KR101296363B1 - Control apparatus for driving multiplex motor and method for the same - Google Patents

Abstract

PURPOSE: A multiple motor driving control apparatus and method are provided to easily perform maintenance and repair by effectively driving multiple motor in a system in which multiple motors are used. CONSTITUTION: A step motor driver produces a drive pulse. A relay part (30) delivers the driving pulse to a step motor to be driven. The relay part comprises multiple solid state relays (SSR). A static torque generating part (50) comprises multiple static torque generation elements. A power supply part (60) supplies power to the multiple static torque generation elements. [Reference numerals] (10) Controller; (20) Step motor driver; (60) Power supply part

Description

CONTROL APPARATUS FOR DRIVING MULTIPLEX MOTOR AND METHOD FOR THE SAME}

The present invention relates to a multi-motor drive control device, and more particularly to a multi-motor drive control device capable of driving multiple motors in a system in which a plurality of motors are used.

In general, the motor drive control device uses a motor driver with a built-in processor to drive a single motor. Therefore, in order to drive a plurality of motors in a system in which a plurality of motors are used, a motor driver for operating each of the plurality of motors should be installed as many as the number of motors.

Installing as many motor drivers as the number of motors increases the cost of building a system, complicates the system, and increases the space burden on the system. In addition, since a plurality of motor drivers must be managed separately, efficient management of the system may be difficult and maintenance may occur.

Korea Patent Publication 10-2010-0070826 (2010.06.28)

Technical problem to be solved by the present invention relates to a multi-motor drive control apparatus that can efficiently drive a multi-motor in a system in which a plurality of motors are used.

A multi-motor drive control apparatus according to an embodiment of the present invention is a controller for generating a channel selection signal, a motor drive signal and a stop torque control signal according to the multi-motor drive control signal, and controls the driving of the step motor according to the motor drive signal. A step motor driver for generating a drive pulse, a relay unit for transmitting the drive pulse only to a step motor to be driven among the plurality of step motors according to the channel selection signal, and a plurality of stop torque generating elements corresponding to the plurality of step motors. A stop torque generating unit including a stop torque generating element and power supply to the plurality of stop torque generating elements to continuously generate stop torque, and stop torque of the stop torque generating element corresponding to the step motor to be driven according to the stop torque control signal. It includes a power supply to release the generation.

The relay unit includes a plurality of SSRs, and a plurality of step motors may be connected to each of the plurality of SSRs.

The controller may selectively transmit the channel selection signal to the plurality of SSRs.

The channel selection signal may include a number of subchannel selection signals corresponding to the number of step motors connected to each of the plurality of SSRs.

Among the sub channel selection signals, only a signal corresponding to the step motor to be driven may be applied as an ON signal, and the remaining sub channel signals may be applied as an OFF signal.

A step motor corresponding to the sub channel selection signal applied as the ON signal may be connected to the step motor driver and driven according to the driving pulse.

The controller may synchronize the generation time of the driving pulse of the step motor driver and the release torque generation release time of the step motor to be driven.

The apparatus may further include an encoder configured to transmit an encoding signal including position information of the plurality of step motors to the controller.

In a multi-motor drive control method using a multi-motor drive control apparatus according to another embodiment of the present invention, receiving a multi-motor drive control signal input through any one of a user panel and a remote control, the multi-motor drive control signal Generating a channel selection signal specifying a drive motor to be driven among a plurality of step motors; connecting the drive motor to a step motor driver according to the channel selection signal; and according to the multi-motor drive control signal Generating a driving pulse by transmitting a motor driving signal to a driver, and continuously supplying power to a plurality of stop torque generating elements corresponding to the plurality of step motors according to the multi-motor driving control signal to maintain a stop torque. The stop torque control signal to the power supply And releasing generation of the stop torque of the stop torque generating element corresponding to the drive motor.

The connecting of the driving motor to the step motor driver may include selectively transmitting the channel selection signal to a relay unit including a plurality of solid state relies (SSRs).

The selectively transmitting the channel selection signal may include selectively transmitting a number of subchannel selection signals corresponding to the number of the plurality of step motors connected to each of the plurality of SSRs, to the plurality of SSRs. Can be.

The step of selectively transmitting the sub channel selection signal to the plurality of SSRs may include applying only a signal corresponding to the driving motor from the sub channel selection signal as an ON signal and applying the remaining sub channel selection signal as an OFF signal. It may include.

Generating the driving pulse and releasing generation of the stop torque of the stop torque generating element corresponding to the drive motor may be synchronized.

In accordance with still another aspect of the present invention, there is provided a multi-motor driving control apparatus including a plurality of step motors, a relay unit connecting one of the plurality of step motors to a step motor driver, and a plurality of stops corresponding to the plurality of step motors. And a power supply for supplying power to the torque generating element to continuously generate the stop torque, wherein the power supply cancels generation of the stop torque of the stop torque generating element corresponding to the step motor connected to the step motor driver.

The relay unit may be a contactless relay device that is turned on while the ON signal is applied and turned off while the ON signal is not applied.

The method may further include a controller configured to synchronize a generation time of the driving pulse of the stepper motor driver and a release time of the stop torque.

In a system where multiple motors are used, the number of motor drivers can be reduced, and the cost of building and maintaining the system can be reduced.

1 is a block diagram illustrating a multiple motor drive control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a multi-motor driving control method according to an exemplary embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In addition, in the various embodiments, components having the same configuration are represented by the same reference symbols in the first embodiment. In the other embodiments, only components different from those in the first embodiment will be described .

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

1 is a block diagram illustrating a multiple motor drive control apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the multi-motor driving control apparatus 100 includes a controller 10, a step motor driver 20, a relay unit 30, an encoder unit 40, a stop torque generating unit 50, and a power supply unit ( 60).

The controller 10 controls the driving of the plurality of step motors M according to the multi-motor driving control signal input according to a remote control through a user panel or wired or wireless communication. The multi-motor driving control signal may include a motor selection signal for selecting a step motor to be driven among the plurality of step motors M, a driving direction signal of the driving motor, a driving speed signal, and a movement distance signal.

Hereinafter, for convenience of description, a step motor to be driven or a step motor being driven is referred to as a drive motor.

The controller 10 generates the channel selection signal CSS, the motor driving signal MDS, and the stop torque control signal STCS according to the multiple motor driving control signal. The channel selection signal CSS is a control signal for designating a drive motor to be driven among the plurality of step motors M. FIG. The motor driving signal MDS is a control signal indicating a driving direction signal, a driving speed, and a moving distance of the driving motor. The stop torque control signal STCS is a control signal for generating a stop torque to a step motor other than the drive motor.

The controller 10 receives the encoding signals ENS of the plurality of step motors M from the encoder unit 40 to obtain current positions of each of the plurality of step motors M. The controller 10 may generate the motor driving signal MDS based on the current position of each of the plurality of step motors M. FIG.

The controller 10 transmits the channel selection signal CSS to the relay unit 30, transmits the motor driving signal MDS to the step motor driver 20, and transmits the stop torque control signal STCS to the power supply unit 60. To pass).

The step motor driver 20 generates a drive pulse for controlling the drive of the step motor according to the motor drive signal MDS. The step motor driver 20 is connected to a plurality of SSRs 31, 32, 33, and 34 included in the relay unit 30. The step motor driver 20 transmits a drive pulse for controlling the drive of the step motor to the plurality of SSRs 31, 32, 33, and 34. The step motor driver 20 may control the driving direction, the driving speed, and the moving distance of the step motor by the phase, frequency, and number of pulses of the driving pulse.

The relay unit 30 transmits a driving pulse only to the driving motor among the plurality of step motors M according to the channel selection signal CSS. The relay unit 30 includes a plurality of SSRs 31, 32, 33, and 34. The plurality of SSRs 31, 32, 33, and 34 are contactless relay elements that are turned on while the ON signal is applied and turned off while the ON signal is not applied. The controller 10 selectively transmits the channel selection signal CSS to the plurality of SSRs 31, 32, 33, and 34, and the channel selection signal CSS is applied among the plurality of SSRs 31, 32, 33, and 34. Only enabled SSRs can be activated. The activated SSR delivers a drive pulse to the drive motor in accordance with the channel select signal CSS.

In this case, the channel selection signal CSS may include a number of subchannel selection signals corresponding to the number of step motors M connected to each of the plurality of SSRs 31, 32, 33, and 34. Assuming that five step motors M are connected to each of the plurality of SSRs 31, 32, 33, and 34, the channel selection signal CSS may include five sub-channel selection signals. Of the five sub channel selection signals, only a signal corresponding to the step motor to be driven may be applied as the ON signal, and the remaining sub channel selection signals may be applied as the OFF signal. Accordingly, only the step motor corresponding to the sub channel selection signal applied as the ON signal may be connected to the step motor driver 20 and may be driven according to a driving pulse transmitted from the step motor driver 20.

The encoder unit 40 includes a plurality of encoders 41a to 41e, 42a to 42e, 43a to 43e, and 44a to 44e corresponding to the plurality of step motors M. The encoder 40 transmits an encoding signal ENS including the position information of the plurality of step motors M to the controller 10. The controller 10 may prevent the positional deviation of the stepper motor M by using the location information of the plurality of stepper motors M included in the encoding signal ENS.

The stop torque generating unit 50 includes a plurality of stop torque generating elements 51a to 51e, 52a to 52e, 53a to 53e, and 54a to 54e corresponding to the plurality of step motors M. FIG. The stop torque generating unit 50 is connected to the power supply unit 60.

The power supply unit 60 continuously supplies power to the stop torque generating unit 50 to continuously generate stop torques of the plurality of stop torque generating elements 51a to 51e, 52a to 52e, 53a to 53e, and 54a to 54e. Let's do it. At this time, the power supply unit 60 cuts off the power supply to the stop torque generating element corresponding to the drive motor in accordance with the stop torque control signal STCS to release generation of the stop torque. Accordingly, the drive motor can be driven without being affected by the stop torque.

The stop torques generated by the plurality of stop torque generating elements 51a to 51e, 52a to 52e, 53a to 53e, and 54a to 54e are higher than the self-holding torque of the plurality of step motors M itself. Have great power. Therefore, the position change by the external force of the some step motor M can be prevented more firmly.

The controller 10 may synchronize the generation time of the driving pulse of the step motor driver 20 and the release torque generation release time of the driving motor. That is, the controller 10 uses the motor drive signal MDS and the stop torque control signal STCS to stop the torque applied to the step motor at the time when the step motor is driven by the step motor driver 20. Synchronization time can be synchronized.

2 is a flowchart illustrating a multi-motor driving control method according to an exemplary embodiment of the present invention.

Referring to FIG. 2, the controller 10 of the multi-motor drive control apparatus 100 receives a multi-motor drive control signal according to a remote control through a user panel or wired or wireless communication (S110). The multi-motor driving control signal may include a motor selection signal for selecting a driving motor among the plurality of step motors M, a driving direction signal of the driving motor, a driving speed signal, and a movement distance signal.

The controller 10 generates a channel selection signal CSS according to the multi-motor driving control signal (S120). The channel selection signal CSS is a control signal for designating a drive motor to be driven among the plurality of step motors M. FIG. The controller 10 transmits the channel selection signal CSS to the relay unit 30. The controller 10 selectively transmits the channel selection signal CSS to the plurality of SSRs 31, 32, 33, and 34, and the channel selection signal CSS is applied among the plurality of SSRs 31, 32, 33, and 34. Only enabled SSRs can be activated.

The channel selection signal CSS may include a number of subchannel selection signals corresponding to the number of step motors M connected to each of the plurality of SSRs 31, 32, 33, and 34. Only a signal corresponding to the driving motor among the plurality of subchannel selection signals may be applied as the ON signal, and the remaining subchannel selection signals may be applied as the OFF signal.

The controller 10 generates a motor driving signal MDS (S130). The motor driving signal MDS is a control signal indicating a driving direction signal, a driving speed, and a moving distance of the driving motor. The controller 10 may receive the encoding signals ENS of the plurality of step motors M from the encoder 40 to obtain current positions of the plurality of step motors M, respectively. The controller 10 may generate the motor driving signal MDS based on the current position of each of the plurality of step motors M. FIG. The controller 10 transmits a motor driving signal MDS to the step motor driver 20.

The step motor driver 20 transmits driving pulses for controlling the driving of the step motor to the plurality of SSRs 31, 32, 33, and 34 according to the motor driving signal MDS. At this time, since the plurality of SSRs 31, 32, 33, and 34 are contactless relay elements that are turned on while the ON signal is applied and are turned off while the ON signal is not applied, the subchannel selection signal is turned into the ON signal in the activated SSR. An applied drive motor is connected to the step motor driver 20. The driving motor connected to the step motor driver 20 may control the driving direction, the driving speed, and the moving distance according to the phase, frequency, and number of pulses of the driving pulse.

The controller 10 generates a stop torque control signal STCS (S140). The stop torque control signal STCS is a control signal for generating a stop torque to a step motor other than the drive motor. The controller 10 transmits the stop torque control signal STCS to the power supply unit 60. The power supply unit 60 continuously supplies power to the stop torque generating unit 50 to continuously generate stop torques of the plurality of stop torque generating elements 51a to 51e, 52a to 52e, 53a to 53e, and 54a to 54e. Let's do it. At this time, the power supply unit 60 cuts off the power supply to the stop torque generating element corresponding to the drive motor in accordance with the stop torque control signal STCS to release generation of the stop torque. Accordingly, the drive motor can be driven without being affected by the stop torque.

The controller 10 releases the generation of the stop torque applied to the step motor at the time when the step motor is driven by the step motor driver 20 using the motor drive signal MDS and the stop torque control signal STCS. The views can be synchronized.

The controller 10 receives an encoding signal ENS including position information of the plurality of stepper motors M from the encoder 40 (S150). The controller 10 may prevent the positional deviation of the stepper motor M by using the location information of the plurality of stepper motors M included in the encoding signal ENS.

As such, the multi-motor drive control system 100 may control the driving of a large number of step motors M with one step motor driver 20.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are illustrative and explanatory only and are intended to be illustrative of the invention and are not to be construed as limiting the scope of the invention as defined by the appended claims. It is not. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: Controller
20: step motor driver
30: relay unit
40: encoder part
50: stop torque generating unit
60: power supply
100: multiple motor drive control system

Claims (16)

A controller for generating a channel selection signal, a motor driving signal, and a stop torque control signal according to the multiple motor driving control signal;
A step motor driver for generating a drive pulse for controlling driving of the step motor in accordance with the motor drive signal;
A relay unit transmitting the driving pulse only to a step motor to be driven among a plurality of step motors according to the channel selection signal;
A stop torque generating unit including a plurality of stop torque generating elements corresponding to the plurality of step motors; And
A power supply unit supplying power to the plurality of stop torque generating elements to continuously generate stop torque, and canceling generation of stop torque of the stop torque generating element corresponding to the step motor to be driven according to the stop torque control signal. Including,
The relay unit includes a plurality of SSRs (Solid State Rely), a plurality of motor drive control device connected to each of the plurality of SSRs step motor. delete The method according to claim 1,
And the controller selectively transfers the channel selection signal to the plurality of SSRs. The method of claim 3,
The channel selection signal includes a number of sub-channel selection signals corresponding to the number of the plurality of step motors connected to each of the plurality of SSRs. 5. The method of claim 4,
Among the sub channel selection signals, only a signal corresponding to the step motor to be driven is applied as an ON signal, and the remaining sub channel signal is applied as an OFF signal. 6. The method of claim 5,
And a step motor corresponding to the sub channel selection signal applied as the ON signal is connected to the step motor driver and driven according to the drive pulse. The method according to claim 1,
And the controller synchronizes the generation time of the drive pulse of the step motor driver and the release torque generation release time of the step motor to be driven. The method according to claim 1,
And an encoder unit to transmit an encoding signal including position information of the plurality of step motors, to the controller. In the multiple motor drive control method using a multiple motor drive control device,
Receiving a multi-motor driving control signal input through any one of a user panel and a remote control;
Generating a channel selection signal for designating a driving motor to be driven among a plurality of step motors according to the multi-motor driving control signal;
Coupling the drive motor to a step motor driver in accordance with the channel selection signal;
Generating a driving pulse by transmitting a motor driving signal to the step motor driver according to the multi-motor driving control signal; And
In response to the multi-motor driving control signal, the driving motor is transferred to a power supply unit for continuously supplying power to a plurality of stop torque generating elements corresponding to the plurality of step motors to continuously generate a stop torque. Canceling the generation of the stop torque of the stop torque generating element corresponding to
The step of connecting the drive motor to the step motor driver,
And selectively transmitting the channel selection signal to a relay unit including a plurality of solid state relays. delete 10. The method of claim 9,
Selectively delivering the channel selection signal,
And selectively transmitting a number of sub-channel selection signals corresponding to the number of the plurality of step motors connected to each of the plurality of SSRs to the plurality of SSRs. 12. The method of claim 11,
Selectively transmitting the subchannel selection signal to the plurality of SSRs,
And applying only a signal corresponding to the driving motor among the sub channel selection signals as an ON signal and applying the remaining sub channel selection signals as an OFF signal. 10. The method of claim 9,
Generating the drive pulse and releasing generation of the stop torque of the stop torque generating element corresponding to the drive motor is synchronized. A plurality of step motors;
A relay unit connecting one of the plurality of step motors to a step motor driver; And
And a power supply for supplying power to a plurality of stop torque generating elements corresponding to the plurality of step motors to continuously generate stop torque.
And the power supply unit releases the generation of the stop torque of the stop torque generating element corresponding to the step motor connected to the step motor driver. 15. The method of claim 14,
And the relay unit is a contactless relay element which is turned on while the ON signal is applied and turned off while the ON signal is not applied. 15. The method of claim 14,
And a controller for synchronizing the generation time of the drive pulse of the step motor driver with the release time of the stop torque.

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