KR20170135275A - Method and Apparatus for Controlling Motor Capable of Programming - Google Patents

Abstract

An apparatus and a method for controlling a motor capable of programming are disclosed. According to an aspect of the present invention, provided are an apparatus and a method for simultaneously controlling one or more various motors by using programming. The motor control apparatus comprises: a power reception unit; an information reception unit; a control unit; a pulse width modulation unit; and a flash memory.

Description

[0001] The present invention relates to a programmable motor control apparatus and method,

The present embodiment relates to a programmable motor control apparatus and method.

The contents described in this section merely provide background information on the present embodiment and do not constitute the prior art.

The motor control device, in particular, the servo motor control device has a quick follow-up response characteristic to a given target input, has a wide range of speed control, converts the power supplied to the servo motor into a suitable form And the like.

Since the conventional motor control apparatus stores only the protocol or interface of a specific motor, there is inconvenience that a motor other than the specific motor can not be controlled. The motor control device that appears to overcome such inconvenience is a general-purpose motor control device. However, this general-purpose motor control device has many unnecessary pins to support control with various motors. For example, there is a case in which there is no need to support the control of the B motor because the a1 and a2 pins, which are necessary to support the control of the A motor, are unnecessary. In this case, when the general-purpose motor control device supports the control of the B motor, the a1 and a2 pins do not perform any role, and there is an inconvenience that the number of pins is unnecessarily occupied.

The purpose of the present embodiment is to provide an apparatus and a method that can simultaneously control one or more various motors using programming.

According to an aspect of the present invention, there is provided a motor control apparatus for controlling the driving of a motor, comprising: a power source for receiving a driving power source for driving each configuration of the motor control apparatus and a control power source for controlling driving of the motor; An information receiving unit for receiving environment information on a receiving unit and a motor connected to the motor control unit, control information for controlling driving of the motor, and feedback information from the motor or the motor control unit, A controller for controlling the setting of some or all of the components included in the apparatus and controlling the pulse width of the control power supply using the control information or the feedback information; A pulse width modulating section for modulating the pulse width modulated by the pulse width modulating section, And a flash memory for storing temporary information and other information generated according to the control of the control unit.

According to another aspect of the present invention, there is provided a driving method of a motor control apparatus for controlling driving of a motor, the method comprising: driving power for driving each configuration of the motor control apparatus; and control for controlling driving of the motor A power receiving process for receiving a power supply, environment information on a part or all of the configurations included in the motor control device, control information for controlling driving of the motor, and information for receiving feedback information from the motor or the motor control device A setting control process of controlling the configuration of some or all of the components included in the motor control apparatus using the reception process and the environment information, and a control process of modulating the pulse width of the control power supply to the motor A control power source for modulating a pulse width and a modulation process, and a controller for receiving the position information and the hole information of the motor from the motor Modulating the pulse width of the control power source using the information received in the feedback information receiving step and the feedback information receiving step and transmitting the modulated pulse width to the motor. to provide.

As described above, according to the embodiment of the present invention, it is possible to control various motors by using programming without replacing any hardware, and to control one or more various motors at the same time if necessary.

1 is a schematic view of a motor control system including a servo driver according to an embodiment of the present invention.
2 is a diagram illustrating a configuration of a servo driver according to an embodiment of the present invention.
3 is a diagram illustrating an example in which data is stored in a flash memory according to an embodiment of the present invention.
4 is a flowchart illustrating a method of driving a servo driver according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. Throughout the specification, when an element is referred to as being "comprising" or "comprising", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise . In addition, '... Quot ;, " module ", and " module " refer to a unit that processes at least one function or operation, and may be implemented by hardware or software or a combination of hardware and software.

1 is a schematic view of a motor control system including a servo driver according to an embodiment of the present invention.

Referring to FIG. 1, a motor control system 100 according to an embodiment of the present invention includes a master device 110, a power supply device 120, an environment information providing device 130, a servo driver 140, an encoder 150 And a motor 160. As shown in Fig.

The master device 110 sets the target control state of the motor 160 and provides it to the servo driver 140. The master device 110 may be implemented as a PC, a server, or a driver for controlling a separate motor. However, the master device 110 may be implemented as any device capable of setting a target control state of the motor 160 . The master device 110 sets the target control state and transmits the set target control information to the servo driver 140. [ In transmitting the target control information to the servo driver 140, the master device 110 may be connected by a wire, transmitted using a pulse, or transmitted using communication. The master device 110 may be connected to the servo driver 140 using an RS-232, 422, or 485 scheme and may be connected to the servo driver 140 using an IEEE 802.3 scheme. As described above, the master device 110 is connected to the servo driver 140 using a wired or communication method as described above, and then transmits the target control information to the servo driver 140.

The power supply unit 120 supplies power to the servo driver 140. [ The power supply unit 120 provides driving power for driving the servo driver 140. The power supply unit 120 provides driving power to the servo driver 140 so that each configuration existing in the servo driver 140 can perform its role. Further, the power supply apparatus 120 provides the servo driver 140 with a control power for operating the motor. The power supply 120 provides the control power to the servo driver 140 and the servo driver 140 modulates the control power according to the target control information and transmits the control power to the motor 160. The power supply 120 may be provided with a separate pin by separating the driving power and the control power from the servo driver 140 or may provide the driving power and the control power to the same pin.

The environmental information providing device 130 provides environment information about the motor connected to the servo driver 140 by the servo driver 140. [ The environmental information refers to general information of a motor to be connected to the servo driver 140 and includes some or all of the type of the motor, the protocol used by the motor, and the number of the motors. The environment information providing device 130 provides environment information to the servo driver 140 and the servo driver 140 sets the configuration included in the servo driver 140 according to the environment information.

The servo driver 140 receives the target control information and controls power to be supplied to the motor. The servo driver 140 receives the target control information from the master device 110 and modulates the control power received from the power supply device 120 according to the target control information. The servo driver 140 provides the modulated control power to the motor 160. In addition, the servo driver 140 sets respective configurations included in the servo driver 140 according to the environment information received from the environment information providing device 130. [ A detailed description thereof will be made with reference to FIG.

An encoder (Encoder) 150 detects the number of revolutions or rotation angle (absolute position) of the shaft of the motor 160. The encoder 150 may include a Hall sensor, and can detect the number of revolutions or the rotation angle of the shaft of the motor 160. The encoder 150 provides the servo driver 140 with the rotation number or rotation angle of the shaft of the motor 160 thus detected.

2 is a diagram illustrating a configuration of a servo driver according to an embodiment of the present invention.

2, the servo driver 140 includes a power receiver 210, an information receiver 220, a flash memory 230, a controller 240, and a pulse width modulator 250, .

The servo driver 140 may be implemented as one integrated circuit (IC) including all the components 210 to 250. [ In the conventional servo driver, the respective constitutions having various functions are separately implemented, and the connection relation of each constitution becomes complicated, and there is also a complicated inconvenience in the implementation. On the other hand, since the servo driver 140 according to an embodiment of the present invention is implemented as one IC (Integrated Circuit) including all the components 210 to 250, production is facilitated. The servo driver 140 may be implemented as an FPGA (Field Programmable Gate Array), but the present invention is not limited thereto, and any structure can be used as long as it is an IC that can be programmed using firmware update from the outside.

The power receiving unit 210 receives power from the power supply unit 120. The power receiving unit 210 receives the current and voltage corresponding to the driving power and the current and voltage corresponding to the controlling power from the power supply 120. The power receiving unit 210 may be realized by separating a port receiving the driving power and a port receiving the control power, and may receive the driving power and the control power from a single port, have.

The power receiving unit 210 can receive power that has already been converted into a digital value in the power supply 120. [ However, the power receiving unit 210 may receive power of an analog value from the power supply unit 120. [ In this case, the power receiver 210 may include an ADC (Analog-to-Digital Converter) (not shown), and may further include a decimation filter (not shown) such as a Sinc3 filter. The power receiving unit 210 receives the digitized power or digitizes the received power and transmits the digitized power to the control unit 240.

The information receiving unit 220 receives information from the master device 110, the environment information providing device 130, and the motor 160. The information receiving unit 220 includes an environment information receiving unit 223, a control information receiving unit 226, and a feedback information receiving unit 229.

The environment information receiving unit 223 receives the environmental information from the environment information providing apparatus (130). The environment information receiving unit 223 is connected to the environment information providing apparatus 130 in a wired manner under the control of the control unit 240 or may perform wireless communication such as an Ethercat or IEEE 802.3 such as RS 232, And receives environment information from the environment information providing device 130. [0050] FIG. The environment information receiving unit 223 transfers the received environment information to the flash memory 230 and stores the environment information.

The control information receiving unit 226 receives the target control information from the master device 110. [ The control information receiving unit 226 may be implemented as a wired connection to the master device 110 or an Ethercat such as RS 232, 422 or 485, an IEEE 802.3 or a Mechatrolink ), And the like. The control information receiving unit 226 is connected to the master device 110 by wire or wirelessly, and receives the target control information, and then transmits the target control information to the control unit 240.

The feedback information receiving unit 229 receives feedback information from the encoder or the pulse width modulating unit 250. The feedback information may be positional information or hole information of the motor, and may be information on the control power whose pulse width is modulated. The feedback information receiving unit 229 receives the feedback information from the encoder 150 and transmits the feedback information to the controller 240 so that the controller 240 can appropriately check whether the motor is controlled according to the target control information in real time. Accordingly, the control unit 240 can confirm in real time whether the motor is appropriately controlled according to the received target control information, and can control to re-modulate the pulse width to be provided to the motor 160 again if not properly controlled . The feedback information receiving unit 229 may receive information on the control power source whose pulse width is modulated from the pulse width modulating unit 250. [ The feedback information receiving unit 229 receives information on the control power source and transmits the information to the control unit 240. The control unit 240 confirms whether the pulse width modulation unit 250 modulated according to its own control. The controller 240 can check whether the pulse width modulator 250 has properly modulated according to its own control, and can control to re-modulate the pulse width if it is not properly modulated.

The feedback information receiving unit 229 is connected to the encoder 150 via a wire or a wireless communication using a universal asynchronous receiver / transmitter (UART) or a bi-directional serial synchronous (BISS) ). ≪ / RTI > The encoder 150 includes a standard encoder and a serial encoder. The standard encoder transmits the position information and the hole information of the motor to the servo driver 140 using a pulse having the A-phase, the B-phase, etc., and the serial encoder uses the wireless communication using the UART or BISS protocol, And transfers the information or the hole information to the servo driver 140. The feedback information receiving unit 229 may include either a standard encoder or a serial encoder or may include only one port and may be a standard encoder or a serial And a serial encoder.

The flash memory 230 stores information on the servo driver, information on the control of the control unit 240, and information for the user to store separately. The flash memory 230 is shown in more detail in FIG.

3 is a diagram illustrating an example in which data is stored in a flash memory according to an embodiment of the present invention.

The flash memory 230 includes a servo driver area 310 for storing information on the servo driver, a control area 320 for storing information on control of the control part 240, Area 330 as shown in FIG.

The servo driver area 310 stores information on the configuration of the servo driver. And stores the environment information, in particular, the configuration of the servo driver to be implemented according to the type of the motor or the protocol used by the motor. In the servo driver area 310, for example, when the type of the motor is A, information indicating that the environment information receiving unit is connected using a wire, and the control information receiving unit is connected using the RS 485 is stored. The flash memory 230 receives environment information from the environment information receiving unit 223, stores the environment information, and provides the environment information to the control unit 240.

The controller section 320 controls the configuration of each of the information receiving sections 220, the pulse width modulating section 250 or other configurations and stores temporary data that may occur during the control of the information receiving sections 220, And the target control information.

The user area 330 stores information for the user to separately store. Information that needs to be stored separately in addition to information on the servo driver and control of the control unit 240 is stored in the user area 330. [

The flash memory 230 may be implemented as an EEPROM (Electrically Erasable Programmable Read-Only Memory), but the present invention is not limited thereto. The flash memory 230 may store data for a long period of time even when the power supply is cut off, The device may be replaced by anything.

The control unit 240 sets the configuration in the servo driver 140 according to the received environment information and controls the pulse width modulation of the control power to be provided to the motor according to the received target control information.

The control unit 240 sets the configuration in the servo driver 140 according to the received environment information. When the environment information received by the environment information receiving unit 223 is stored in the flash memory 230, the control unit 240 accesses the environment information stored in the flash memory 230. The control unit 240 accesses the environment information and sets the configuration in the servo driver 140 according to the received environment information. For example, when environmental information is received that is connected to the environment information receiving unit by using a wire, and that two motors connected by using the RS 485 are to be controlled, the control unit 240 controls the environment information receiving unit 223 And the control information receiving unit 226 to use the wire and the RS 485 respectively and to set the pulse width modulation units to modulate the pulse width to be provided to each of the two motors. If necessary, the control unit 240 can be controlled to have a configuration other than the configuration shown in Fig. For example, the control unit 240 may set the servo driver 140 to further include a GPIO unit (not shown) to input and output a separate signal using the motor and the GPIO unit. That is, the control unit 240 controls the interface or protocol of each configuration to the configuration in the servo driver 140 according to the type of the motor included in the environment information or the protocol used by the motor, As shown in FIG. The control unit 240 accesses the information on the configuration of the servo driver to be implemented according to the environment information from the flash memory 230 to set the configuration of the servo driver 140 according to the received environment information.

The control unit 240 controls the pulse width modulation of the control power to be provided to the motor according to the received target control information. The control unit 240 controls the pulse width modulation unit 250 so that pulse width modulation is performed on the control power received from the power receiving unit 210. The reason for the pulse width modulation is that the control power (voltage and current) is subjected to pulse width modulation because there is a physically significant limitation to directly vary the amplitude of the voltage and current. When the control power is pulse width modulated, the same effect as changing the amplitude of the voltage and the current can be obtained by controlling the pulse width. Accordingly, the control unit 240 controls the pulse width modulation unit 250 so that the received control power is subjected to pulse width modulation. The control unit 240 controls the pulse width modulation unit 250 to control the pulse width modulation unit 250 such that the pulse width modulation is performed according to the target control information received from the control information reception unit 226.

The pulse width modulation unit 250 performs pulse width modulation on the control power source under the control of the control unit 240. [ The reason why the pulse width modulation (PWM) is performed is to more easily change the amplitude of the control power to be provided to the motor as described above. The pulse width modulator 250 provides the pulse generated by the pulse width modulation to the motor 160 and the feedback information receiver 229.

4 is a flowchart illustrating a method of driving a servo driver according to an embodiment of the present invention.

The servo driver 140 receives environmental information from the power source and the drive power source and environment information providing apparatus (S410). The power receiving unit 210 in the servo driver 140 receives the driving power for driving the servo driver 140 from the power supply unit 120. [ The environment information receiving unit 223 in the servo driver 140 receives environment information for setting the configuration in the servo driver 140 from the environment information providing device 130. [

The servo driver 140 sets the configuration in the servo driver according to the received environment information (S420). The environment information received by the environment information receiving unit 229 in the servo driver 140 is stored in the flash memory 230 and the control unit 240 in the servo driver 140 accesses the environment information stored in the flash memory 230 And sets each configuration in the servo driver according to the environment information. The control unit 240 controls the interface or protocol of each configuration to the configuration in the servo driver 140 according to the type of the motor included in the environment information or the protocol used by the motor, .

The servo driver 140 receives target control information from the power source device and the master power source (S430). The power receiving unit 210 in the servo driver 140 receives control power for operating the motor from the power supply unit 120. [ At the same time, the control information receiving unit 226 in the servo driver 140 receives the target control information for controlling the operation of the motor from the master device 110. [

The servo driver 140 performs pulse width modulation on the control power according to the received control information and transmits it to the motor (S440). The servo driver 140 controls the pulse width modulation unit 250 to perform pulse width modulation on the control power source according to the received control information. Under the control of the control unit 240, the pulse width modulation unit 250 performs pulse width modulation on the control power source.

The servo driver 140 receives feedback information from the encoder or the pulse width modulation unit (S450). The feedback information may be positional information or hole information of the motor, and may be information on the control power whose pulse width is modulated. The feedback information receiving unit 229 receives the feedback information from the encoder 150 and transmits the feedback information to the controller 240 so that the controller 240 can appropriately check whether the motor is controlled according to the target control information in real time. The feedback information receiving unit 229 may receive information on the control power source whose pulse width is modulated from the pulse width modulating unit 250. [ The feedback information receiving unit 229 receives information on the control power source and transmits the information to the control unit 240. The control unit 240 confirms whether the pulse width modulation unit 250 modulated according to its own control.

The servo driver 140 re-modulates the pulse width of the control power source using the feedback information (S460). The controller 240 in the servo driver 140 can confirm in real time whether the motor is appropriately controlled according to the target control information received using the position information or the hole information of the motor, It is possible to control to re-modulate the pulse width to be provided. Also, the control unit 240 checks whether the pulse width modulation unit 250 has modulated in accordance with the control of the pulse width modulation unit 250 by using the information about the control power whose pulse width has been modulated. The controller 240 can check whether the pulse width modulator 250 has properly modulated according to its own control, and can control to re-modulate the pulse width if it is not properly modulated.

In FIG. 4, it is described that each process is sequentially executed, but this is merely illustrative of the technical idea of an embodiment of the present invention. In other words, those skilled in the art will appreciate that various changes and modifications may be made without departing from the essential characteristics of one embodiment of the present invention, And FIG. 4 is not limited to the time-series order because it can be variously modified and modified by being executed in parallel.

Meanwhile, the processes shown in FIG. 4 can be implemented as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. That is, a computer-readable recording medium includes a magnetic storage medium (e.g., ROM, floppy disk, hard disk, etc.), an optical reading medium (e.g., CD ROM, And the like). The computer-readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner.

The foregoing description is merely illustrative of the technical idea of the present embodiment, and various modifications and changes may be made to those skilled in the art without departing from the essential characteristics of the embodiments. Therefore, the present embodiments are to be construed as illustrative rather than restrictive, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment should be construed according to the following claims, and all technical ideas within the scope of equivalents thereof should be construed as being included in the scope of the present invention.

100: motor control system 110: master device
120; Power supply unit 130: Environmental information supply unit
140: Servo driver 150: Encoder
160: motor 210: power receiving unit
220: information receiving unit 223: environment information receiving unit
226: Control information receiving section 229: Feedback information receiving section
230: flash memory 240:
250: Pulse width modulation unit 310: Servo driver area
320: control section area 330: user area

Claims (12)

A motor control device for controlling the driving of a motor,
A power receiving unit receiving a driving power for driving each configuration of the motor control device and a control power for controlling driving of the motor;
An information receiving unit for receiving environment information about a motor connected to the motor control unit, control information for controlling driving of the motor, and feedback information from the motor or the motor control unit;
A control unit for controlling the setting of a part or all of the configurations included in the motor control apparatus using the environment information and controlling the pulse width of the control power supply using the control information or the feedback information;
A pulse width modulator for modulating the pulse width of the control power source under the control of the controller; And
A flash memory for storing information on the configuration of part or all of the motor control apparatus, temporary information generated according to the control of the controller,
The motor control device comprising: The method according to claim 1,
The environmental information includes,
A type of the motor, a protocol used by the motor, and a number of the motors. The method according to claim 1,
Wherein the feedback information includes:
Wherein the position information, the hole information, or the pulse width of the motor is a modulated control power. The method of claim 3,
Wherein the information receiver comprises:
A control information receiving unit for receiving the control information from the master device, and a feedback information receiving unit for receiving the feedback information from the motor or the pulse width modulation unit. To the motor control device. 5. The method of claim 4,
Wherein,
Controls the setting of at least one of the environmental information receiving unit, the control information receiving unit and the feedback information receiving unit by using information on a part or all of the configuration included in the motor control device stored in the flash memory Motor control device. 5. The method of claim 4,
Wherein the feedback information receiver comprises:
And receives the position information and the hole information of the motor from the motor or receives the control power whose pulse width is modulated from the pulse width modulation unit. The method according to claim 6,
Wherein,
Receiving the position information and the hole information of the motor from the feedback information receiving unit and checking whether the motor is controlled according to the control information, receiving the control power whose pulse width is modulated from the feedback information receiving unit, Whether or not the pulse width of the control power source has been modulated in accordance with the control of the motor control unit. The method according to claim 1,
Wherein,
Wherein the control unit controls the pulse width of the control power source that has undergone periodic modulation using the feedback information. A driving method of a motor control apparatus for controlling driving of a motor,
A power receiving step of receiving a driving power for driving each configuration of the motor control device and a control power for controlling driving of the motor;
An information receiving step of receiving environment information on the configuration of part or all of the motor control device, control information for controlling the driving of the motor, and feedback information from the motor or the motor control device;
A setting control process of controlling a configuration of a part or all of the components included in the motor control apparatus using the environment information;
A modulating step of modulating the pulse width of the control power source using the control information and transmitting the modulated pulse width to the motor;
A control power source having a pulse width modulated, and a feedback information receiving step of receiving position information and hole information of the motor from the motor; And
A re-modulation process of re-modulating the pulse width of the control power source using the information received in the feedback information reception process and transmitting the re-modulated pulse width to the motor
And a motor control device for driving the motor. 10. The method of claim 9,
The environmental information includes,
A type, a protocol to be used, a number, and a presence or absence. 10. The method of claim 9,
The information-
A control information receiving step of receiving the control information from the master device; and a feedback information receiving step of receiving the feedback information from the motor or the pulse width modulation part To the motor control device. 12. The method of claim 11,
The feedback information receiving step includes:
Wherein the position information and the hole information of the motor are received from the motor or the control power having a pulse width modulated is received from the motor control device.

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