Z phase signal is an output signal of the coded disc rotating for one circle and is used for system zero clearing; the sine/cosine signal is converted into a pulse output signal, the pulse output signal reflects the motion state of the current motor in real time, namely the signal of the photoelectric encoder of the motor is output, and the controller can read the running condition of the current motor by detecting the signal. In this embodiment, the signals a +, a-, B +, and B-are respectively converted by the differential to TTL modules, and A, B, Z-phase signals are output, and the signals A, B, Z-phase signals are respectively electrically connected to the third feedback terminal of the controller.
Because the differential signal output by the photoelectric encoder is not matched with the TTL signal interface of the controller, the differential TTL module needs to convert the differential signal into the TTL signal.
The beneficial effect of this embodiment does: the current signals of the U end and the V end of the brushless direct current servo motor are respectively acquired by arranging the phase-A current acquisition circuit and the phase-B current acquisition circuit, and the phase-A current acquisition circuit and the phase-B current acquisition circuit both adopt a differential amplification mode, so that when the three-phase full-bridge inverter circuit is in a chopping state, operational amplifier input imbalance and low-frequency noise can be greatly eliminated, residual detuning caused by the action of a chopping switch can be reduced, and accurate direct current bus current is guaranteed to be acquired at the conduction time of the three-phase full-bridge inverter circuit;
through setting up A looks electricity and flowing through sampling protection circuit and B looks electricity and flowing through sampling protection circuit, be used for the overcurrent protection to A looks current acquisition circuit and B looks current acquisition circuit respectively, be greater than 5V when the voltage value of A looks current acquisition circuit and B looks current acquisition circuit output, then flow through sampling protection circuit and B looks electricity through sampling protection circuit through A looks electricity and cut off the power, avoid being higher than 5V's voltage burnout controller, also avoided three-phase full-bridge inverter circuit overload work.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a brushless DC servo system, its includes controller, power amplifier, three-phase full-bridge inverter circuit, brushless DC servo motor, power module and current acquisition circuit, its characterized in that: the current acquisition circuit comprises an A-phase current acquisition circuit and a B-phase current acquisition circuit;
the power supply module is electrically connected with the power supply end of each device, the controller outputs PWM waves to the power amplifier, the power amplifier amplifies the PWM waves, the amplified signals are inverted into three-phase alternating currents U, V and W through the three-phase full-bridge inverter circuit, and the three-phase alternating currents U, V and W are respectively and correspondingly electrically connected with the wiring terminals of the brushless direct current servo motor one by one;
the input end of the A-phase current acquisition circuit is electrically connected with a terminal of the three-phase full-bridge inverter circuit for outputting three-phase alternating current U, and the output end of the A-phase current acquisition circuit is electrically connected with a first feedback end of the controller;
the input end of the phase B current acquisition circuit is electrically connected with a terminal of the three-phase full-bridge inverter circuit for outputting three-phase alternating current V, and the output end of the phase B current acquisition circuit is electrically connected with a second feedback end of the controller.
2. A brushless dc servo system as claimed in claim 1, wherein: the device also comprises an A-phase current sampling protection circuit and a B-phase current sampling protection circuit;
the input end of the A-phase current-sampling protection circuit is electrically connected with a connection point between the A-phase current-sampling circuit and the first feedback end of the controller, and the output end of the A-phase current-sampling protection circuit is electrically connected with the cut-off end of the power supply module;
the input end of the B-phase current-flowing sampling protection circuit is electrically connected with a connection point between the B-phase current acquisition circuit and the second feedback end of the controller, and the output end of the B-phase current-flowing sampling protection circuit is electrically connected with the on-off end of the power module.
3. A brushless dc servo system as claimed in claim 1, wherein: the A-phase current acquisition circuit comprises: resistors R40-R46, a capacitor C15 and an operational amplifier LM 358;
the three-phase full-bridge inverter circuit outputs a three-phase alternating current U, a terminal of the three-phase full-bridge inverter circuit is electrically connected with one end of a resistor R42 and a pin 3 of an operational amplifier LM358 through a resistor R41, the other end of the resistor R42 is electrically connected with one end of a resistor R43 and one end of a resistor R44, the other end of a resistor R43 is electrically connected with a power module, the other end of the resistor R44 is grounded, a pin 2 of the operational amplifier LM358 is grounded through a resistor R40, two ends of the resistor R46 are connected between the pin 2 and the pin 1 of the operational amplifier LM358 in parallel, the pin 1 of the operational amplifier LM358 is electrically connected with a first feedback end of a controller through a resistor R45, one end of a capacitor C15 is electrically connected with a connection point between the resistor R45 and the first feedback end of the controller.
4. A brushless dc servo system as claimed in claim 2, wherein: the A-phase current sampling protection circuit includes: resistors R54-R56 and an operational amplifier LM 358;
the non-inverting input end of the operational amplifier LM358 is electrically connected with the first feedback end of the controller through a resistor R54, the inverting input end of the operational amplifier LM358 is electrically connected with the power supply module through a resistor R55, and the output end of the operational amplifier LM358 is electrically connected with the cut-off end of the power supply module through a resistor R56.
5. A brushless dc servo system as claimed in claim 1, wherein: the photoelectric encoder and the differential transfer TTL module are also included;
the photoelectric encoder outputs three groups of sine/cosine signals which are respectively marked as A +, A-, B +, B-, Z + and Z-;
and the A +, A-, B + and B-signals are converted by the differential to TTL module respectively and output A, B, Z-phase signals, and the A, B, Z-phase signals are electrically connected with a third feedback end of the controller respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021121809.7U CN212210879U (en) | 2020-06-17 | 2020-06-17 | Brushless direct current servo system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021121809.7U CN212210879U (en) | 2020-06-17 | 2020-06-17 | Brushless direct current servo system |
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| CN212210879U true CN212210879U (en) | 2020-12-22 |
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