CN215867544U

CN215867544U - AC servo driver

Info

Publication number: CN215867544U
Application number: CN202121904315.0U
Authority: CN
Inventors: 文立冬; 杨建清; 王云
Original assignee: Dongguan Dopson Automation Equipment Co ltd
Current assignee: Shenzhen Depuxin Technology Co ltd
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2022-02-18
Anticipated expiration: 2031-08-13

Abstract

The application relates to the technical field of alternating current servo driving systems and provides an alternating current servo driver. The method comprises the following steps: the control panel, the power supply bottom plate and the operation panel; the control panel is connected with the power supply bottom plate and the operation panel; the control board comprises a motor control chip DSP and a CPLD; the motor control chip DSP is used for receiving motor signals and processing the motor signals; the CPLD is used for processing the encoder signal and outputting a control signal. According to the method and the device, the position, the speed and the current closed-loop control of the alternating current servo motor are realized through the control scheme of the DSP and the CPLD, the voltage sampling precision is high, and the performance of alternating current servo driving is improved.

Description

AC servo driver

Technical Field

The present application relates to the field of servo driver technology, and more particularly, to an ac servo driver.

Background

The AC servo driver has wide application in industrial control, and its performance indexes mainly include speed regulating range, positioning accuracy, speed stabilizing accuracy, frequency response, etc. The control part of the alternating current servo driver comprises a software function unit and a logic function unit and is used for finishing processing requirements of position rings, speed rings, communication, keyboard detection, display and the like.

SUMMERY OF THE UTILITY MODEL

Based on this, the present application provides an ac servo driver, comprising:

the control panel, the power supply bottom plate and the operation panel;

the control panel is connected with the power supply bottom plate and the operation panel and is used for completing keyboard scanning, operation panel display, communication with an external motor, motor encoder decoding, current speed position control and PWM wave output;

the power supply bottom plate provides a stable control power supply for the control panel;

the operation panel provides a human-computer interface for the control panel, so that a user can modify working parameters of the control panel through key setting and check the working state of the control panel in real time;

the control board comprises a motor control chip DSP and a CPLD;

the motor control chip DSP is used for receiving motor signals and processing the motor signals;

the CPLD is used for processing the encoder signal and outputting a control signal.

In one embodiment, the control board further comprises: the device comprises a control power circuit, a DSP configuration circuit, a CPLD configuration circuit, an IO interface circuit, a voltage input circuit, an encoder feedback circuit, a voltage sampling circuit, a communication circuit, an operation panel circuit and a parameter storage circuit;

the control power supply circuit is used for receiving a power supply signal of the power supply bottom plate and supplying power to the power utilization module of the control panel;

the DSP configuration circuit is connected with the motor control chip DSP and is used for providing peripheral power supply and signals for the motor control chip DSP;

the CPLD configuration circuit is connected with the CPLD and is used for providing a peripheral power supply and signals for the CPLD;

the IO interface circuit is connected with the motor control chip DSP and the CPLD and is used for inputting signals to the motor control chip DSP and receiving output signals of the CPLD;

the voltage input circuit is used for providing voltage input for the motor control chip DSP and the CPLD;

the encoder feedback circuit is used for receiving feedback encoding information of the motor control chip DSP and the CPLD;

the voltage sampling circuit is used for sampling the voltage of the motor and sending sampling information to the motor control chip DSP;

the communication circuit is used for realizing the communication between the motor control chip DSP and the CPLD;

the operation panel circuit is used for receiving a control signal sent by the CPLD to the operation panel and sending the control signal to the operation panel;

the parameter storage circuit is used for storing the working parameter information of the motor control chip DSP and the CPLD.

In one embodiment, the IO interface circuit includes: an input port and an output port;

the input port is used for receiving an input signal and sending the input signal to the DSP;

the output port is used for receiving the output signal sent by the CPLD;

and the input signal is isolated from the output signal through an optical coupler.

In one embodiment, the input port and the output port realize optical coupling isolation of an input signal and an output signal by arranging an optoelectronic isolation amplifier.

In one embodiment, the optoelectronic isolation amplifier is a HCPL-7860 optoelectronic isolation amplifier.

In one embodiment, the voltage sampling circuit comprises a sampling resistor and a low-pass filter circuit;

the positive end of the sampling resistor is connected with the positive electrode of the input voltage, the negative end of the sampling resistor is connected with the negative electrode of the input voltage, the sampling resistor is used for collecting input voltage signals, and the high-frequency noise of the collected voltage signals is filtered by the low-pass filter circuit and then output to the DSP.

In one embodiment, the communication circuit includes two SPI communications, a first SPI communication and a second SPI communication, respectively;

the master station of the first SPI communication is a motor control chip DSP, the slave station is a CPLD, and the motor control chip DSP sends a data reading instruction to the CPLD and interrupts receiving data at regular time through the first SPI communication;

the master station of the second SPI communication is a CPLD, the slave station is a motor control chip DSP, and the CPLD sends a data reading instruction and interrupts data receiving to the motor control chip DSP at regular time through the first SPI communication.

In one embodiment, the operation panel comprises a nixie tube display part and a key part, and the key part is connected with the CPLD.

According to the alternating current servo driver provided by the embodiment of the application, the position, the speed and the current closed-loop control of the alternating current servo motor are realized through the control scheme of the DSP and the CPLD, the voltage sampling precision is high, and the performance of the alternating current servo driver is improved.

Drawings

FIG. 1 is a schematic diagram of an embodiment of an AC servo driver;

FIG. 2 is a schematic structural diagram of an AC servo driver in another embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Fig. 1 is a schematic structural diagram of an ac servo driver in an embodiment, and as shown in fig. 1, the ac servo controller includes: a control panel 10, a power supply chassis 20, and an operation panel 30;

the control panel 10 is connected with the power supply bottom plate 20 and the operation panel 30 and is used for completing keyboard scanning, operation panel 30 display, communication with an external motor, motor encoder decoding, current speed position control and PWM wave output;

the power supply bottom plate 20 provides a stable control power supply for the control panel 10;

the operation panel 30 provides a human-computer interface for the control panel 10, so that a user can modify the working parameters of the control panel 10 through key setting and check the working state of the control panel 10 in real time;

the control board 10 comprises a motor control chip DSP101 and a CPLD 102;

the motor control chip DSP101 is used for receiving motor signals and processing the motor signals;

the CPLD102 is configured to process the encoder signal and output a control signal.

The main control board 10 is used for completing system monitoring, communication with the outside, port scanning, instruction receiving, motor control algorithm execution and other works.

The power supply bottom board 20 can provide +5V, GND, +15V, AGND, -15V power supply for the main control board 10.

The motor control chip DSP101 is used for completing the following work: realizing a control software algorithm; outputting a PWM signal; encoder signal reception and position and speed calculation; receiving a pulse command/analog voltage command; current sampling, namely, adopting a precise sampling resistor and digital optical coupling isolation; external CAN, 485 and USB communication management; IO output management; the data interaction mode with the CPLD102 adopts SPI, baud rate: 5 Mbps; brake output; the power supply bottom plate 20 processes alarm and control signals; I2C parameter storage; keyboard, display management.

The CPLD102 is configured to perform the following operations: encoder signal processing; the encoder feeds back frequency division output; alarming and detecting the disconnection of the encoder; receiving pulses, wherein the pulse mode is selected to be interacted with a motor control chip DSP101 through an SPI; IO input, and interaction with a motor control chip DSP101 through SPI communication; keyboard scanning and display processing; the method comprises the steps that speed information is interacted with a motor control chip DSP101 through an SPI (serial peripheral interface); the motor control chip DSP101 and CPLD102 data interaction mode: SPI communication, baud rate: 5 Mbps.

The power supply bottom plate 20 not only can provide a precise and reliable power supply for the control panel, but also plays a role in power amplification, and the IPM is controlled through the PWM wave emitted by the control panel 10, so that the synthesis of a motor control vector is realized, the purpose of controlling the motor is achieved, and the alternating current-direct current-alternating current inversion process is completed.

The control board 10 further includes: a control power supply circuit 103, a DSP configuration circuit 104, a CPLD configuration circuit 105, an IO interface circuit 106, a voltage input circuit 107, an encoder feedback circuit 108, a voltage sampling circuit 109, a communication circuit 110, an operation panel circuit 111 and a parameter saving circuit 112;

the control power circuit 103 is used for receiving a power signal of the power bottom plate 20 and supplying power to the power utilization module of the control board 10;

the DSP configuration circuit 104 is connected with the motor control chip DSP101 and is used for providing peripheral power supply and signals for the motor control chip DSP 101;

the CPLD configuration circuit 105 is connected to the CPLD102, and is configured to provide a peripheral power supply and signal for the CPLD 102;

the IO interface circuit 106 is connected to the motor control chip DSP101 and the CPLD102, and is configured to input a signal to the motor control chip DSP101 and receive an output signal of the CPLD 102;

the voltage input circuit 107 is used for providing voltage input for the motor control chips DSP101 and CPLD 102;

the encoder feedback circuit 108 is used for receiving feedback encoding information of the motor control chips DSP101 and CPLD 102;

the voltage sampling circuit 109 is used for sampling the voltage of the motor and sending sampling information to the motor control chip DSP 101;

the communication circuit 110 is used for realizing communication between the motor control chip DSP101 and the CPLD 102;

the operation panel circuit 111 is configured to receive a control signal sent by the CPLD102 to the operation panel 30, and send the control signal to the operation panel 30;

the parameter storage circuit 112 is configured to store the working parameter information of the motor control chips DSP101 and CPLD 102.

In one embodiment, the IO interface circuit 106 includes: an input port and an output port;

the input port is used for receiving an input signal and sending the input signal to the motor control chip DSP 101;

the output port is used for receiving an output signal sent by the CPLD 102;

and the input signal is isolated from the output signal through an optical coupler. The pulse and the direction signal of the input port are input in a differential mode and are input to the CPLD102 for processing after being isolated by 10MHz high-speed optical coupling

The HCPL-7860 photoelectric isolation amplifier is a photoelectric isolation amplifier specially designed for detecting motor current by Agilent company. The pin signals of the HCPL-7860 photoelectric isolation amplifier are respectively primary power supply input, primary sampling signal input, secondary power supply input, secondary clock and data signal output, real-time motor current obtains analog voltages W and U through an external sampling resistor, and enters the chip through the primary sampling signal input end. The recommended primary power supply voltage and the secondary power supply voltage of the HCPL-7860 photoelectric isolation amplifier are 4.5-5.5V, the current is 10mA, and isolated power supply is required; the input signal voltage is-200- +200mV, 0.01% nonlinearity, -0.12mV input offset voltage, common mode interference of at least 15 kV/mus can be resisted, and the insulation withstand voltage is 3750Vac ﹡ 1 min; the primary working power supply of the HCPL-7860 photoelectric isolation amplifier is between 4.5 and 5.5V, and modes such as switching power supply and DC-DC power supply are usually adopted; however, for best working effect, it is best to obtain the power from the power source of the gate driving circuit of the power switch device, and then output 5V voltage through a three-terminal regulator. In order to stabilize the power supply, a filter capacitor is required to be arranged close to the chip pin.

The voltage sampling circuit 109 comprises a sampling resistor and a low-pass filter circuit;

the positive end of sampling resistor connects the positive pole of input voltage, and the negative terminal of sampling resistor connects the negative pole of input voltage, sampling resistor is used for gathering input voltage signal to after the high frequency noise of the voltage signal of low pass filter circuit filtering collection, export to motor control chip DSP 101.

The sampling resistor converts real-time motor current into analog voltage and inputs the analog voltage into the chip; meanwhile, the negative pole of the input voltage is connected with the grounding end, the return path of the power supply is connected to the negative end of the sampling resistor as the sampling line, because the motor has a large current flowing through the sampling line during operation, the parasitic inductance in the circuit can generate a large current peak, and the transient noises can be regarded as common-mode signals through the connection, so that the interference on the sampling current signals can be avoided.

The sampling resistor is selected according to the power range of the servo driver, and an appropriate resistance value is selected. The sampling resistor is large, and the whole input range of the HCPL-7860 photoelectric isolation amplifier can be used, so that the accuracy of the sampling circuit is improved, but the problem is also caused by an excessively large resistance value: on one hand, the range of the current which can be collected is too small, and the maximum output capacity of the power device cannot be exerted; on the other hand, the larger resistance value can cause the power loss ratio on the sampling resistor to be larger, thereby bringing serious heating problems, further influencing the precision of the resistor and the nonlinearity of the temperature rise coefficient, and even burning the sampling resistor; on the contrary, the sampling resistance is small, although the sampling capacity of the sampling circuit can be improved, and large motor current can be collected, the output voltage on the sampling resistance is reduced due to the undersized sampling resistance, so that the proportion of error offset and interference noise in the signal amplitude is too large, and the sampling precision is reduced. Therefore, the calculation of the sampling resistor is generally to divide the recommended input voltage by the peak current flowing through the sampling resistor under normal working conditions, and then multiply by a margin coefficient of 0.8-0.9.

The communication circuit 110 comprises two paths of SPI communication, namely a first SPI communication and a second SPI communication;

the master station of the first SPI communication is a motor control chip DSP101, the slave station is a CPLD102, and the motor control chip DSP101 sends a read data command and interrupts receiving data to the CPLD102 at fixed time through the first SPI communication;

the master station of the second SPI communication is CPLD102, the slave station is motor control chip DSP101, and CPLD102 sends a data reading instruction and interrupts data receiving to motor control chip DSP101 at regular time through the first SPI communication.

The Baud rate of SPI communication is 5Mbps, and the data bit is 16 bits, sets up the data bit to be 16 bits promptly, and the high order is sent first, and rising edge is sent, and the falling edge is received. CPHA is 1 and CPOL is 0, set to full duplex mode of operation, without CRC check.

The operation panel 30 includes a nixie tube display portion and a key portion, and the key portion is connected to the CPLD 102.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An ac servo driver, comprising:

the control panel, the power supply bottom plate and the operation panel;

the control board comprises a motor control chip DSP and a CPLD;

2. The ac servo driver of claim 1, wherein the control board further comprises: the device comprises a control power circuit, a DSP configuration circuit, a CPLD configuration circuit, an IO interface circuit, a voltage input circuit, an encoder feedback circuit, a voltage sampling circuit, a communication circuit, an operation panel circuit and a parameter storage circuit;

3. The ac servo driver of claim 2, wherein the IO interface circuit comprises: an input port and an output port;

the output port is used for receiving the output signal sent by the CPLD;

4. An ac servo driver as claimed in claim 3, wherein the input port and the output port are optically coupled to isolate the input signal from the output signal by providing an opto-electronic isolation amplifier.

5. An AC servo driver as claimed in claim 4, wherein the photo-isolation amplifier is a HCPL-7860 photo-isolation amplifier.

6. The ac servo driver of claim 2, wherein the voltage sampling circuit comprises a sampling resistor, a low pass filter circuit;

7. The ac servo driver of claim 2, wherein the communication circuit comprises two SPI communications, a first SPI communication and a second SPI communication;

8. The ac servo driver as claimed in claim 1, wherein the operation panel comprises a nixie tube display portion and a key portion, and the key portion is connected to the CPLD.