TWI410039B - Motor driving device - Google Patents

Abstract

A motor driving device includes a motor driver, a speed control loop, a current control loop, and an arithmetic selecting module. The motor driver is configured for providing a current signal for a motor which outputs a speed signal after receiving the current signal. The speed control loop includes a first selector and at least two arithmetic modules, and is configured for receiving the speed signal and a speed command. The current control loop includes a second selector and at least two arithmetic modules, and is configured for receiving the current signal. The arithmetic selecting module is configured for outputting a first select command to select an arithmetic module of the speed control loop and a second select command to select an arithmetic module of the current control loop. The speed control loop provides a current command for the current control loop and the arithmetic selecting module after the speed signal and the speed command is processed by the selected arithmetic module. After the current command and the current signal is processed by the selected arithmetic module of the current control loop, a control signal is provided to the motor driver to adjust the current signal thereby to adjust the speed signal of the motor.

Description

Motor drive

The present invention relates to a drive device, and more particularly to a motor drive device.

Most of the conventional motor drives can only use one algorithm (also known as control algorithm) to drive the motor, such as proportional integral (PI) algorithm, proportional derivative (PD) algorithm, proportional integral derivative (PID) algorithm, fuzzy (FUZZY) algorithm or voltage/vector (V/F) algorithm and so on. Different algorithms are used to control the different driving performance of the motor drive. For example, the PI algorithm can make the motor drive device have no steady-state error after entering the steady state; the PD algorithm can improve the dynamic characteristics of the motor drive device during the adjustment process. However, when the load condition of the motor changes or the operating environment changes, the fixed algorithm will not meet the user's requirements for the driving performance of the motor drive.

In view of the above, it is necessary to provide a motor drive device with different algorithms to drive the motor.

A motor driving device includes: a motor driver for driving a motor, the motor driver outputs a current signal to the motor, the motor receives the current signal and outputs a speed signal; and a speed control loop includes a first a selector and at least two algorithm modules, each of the speed control loop algorithm modules respectively for storing different algorithms, the speed control loop receiving the speed signal and a speed a current control loop comprising a second selector and at least two algorithm modules, wherein each of the current control loop algorithm modules is configured to store a different algorithm, the current control loop receives the current signal; and a calculation a method selection module, connected to the motor and the motor driver, and receiving the current signal and the speed signal for selecting an algorithm module of the speed control loop and the current control loop; the first selector receiving the algorithm selection module a first selection command, selecting an algorithm module of the speed control loop according to the first selection command, the speed command and the speed signal are calculated by an algorithm module of the selected speed control loop to obtain a current command, the current a command is provided to the current control loop and an algorithm selection module, the algorithm selection module issues a second selection command to the second selector, and the second selector selects one of the current control loops according to the second selection command The algorithm module calculates the current command and the current signal and outputs a control signal To the motor driver, the motor drive signal to adjust the speed of the motor output of the control signal according to the adjustment of the current signal.

The motor drive device obtains different driving performances of the servo system by selecting different algorithm modules of the speed control loop and the current control loop.

Referring to FIG. 1, a preferred embodiment of the motor driving device of the present invention includes a servo system 100, an algorithm selection module 200, a speed control loop 300, and a current control loop 400. The servo system 100 includes a motor driver 101 and a motor 102 for driving The motor 102 is moved. The algorithm selection module 200 includes an algorithm selection determiner 201, a human machine interface 202, and a selection input device 203. The selection input device 203 selectively receives the selection command of the human machine interface 202 or the algorithm selection determiner 201. . The speed control loop 300 includes a first selector 301, a first algorithm module 311, and a second algorithm module 312. The first selector 301 receives the selection command output by the selection input device 203 to select an algorithm module. The current control loop 400 includes a second selector 401, a third algorithm module 411, and a fourth algorithm module 412. The second selector 401 receives the selection command output by the selection input device 203 to select an algorithm module. In this embodiment, the execution hardware of the speed control loop 300 and the current control loop 400 are two processing chips.

Initially, the motor driver 101 is powered up to provide a current signal Is to the motor 102 to drive the motor 102. The motor 102 starts to work and outputs a rotational speed signal Vs, and the rotational speed signal Vs is supplied to the speed control circuit 300. And the algorithm selects the determiner 201, and the current signal Is is supplied to the current control loop 400 and the algorithm selection determiner 201. At the same time, a speed command Vc outputted by a control platform (not shown) is supplied to the first selector 301 and the algorithm selection determiner 201. When the motor driver 101 is powered on, the rotational speed of the rotational speed signal Vs output by the motor 102 is zero. At this time, the operator can select, by the selection input device 203, a selection command is provided by the human machine interface 202 to the first selection. The 301 is configured to manually select an algorithm module, and the selection input device 203 is selected to provide a selection command to the first selector 301 to automatically select an algorithm. Module. The selection input device 203 can be a hardware device, such as a single-pole double-throw switch, or a control program. The operator selects the human machine interface 202 or the algorithm selection determiner 201 by controlling the selection input device 203. When the operator chooses to automatically select the algorithm module through the algorithm selection determiner 201, the algorithm selection determiner 201 compares the rotational speed command Vc with the rotational speed signal Vs output by the motor 102, and commands the speed and the rotational speed according to the rotational speed command Vc. The difference between the signals Vs is used to select the algorithm module. For example, when the difference between the rotational speed command Vc and the rotational speed signal Vs is 0 to 200 rpm (rev/min), the algorithm selection determiner 201 issues a selection command to control the first selector 301 to select the first algorithm. When the difference between the rotational speed command Vc and the rotational speed signal Vs is 200 rpm~500 rpm, the algorithm selection determiner 201 issues another selection command to control the first selector 301 to select the second algorithm module 312. .

After the rotational speed command Vc and the rotational speed signal Vs are calculated by the first or second algorithm module 311 or 312, the speed control loop 300 generates a current command Ic, which is fed back to the algorithm selection determiner 201. And is output to the second selector 401. At this time, the operator can also select the algorithm module of the current control circuit 400 manually selected by the human interface 200 through the selection input device 203, and can also select the automatic selection by the algorithm selection determiner 201 through the selection input device 203. The algorithm module of current control loop 400. When the operator chooses to automatically select the algorithm module through the algorithm selection determiner 201, the algorithm selection determiner 201 compares the current command Ic with the current signal Is provided by the motor driver 101 to the motor 102, according to the current. The algorithm module is selected by the difference between the command Ic and the current signal Is. For example, when the current is When the difference between Ic and the current signal Is is 0A~5A, the algorithm selection determiner 201 issues a selection command to control the second selector 401 to select the third algorithm module 411; when the current command Ic and the current signal When the difference of Is is 5A~10A, the algorithm selection determiner 201 issues another selection command to control the second selector 401 to select the fourth algorithm module 412. After the current command Ic and the current signal Is are calculated by the third or fourth algorithm module 411 or 412, the current control circuit 400 outputs a control signal Cs, and the control signal Cs is fed back to the motor driver 101. The motor driver 101 adjusts the value of the current signal Is according to the control signal Cs to adjust the speed signal Vs of the motor 102.

In this embodiment, the algorithm module of the speed control circuit 300 and the current control circuit 400 is manually selected by the human machine interface 202 when the motor driver 101 starts to start; when the motor 102 is normally operated, the calculation is generally performed. The method selection determiner 201 automatically selects the algorithm module. However, the motor driving device of the present invention is not limited thereto. In other embodiments, the algorithm selection judging unit 201 may automatically select the algorithm module when the motor driver 101 starts to be started. Therefore, in other embodiments, The motor drive device may include only the algorithm selection determiner 201 to automatically select an algorithm module.

The speed control loop 300 and the current control loop 400 may respectively include complex algorithm modules other than two, and are not limited to two of the embodiments. In other embodiments, the motor driving device may also perform selection and calculation of an algorithm module for other control loops of the servo system 100, such as a pressure control loop and a voltage control loop, etc., at this time, the motor driver 101 will output A voltage signal is given to the voltage control loop and algorithm selection The determiner 201, the motor 102 will output a pressure signal to the pressure control loop and the algorithm selection determiner 201.

In another embodiment, the control loop may include a complex algorithm module, and the other control loop includes only one algorithm module, and the control loop including the complex algorithm module may select the module 201 or the human machine through the algorithm. The interface 202 selects an algorithm module for calculation, and the control loop including an algorithm module is fixedly calculated using an algorithm. At this time, the control loop including an algorithm module does not need to use a selector.

The motor driving device can automatically select the speed control loop 300 and the algorithm module of the current control loop 400 through the human machine interface 202 to obtain different driving performances of the servo system 100, so that the motor 102 can be obtained by the algorithm selection determiner 201. When the load condition changes or the operating environment changes, the algorithm module can meet the operator's requirements for the driving performance of the motor drive device.

In summary, the present invention complies with the requirements of the invention patent and submits a patent application according to law. The above description is only the preferred embodiment of the present invention, and equivalent modifications or variations made by those skilled in the art will be included in the following claims.

Servo system ‧‧100

Algorithm selection module ‧‧200

Speed control loop ‧‧300

Current control circuit ‧‧400

Motor drive ‧‧1101

Motor ‧‧102

Algorithm selection judger ‧‧201

Man-machine interface ‧‧‧202

Select input device ‧‧‧203

First selector ‧‧ 301

First algorithm module ‧‧‧311

Second algorithm module ‧‧‧312

Second selector ‧‧ 401

First algorithm module ‧‧‧411

Second algorithm module ‧‧‧412

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram of a preferred embodiment of a motor drive unit of the present invention.

Servo system ‧‧100

Algorithm selection module ‧‧200

Speed control loop ‧‧300

Current control circuit ‧‧400

Motor drive ‧‧1101

Motor ‧‧102

Algorithm selection judger ‧‧201

Man-machine interface ‧‧‧202

Select input device ‧‧‧203

First selector ‧‧ 301

First algorithm module ‧‧‧311

Second algorithm module ‧‧‧312

Second selector ‧‧ 401

First algorithm module ‧‧‧411

Second algorithm module ‧‧‧412

Claims (9)

A motor driving device includes: a motor driver for driving a motor, the motor driver outputs a current signal to the motor, the motor receives the current signal and outputs a speed signal; and a speed control loop includes a first a selector and at least two algorithm modules, each of the algorithm modules of the speed control loop is configured to store different algorithms, the speed control loop receives the speed signal and a speed command; and a current control loop includes a second selection And at least two algorithm modules, each of the current control loop algorithm modules are respectively configured to store different algorithms, the current control loop receives the current signal; and an algorithm selection module is connected to the motor and the motor driver, Receiving the current signal and the speed signal, and selecting an algorithm module of the speed control loop and the current control loop; the first selector receiving the first selection command issued by the algorithm selection module, according to the The first selection command selects one of the speed control loop algorithm modules, the turn The command and the speed signal are calculated by the algorithm module of the selected speed control loop to obtain a current command, the current command is provided to the current control loop and the algorithm selection module, and the algorithm selection module issues a second selection command to The second selector, the second selector selects an algorithm module of the current control circuit to calculate the current command and the current signal according to the second selection command, and outputs a control signal to the motor driver, the motor driver is configured according to the second The control signal adjusts the current signal to adjust the speed signal output by the motor. The motor driving device of claim 1, wherein the algorithm selection module is an algorithm selection determiner, and the algorithm selection determiner issues the first selection according to a comparison result between the rotation speed command and the rotation speed signal. Commanding, and issuing the second selection command according to the comparison result of the current command and the current signal. The motor drive device of claim 1, wherein the algorithm selection module comprises a human machine interface, an algorithm selection determiner, and an input selection device for selecting by the human machine interface or The algorithm selects a determiner to output the first selection command and the second selection command. When selecting the first selection command and the second selection command by the algorithm selection determiner, the algorithm selection determiner is configured according to the rotation speed command. The first selection command is issued according to the comparison result of the rotation speed signal, and the second selection command is issued according to the comparison result of the current command and the current signal. A motor driving device includes: a motor driver for driving a motor, the motor driver outputs a current signal to the motor, the motor receives the current signal and outputs a speed signal; and a speed control loop includes an algorithm a module, the algorithm module is configured to store an algorithm, the speed control loop receives the speed signal and a speed command; a current control loop includes a selector and at least two algorithm modules, and each current control loop algorithm The modules are respectively configured to store different algorithms, the current control loop receives the current signal; and an algorithm selection module is connected to the motor and the motor driver, and receives the current signal for selecting an algorithm of the current control loop Module When the speed command and the speed signal are calculated by the algorithm module of the speed control loop, a current command is obtained, and the current command is provided to the current control loop and the algorithm selection module, and the algorithm selects the module according to the current command and current. The comparison result of the signal sends a selection command to the second selector, and the second selector selects one of the current control loops according to the second selection command to calculate the current command and the current signal and output a control signal to The motor driver adjusts the current signal according to the control signal to adjust the speed signal output by the motor. The motor driving device of claim 4, wherein the algorithm selection module is an algorithm selection determiner, and the algorithm selection determiner issues the selection command according to a difference between the current command and the current signal. The motor drive device of claim 4, wherein the algorithm selection module comprises a human machine interface, an algorithm selection determiner, and an input selection device for selecting by the human machine interface or The algorithm selects a determiner to output the selection command. When the algorithm selects the selector to output the selection command, the algorithm selection determiner issues the selection command according to the difference between the current command and the current signal. A motor driving device includes: a motor driver for driving a motor, the motor driver outputs a current signal to the motor, the motor receives the current signal and outputs a speed signal; and a speed control circuit includes a selector And at least two algorithm modules, each of the speed control loop algorithm modules are respectively configured to store different algorithms, the speed control loop receives the speed signal and a speed command; and a current control loop includes an algorithm module, Algorithm module for Storing an algorithm, the current control loop receives the current signal; and an algorithm selection module coupled to the motor and the motor driver, and receiving the speed signal for selecting an algorithm module of the speed control loop; the selector Receiving one of the selection commands issued by the algorithm selection module, selecting one of the speed control loop algorithm modules according to the selection command, and the speed command and the speed signal are calculated by the algorithm module of the selected speed control loop. a current command, the current command is provided to the current control loop; the algorithm module of the current control loop calculates the current command and the current signal and outputs a control signal to the motor driver, and the motor driver adjusts the current signal according to the control signal The current signal thereby adjusts the speed signal of the motor output. The motor driving device of claim 7, wherein the algorithm selection module is an algorithm selection determiner, and the algorithm selection determiner issues the selection command according to a comparison result between the rotation speed command and the rotation speed signal. The motor drive device of claim 7, wherein the algorithm selection module comprises a human machine interface, an algorithm selection determiner, and an input selection device for selecting by the human machine interface or The algorithm selects a determiner to output the selection command. When the selection algorithm is selected by the algorithm selection determiner, the algorithm selection determiner issues the selection command according to the comparison result between the rotation speed command and the rotation speed signal.