KR100786636B1 - Bldc motor control device with can communication interface - Google Patents

Abstract

A BLDC(BrushLess Direct Current) motor controlling apparatus using a CAN(Controller Area Network) communication interface is provided to control BLCD motors stably by matching the BLDC motor with a BLDC motor driving module one to one. A BLDC motor controlling module(1) generates control signals for driving the BLDC motors, and includes a CAN communication driver(12) which transmits commands transmitted through a CAN communication line, a DSP(Digital Signal Processor)(11) which has a CAN inside and generates control signals for the control of first and second BLDC motors(4,5), a CAN ID setting jumper(14) which sets top 5 bits of a CAN ID, a power separator/converter(13) which converts 24 power to 3.3V power for driving the DSP and a 5V voltage source for driving an encoder, a hole sensor, and the CAN communication driver, and first and second connectors(J1,J2) which are separately connected to the first and second BLDC motor driving modules. First and second BLDC motor driving modules(2,3) directly control the driving of the first and second BLDC motors, and includes a BLDC motor controller(21,31) which receives a hole sensor output signal from the first and second BLDC motors, grasps the current location of the first and second BLDC motors, and analyzes a PWM signal transmitted from the DSP, an FET amplifier(22,32) which receives an output signal from the BLDC motor controller, amplifies the signal to the power for driving the first and second BLDC motors, and outputs the power to a PWM amplifier of the first and second BLDC motors, an encoder inputting unit(24,34) which receives rotation speed detected through encoders installed in the first and second BLDC motors and transmits the detected rotation speed to the DSP, an A/D converter(23,33) which receives an output signal of the FET amplifier, detects the driving current of the first and second BLDC motors, and transmits the current to the DSP through the first connector or the second connector, and first and second connectors installed for the communication with the BLCD motor controlling module.

Description

Brushless DC motor control device using CAN communication {BLDC Motor Control device with CAN Communication Interface}

1 is an overall block diagram of an apparatus of the present invention.

Figure 2 is a block diagram of a connection connector (J1) connecting pin between the BLDC motor control module and the first BLDC motor drive module according to the present invention.

Figure 3 is a block diagram of the connection connector (J2) connecting pin between the BLDC motor control module and the second BLDC motor drive module according to the present invention.

4 is a simplified configuration diagram of a BLDC motor control module according to the present invention.

Figure 5 is a simplified configuration of the first and second BLDC motor drive module according to the present invention.

Figure 6 is a block diagram for explaining the principle of the current control used in the present invention.

7 is a block diagram illustrating the principle of speed control used in the present invention.

8 is a block diagram for explaining the principle of position control used in the present invention.

Explanation of symbols on the main parts of the drawings

1: BLDC Motor Control Module

2,3: 1st and 2nd BLDC motor drive module

4,5: 1st and 2nd BLDC motor 6: CAN communication line

11: DSP 12: CAN communication driver

13: Power Disconnect Converter 14: Can ID Setting Jumper

21,31: BLDC motor controller 22,32: FET amplifier

23,33: A / D Converter 24,34: Encoder Input

41,51: encoder 42,52: PWM amplifier

J1, J2: first and second connector

The present invention relates to a brushless direct current (BLDC) motor control device using CAN communication, and more specifically, to an ISO11898 standard, which is suitable for communication of intelligent sensors or actuators (hereinafter referred to as "CAN"). Brushless Direct Current (hereinafter, abbreviated as "BLDC") receives the position, speed and torque control commands for the motor, transmits the current status data, and performs the specified digital control function. To invent it.

Currently, in the field of designing and manufacturing a microprocessor control module for driving a plurality of electric motors, the interface of the controller is generally composed of a parallel interface or a serial port suitable for centralized control.

However, if the interface of the controller is composed mostly of parallel interface or serial port suitable for centralized control, and the integrated control of a plurality of electric motors is performed, the number and types of wirings between the drive mechanism and the controller increase. There are many difficulties in maintaining and maintaining the system.

In addition, in case of individual motors, serial controllers and bus-type serial communication are possible for each controller installed corresponding to each motor, or even if they support the same CAN communication, communication protocols are often different, which causes difficulty in system control. As a motor controller for a humanoid, the size of the motor controller is too large, which impedes efficient space use, and in the case of a small controller, there is a shortage of power for driving the motor.

In addition, in the field of designing and manufacturing a microprocessor control module for driving an electric motor, which is the core of a robot system, a separate controller is conventionally designed for each type of electric power consumption, and the upper interface of the controller is mostly centralized. It consists of a parallel bus or one-to-one serial port suitable for control.

Therefore, even in the robot system, in order to integrate and control a plurality of electric motors, the number and types of wirings to be connected between the driving mechanism and the controller increase, which causes a lot of difficulties in the maintenance and repair of the control system. Even if communication is possible, there is a limit of serial port, and there are many communication protocols, so it is difficult to control the system, and if a controller failure occurs due to overload of the driver of the controller, a lot of time should be invested in repairing and replacing the controller. There is a problem.

In particular, in the case of BLDC motor, the same size motor has the advantage of permanent use because it has stronger torque and brushless form than general DC motor, but has difficulty in controlling three phases.

In addition, the size of the general controller is so large that it is an obstacle to the efficient use of space when mounted inside the robot.

The present invention has been made to solve such a conventional problem, it is produced by dividing the BLDC motor control and communication related modules and two motor drive module, and by changing the program of the motor drive module according to the characteristics of the motor A brushless DC motor controller using CAN communication can be used to reduce the working time by allowing the flexible control of BLDC motors and replacing only the control module and the motor drive module according to the problem of the BLDC controller. The purpose is to provide.

Another object of the present invention, the controller can be implemented in a small size to efficiently use the inside of the robot, and by simply detaching the motor drive module can reduce the waste of space and the number of wiring for the newly installed motor significantly It is to provide a brushless DC motor controller using CAN communication.

Still another object of the present invention is to use the PC with ISO11898 standard and the interface of the personal computer (PC), which is the upper communication method of the motor control device, to simplify the opening and lowering of cost and maintenance using the PC for the motor integrated control. The present invention provides a brushless DC motor controller using CAN communication.

Still another object of the present invention is to drive two BLDC driving modules in one BLDC motor control module by designing two control modules in one design using CAN communication which can greatly reduce the development cost of the control module. To provide a brushless DC motor control device.

In order to achieve the above object, the present invention provides a CAN communication driver for transmitting various commands transmitted through a CAN communication line to a DSP, and an electric motor control processor having a built-in CAN and generating various control signals required for control of BLDC motors. Digital signal processor (hereinafter, abbreviated as "DSP"), CAN ID setting jumper connected to the DSP to set the upper 5Bit of CAN ID, 3.3V power supply for driving the DSP and 24V power supply; In addition to this, a power separation converter for separating and converting an encoder, a hall sensor, and a CAN communication driver into a 5V voltage source, and a first second BLDC motor driving module connected to each other to allow mutual bidirectional communication therebetween. A BLDC motor control module having first and second connectors and generating an overall control signal according to the operation of the BLDC motor;

The first and second BLDC motors are analyzed by receiving the Hall sensor output signals of the first and second BLDC motors, identifying the current position of the first and second BLDC motors, and analyzing the PWM signals transmitted from the DSP of the BLDC motor control module. BLDC motor controllers for driving the amplifiers, and output signals of the BLDC motor controllers are amplified to the power required to drive the first and second BLDC motors, and then pulse width modulation (PWM) amplifiers of the first and second BLDC motors. FET amplifier for outputting through the encoder, encoder input unit for receiving the rotation speed detected through the encoders installed in the first and second BLDC motor and transmitting to DSP of BLDC motor control module, and receiving the output signal of the FET amplifier A / D converters and phases respectively detecting the drive currents of the first and second BLDC motors and transmitting them to the DSP of the BLDC motor control module through the first connector or the second connector, respectively. And first and second BLDC motor driving modules including first and second connectors installed for bidirectional communication with the BLDC motor control module and directly controlling driving of the first and second BLDC motors. .

At this time, the rotational speed and driving current of the first BLDC motor detected by the encoder and the A / D converter in the first BLDC motor driving module are transmitted to the DSP of the BLDC motor control module through the first connector, and the second The rotational speed and driving current of the second BLDC motor detected by the encoder and the A / D converter in the BLDC motor driving module are configured to be transmitted to the DSP of the BLDC motor control module through the second connector.

In addition, the first connector in the first BLDC motor driving module is a connector connecting the DSP and the first BLDC motor, and includes 24V (Pin 1, 2, 3), 5V (Pin 4), 3.3V (Pin 5), and analog. Signal Ground (Analog GND) (Pin 6), GND (Pin 7, 8, 9), Motor PWM and Direction (Pin 11, 12), Encoder (Pin13, 14), A / D Converter (Pin 15, It characterized in that it has a pin connected to 16).

In addition, the second connector J2 in the second BLDC motor driving module is a connector connecting the DSP and the second BLDC motor, and includes 24V (Pin 1, 2, 4), 5V (Pin 3), and 3.3V (Pin). 6), Analog Signal Ground (Analog GND) (Pin 5), GND (Pin 7, 8, 10), Motor PWM and Direction (Pin 11, 12), Encoder (Pin13, 14), A / D Converter And pins connected to the pins 15 and 16.

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

1 is a block diagram showing the overall block diagram of the device of the present invention, FIG. 2 is a block diagram of the connection connector J1 between the BLDC motor control module and the first BLDC motor drive module according to the present invention. FIG. 4 is a view illustrating a configuration of a connecting connector J2 connecting pin between a BLDC motor control module and a second BLDC motor driving module according to the present invention, and FIG. 4 is a simplified block diagram of a BLDC motor control module according to the present invention. Shows a brief configuration of the first and second BLDC motor drive module according to the present invention.

6 shows a block diagram for explaining the principle of current control used in the present invention, FIG. 7 shows a block diagram for explaining the principle of speed control used in the present invention, and FIG. A block diagram for explaining the principle of position control used in the present invention is shown.

According to this, the apparatus of the present invention comprises a CAN communication driver 12 which transmits various commands transmitted through the CAN communication line 6 to the DSP 11, and a first and second BLDC motor 4 having a built-in CAN ( 5, a digital signal processing processor (DSP) 11 as an electric motor control processor for generating various control signals necessary for the control of these devices, and a can ID setting jumper 14 connected to the DSP 11 to set an upper 5 bit of CAN ID. Power supply converter 13 for separating and converting a 24V power supply into a 3.3V power supply for driving the DSP 11 and a 5V voltage source for driving an encoder, a Hall sensor, and a CAN communication driver 12 And first and second connectors J1 and J2 connected to the first and second BLDC motor driving modules 2 and 3 respectively so that mutual bidirectional communication is performed between them. A BLDC motor control module 1 for generating a necessary overall control signal;

After receiving the Hall sensor output signals of the first and second BLDC motors 4 and 5, the position of the first and second BLDC motors 4 and 5 is determined and the DSP of the BLDC motor control module 1 11) BLDC motor controllers 21 and 31 which drive the first and second BLDC motors 4 and 5, respectively, in accordance with the result of analyzing the PWM signal transmitted from 11) and the BLDC motor controller 21. A pulse width modulation (PWM) amplifier 42 of the first and second BLDC motors after amplifying the output signal of the < RTI ID = 0.0 > 31 < / RTI > Receives an input of the rotational speed detected through the encoders 41 and 51 installed in the FET amplifiers 22 and 32 and the first and second BLDC motors 4 and 5 outputting to the 52. First and second BLDC motors 4 receiving encoder signals 24 and 34 and output signals of the FET amplifiers 22 and 32 which are transmitted to the DSP 11 of the BLDC motor control module 1. Detect driving current of (5), respectively Then, the A / D converters 23 and 33 and the BLDC motor control module 1 respectively transmit to the DSP 11 of the BLDC motor control module 1 through the first connector J1 or the second connector J2. The first and second BLDC motors having first and second connectors J1 and J2 installed for bidirectional communication with the device and directly controlling the driving of the first and second BLDC motors 4 and 5. It is characterized by consisting of a drive module (2) (3).

At this time, the rotation speed and the driving current of the first BLDC motor 4 detected by the encoder 24 and the A / D converter 23 in the first BLDC motor driving module 2 are respectively measured by the first connector J1. The second BLDC motor (transmitted to the DSP 11 of the BLDC motor control module 1 through the encoder and detected by the encoder 34 and the A / D converter 33 in the second BLDC motor drive module 3 ( The rotational speed and the driving current of 5) are configured to be transmitted to the DSP 11 of the BLDC motor control module 1 through the second connector J2.

In addition, the first connector J1 in the first BLDC motor driving module 2 is a connector for connecting the DSP 11 and the first BLDC motor 4 to 24V (Pin 1, 2, 3), 5V ( Pin 4), 3.3V (Pin 5), Analog Signal Ground (Analog GND) (Pin 6), GND (Pin 7, 8, 9), Motor PWM and Direction (Pin 11, 12), Encoder (Pin13) , 14), and pins connected to the A / D converters (Pin 15 and 16).

In addition, the second connector J2 in the second BLDC motor driving module 3 is a connector for connecting the DSP 11 and the second BLDC motor 5, and 24V (Pin 1, 2, 4), 5V ( Pin 3), 3.3V (Pin 6), Analog Signal Ground (Analog GND) (Pin 5), GND (Pin 7, 8, 10), Motor PWM and Direction (Pin 11, 12), Encoder (Pin13) , 14), and pins connected to the A / D converters (Pin 15 and 16).

Referring to the operation and effect of the device of the present invention configured as described above are as follows.

First, the apparatus of the present invention drives the first and second BLDC motors 4 and 5 in the same internal configuration as the one BLDC motor control module 1 which generates the overall control signal necessary for driving the BLDC motor. The first and second BLDC motor driving modules (2) and (3) which directly control the respective components are the main technical components.

In this case, the BLDC motor control module 1 includes a CAN communication driver 12 and a DSP 11, a can ID setting jumper 14, a power disconnect converter 13, and first and second connectors J1 and J2. It consists of.

In the BLDC motor control module 1, the CAN communication driver 12 performs a function of transmitting various commands transmitted through the CAN communication line 6 to the DSP 11, and the DSP 11 It performs a function of a motor control processor that has a built-in CAN and generates various control signals for controlling the first and second BLDC motors 5.

In addition, the can ID setting jumper 14 connected to the DSP 11 sets the upper 5Bit of the CAN ID, and the power disconnect converter 13 supplies 3.3V for driving the DSP 11 with 24V power. Separately converts to a 5V voltage source for driving a power source and an encoder, a Hall sensor, and a CAN communication driver 12, and the first and second connectors J1 and J2 drive a first second BLDC motor. Each of the modules (2) and (3) is separately connected to perform a function of mutual bidirectional communication between them.

On the other hand, the first and second BLDC motor drive module (2) (3) is BLDC motor controller 21 (31), FET amplifier (22) 32, encoder input section (24) (34), A, respectively. It consists of first and second connectors J1 and J2 including the / D converters 23 and 33.

At this time, the BLDC motor controllers 21 and 31 receive hall sensor output signals of the first and second BLDC motors 4 and 5, respectively, and presently the first and second BLDC motors 4 and 5, respectively. After determining the position, the PWM signal transmitted from the DSP 11 of the BLDC motor control module 1 can be analyzed and the first and second BLDC motors 4 and 5 can be driven in response to the result. The drive signal is generated, and the FET amplifiers 22 and 32 receive the output signals of the BLDC motor controllers 21 and 31 and receive the electric power required to drive the first and second BLDC motors 4 and 5. After amplification, the driving is controlled by supplying the first and second BLDC motors 4 and 5 through the PWM amplifiers 42 and 52, respectively.

In addition, the encoder inputs 24 and 34 receive a rotation speed detected through the encoders 41 and 51 installed in the first and second BLDC motors 4 and 5, respectively, to control the BLDC motor. The A / D converters 23 and 33 receive the output signals of the FET amplifiers 22 and 32 and transmit the first and second BLDC motors. (4) After detecting the driving current of each of the (5), and transmits to the DSP (11) of the BLDC motor control module (1) through the first connector (J1) or the second connector (J2), the first and the second The two connectors J1 and J2 are connected to the BLDC motor control module 1 to perform bidirectional communication.

As described above, the first and second BLDC motor driving modules 2 and 3 have the same configuration. However, when the first and second BLDC motor driving modules 2 are installed in association with the BLDC motor control module 1, the first BLDC motor driving module 2 is The first connector J1 is connected to the BLDC motor control module 1 and the second BLDC motor drive module 3 is connected to the BLDC motor control module 1 through the second connector J2 to connect the first. The rotational speed and driving current of the first BLDC motor 4 detected by the encoder 24 and the A / D converter 23 in the BLDC motor drive module 2 are controlled through the first connector J1 to control the BLDC motor. Rotation of the second BLDC motor 5 detected by the encoder 34 and the A / D converter 33 in the second BLDC motor drive module 3 to be transmitted to the DSP 11 of the module 1. The speed and the drive current may be transmitted to the DSP 11 of the BLDC motor control module 1 through the second connector J2.

The present invention having such a configuration will be described in more detail as follows.

First, the DSP 11, which is the core of the BLDC motor control module 1, includes a command using CAN communication with the host controller using the CAN communication driver 12, and the first and second BLDC motors 4 ( 5) transmits / receives a state, and reads an upper command to calculate current and speed of the first and second BLDC motors 4 and 5 to connect the first connector J1 or the second connector J2. Transmits a PWM signal for controlling the speed of the first and second BLDC motors 4 and 5 to the BLDC motor controllers 21 and 31 in the first and second BLDC motor drive modules 2 and 3 through do.

In addition, the bit set using the can ID setting jumper 14 in the BLDC motor control module 1 confirms the set bit, sets the upper five bits, sets the ID, and uses the remaining two bits to set the lower two BLDC motors. By setting IDs for (4) and (5), the host controller was designed to assign one ID to each BLDC motor 4 and 5 for use.

At this time, the pulse width modulation module PWM for driving the first and second BLDC motors 4 and 5 is input to the BLDC motor controllers 21 and 31, respectively, and the BLDC motor controller 21 is provided. 31 confirms the position of the armature with respect to each BLDC motor (4) (5) received from the hole sensor of the first and second BLDC motor (4) (5), the first and second BLDC motor ( 4) Controls three output phases to drive (5), and amplifies the power to drive the first and second BLDC motors (4) (5) via FET amplifiers (22) and (32).

The output signals of the encoders 41 and 51 representing the movement position information of the first and second BLDC motors 4 and 5 are respectively passed through the encoder inputs 24 and 34 to the BLDC motor control module 1. Is input to the DSP 11.

In addition, a current generated when driving the first and second BLDC motors 4 and 5 is converted into a voltage and inputted to the A / D converters 23 and 33 so that the first and second BLDC motors 4 It was designed to measure the current applied to (5).

At this time, the DSP 11, which is the core of the BLDC motor control module 1, calculates a current every 40us to input driving PWMs of the first and second BLDC motors 4 and 5, and inputs the first and second BLDC. The speed of the motors 4 and 5 was calculated by calculating the output pulses of the encoders 41 and 51 every 1 ms to calculate the current to be applied to the first and second BLDC motors 4 and 5.

Meanwhile, FIG. 2 is capable of transmitting and receiving a control signal of the first BLDC motor driving module 2 and an encoder signal and a current which can confirm the state of the first BLDC motor 4 from the BLDC motor control module 1. The pin arrangement for the first connector J1 in the first BLDC motor drive module 2 to be provided, the 24V supply pins (Pin 1, 2, 3), 5V supply pin (Pin 4), 3.3V supply pin (Pin 5), ground pin (Pin 6) for analog signal, ground pin (GND) (Pin 7, 8, 9), for motor PWM and direction (Pin 11, 12), The arrangement of the pins 13 and 14 for connecting the encoder and the pins 15 and 16 for connecting the A / D converter can be seen.

In addition, FIG. 3 shows the second BLDC motor allowing the BLDC motor control module 1 to transmit and receive a control signal and a status confirmation signal of the second BLDC motor 5 to the second BLDC motor drive module 3, respectively. The pin arrangement of the second connector J2 in the drive module 3 is shown, and the pins for 24V supply (Pin 1, 2, 4), the pins for 5V supply (Pin 3), and the pins for 3.3V air gap (Pin 6) are shown. , Analog signal ground pin (Pin 5), GND pin (Pin 7, 8, 10), motor PWM and Direction pin (Pin 11, 12), encoder connection pin (Pin13, 14) and A / D converter The arrangement of the pins 15 and 16 can be seen.

In addition, FIG. 4 is a schematic configuration diagram for actual implementation of the BLDC motor control module 1, for example, the size of the BLDC motor control module 1 can be reduced by limiting the diameter to 45 mm and the height to 15 mm, A power supply 24V for driving the BLDC motor control module 1 and the first and second BLDC motor driving modules 2 and 3 and a CAN communication connector for CAN communication are attached to the BLDC motor control module 1. In order to reduce the error rate of CAN communication, three terminals are provided to connect the ground (GND) line to CAN communication.

And, Figure 5 is a schematic configuration diagram for the actual implementation of the first and second BLDC motor drive module (2) (3), the size is the same as the BLDC motor control module (1), the height is also 15mm The connector of the first and second BLDC motor driving modules (2) and (3) includes an encoder, a hole sensor, and a first sensor to determine the positions of the first and second BLDC motors (4) and (5). 2 Input of sensor for checking the absolute position of the mechanism part which is composed of output terminals mu, mv, mw for driving BLDC motors 4 and 5, and connected to the first and second BLDC motors 4 and 5. It was equipped with an additional ADC external terminal.

6 illustrates a block diagram of current control of the first and second BLDC motors 4 and 5, and a negative feedback loop, which is the most basic control, is used.

At this time, the PWM output signal related to the direct drive of the first and second BLDC motors 4 and 5 receives the current for the BLDC output as a voltage and calculates torque using the current to calculate the torques of the first and second BLDC motors. (4) The PWM to be applied to (5) is calculated and input to the BLDC motor controller 21 (31).

In FIG. 6, G (s) is a transfer function representing the first and second BLDC motors 4 and 5 outputted in PWM with respect to the input current, and the current PID is the first and second BLDC. PID (proportional integral derivative) controller for the transfer function G (s) of the motor (4) (5), the current ADC is to calculate the analog signal of the current input to the BLDC motor for the input PWM in the DSP (11) It converts into digital signal for the purpose.

This current control method converts the output currents of the first and second BLDC motors (4) (5) currently driven by PWM with respect to the input current into digital signals operable in the DSP through the ADC to convert the input current and current. After calculating the error of the current, the sum of the result of the product of the error and the PID gain, the accumulation of the error and the PID gain, and the deviation of the error and the product of the PID gain is calculated to calculate the first and second BLDC motors 4 ( 5) to control the first and second BLDC motor.

7 shows a block diagram of the speed control of the first and second BLDC motors 4 and 5, wherein Y (s) is the first and second BLDC motors output as current with respect to the input speed. (4) (5) is the transfer function expressed by the equation, and the speed PID is the PID controller for the speed of the BLDC motor whose control gain is calculated for the transfer function Y (s) expressed by the equation.

The current calculated for the speeds of the first and second BLDC motors 4 and 5 is applied to the current controller of the BLDC motor of FIG. 6 to output the first and second BLDC motors 4 and 5. PWM is applied to the BLDC motor.

At this time, when the first and second BLDC motors 4 and 5 are driven by the driving PWM, the distances at which the first and second BLDC motors 4 and 5 are moved using the encoders 41 and 51 are adjusted. The drive speed of the 1st and 2nd BLDC electric motors 5 is calculated by calculating and differentiating with respect to time.

Further, the target speed of the first and second BLDC motors 4 and 5 and the speed error of the first and second BLDC motors 5 and 5 are calculated by the output PWM, and are then obtained through the speed PID controller and Y (s). The current to be applied to the first and second BLDC motors 4 and 5 is calculated, and the calculated current is input to the input current of the current PID controller of FIG. 6, so that the first and second BLDC motors 4 and 5 are applied. PWM is generated to drive.

In addition, when the first and second BLDC motors 4 and 5 are driven, the moving distance is measured using the encoders 41 and 51, and the measured distance is differentiated with respect to time. The speeds of the first and second BLDC motors 4 and 5 can be measured, and the measured speeds are calculated from the target speeds (input speeds) to compensate for the current speeds.

FIG. 8 is a block diagram of the position control of the first and second BLDC motors 4 and 5, and the acceleration section and the constant velocity section are made using the error between the input position (target position) and the current position. Profile the speed of the first and second BLDC motors 4 and 5 for the deceleration section, and use the speed controller of FIG. 7 to speed up the first and second BLDC motors 4 and 5. It is configured to calculate the error from the target position by receiving the current position by using the encoder (41, 51) attached to the first and second BLDC motor.

Here, once again, the BLDC motor control module 1 receives the encoder signals and the magnitude signals of the currents of the first and second BLDC motors 4 and 5 and receives control gains and calculations, and the first and second BLDC motors. CAN communication driver 12 for outputting a driving PWM signal and connecting the DSP 11, the host controller PC, and the DSP 11 in the BLDC motor control module 1, which is a microprocessor with a built-in CAN controller, to CAN communication. , Can ID setting jumper (14) for setting CAN ID of BLDC motor control module, power source for separating and lowering power source for DSP (11) and power source for encoder (41) (51) and hall sensor It is composed of a power disconnect converter 13 as a divider.

In addition, referring to the first and second BLDC motor driving modules 2 and 3 again, the first and second BLDC currents of the hole sensor signals of the first and second BLDC motors 4 and 5 are received. The position of the commutator of the electric motors (4) and (5) is checked, and the torques of the first and second BLDC motors (4) and (5) are determined. And the BLDC motor controllers 21 and 31 capable of controlling the speed of the second BLDC motor 4 and 5 so that the DSP 11 can focus on the calculation of speed and torque and CAN communication. In addition, the connection line between the BLDC motor control module 1 and the first and second BLDC motor drive modules 2 and 3 is reduced to the maximum, thereby reducing the size of the connection connector, and the first and second BLDC motors 4. The voltage is transferred to the FET amplifiers 22 and 32 that amplify the voltage so that the input can be actually input to the fifth.

Further, the first and second BLDC motor driving modules 2 and 3 may be driven and sensed by one BLDC motor so as to be dedicated to the first and second BLDC motors 4 and 5, and a power amplifier (AMP). ) Can be easily repaired by replacing the BLDC motor drive module when the motor driver breaks down.In addition, BLDC motor drive module can simply drive the added motor when the BLDC motor is installed.

On the other hand, the present invention is based on the CAN known to be suitable for the communication of intelligent sensors or actuators according to the ISO11898 standard, wherein the CAN (Controller Area Network) is initially mounted in the vehicle to control various sensors and devices Although it was developed, it has been used as a computer integrated production system assurance and office automation (FA) system since the late 90s, and as the performance is upgraded, it is becoming a network that can integrate the production information required by the automation system of the production line.

The use of CAN for automation in production lines can reduce costs and contribute to the stability of the production line, and dramatically reduce the wiring to each device, reducing the trouble of complicated wiring and investing in repair and wiring. There is an advantage that can greatly reduce the cost.

Each input and output signal sent from the device is processed according to priority, making it highly reliable and fast, making it an intelligent network for controlling and self-diagnosing field devices through an industrial personal computer (PC). The wiring allows direct communication with field devices such as controllers, enabling the execution of current status and control in real time.

On the other hand, in the case of the motion controller, the main purpose is to drive the motor, but in the case of the motor to be mounted inside the robot, the size is also important, and it is basically designed to meet the capacity of the motor for driving each joint. And, the size of the controller should be reduced so that the manufactured controller can be mounted on each part of the robot.

Therefore, the driving principle of the BLDC motor to which the present invention is applied is a motion commanded from the upper part by confirming the position of the motor using CAN and transmitting a new position of the motor to the controller that manages each joint in the upper control program as shown in FIG. 1. To take.

The command received from the CAN communication line 6 is transmitted to the DSP 11 through the CAN communication driver 12, and the received DSP 11 receives the ID of the controller module through the CAN ID set jumper 14. The upper five bits are set, and the lower two bits are set for each drive module by setting IDs for the first and second BLDC motor drive modules (2) and (3) in the BLDC motor (4) and (5). This is possible, and the command transmitted from the host controller is filtered by the BLDC motor control module 1 to selectively receive the command.

In this way, the BLDC motor control module 1 that has received the command decodes the received command and requests the current state to the current position, speed, and torque of the first and second BLDC motors 4 and 5. The first and second BLDC motor driving modules to actually drive the first and second BLDC motors 4 and 5 by performing calculations to transmit the state information about the host controller to a higher enema controller and to perform a driving command of the motor. (2) (3).

Here, one motor driving module is connected to one BLDC motor, and one BLDC motor control module 1 controls two BLDC motor driving modules 2 and 3.

Therefore, the first and second connectors J1 and J2, which are connected to separate and transmit commands to the two BLDC motors, may be connected to the respective BLDC motor driving modules.

In addition, two BLDC motor driving modules can be connected to one BLDC motor control module to control different BLDC motors, and one motor can transmit and receive all control signals from one connector so that the same BLDC motor driving module can be used. Design to do it.

In order to use the BLDC motor driving module having the same configuration, as shown in FIGS. 2 and 3, the first and second connectors J1 and J2 are designed to be symmetrical to each other so that the first and second BLDC motor driving modules 2 ( 3) were connected to each other on the opposite side to drive and control two BLDC motors 4 and 5.

Meanwhile, the PWMs of the first and second BLDC motors 4 and 5 calculated by the DSP 11 in the BLDC motor control module 1 are respectively connected through the first connector J1 and the second connector J2. Transfer to the first and second BLDC motor drive module (2) (3).

Thus, the BLDC motor controllers 21 and 31 in the first and second BLDC motor drive modules 2 and 3 are connected to the transmitted PWM and the armature of the first and second BLDC motors 4 and 5 at present. The position of the first and second BLDC motors 4 and 5 is calculated and amplified through the FET amplifiers 22 and 32 according to the position of the transmitted PWM speed, and then the first and second BLDC motors ( Supply amplified power to 4) (5).

In addition, the position control of the first and second BLDC motors 4 and 5 determines the speed of the first and second BLDC motors 4 and 5 after calculating the remaining positions at the target positions as shown in FIG. 8. It increases by using acceleration, calculates the deceleration of the remaining speed, controls the deceleration speed to reach the target position, and can drive the motor with a small current by including the current control algorithm in the speed control algorithm. .

In addition, in the present invention, the shape of the BLDC motor control module (1) and the first and second BLDC motor drive module (2) (3) used to control the two BLDC motors were made in a circular shape, the size is 40mm in diameter and 50mm in height were manufactured, and the first and second BLDC motor drive modules were designed to stably control motors of 24V and BLDC 5A.

Although the above-described embodiments have been described with respect to the most preferred embodiments of the present invention, it is not limited to the above embodiments, and it will be apparent to those skilled in the art that various modifications can be made without departing from the technical spirit of the present invention.

As described above, according to the apparatus of the present invention, since one BLDC motor driving module is connected in a 1: 1 match to one BLDC motor, it is possible to more stably control the BLDC motors, and to increase or decrease the BLDC motor. It is easy to cope with the problem, and in case of repair / repair, it can be repaired for the desired part, thus saving repair cost and time, and controlling each BLDC motor by controlling two BLDC motor drive modules from one BLDC motor control module. The cost can be greatly reduced than when installing the control module in the control module, and by controlling the ID by controlling each BLDC motor drive module, it can eliminate the malfunction of the command of the BLDC motor.

In addition, since CAN is used, wiring of 24V, GND, CAN_H, and CAN_L 4 wires can be done when additional BLDC motors are added to enable control and communication with the host controller.

In addition, in the related art, due to differences in the communication protocols of the BLDC motor control module, communication must be performed by generating a communication protocol for each controller in the upper program, but in the present invention, the same communication protocol can be used by using the same control module. However, depending on the situation, simple program debugging allows flexible communication to change the communication protocol.

In addition, when the BLDC motor control module and two driving modules are connected, the size is 40mm in diameter and 50mm in height, which can output 24V and 5A, so that it can be mounted when the space is small compared to a motor requiring strong torque. It has an advantage, and depending on the situation, it is a very useful invention such that the height can be reduced to within 30mm by using one control module removed.

Claims (4)

CAN communication driver for transmitting various commands transmitted through the CAN communication line to the DSP, digital signal processing processor (DSP) for generating various control signals necessary to control the first and second BLDC motors with the built-in CAN, and the DSP Can ID setting jumper to set the upper 5Bit of CAN ID, 3.3V power supply to drive DSP, and 5V voltage source to drive encoder, hole sensor and CAN communication driver. Power separation converter for separate conversion and first and second connectors connected to the first second BLDC motor driving module, respectively, so that bi-directional communication between them is generated, and generates overall control signals necessary for driving the BLDC motor. A BLDC motor control module; After receiving the Hall sensor output signals of the first and second BLDC motors, the current positions of the first and second BLDC motors are determined, and the PWM signals transmitted from the DSP of the BLDC motor control module are analyzed to respond to the results. And a pulse width of the first and second BLDC motors after amplifying the BLDC motor controller for driving the second BLDC motor and the output signal of the BLDC motor controller and amplifying the electric power to drive the first and second BLDC motors. FET amplifier for outputting to the modulation (PWM) amplifier, encoder input unit for receiving the rotation speed detected through the encoders installed in the first and second BLDC motor to the DSP of the BLDC motor control module, the FET amplifier Receives the output signal and detects the drive current of the first and second BLDC motors, respectively, and transfers them to the DSP of the BLDC motor control module through the first connector or the second connector, respectively. First and second BLDC motor drive modules having an A / D converter and first and second connectors installed for bidirectional communication with the BLDC motor control module and directly controlling driving of the first and second BLDC motors. Brushless DC motor controller using CAN communication, characterized in that consisting of. The method according to claim 1, The rotation speed and driving current of the first BLDC motor detected by the encoder and the A / D converter in the first BLDC motor driving module are transmitted to the DSP of the BLDC motor control module through the first connector, and the second BLDC motor Brushless DC using CAN communication characterized in that the rotational speed and driving current of the second BLDC motor detected by the encoder and A / D converter in the drive module are transmitted to the DSP of the BLDC motor control module through the second connector. Motor controller. The method according to claim 2, The first connector connecting the DSP and the first BLDC motor of the BLDC motor control module includes a 24V supply pin (Pin 1, 2, 3), a 5V supply pin (Pin 4), a 3.3V supply pin (Pin 5). ), Ground pin for analog signal (Pin 6), ground pin (GND) (Pin 7, 8, 9), motor PWM and direction (Pin 11, 12), encoder connection pin (Pin13, 14) Brushless DC motor control device using CAN communication, characterized in that it comprises a pin (Pin 15, 16) for connecting to the A / D converter. The method according to claim 2, The second connector connecting the DSP and the second BLDC motor of the BLDC motor control module has 24V supply pins (Pin 1, 2, 4), 5V supply pin (Pin 3), 3.3V air gap pin (Pin 6), Analog signal ground pin (Pin 5), GND pin (Pin 7, 8, 10), motor PWM and Direction pin (Pin 11, 12), encoder connection pin (Pin13, 14) and A / D converter connection Brushless DC motor controller using CAN communication, characterized in that the pins (Pin 15, 16).

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