KR100762294B1 - Apparatus for motor control - Google Patents

Abstract

A motor controlling apparatus is provided to control a plurality of motors and the different kind of motors by generating a pulse signal to control an RC(Remote Control) servo motor through an I/O(Input/Output) port. A motor controlling apparatus includes a controlling unit(10), more than one RC servo motor(50), a plurality of motor drivers(20), a plurality of DC motors(30), a plurality of encoders(40) and a plurality of photo couplers(60). The controlling unit(10) has a plurality of PWM(Pulse Width Modulation) ports(11) and a plurality of I/O ports(12), and generates a plurality of PWM signals and pulse signals. The RC servo motor(50) is driven by more than one pulse signal outputted in the I/O port(12) of the controlling unit(10). The plural motor drivers(20) are applied with the plural PWM signals outputted in the plural PWM ports(11) of the controlling unit(10), operate switching corresponding to the signals, and generate a plurality of motor driving currents. The plural DC motors(30) operate by being applied with the motor driving current from each motor driver(20). The plural encoders(40) are attached on each DC motor(30), detect an operation information signal of each DC motor(30), and outputs the signal on a first voltage. The plural photo couplers(60) convert the first voltage loaded with the operation information signal outputted from each encoder(40) to a second voltage loaded with the operation information signal corresponding to a driving voltage of the controlling unit(10), and transmit the second voltage to the controlling unit(10), and electrically insulate each encoder(40) and the controlling unit(10).

Description

Motor control device {Apparatus for motor control}

1 is a block diagram for explaining the configuration of a motor control apparatus according to an embodiment of the present invention.

2 is a view for explaining the specific configuration and operation of the motor control apparatus according to an embodiment of the present invention.

* Description of the symbols for the main parts of the drawings *

10: control unit 11: PWM port

12: I / O port 20: motor driver

30: DC motor 40: encoder

50: RC servo motor 60: photocoupler

The present invention relates to a motor control device, and more particularly to an apparatus for controlling a plurality of motors.

A motor is a representative device that converts electrical energy into kinetic energy. The general configuration of the motor is a housing (Housing) forming the appearance of the motor, a stator located inside the housing to receive power to form a magnetic force, converts the electrical energy received from the stator into kinetic energy, the shaft (Shaft Rotor having a) and a bearing (Bearing) for supporting the rotor freely.

A conventional motor control apparatus includes a control unit for controlling a motor, a motor driven according to a signal of the control unit, and a detection unit for detecting and transmitting operation information signals such as rotation speed, rotation direction, and rotation angle of the motor to the control unit. It is common. The control of the motor is generally performed by the controller driving the motor and the controller processing the state information of the motor detected by the detector to compensate for the operation of the motor.

Additional elements may be added or subtracted from the general configuration of the motor according to the type of the motor, and the configuration of the motor control apparatus is changed. Therefore, the type of signal of the control unit is different.

Hereinafter, the DC motor, the step motor and the RC servo motor will be compared and described.

In the DC motor, the detection unit described above is connected to the rotor, and typically, an encoder or a taco generator is frequently used. In addition, the driving method of the DC motor is preferably a PWM (Pulse Width Modulation) method using a transistor. The PWM method controls the motor by using a voltage obtained by changing a time width in which a DC power obtained by rectifying a used frequency power source is applied to the motor by a carrier of frequency. In addition, the PWM method is responsive and the load friction torque (Torque) changes locally, so that even in a system where the load inertia of the motor shaft converted by posture largely changes, such as a multi-joint robot, it is easy to control sufficiently stable. However, the DC motor may damage the control unit in which the output voltage of the DC motor, which is a large power circuit, is a low power circuit due to the voltage level of the control unit.

The step motor may control the rotation angle and the rotation speed according to the pulse generated by the controller. In addition, since the step motor rotates in proportion to the number of pulse signals, feedback of the position is unnecessary, and since the self supporting torque is formed, it has its own positioning capability without a brake mechanism. Therefore, unlike a DC motor, a detection part is unnecessary and is mainly adopted in the joint mechanism of an industrial robot.

The RC servomotor is a motor that adjusts the angle by the width of the pulse generated by the controller, and since a potentiometer is provided inside, a separate detection unit is not necessary. In addition, the RC servo motor is simple to operate and is used where it needs to rotate about 180 degrees instead of 360 degrees. Therefore, the RC servo motor is used to control the steering wheel of the RC car, the rotor of the RC helicopter, the rear wing, and the like.

However, the conventional motor control apparatus as described above has a port for transmitting a limited number of control signals to one control unit, and is not suitable for making heterogeneous control signals, and therefore, a robot requiring heterogeneous motors or multiple motors. It is difficult to control the back. In addition, in the control of the DC motor, there is a disadvantage that the output voltage of the DC motor can damage the control unit driven to a low voltage.

Therefore, the present invention has been proposed to solve the above-mentioned conventional problems, and an object of the present invention is to control a plurality of motors and heterogeneous motors with one device having a limited number of control ports, and at the same time, a device having a different voltage level. To efficiently control.

In order to achieve the above object, a motor control apparatus according to a preferred embodiment of the present invention includes a controller having a plurality of PWM ports and a plurality of I / O ports and generating a plurality of PWM signals and pulse signals; At least one RC servomotor driven by at least one pulse signal output from the I / O port of the controller; A plurality of motor drivers configured to receive a plurality of PWM signals output from the plurality of PWM ports of the controller and to switch correspondingly to generate a plurality of motor driving currents; A plurality of DC motors operated by receiving motor driving currents from the respective motor drivers; A plurality of encoders attached to each of the DC motors to detect an operation information signal of each of the DC motors and to output the first voltage; And converting the first voltage carrying the operation information signal output from each encoder into a second voltage carrying the operation information signal corresponding to the driving voltage of the controller, and transmitting the converted first operation voltage to the control unit. It includes a plurality of photocouplers that electrically insulate between.

A second motor driver connected to at least one I / O port of the controller and configured to receive a PWM signal output from the I / O port and switch accordingly to generate a motor driving current; A second DC motor operated by receiving a motor driving current from the second motor driver; A second encoder attached to the second DC motor and configured to detect an operation information signal of the second DC motor and load the same on a first voltage; And converting the first voltage carrying the operation information signal output from the second encoder into a second voltage carrying the operation information signal, which is a voltage corresponding to the driving voltage of the controller, to the controller and transmitting the first voltage to the controller. A second photocoupler is electrically insulated between the controllers.

The PWM signal output from at least one I / O port of the controller may be a signal whose duty ratio is adjusted in a program.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described.

1 is a block diagram illustrating the configuration of a plurality of motor control apparatus according to an embodiment of the present invention, a control unit for generating a plurality of PWM signals by receiving a command signal for instructing the motor drive and operation information signal for each motor The motor driver 20 generates a motor driving current by receiving a plurality of PWM signals output from the controller 10 and the motor 10, and operates by receiving a motor driving current from the motor driver 20, respectively. A plurality of DC motor 30 having a 40, the RC servo motor 50 directly connected to the control unit and the operation information of the DC motor 30 detected by the encoder 40 is input to the control unit 10. It includes a photo coupler 60.

The controller 10 uses a 32-bit digital signal processor (DSP) having a driving voltage of 3.3 volts, and the basic operations of the DSP include filtering, freer transform, calculation of correlation function, encoding, modulation and demodulation, derivative, integration, and adaptation. Signal processing and the like are employed in voice and communication systems, and are mainly used in the field of high speed digital control such as image processing and servo motor control.

Here, the controller 10 includes a plurality of PWM ports (not shown) and a plurality of I / O ports (not shown), the command signal for instructing the driving of the motor and the DC input from the detection unit 50. Processes the operation information signal of the motor 30 to generate a PWM signal through a plurality of PWM ports and at least one I / O port, and a pulse signal for driving the RC servomotor 50 through the I / O port. Output

The motor driver 20 amplifies the PWM signal to drive the DC motor 30 by receiving the PWM signal and controls the operation of the motor. Here, the motor driver 20 may include a power supply, an amplifier, and a comparator.

The RC servo motor 50 is provided with a potentiometer, a control circuit and a gearbox therein, and can be driven by the output voltage (3.3V) of the control unit and directly connected to the control unit. In addition, it is driven by the pulse signal generated by the I / O port (not shown) of the controller, the angle is adjusted by the pulse width of the pulse signal.

The DC motor 30 is driven by receiving the PWM signal and includes the encoder 40.

The encoder 40 is a sensor for converting operation information such as a rotation speed, a rotation direction, and a rotation angle of a motor given as an analog signal of the DC motor 30 into a digital signal.

The photocoupler 60 is spaced apart from each other so that the light emitting device on one side and the light receiving device on the other side are electrically insulated from each other. The photocoupler 60 is filled with transparent silicon or an optical fiber to receive the light emitted from the light emitting device. The frame is molded by plastic. In addition, the input voltage of the photocoupler 60 matches the output voltage of the encoder 40, and the output voltage of the photocoupler 60 matches the driving voltage of the controller 10. Therefore, the control unit 10 and the encoder 40 are insulated from each other through the electrically insulated structure of the photocoupler 60.

The control unit 10 uses the operation information signal transmitted to the control unit 10 through the photocoupler 50 to compensate for the operation of the DC motor 30.

2 is a view for explaining a specific configuration and operation of the motor control apparatus according to an embodiment of the present invention.

As illustrated, the motor control apparatus according to the present invention includes a control unit 10 having a plurality of PWM ports 11 and a plurality of I / O ports 12, the plurality of PWM ports 11 and at least one of them. A plurality of motor drivers 20 connected to the I / O port 12, a plurality of RC servomotors 50 directly connected to the I / O port 12 of the control unit, and connected to the respective motor drivers 20 It includes a plurality of DC motor 30, a plurality of encoder 40 attached to each of the DC motor 30, and a plurality of photo coupler 60 for connecting the encoder 40 and the control unit 10. .

The controller 10 generates a PWM signal for controlling the DC motor 30 and a pulse signal for controlling the RC servo motor 50.

The PWM signal uses a voltage obtained by varying the time width at which the DC power obtained by rectifying the use frequency power source to control the DC motor is applied to the motor by the carrier of the frequency. The PWM signal may be generated by processing a command signal for instructing motor driving and an operation information signal of the DC motor 30 fed back through the photocoupler 50. The PWM signal is output through the PWM port 11 and the at least one I / O port 12 of the controller 10.

The I / O port for outputting the PWM signal can be selectively used when the number of DC motors to control is greater than the number of PWM ports. Here, the PWM signal from the I / O port 12 is modulated in the pulse width by performing the on / off (on / off) in accordance with a predetermined duty ratio (duty duty rate) programmatically in the control unit 10 To print. Therefore, the DC motor can be controlled through the I / O port 12 even if the number of the PWM ports 11 is less than the number of DC motors to be controlled.

The pulse signal is output to the I / O port 12 of the control unit and can adjust the width of the pulse programmatically. In addition, the rotation angle of the rotor of the RC servo motor 50 is adjusted by a predetermined angle according to the pulse width of the pulse signal. For example, when the pulse width of the pulse signal is approximately 0.7 msec to 2.5 msec, the angle of the rotor is adjusted to an angle of 0 to 180 degrees, which is about 90 degrees at 1.5 msec. Therefore, it is preferable to use a frequency of 400 Hz or less.

The motor driver 20 receives the PWM signal and amplifies it to drive the DC motor 30. A power supply, an amplifier, and a comparator capable of driving the motor driver 20 are not shown.

The encoder 40 is connected to the rotation shaft of each of the DC motor 30, the electronic speed and the mark on the disc that is rotated in synchronism with the rotation of the DC motor 30, the rotation speed of the motor, the direction of rotation And an operation information signal such as a rotation angle is detected as an analog signal and converted into a pulse waveform which is a digital signal. The operation information signal having the detected pulse waveform is loaded on the first voltage 5V and transmitted to the photocoupler 60.

The photocoupler 60 is a photocoupler 60 when the first voltage generated at the output terminal of the encoder 50 is applied to the light emitting diode of one side of the photocoupler 60 and current flows through the light emitting diode. The light receiving transistor of the other side receives the voltage and reduces the voltage so that the output voltage becomes the second voltage (3.3V) corresponding to the driving voltage of the controller 10. At this time, since the operation information signal loaded on the first voltage is a pulse wave, it is loaded on the second voltage without being deformed.

Therefore, when the controller 10 is electrically connected, a large induction current or voltage generated by the DC motor 30 may damage or relatively reduce the controller 10, which is a small power circuit through the encoder 40. It is possible to prevent a malfunction of the circuit of the controller 10 by entering a part of a signal of a control circuit which handles a fast frequency, and while matching the output voltage of the encoder 40 with the drive voltage of the controller 10, the DC motor The operation information signal of may be transmitted to the controller 10 without modification.

The controller 10 uses the operation information signal loaded in the second voltage to compensate for the operation of the DC motor 30.

As described in detail above, according to the present invention, a PWM signal can generate a PWM signal through a PWM signal port and an I / O port, and a pulse signal capable of controlling the RC servomotor through the I / O port. By generating, it is possible to control a plurality of motors and heterogeneous motors.

And, by controlling a plurality of motors and heterogeneous motors with one device, it is possible to reduce cost and hassle.

In addition, a photocoupler may be used to protect a control unit having a different voltage level from a motor, thereby implementing a stable system.

On the other hand, the present invention is not limited only to the above-described embodiment, but can be modified and modified within the scope not departing from the gist of the present invention, the technical idea to which such modifications and variations are also applied to the claims Must see

Claims (3)

A control unit having a plurality of PWM ports and a plurality of I / O ports and generating a plurality of PWM signals and pulse signals; At least one RC servomotor driven by at least one pulse signal output from the I / O port of the controller; A plurality of motor drivers configured to receive a plurality of PWM signals output from the plurality of PWM ports of the controller and to switch correspondingly to generate a plurality of motor driving currents; A plurality of DC motors operated by receiving motor driving currents from the respective motor drivers; A plurality of encoders attached to each of the DC motors to detect an operation information signal of each of the DC motors and to output the first voltage; And The first voltage carrying the operation information signal output from each encoder is converted into a second voltage carrying the operation information signal, which is a voltage corresponding to the driving voltage of the control unit, and transferred to the second control unit. A motor control device comprising a plurality of photocouplers for electrically insulating between the control unit. The motor of claim 1, further comprising: a second motor driver connected to at least one I / O port of the controller and configured to receive a PWM signal output from the I / O port and switch accordingly to generate a motor driving current; A second DC motor operated by receiving a motor driving current from the second motor driver; A second encoder attached to the second DC motor and configured to detect an operation information signal of the second DC motor and load the same on a first voltage; And The first voltage carrying the operation information signal output from the second encoder is converted into a second voltage carrying the operation information signal, which is a voltage corresponding to the driving voltage of the controller, and transmitted to the control unit, and the second encoder And a second photocoupler for electrically insulating between the controller and the control unit. The motor control apparatus of claim 2, wherein the PWM signal output from at least one I / O port of the controller is a signal whose duty ratio is adjusted programmatically.

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