NL2030720B1 - Method for implementing double-path two-in-one high-power servo driver - Google Patents

Method for implementing double-path two-in-one high-power servo driver Download PDF

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Publication number
NL2030720B1
NL2030720B1 NL2030720A NL2030720A NL2030720B1 NL 2030720 B1 NL2030720 B1 NL 2030720B1 NL 2030720 A NL2030720 A NL 2030720A NL 2030720 A NL2030720 A NL 2030720A NL 2030720 B1 NL2030720 B1 NL 2030720B1
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Netherlands
Prior art keywords
motor
signal
control signal
module
engine
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NL2030720A
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Dutch (nl)
Inventor
Wu Hongxing
Li Zhongjian
Pan Xiaowei
Cao Fulu
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Jinan Keya Electron And Tech Ltd
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Priority to NL2030720A priority Critical patent/NL2030720B1/en
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Publication of NL2030720B1 publication Critical patent/NL2030720B1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a method for implementing a double-path two-in-one high- power servo driver, and belongs to the technical field of motor control. An operation 5 control signal output end of a motor operation controller is respectively connected to an operation control signal input end of a first motor pushing module and an operation control signal input end of a second motor pushing module, a control signal output end of the first motor pushing module is connected to a control signal input end of a first motor driving module, a control signal output end of the second motor pushing module 10 is connected to a control signal input end of a second motor driving module, and a driving signal output end of the first motor driving module and a driving signal output end of the second motor driving module are respectively connected to a driving signal input end of a motor.

Description

METHOD FOR IMPLEMENTING DOUBLE-PATH TWO-IN-ONE HIGH-
POWER SERVO DRIVER
TECHNICAL FIELD
[01] The present invention relates to the technical field of motor control, and more particularly, to a method for implementing a double-path two-in-one high-power servo driver.
BACKGROUND ART
[02] With the rapid development of economy and science and technology, more and more robots and intelligent vehicles gradually replace manual work in the industrial fields. Automatic material handling depends on the control of a servo driving system, and a servo driver controls a servo motor in three ways: position, speed and torque. At present, the servo motor is often controlled by a single driving system. If a driver corresponding to the motor is damaged, the driver needs to stop working immediately and be repaired, which is easy to cause inconvenience in use, safety accidents and other problems.
SUMMARY
[03] A main object of the present invention is to provide a method for implementing a double-path two-in-one high-power servo driver, aiming to solve the technical problem of poor controllability of a servo motor controlled by a single system in the prior art.
[04] In order to achieve the above object, the present invention provides a method for implementing a double-path two-in-one high-power servo driver.
[05] The method for implementing a double-path two-in-one high-power servo driver is applied to a double-path servo driver control system including: a motor operation controller, a first motor pushing module, a second motor pushing module, a first motor driving module, a second motor driving module, and a motor.
[06] The method for implementing a double-path two-in-one high-power servo driver includes:
[07] acquiring, by the motor operation controller, a configuration signal and a control signal, determining a soft start time according to the configuration signal, and starting the motor according to the soft start time and the control signal;
[08] judging, by the motor operation controller, an operation mode, and generating an operation control signal according to a current control mode and the control signal,
[09] converting, by the first motor pushing module, the operation control signal into a first pushing signal,
[10] converting, by the second motor pushing module, the operation control signal into a second pushing signal;
[11] generating, by the first motor driving module, a first driving signal according to the first pushing signal;
[12] generating, by the second motor driving module, a second driving signal according to the second pushing signal; and
[13] accepting, by the motor, operation control from the first motor driving module and the second motor driving module according to the first driving signal and the second driving signal so as to meet stable operation requirements of the motor.
[14] Optionally, the double-path servo driver control system further includes a core controller.
[15] Before acquiring, by the motor operation controller, a configuration signal and a control signal, determining a soft start time according to the configuration signal, and starting the motor according to the soft start time and the control signal, the method further includes:
[16] acquiring, by the core controller, a motor operation speed signal, generating a control signal according to the motor operation speed signal, and sending the control signal to the motor operation controller.
[17] The double-path servo driver control system of the present invention includes: a motor operation controller, a first motor pushing module, a second motor pushing module, a first motor driving module, a second motor driving module, and a motor. An operation control signal output end of the motor operation controller is respectively connected to an operation control signal input end of the first motor pushing module and an operation control signal input end of the second motor pushing module. A control signal output end of the first motor pushing module is connected to a control signal input end of the first motor driving module. A control signal output end of the second motor pushing module is connected to a control signal input end of the second motor driving module. A driving signal output end of the first motor driving module and a driving signal output end of the second motor driving module are respectively connected to a driving signal input end of the motor. The motor operation controller generates an operation control signal according to an input signal to respectively control two paths of motor pushing modules and motor driving modules so as to control the operation of the motor, thereby realizing two-in-one control of a double-path servo driver.
BRIEF DESCRIPTION OF THE DRAWINGS
[18] FIG. 11s a schematic structure diagram of a first embodiment of a double-path servo driver control system according to the present invention.
[19] FIG. 2 is a schematic structure diagram of a second embodiment of a double- path servo driver control system according to the present invention.
[20] FIG. 3 is a schematic flow chart of a first embodiment of a double-path servo driver control method according to the present invention.
[21] Description of Reference Numerals:
[22] 1: Motor operation controller; 9: current sensor; 2: first motor pushing module; 10: encoder processing module; 3: second motor pushing module; 11: encoder; 4: first motor driving module; 12: serial communication interface module; 5: second motor driving module; 13: CAN bus module; 6: motor; 14: input/output processing module; 7:
Hall sensor; 15: power supply module; 8: core controller; 16: pushing power supply module.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[23] Referring to FIG. 1, FIG. 1 is a schematic structure diagram of a first embodiment of a double-path servo driver control system according to the present invention.
[24] In the present embodiment, a double-path servo driver control system includes: a motor operation controller 1, a first motor pushing module 2, a second motor pushing module 3, a first motor driving module 4, a second motor driving module 5, and a motor 6.
[25] An operation control signal output end of the motor operation controller 1 is respectively connected to an operation control signal input end of the first motor pushing module 2 and an operation control signal input end of the second motor pushing module 3. A control signal output end of the first motor pushing module 2 is connected to a control signal input end of the first motor driving module 4. A control signal output end of the second motor pushing module 3 is connected to a control signal input end of the second motor driving module 5. A driving signal output end of the first motor driving module 4 and a driving signal output end of the second motor driving module 5 are respectively connected to a driving signal input end of the motor 6.
[26] Based on the first embodiment, a second embodiment of a double-path servo driver control system according to the present invention is proposed. Referring to FIG. 2, FIG. 2 is a schematic structure diagram of a second embodiment of a double-path servo driver control system according to the present invention.
[27] In the present embodiment, the double-path servo driver control system further includes a Hall sensor 7. A measurement signal output end of the Hall sensor 7 is connected to a measurement signal input end of the motor operation controller I.
[28] The double-path servo driver control system further includes a core controller 8.
Acontrol signal output end of the core controller 8 is connected to a control signal input end of the motor operation controller I.
[29] The double-path servo driver control system further includes a current sensor 9.
[30] The current sensor 9 is electrically connected to the motor 6. A current signal output end of the current sensor 9 is connected to a current signal input end of the core controller 8.
[31] The double-path servo driver control system further includes an encoder processing module 10 and an encoder 11.
[32] The encoder 11 is electrically connected to the motor 6. A position signal output end of the encoder 11 is connected to a position signal input end of the encoder processing module 10. A speed signal output end of the encoder processing module 10 is connected to a speed signal input end of the core controller 8.
[33] Referring to FIG. 3, FIG. 3 is a schematic flow chart of a first embodiment of a method for implementing a double-path two-in-one high-power servo driver according to the present invention. Based on the above first and second embodiments, a double- path servo driver control system includes: a motor operation controller, a first motor pushing module, a second motor pushing module, a first motor driving module, a second motor driving module, and a motor.
[34] In the present embodiment, the method for implementing a double-path two-in- one high-power servo driver includes the following steps:
[35] In step S10, the motor operation controller acquires a configuration signal and a control signal, determines a soft start time according to the configuration signal, and starts the motor according to the soft start time and the control signal.
[36] After the double-path servo driver control system is started, the system may automatically acquire configuration information about a user, including a soft start time, a soft stop time, a maximum rotation speed, a maximum current, and a CAN bus parameter. The motor operation controller receives a control signal sent by a core controller, and the control signal may include a speed signal and a differential signal for controlling the operation of the motor. The motor operation controller is based on the configured soft start time.
[37] The double-path servo driver control system further includes a core controller.
Before step S10, the method further includes that: the core controller acquires a motor operation speed signal, generates a control signal according to the motor operation speed signal, and sends the control signal to the motor operation controller.
[38] The core controller acquires a speed signal and a differential signal of the operation of the motor through an input interface, and converts the signals into a speed signal and a differential signal of the motor in the double-path servo driver control system. The control signal may include a speed signal and a differential signal for controlling the operation of the motor. The differential signal may include a speed difference between the speed signal for controlling the operation of the motor and an actual speed signal of the motor.
[39] In step S20, the motor operation controller judges an operation mode, and generates an operation control signal according to a current control mode and the control signal.
[40] In the operation of a double-driving mode, the motor operation controller controls the first motor driving module and the second motor driving module simultaneously according to the control signal so as to achieve synchronous control of stable operation of the motor.
[41] In the operation of a single-driving mode, the motor operation controller controls the first motor driving module or the second motor driving module according to the control signal so as to achieve independent control of stable operation of the motor.
[42] In step S30, the first motor pushing module converts the operation control signal into a first pushing signal, and the second motor pushing module converts the operation control signal into a second pushing signal.
[43] In step S40, the first motor driving module generates a first driving signal according to the first pushing signal, and the second motor driving module generates a second driving signal according to the second pushing signal.
[44] The first pushing signal may be a signal which can be recognized and read by the first motor driving module, the second pushing signal may be a signal which can be recognized and read by the second motor driving module, and the operation control signal output by the motor operation controller is input to the first motor driving module and the second motor driving module after being converted by the first motor pushing module and the second motor pushing module, so as to achieve synchronous driving or separate driving of the motor.
[45] In step S50, the motor accepts operation control from the first motor driving module and the second motor driving module according to the first driving signal and the second driving signal so as to meet stable operation requirements of the motor.
[46] The motor may simultaneously or respectively receive the first driving signal and the second driving signal, may be controlled by the synchronous operation of the motor driving module and the second motor driving module according to the first driving signal and the second driving signal, and may also be controlled by the separate operation of the corresponding motor driving module according to any one of the first driving signal and the second driving signal.
[47] In the present embodiment, the motor operation controller acquires a configuration signal and a control signal, determines a soft start time according to the configuration signal, and starts the motor according to the soft start time and the control signal, the motor operation controller judges an operation mode, and generates an operation control signal according to a current control mode and the control signal, the first motor pushing module converts the operation control signal into a first pushing signal, the second motor pushing module converts the operation control signal into a second pushing signal, the first motor driving module generates a first driving signal according to the first pushing signal, the second motor driving module generates a second driving signal according to the second pushing signal, and the motor accepts operation control from the first motor driving module and the second motor driving module according to the first driving signal and the second driving signal so as to meet stable operation requirements of the motor. In the present embodiment, the motor operation controller generates an operation control signal according to an input signal to respectively control two paths of motor pushing modules and motor driving modules so as to control the operation of the motor, thereby realizing two-in-one control of a double- path servo driver.

Claims (2)

ConclusiesConclusions 1. Werkwijze voor het implementeren van een twee-in-een dubbelwegsservoaandrijver met hoog vermogen, met het kenmerk, dat een regelwerkwijze voor een dubbelwegsservoaandrijver toegepast wordt op een regelsysteem voor een dubbelwegsservoaandrijver dat het volgende omvat: een motorwerkingsregelaar, een eerste motorduwmodule, een tweede motorduwmodule, een eerste motoraandrijfmodule, een tweede motoraandrijfmodule en een motor; waarbij de werkwijze voor het implementeren van een twee-in-een dubbelwegsservoaandrijver met hoog vermogen het volgende omvat: het door de motorwerkingsregelaar verwerven van een configuratiesignaal en een regelsignaal, het bepalen van een zachtestartmoment volgens het configuratiesignaal en het starten van de motor volgens het zachtestartmoment en het regelsignaal, het door de motorwerkingsregelaar beoordelen van een werkingsmodus, en het genereren van een werkingsregelsignaal volgens een huidige regelmodus en het regelsignaal, het door de eerste motorduwmodule in een eerste duwsignaal omzetten van het werkingsregelsignaal, het door de tweede motorduwmodule in een tweede duwsignaal omzetten van het werkingsregelsignaal, het door de eerste motoraandrijfmodule genereren van een eerste aandrijfsignaal volgens het eerste duwsignaal; het door de tweede motoraandrijfmodule genereren van een tweede aandrijfsignaal volgens het tweede duwsignaal; en het door de motor accepteren van de werkingsregeling van de eerste motoraandrijfmodule en de tweede motoraandrijfmodule volgens het eerste aandrijfsignaal en het tweede aandrijfsignaal om zo aan stabiele werkingsvoorwaarden van de motor te voldoen.A method of implementing a two-in-one high power dual-way servo driver, characterized in that a dual-way servo driver control method is applied to a dual-way servo driver control system comprising: an engine operation controller, a first engine pusher module, a second motor pusher module, a first motor drive module, a second motor drive module and a motor; wherein the method of implementing a high power two-in-one dual-way servo driver comprises: the motor operation controller acquiring a configuration signal and a control signal, determining a soft start timing according to the configuration signal, and starting the motor according to the soft starting timing and the control signal, the engine operation controller judging an operation mode, and generating an operation control signal according to a current control mode and the control signal, the first engine push module converting the operation control signal into a first push signal, the second engine push module converting the operation control signal into a second push signal converting the operation control signal, the first motor drive module generating a first drive signal according to the first push signal; the second motor drive module generating a second drive signal according to the second push signal; and the engine accepting the operation control of the first engine drive module and the second engine drive module according to the first engine drive signal and the second engine drive signal so as to satisfy stable engine operation conditions. 2. Werkwijze voor het implementeren van een twee-in-een dubbelwegsservoaandrijver met hoog vermogen volgens conclusie 1, met het kenmerk, dat de het regelsysteem voor een dubbelwegsservoaandrijver verder een kernregelaar omvat;A method for implementing a two-in-one high-power dual-way servo driver according to claim 1, characterized in that the dual-way servo driver control system further comprises a core controller; waarbij de werkwijze, voorafgaand aan het door de motorwerkingsregelaar verwerven van een configuratiesignaal en een regelsignaal, het bepalen van een zachtestartmoment volgens het configuratiesignaal en het starten van de motor volgens het zachtestartmoment en het regelsignaal, verder het volgende omvat: het door de kernregelaar verwerven van een motorwerkingssnelheidssignaal, het genereren van een regelsignaal volgens het motorwerkingssnelheidssignaal en het naar de motorwerkingsregelaar verzenden van het regelsignaal.the method, prior to the motor operation controller acquiring a configuration signal and a control signal, determining a soft start timing according to the configuration signal, and starting the motor according to the soft start timing and control signal, further comprising: the core controller acquiring a an engine operating speed signal, generating a control signal according to the engine operating speed signal, and transmitting the control signal to the engine operating controller.
NL2030720A 2022-01-26 2022-01-26 Method for implementing double-path two-in-one high-power servo driver NL2030720B1 (en)

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NL2030720A NL2030720B1 (en) 2022-01-26 2022-01-26 Method for implementing double-path two-in-one high-power servo driver

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NL2030720A NL2030720B1 (en) 2022-01-26 2022-01-26 Method for implementing double-path two-in-one high-power servo driver

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