CN2783384Y

CN2783384Y - Integrated intelligent servo motor

Info

Publication number: CN2783384Y
Application number: CNU2005200905787U
Authority: CN
Inventors: 袁卫华
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-04-27
Filing date: 2005-04-27
Publication date: 2006-05-24
Anticipated expiration: 2015-04-27

Abstract

The utility model relates to a servo motor which comprises the servo motor and a casing of a servo controlling part, which plays the shielding action for an electromagnetic radiation source. A controller which is used for supplying control information for power supply modules, power supply modules which are used for supplying the power supply for the controller and the servo motor, a feedback device which is used for supplying the information of the servo motor for the controller, input and output modules which are used for connecting the controller to a supervisory computer, and net interface modules. The casing of a servo control part is fixed on the casing of the servo motor through connecting components. Because parts of control lines, signal lines and joints thereof are canceled, the electromagnetic interference for the environment and productive cost are reduced. The utility model has the advantages of compact structure, easy installation, strong adaptive ability of bad environment, low failure rate, improvement of reliability of products, strong flexibility and convenient design and maintenance. Users are needless to complete the complicated tasks for matching the motor and driving the controller. The replacement of the motor is equivalent to replace a control shaft, maintenance workers are needless to diagnose trouble parts in sites, therefore human intensity is saved.

Description

The integral intelligent servomotor

Technical field

The utility model relates to a kind of servomotor, relates in particular to a kind of integral intelligent servomotor, and it is the integral intelligent servomotor of various servo-control system first-selections.

Background technology

Along with the widespread use of servo-control system in all trades and professions, traditional motion servo control system is made up of motion controller, servoamplifier, feedback coder and servomotor usually, its motion controller is to provide power supply by cable for servomotor, and servomotor position and rate signal that feedback coder produces also offer servoamplifier by cable.Practice shows that cable fault is the main cause that causes the kinetic control system paralysis.Form because the main circuit of servo-driver is generally AC-DC-AC, outside input power frequency supply is a d. c. voltage signal through rectification, is the AC signal of changeable frequency through filter capacitor filtering and the inversion of high power transistor on-off element.Output current signal is the pulse waveform that is subjected to the modulation of PWM carrier signal, and the output loop current signal can be decomposed into and only contain sinusoidal wave first-harmonic and other each harmonics, and wherein higher hamonic wave to space radiation, is disturbed contiguous electrical equipment by cable.For this reason, a kind of incorporate intelligent servomotor is badly in need of in the servocontrol field.

The utility model content

The purpose of this utility model provides and a kind of traditional servomotor, feedback assembly and driving amplifier, motion controller etc. is integrated, reach the fault that reduces the motion servo control system and to the electromagnetic interference (EMI) of environment, and have the remote monitoring of the parameter of electric machine and the integral intelligent servomotor of maintenance function.

The technical scheme of the utility model technical solution problem is to achieve these goals: comprise servomotor, it is characterized in that also comprising the servocontrol portion housing that electromagnetic radiation source is played shielding action, in servocontrol portion housing, be provided with:, provide the power module of stabilized power source for controller and servomotor for power module provides the controller of control information; The feedback assembly of servomotor information is provided for controller; For controller provides the input that links to each other with host computer, the I/O module and the Network Interface Module of output, and above-mentioned servocontrol portion housing is fixed on the servomotor housing by web member.

Described servomotor is AC servo motor or DC servo motor.

Described feedback assembly comprises following part:

Be used to controller that the scrambler of speed, position probing information is provided, with optical encoder or magnetic coder;

The current sensor that is used to controller to provide torque to detect information, it is made up of sample resistance, analog-digital commutator and amplifier or directly adopts ear current sensor suddenly;

Be used for speed, position and current data after detecting are carried out pretreated data preprocessing module.

Described power module comprises following part:

Power frequency supply rectification to the outside input is the rectification module of direct current signal;

Direct current signal after the rectification is carried out the filter capacitor of filtering;

With the filtered direct current signal inversion inversion module that is the AC signal of changeable frequency;

The power drive unit of power drive information is provided for inversion module.

Described controller comprises following part:

Be used for PID control and the programming device of fuzzy control or the main control chip of high-performance single-chip microcomputer;

The display module that shows each servo parameter and control model by display element;

Be used to controller that the set positions unit of desired location parameter, the torque settings unit of setpoint torque parameter, the speed setting unit of setting speed parameter are provided.

Described I/O module comprises communication interface RS232, RS485 or keyboard input interface, and it is used to realize the input of control model, links to each other with controller.

Described Network Interface Module is with field-bus interface or Industrial Ethernet interface, and links to each other with controller.

Described display element, code device signal input and output terminal, keyboard input interface, power supply and communication interface, be located at servocontrol portion housing above.

The utility model has compared with prior art adopted above integration technology, and the integral intelligent motor has following advantage and effect:

1, owing to cancelled part control line and signal wire and joint thereof, reduces production cost, improved reliability of products.

2, system architecture compactness, saving space, easy for installation, it is strong to adapt to the rugged surroundings ability, and failure rate is low.

3, by servocontrol portion housing radiation source is shielded, reduced electromagnetic interference (EMI) environment.

4, the user need not loaded down with trivial details coupling motor and driving governor, and selection and use are simple, and dirigibility is strong, and system design is more convenient, significantly reduces time of product development.

5, the integral intelligent servomotor is easy to maintenance, only needs to change motor and just equals to have changed a Control Shaft, need not to send the professional to arrive site inspection tracing trouble position, has saved manpower greatly.

Description of drawings

Fig. 1 is a structural representation of the present utility model.

Fig. 2 is a mounting means synoptic diagram of the present utility model.

Fig. 3 is a mounting means synoptic diagram of the present utility model.

Fig. 4 is a schematic diagram of the present utility model.

Among the figure: servomotor 1, feedback assembly 2, power module 3, controller 4, I/O module 5, Network Interface Module 6, power supply 7, servocontrol portion housing 8, display element C, code device signal input and output terminal D, keyboard input interface E, power supply and communication interface F, bolt G, scrambler 21, current sensor 22, sample resistance 221, analog-digital commutator 222, amplifier 223, data preprocessing module 23, rectification module 31, filter capacitor 32, inversion module 33, power drive unit 34, main control chip 41, display module 51, keyboard input 52, set positions unit 53, torque settings unit 54, speed setting unit 55.

Embodiment

With reference to accompanying drawing, concrete structure of the present utility model is described in detail as follows:

Embodiment 1:

As shown in Figure 1, 2, comprise servomotor 1, also comprise the servocontrol portion housing 8 that electromagnetic radiation source is played shielding action, in servocontrol portion housing 8, be provided with: the controller 4 that control information is provided for power module 3; The power module 3 of stabilized power source is provided for controller 4 and servomotor 1; For controller 4 provides the feedback assembly 2 of servomotor 1 information,, above-mentioned servocontrol portion housing 8 is fixed on servomotor 1 housing by bolt G for controller 4 provides the input that links to each other with host computer, the I/O module 5 and the Network Interface Module 6 of output.Integrated intelligent servomotor provides the power supply 7 of power frequency supply to link to each other with power module 3, controller 4 is according to speed, position and the moment information of 3 actual measurements of 2 pairs of power modules of feedback assembly, calculate control signal corresponding with speed, position and the moment information set, as the input signal of power module 3, thereby finish the servocontrol of servomotor 1.

Be with display element C, code device signal input and output terminal D, keyboard input interface E, power supply and communication interface F as shown in Figure 2, be located on the rear end cap of servocontrol portion housing 8.

It is main control chip that controller 4 adopts high performance FPGA, by adopting PID control when the little error, when mistake, adopt fuzzy control, the position, speed and the torque that realize servomotor are servo, realize that by S type change curve or T type change curve the accurate servo and rate smoothing of position is servo, improve dynamic response of servo-drive system and control performance.

I/O module 5 adopts communication interface RS232 to realize the input of control model, and display module 51 is a liquid crystal display, shows the parameter and the control model that are set.Network Interface Module 6 adopts the PROFIBUS field-bus interface, realizes the remote monitoring and the maintenance of servomotor parameter.

Embodiment 2:

Shown in Fig. 1,3, comprise servomotor 1, also comprise the servocontrol portion housing 8 that electromagnetic radiation source is played shielding action, in servocontrol portion housing 8, be provided with: the controller 4 that control information is provided for power module 3; The power module 3 of stabilized power source is provided for controller 4 and servomotor 1; For controller 4 provides the feedback assembly 2 of servomotor 1 information,, above-mentioned servocontrol portion housing 8 is fixed on servomotor 1 housing by bolt G for controller 4 provides the input that links to each other with host computer, the I/O module 5 and the Network Interface Module 6 of output.Integrated intelligent servomotor provides the power supply 7 of power frequency supply to link to each other with power module 3, power module 3 provides electric energy for servomotor 1 and controller 4, controller 4 is according to speed, position and the moment information of feedback assembly 2 actual measurements, calculate control signal corresponding with speed, position and the moment information set, as the input signal of power module 3, thereby finish the servocontrol of servomotor 1.

Be with display element C, code device signal input and output terminal D, input interface E, power supply and communication interface F as shown in Figure 3, be located on the housing of servocontrol portion housing 8.

It is main control chip that controller 4 adopts high performance MCU, by adopting PID control when the little error, when mistake, adopt fuzzy control, the position, speed and the torque that realize servomotor are servo, realize that by S type change curve or T type change curve the accurate servo and rate smoothing of position is servo, improve dynamic response of servo-drive system and control performance.

I/O module 5 adopts communication interface RS485 to realize the input of control model, and display module 51 is a charactron, shows the parameter and the control model that are set.Network Interface Module 6 adopts CANBUS Industrial Ethernet interface, realizes the remote monitoring and the maintenance of servomotor parameter.

Embodiment 3:

I/O module 5 adopts keyboard input 52 to realize the input of control model.Other is with embodiment 1 or embodiment 2.

Be below the utility model on the basis of conventional motors, in conjunction with the distinctive servo controller of the utility model, be the integral intelligent servomotor principle of work of example with the AC servo motor.

As shown in Figure 4, AC power 7 is a direct current signal through rectification module 31 rectifications of single-phase rectifier or three phase rectifier device, by filter capacitor 32 filtering, with the filtered direct current signal inversion AC signal that is changeable frequency, realize the conversion of the AC of power supply to DC, give servomotor 1 with the electrical energy transfer after the rectification,, also provide electric energy for each electron device in the controller 4 by mu balanced circuit.

Scrambler 21 is measured the speed and the position of servomotor 1, and with the actual measurement speed and position data pass to data preprocessing module 23, for main control chip 41 provides servomotor 1 current speed and positional information, main control chip 41 is according to speed of setting and speed and the positional information after positional information and the processing, adopt the algorithm of PID and fuzzy control, calculate the control input quantity of power drive unit 34, thereby drive inversion module 33, realize the speed and the position servo of servomotor 1, guaranteed servo-controlled real-time; Current sensor 22 comprises sample resistance 221, amplifier 223 and analog-digital commutator 222, for main control chip 41 provides the bus current signal, realizes that by electric current loop, torque ring torque is servo.

Main control chip 41 is according to the control method of operation of set positions unit 53, torque settings unit 54 and speed setting unit 55 definite servomotors 1, and its torque settings unit 54 is provided with level of torque by the potentiometer input voltage signal; Speed setting unit 55 is provided with the size of speed by input voltage signal; Set positions unit 53, by input A phase, B phase signals, realize the input of the setting signal of position, convenient and motion control card connection or set by the digitizing of host computer or PLC control realization speed, position realize speed servo, torque is servo and position servo.Realize the setting of servo parameter with keyboard input 52; Display module 51 shows each servo parameter and control model; Adopt Network Interface Module 6 to realize the Long-distance Control of servomotor 1 and the interlock control of a plurality of servomotor 1.

Claims

1, a kind of integral intelligent servomotor, comprise servomotor (1), it is characterized in that also comprising the servocontrol portion housing (8) that electromagnetic radiation source is played shielding action, in servocontrol portion housing (8), be provided with:, provide the power module (3) of stabilized power source for controller (4) and servomotor (1) for power module (3) provides the controller (4) of control information; The feedback assembly (2) of servomotor (1) information is provided for controller (4); For controller (4) provides the input that links to each other with host computer, the I/O module (5) and the Network Interface Module (6) of output, above-mentioned servocontrol portion's housing (8) is fixed on the housing of servomotor (1) by web member.

2, integral intelligent servomotor according to claim 1 is characterized in that described servomotor (1) is AC servo motor or DC servo motor.

3, integral intelligent servomotor according to claim 1 is characterized in that described feedback assembly (2) comprises following part:

Be used to controller (4) that the scrambler (21) of speed, position probing information is provided, adopt optical encoder or magnetic coder;

The current sensor (22) that is used to controller (4) to provide torque to detect information, it is made up of sample resistance (221), analog-digital commutator (222) and amplifier (223) or directly adopts ear current sensor suddenly;

Be used for speed, position and current data after detecting are carried out pretreated data preprocessing module (23).

4, integral intelligent servomotor according to claim 1 is characterized in that described power module (3) comprises following part:

Power frequency supply rectification to the outside input is the rectification module (31) of direct current signal;

Direct current signal after the rectification is carried out the filter capacitor (32) of filtering;

With the filtered direct current signal inversion inversion module (33) that is the AC signal of changeable frequency;

The power drive unit (34) of power drive information is provided for inversion module (33).

5, integral intelligent servomotor according to claim 1 is characterized in that described controller (4) comprises following part:

Be used for PID control and the programming device of fuzzy control or the main control chip (41) of high-performance single-chip microcomputer;

The display module (51) that shows each servo parameter and control model by display element (C);

Be used to controller (4) that the set positions unit (53) of desired location parameter, the torque settings unit (54) of setpoint torque parameter, the speed setting unit (55) of setting speed parameter are provided.

6, integral intelligent servomotor according to claim 1 is characterized in that described I/O module (5) comprising: communication interface RS232, RS485 or keyboard input (52), it is used to realize the input of control model, links to each other with controller (4).

7, integral intelligent servomotor according to claim 1 is characterized in that described Network Interface Module (6) with field-bus interface or Industrial Ethernet interface, and links to each other with controller (4).

8, according to claim 3,4,6,7 described integral intelligent servomotors, it is characterized in that described display element (C), code device signal input and output terminal (D), keyboard input interface (E), power supply and communication interface (F), be located at servocontrol portion housing (8) above.