WO2019196506A1 - Servo driver - Google Patents

Servo driver Download PDF

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Publication number
WO2019196506A1
WO2019196506A1 PCT/CN2018/124146 CN2018124146W WO2019196506A1 WO 2019196506 A1 WO2019196506 A1 WO 2019196506A1 CN 2018124146 W CN2018124146 W CN 2018124146W WO 2019196506 A1 WO2019196506 A1 WO 2019196506A1
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Prior art keywords
current
output
signal
chip
circuit
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PCT/CN2018/124146
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French (fr)
Chinese (zh)
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李泽源
刘刚
黄廉真
焦建宇
吴宏
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固高科技(深圳)有限公司
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Priority to CN201810312050.1A priority Critical patent/CN110224646A/en
Priority to CN201810312050.1 priority
Application filed by 固高科技(深圳)有限公司 filed Critical 固高科技(深圳)有限公司
Publication of WO2019196506A1 publication Critical patent/WO2019196506A1/en

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04Arrangements 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
    • H02P27/06Arrangements 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
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22Current control, e.g. using a current control loop
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01Current loop, i.e. comparison of the motor current with a current reference

Abstract

Disclosed is a servo driver, comprising: a rectification and inversion circuit, which is configured to obtain a three-phase alternating current and output the three-phase alternating current to a servo motor, and is further configured to receive a switch signal output by a vector control circuit and to disconnect from or connect to the servo motor according to the switch signal; a current sampling circuit, which is configured to sample the three-phase alternating current to obtain a current signal and output same to a current driving circuit; the current driving circuit, which is configured to receive the current signal output by the current sampling circuit, is further configured to receive a feedback signal output by an encoder of the servo motor, and is also configured to receive a current instruction sent from the outside and compute the current signal and the feedback signal according to the current instruction to obtain a voltage signal and output same to the vector control circuit; and the vector control circuit, which is configured to receive the voltage signal and generate the switch signal according to the voltage signal, and output the switch signal to the rectification and inversion circuit.

Description

伺服驱动器server Driver
本申请要求于2018年4月9日提交中国专利局,申请号为2018103120501,申请名称为“伺服驱动器”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。The present application claims priority to Chinese Patent Application No. 2018103120501, filed on Apr. 9, 2018, the entire disclosure of which is hereby incorporated by reference.
技术领域Technical field
本申请涉及驱动控制技术领域,特别是涉及一种伺服驱动器。The present application relates to the field of drive control technology, and in particular to a servo drive.
背景技术Background technique
这里的陈述仅提供与本申请有关的背景信息,而不必然地构成现有技术。The statements herein merely provide background information related to the present application and do not necessarily constitute prior art.
示例性的伺服驱动器硬件一般由主控电路、整流与功率逆变电路、辅助电源、显示与按键四部分组成,可实现对伺服电机位置、速度和电流的精确控制,并接收上位控制器的指令进行指定运动。通常情况下,伺服驱动器的外设包含IO输入输出、模拟量输入输出、编码器输入输出等,导致主控电路通常由一个处理器和一个可编程逻辑器件组成,网络型驱动器还包括网络处理芯片设置为总线通信的处理。因此,传统的伺服驱动器虽然功能丰富、性能强大,但结构比较复杂,不能满足工业现场对设备小型化、集成化的要求。The exemplary servo driver hardware is generally composed of a main control circuit, a rectification and power inverter circuit, an auxiliary power supply, a display and a button, and can accurately control the position, speed and current of the servo motor, and receive the command of the upper controller. Perform the specified exercise. Usually, the peripherals of the servo driver include IO input and output, analog input and output, encoder input and output, etc., so that the main control circuit usually consists of a processor and a programmable logic device, and the network driver also includes a network processing chip. Set to handle bus communication. Therefore, although the traditional servo driver has rich functions and powerful performance, the structure is relatively complicated, which cannot meet the requirements of miniaturization and integration of equipment on the industrial site.
发明内容Summary of the invention
根据本申请公开的各种实施例,提供一种伺服驱动器。In accordance with various embodiments disclosed herein, a servo drive is provided.
一种伺服驱动器,设置为驱动伺服电机转动,包括:整流与逆变电路、电流采样电路、电流驱动电路及矢量控制电路;A servo driver configured to drive a servo motor to rotate, comprising: a rectification and inverter circuit, a current sampling circuit, a current driving circuit, and a vector control circuit;
所述整流与逆变电路的输入端连接所述矢量控制电路的输出端,输出端分别连接所述电流采样电路的输入端及所述伺服电机,所述电流采样电路的 输出端及所述伺服电机编码器的输出端连接所述电流驱动电路的输入端,所述电流驱动电路的输出端连接所述矢量控制电路的输入端;An input end of the rectification and inverter circuit is connected to an output end of the vector control circuit, and an output end is respectively connected to an input end of the current sampling circuit and the servo motor, an output end of the current sampling circuit and the servo An output end of the motor encoder is connected to an input end of the current driving circuit, and an output end of the current driving circuit is connected to an input end of the vector control circuit;
所述整流与逆变电路设置为对外部输入的电压进行整流、逆变得到三相交流电流,并将所述三相交流电流输出至所述伺服电机,还设置为接收所述矢量控制电路输出的开关信号,并根据所述开关信号断开或导通所述整流与逆变电路与所述伺服电机的连接;The rectifying and inverting circuit is configured to rectify and invert an externally input voltage to obtain a three-phase alternating current, and output the three-phase alternating current to the servo motor, and further configured to receive the vector control circuit output Switching signal, and disconnecting or conducting the connection between the rectifying and inverter circuit and the servo motor according to the switching signal;
所述电流采样电路设置为对所述三相交流电流进行采样,得到电流信号,并将所述电流信号输出至所述电流驱动电路;The current sampling circuit is configured to sample the three-phase alternating current to obtain a current signal, and output the current signal to the current driving circuit;
所述电流驱动电路设置为接收所述电流采样电路输出的电流信号,还设置为接收所述伺服电机编码器输出的反馈信号,同时设置为接收外部发送的电流指令,并根据所述电流指令对所述电流信号及所述反馈信号进行计算,得到电压信号,并将所述电压信号输出至所述矢量控制电路;The current driving circuit is configured to receive a current signal output by the current sampling circuit, and is further configured to receive a feedback signal output by the servo motor encoder, and is configured to receive an externally sent current command, and according to the current command pair Calculating the current signal and the feedback signal to obtain a voltage signal, and outputting the voltage signal to the vector control circuit;
所述矢量控制电路设置为接收所述电压信号,并根据所述电压信号生成开关信号,且将所述开关信号输出至所述整流与逆变电路。The vector control circuit is configured to receive the voltage signal, generate a switching signal based on the voltage signal, and output the switching signal to the rectifying and inverting circuit.
在其中一个实施例中,在所述整流与逆变电路与所述伺服电机的连接导通时,所述整流与逆变电路还设置为根据所述开关信号输出对应的电压值至所述伺服电机。In one embodiment, when the connection between the rectification and inverter circuit and the servo motor is turned on, the rectification and inverter circuit is further configured to output a corresponding voltage value to the servo according to the switch signal. Motor.
在其中一个实施例中,所述电流驱动电路包括编码器接口芯片和计算芯片;In one embodiment, the current driving circuit includes an encoder interface chip and a computing chip;
所述编码器接口芯片的一端连接所述伺服电机编码器,另一端连接所述计算芯片的输入端,所述计算芯片的输入端还连接所述电流采样电路的输出端,输出端连接所述矢量控制电路的输入端;One end of the encoder interface chip is connected to the servo motor encoder, and the other end is connected to an input end of the computing chip, an input end of the computing chip is further connected to an output end of the current sampling circuit, and an output end is connected to the output end. The input of the vector control circuit;
所述编码器接口芯片设置为接收所述伺服电机编码器输出的反馈信号,并将所述反馈信号输出至所述计算芯片;The encoder interface chip is configured to receive a feedback signal output by the servo motor encoder, and output the feedback signal to the computing chip;
所述计算芯片设置为接收所述电流采样电路输出的所述电流信号,还设置为接收所述编码器接口芯片输出的反馈信号,同时接收外部发送的电流指令,并根据所述电流指令对所述电流信号及所述反馈信号进行计算,得到电 压控制信号,再对所述电压控制信号进行数学变形,得到电压信号,并将电压信号输出至所述矢量控制电路。The computing chip is configured to receive the current signal output by the current sampling circuit, and is further configured to receive a feedback signal output by the encoder interface chip, and simultaneously receive an externally sent current command, and according to the current command The current signal and the feedback signal are calculated to obtain a voltage control signal, and the voltage control signal is mathematically deformed to obtain a voltage signal, and the voltage signal is output to the vector control circuit.
在其中一个实施例中,所述电流驱动电路还包括第一滤波芯片;In one embodiment, the current driving circuit further includes a first filter chip;
所述第一滤波芯片的输入端和输出端分别对应连接所述编码器接口芯片的输出端和所述计算芯片的输入端;The input end and the output end of the first filter chip are respectively connected to an output end of the encoder interface chip and an input end of the computing chip;
所述第一滤波芯片设置为接收所述反馈信号,并对所述反馈信号进行滤波,且将滤波后的反馈信号输出至所述计算芯片。The first filter chip is configured to receive the feedback signal, filter the feedback signal, and output the filtered feedback signal to the computing chip.
在其中一个实施例中,所述计算芯片包括三角函数计算子芯片和电流环路计算子芯片;In one embodiment, the computing chip includes a trigonometric function computing chip and a current loop computing chip;
所述三角函数计算子芯片的输入端和输出端分别对应连接所述编码器接口芯片的输出端和所述电流环路计算子芯片的输入端,所述电流环路计算子芯片的输入端和输出端还分别对应连接所述电流采样电路的输出端和所述矢量控制电路的输入端;The input end and the output end of the trigonometric computing sub-chip are respectively connected to an output end of the encoder interface chip and an input end of the current loop computing sub-chip, and the current loop calculates an input end of the sub-chip and The output ends are also respectively connected to the output end of the current sampling circuit and the input end of the vector control circuit;
所述三角函数计算芯片设置为对所述反馈信号进行计算,得到伺服电机转动角度信号,并将所述伺服电机转动角度信号输出至所述电流环路计算子芯片;The trigonometric function computing chip is configured to calculate the feedback signal, obtain a servo motor rotation angle signal, and output the servo motor rotation angle signal to the current loop calculation sub-chip;
所述电流环路计算子芯片设置为根据外部指令对所述电流信号和所述伺服电机转动角度信号进行计算,得到电压控制信号,再对所述电压控制信号进行数学变形输出,得到电压信号,并将电压信号输出至所述矢量控制电路。The current loop computing sub-chip is configured to calculate the current signal and the servo motor rotation angle signal according to an external command to obtain a voltage control signal, and then perform mathematical deformation output on the voltage control signal to obtain a voltage signal. And outputting a voltage signal to the vector control circuit.
在其中一个实施例中,所述电流驱动电路还包括第二滤波芯片;In one embodiment, the current driving circuit further includes a second filter chip;
所述第二滤波芯片的输入端和输出端分别对应连接所述电流采样电路的输出端和所述计算芯片的输入端,所述第二滤波芯片设置为对所述电流信号进行滤波,并将滤波后的电流信号输出至所述计算芯片。An input end and an output end of the second filter chip are respectively connected to an output end of the current sampling circuit and an input end of the computing chip, and the second filter chip is configured to filter the current signal, and The filtered current signal is output to the computing chip.
在其中一个实施例中,所述第二滤波芯片包括Sinc滤波器。In one of the embodiments, the second filter chip comprises a sinc filter.
在其中一个实施例中,所述电流驱动电路还包括网络接口;In one embodiment, the current drive circuit further includes a network interface;
所述网络接口的一端连接所述计算芯片,另一端连接外部芯片;所述网络接口设置为将所述计算芯片输出的所述反馈信号和所述电流信号输出至外 部芯片,同时接收外部芯片发送的电流指令。One end of the network interface is connected to the computing chip, and the other end is connected to an external chip; the network interface is configured to output the feedback signal and the current signal output by the computing chip to an external chip, and receive an external chip to send Current command.
在其中一个实施例中,所述伺服驱动器还包括保护电路;In one embodiment, the servo driver further includes a protection circuit;
所述保护电路连接所述电流驱动电路;所述保护电路设置为对所述电流驱动电路所接收的所述反馈信号和所述电流信号进行监测,若所述反馈信号和所述电流信号超过预设值,则控制所述电流驱动电路停止输出所述电压信号。The protection circuit is connected to the current driving circuit; the protection circuit is configured to monitor the feedback signal and the current signal received by the current driving circuit, if the feedback signal and the current signal exceed a pre- When a value is set, the current drive circuit is controlled to stop outputting the voltage signal.
在其中一个实施例中,所述保护电路包括过流过压保护电路。In one of these embodiments, the protection circuit includes an overcurrent and overvoltage protection circuit.
在其中一个实施例中,所述伺服驱动器还包括状态机;In one embodiment, the servo drive further includes a state machine;
所述状态机连接所述电流驱动电路;所述状态机设置为对所述电流驱动电路内部的计算进行协调。The state machine is coupled to the current drive circuit; the state machine is configured to coordinate calculations within the current drive circuit.
在其中一个实施例中,所述状态机包括状态寄存器和组合逻辑电路。In one of these embodiments, the state machine includes a status register and a combinational logic circuit.
在其中一个实施例中,所述状态机包括摩尔型状态机和米莉型状态机。In one of these embodiments, the state machine includes a Moore state machine and a Milli state machine.
在其中一个实施例中,所述电流驱动电路包括处理器和可编程逻辑器件中的一种。In one of the embodiments, the current drive circuit comprises one of a processor and a programmable logic device.
在其中一个实施例中,所述处理器为带网络协议的处理器。In one of the embodiments, the processor is a processor with a network protocol.
一种伺服驱动器,设置为驱动伺服电机转动,包括:整流与逆变电路、电流采样电路、电流驱动电路及矢量控制电路;A servo driver configured to drive a servo motor to rotate, comprising: a rectification and inverter circuit, a current sampling circuit, a current driving circuit, and a vector control circuit;
所述整流与逆变电路的输入端连接所述矢量控制电路的输出端,输出端分别连接所述电流采样电路的输入端及所述伺服电机,所述电流采样电路的输出端及所述伺服电机编码器的输出端连接所述电流驱动电路的输入端,所述电流驱动电路的输出端连接所述矢量控制电路的输入端;An input end of the rectification and inverter circuit is connected to an output end of the vector control circuit, and an output end is respectively connected to an input end of the current sampling circuit and the servo motor, an output end of the current sampling circuit and the servo An output end of the motor encoder is connected to an input end of the current driving circuit, and an output end of the current driving circuit is connected to an input end of the vector control circuit;
所述整流与逆变电路设置为对外部输入的电压进行整流、逆变得到三相交流电流,并将所述三相交流电流输出至所述伺服电机,还设置为接收所述矢量控制电路输出的开关信号,并根据所述开关信号断开或导通所述整流与逆变电路与所述伺服电机的连接,在所述整流与逆变电路与所述伺服电机的连接导通时,所述整流与逆变电路还设置为根据所述开关信号输出对应的电压值至所述伺服电机;The rectifying and inverting circuit is configured to rectify and invert an externally input voltage to obtain a three-phase alternating current, and output the three-phase alternating current to the servo motor, and further configured to receive the vector control circuit output a switching signal, and according to the switching signal, disconnecting or conducting the connection between the rectifying and inverter circuit and the servo motor, when the connection between the rectifying and inverter circuit and the servo motor is turned on, The rectifying and inverting circuit is further configured to output a corresponding voltage value to the servo motor according to the switching signal;
所述电流采样电路设置为对所述三相交流电流进行采样,得到电流信号,并将所述电流信号输出至所述电流驱动电路;The current sampling circuit is configured to sample the three-phase alternating current to obtain a current signal, and output the current signal to the current driving circuit;
所述电流驱动电路设置为接收所述电流采样电路输出的电流信号,还设置为接收所述伺服电机编码器输出的反馈信号,同时设置为接收外部发送的电流指令,并根据所述电流指令对所述电流信号及所述反馈信号进行计算,得到电压信号,并将所述电压信号输出至所述矢量控制电路;The current driving circuit is configured to receive a current signal output by the current sampling circuit, and is further configured to receive a feedback signal output by the servo motor encoder, and is configured to receive an externally sent current command, and according to the current command pair Calculating the current signal and the feedback signal to obtain a voltage signal, and outputting the voltage signal to the vector control circuit;
所述矢量控制电路设置为接收所述电压信号,并根据所述电压信号生成开关信号,且将所述开关信号输出至所述整流与逆变电路;The vector control circuit is configured to receive the voltage signal, generate a switch signal according to the voltage signal, and output the switch signal to the rectification and inverter circuit;
其中,所述电流驱动电路包括编码器接口芯片和计算芯片;Wherein, the current driving circuit comprises an encoder interface chip and a computing chip;
所述编码器接口芯片的一端连接所述伺服电机编码器,另一端连接所述计算芯片的输入端,所述计算芯片的输入端还连接所述电流采样电路的输出端,输出端连接所述矢量控制电路的输入端;所述编码器接口芯片设置为接收所述伺服电机编码器输出的反馈信号,并将所述反馈信号输出至所述计算芯片,所述计算芯片设置为接收所述电流采样电路输出的所述电流信号,还设置为接收所述编码器接口芯片输出的反馈信号,同时接收外部发送的电流指令,并根据所述电流指令对所述电流信号及所述反馈信号进行计算,得到电压控制信号,再对所述电压控制信号进行数学变形,得到电压信号,并将电压信号输出至所述矢量控制电路;One end of the encoder interface chip is connected to the servo motor encoder, and the other end is connected to an input end of the computing chip, an input end of the computing chip is further connected to an output end of the current sampling circuit, and an output end is connected to the output end. An input end of the vector control circuit; the encoder interface chip is configured to receive a feedback signal output by the servo motor encoder, and output the feedback signal to the computing chip, the computing chip configured to receive the current The current signal output by the sampling circuit is further configured to receive a feedback signal output by the encoder interface chip, receive an externally sent current command, and calculate the current signal and the feedback signal according to the current command. Obtaining a voltage control signal, performing mathematical deformation on the voltage control signal to obtain a voltage signal, and outputting the voltage signal to the vector control circuit;
所述电流驱动电路还包括第一滤波芯片;The current driving circuit further includes a first filter chip;
所述第一滤波芯片的输入端和输出端分别对应连接所述编码器接口芯片的输出端和所述计算芯片的输入端;所述第一滤波芯片设置为接收所述反馈信号,并对所述反馈信号进行滤波,且将滤波后的反馈信号输出至所述计算芯片;An input end and an output end of the first filter chip are respectively connected to an output end of the encoder interface chip and an input end of the computing chip; the first filter chip is configured to receive the feedback signal, and The feedback signal is filtered, and the filtered feedback signal is output to the computing chip;
所述计算芯片包括三角函数计算子芯片和电流环路计算子芯片;The computing chip includes a trigonometric function computing chip and a current loop computing chip;
所述三角函数计算子芯片的输入端和输出端分别对应连接所述编码器接口芯片的输出端和所述电流环路计算子芯片的输入端,所述电流环路计算子芯片的输入端和输出端还分别对应连接所述电流采样电路的输出端和所述矢 量控制电路的输入端;所述三角函数计算芯片设置为对所述反馈信号进行计算,得到伺服电机转动角度信号,并将所述伺服电机转动角度信号输出至所述电流环路计算子芯片;所述电流环路计算子芯片设置为根据外部指令对所述电流信号和所述伺服电机转动角度信号进行计算,得到电压控制信号,再对所述电压控制信号进行数学变形输出,得到电压信号,并将电压信号输出至所述矢量控制电路;The input end and the output end of the trigonometric computing sub-chip are respectively connected to an output end of the encoder interface chip and an input end of the current loop computing sub-chip, and the current loop calculates an input end of the sub-chip and The output end is further respectively connected to the output end of the current sampling circuit and the input end of the vector control circuit; the trigonometric function computing chip is configured to calculate the feedback signal to obtain a servo motor rotation angle signal, and The servo motor rotation angle signal is output to the current loop calculation chip; the current loop calculation chip is configured to calculate the current signal and the servo motor rotation angle signal according to an external command to obtain a voltage control signal. And performing a mathematical deformation output on the voltage control signal to obtain a voltage signal, and outputting the voltage signal to the vector control circuit;
所述电流驱动电路还包括第二滤波芯片;The current driving circuit further includes a second filter chip;
所述第二滤波芯片的输入端和输出端分别对应连接所述电流采样电路的输出端和所述计算芯片的输入端,所述第二滤波芯片设置为对所述电流信号进行滤波,并将滤波后的电流信号输出至所述计算芯片。An input end and an output end of the second filter chip are respectively connected to an output end of the current sampling circuit and an input end of the computing chip, and the second filter chip is configured to filter the current signal, and The filtered current signal is output to the computing chip.
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征和优点将从说明书、附图以及权利要求书变得明显。Details of one or more embodiments of the present application are set forth in the accompanying drawings and description below. Other features and advantages of the present invention will be apparent from the description, drawings and claims.
附图说明DRAWINGS
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some embodiments of the present application, Those skilled in the art can also obtain other drawings based on these drawings without any creative work.
图1为一实施方式提供的一种伺服驱动器的结构框图;1 is a structural block diagram of a servo driver provided by an embodiment;
图2为图1所示实施方式的伺服驱动器的其中一个实施例的电流驱动电路的结构框图;2 is a block diagram showing the structure of a current driving circuit of one embodiment of the servo driver of the embodiment shown in FIG. 1;
图3为图1所示实施方式的伺服驱动器的其中一个实施例的电流驱动电路包括第一滤波芯片的结构框图;3 is a structural block diagram of a current driving circuit of one embodiment of the servo driver of the embodiment shown in FIG. 1 including a first filter chip;
图4为图2所示实施例的伺服驱动器的其中一个实施例的计算芯片的结构框图;4 is a structural block diagram of a computing chip of one embodiment of the servo driver of the embodiment shown in FIG. 2;
图5为图1所示实施方式的伺服驱动器的其中一个实施例的电流驱动电路包括第二滤波芯片的结构框图;5 is a structural block diagram of a current driving circuit including a second filter chip of one embodiment of the servo driver of the embodiment shown in FIG. 1;
图6为图1所示实施方式的伺服驱动器的其中一个实施例的电流驱动电路包括网络接口的结构框图;6 is a structural block diagram of a current driving circuit including a network interface of one embodiment of the servo driver of the embodiment shown in FIG. 1;
图7为图1所示实施方式的伺服驱动器的其中一个实施例的伺服驱动器包括保护电路的结构框图;7 is a structural block diagram of a servo driver including a protection circuit of one embodiment of the servo driver of the embodiment shown in FIG. 1;
图8为图1所示实施方式的伺服驱动器的其中一个实施例的伺服驱动器包括状态机的结构框图。FIG. 8 is a structural block diagram of a servo driver including a state machine of one embodiment of the servo driver of the embodiment shown in FIG. 1. FIG.
具体实施方式detailed description
为了使本申请的技术方案及优点更加清楚明白,以下结合附图及实施例,对本申请进行进一步详细说明。应当理解,此处描述的具体实施例仅仅用以解释本申请,并不用于限定本申请。In order to make the technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.
请参考图1,一实施方式提供了一种伺服驱动器。该伺服驱动器设置为驱动伺服电机转动。该伺服驱动器包括整流与逆变电路110、电流采样电路120、电流驱动电路130及矢量控制电路140。Referring to FIG. 1, an embodiment provides a servo driver. The servo drive is arranged to drive the servo motor to rotate. The servo driver includes a rectification and inverter circuit 110, a current sampling circuit 120, a current driving circuit 130, and a vector control circuit 140.
其中,整流与逆变电路110的输入端连接矢量控制电路140的输出端,输出端分别连接电流采样电路120的输入端及伺服电机。电流采样电路120的输出端及伺服电机编码器的输出端连接电流驱动电路130的输入端。电流驱动电路130的输出端连接矢量控制电路140的输入端。The input end of the rectifying and inverting circuit 110 is connected to the output end of the vector control circuit 140, and the output end is connected to the input end of the current sampling circuit 120 and the servo motor, respectively. The output of the current sampling circuit 120 and the output of the servo motor encoder are connected to the input of the current drive circuit 130. The output of current drive circuit 130 is coupled to the input of vector control circuit 140.
整流与逆变电路110设置为对外部输入的电压进行整流、逆变得到三相交流电流,并将三相交流电流输出至伺服电机,还设置为接收矢量控制电路140输出的开关信号,并根据开关信号断开或导通整流与逆变电路110与伺服电机的连接。The rectifying and inverting circuit 110 is configured to rectify and invert the externally input voltage to obtain a three-phase alternating current, and output the three-phase alternating current to the servo motor, and further set to receive the switching signal output by the vector control circuit 140, and according to The switching signal is disconnected or turned on and rectified to connect the inverter circuit 110 to the servo motor.
具体地,整流与逆变电路110对所输入的市电进行整流,得到直流电,再将该直流电逆变为三相交流电,从而分别接入伺服电机的U相端、V相端、W相端,进而驱动伺服电机的转动。另外,该整流与逆变电路110还接收矢量控制电路140输出的开关信号,并根据该开关信号断开或导通整流与逆变电路110与伺服电机的连接,同时在导通时,该开关信号还起到控制整流与 逆变电路110输出给伺服电机的电压值大小。即在整流与逆变电路110与伺服电机的连接导通时,整流与逆变电路110还设置为根据开关信号输出对应的电压值至伺服电机,从而控制伺服电机的电流,使得伺服电机按照目标运转。Specifically, the rectification and inverter circuit 110 rectifies the input mains to obtain direct current, and then inverts the direct current into three-phase alternating current, thereby respectively connecting the U-phase, the V-phase, and the W-phase of the servo motor. , in turn, drives the rotation of the servo motor. In addition, the rectifying and inverting circuit 110 further receives a switching signal output by the vector control circuit 140, and disconnects or turns on the connection between the rectifying and inverter circuit 110 and the servo motor according to the switching signal, and at the same time, when the switch is turned on, the switch The signal also controls the magnitude of the voltage output to the servo motor by the rectification and inverter circuit 110. That is, when the connection between the rectification and inverter circuit 110 and the servo motor is turned on, the rectification and inverter circuit 110 is further configured to output a corresponding voltage value to the servo motor according to the switch signal, thereby controlling the current of the servo motor, so that the servo motor according to the target Running.
电流采样电路120设置为对三相交流电流进行采样,得到电流信号,并将电流信号输出至电流驱动电路130。其中,电流采样电路120可以是隔离传感器(如霍尔效应或电流互感器)结合一个放大器;也可以是电阻分流器结合一个隔离放大器;还可以是电阻分流器结合一个隔离Σ-ΔADC(Analog-to-Digital Converter,模数转换器)。The current sampling circuit 120 is configured to sample a three-phase alternating current, obtain a current signal, and output the current signal to the current driving circuit 130. The current sampling circuit 120 may be an isolated sensor (such as a Hall effect or a current transformer) combined with an amplifier; or a resistor shunt combined with an isolation amplifier; or a resistor shunt combined with an isolated Σ-Δ ADC (Analog- to-Digital Converter, analog to digital converter).
电流驱动电路130设置为接收电流采样电路120输出的电流信号,还设置为接收伺服电机编码器输出的反馈信号,同时接收外部发送的电流指令,并根据电流指令对电流信号及反馈信号进行计算,得到电压信号,并将电压信号输出至矢量控制电路140。其中,电流驱动电路130包括处理器和可编程逻辑器件中的一种,处理器可以是带网络协议的ARM处理器。另外,该电流驱动电路130也包含支持各类网络协议的网络协议栈。The current driving circuit 130 is configured to receive the current signal output by the current sampling circuit 120, and is further configured to receive a feedback signal output by the servo motor encoder, receive an externally sent current command, and calculate the current signal and the feedback signal according to the current command. A voltage signal is obtained and the voltage signal is output to the vector control circuit 140. The current driving circuit 130 includes one of a processor and a programmable logic device, and the processor may be an ARM processor with a network protocol. In addition, the current drive circuit 130 also includes a network protocol stack that supports various network protocols.
矢量控制电路140设置为接收电压信号,并根据电压信号生成开关信号,且将开关信号输出至整流与逆变电路110。具体地,矢量控制电路140接收电流驱动电路130发送的电压信号,并根据该电压信号生成相应的开关信号,并将该开关信号输出至整流与逆变电路110,以控制整流与逆变电路110的输出。The vector control circuit 140 is configured to receive the voltage signal, generate a switching signal based on the voltage signal, and output the switching signal to the rectifying and inverting circuit 110. Specifically, the vector control circuit 140 receives the voltage signal sent by the current driving circuit 130, generates a corresponding switching signal according to the voltage signal, and outputs the switching signal to the rectifying and inverting circuit 110 to control the rectifying and inverting circuit 110. Output.
上述伺服驱动器中的电流驱动电路130只需负责电流环的计算,而无需对位置环和速度环进行计算,因而只需使用一个单芯片即可实现电流环的计算,从而省去了传统伺服驱动器中需要进行位置环和速度环计算的可编程逻辑芯片,同时也省去了与可编程逻辑芯片进行连接的网络接口,因此该伺服驱动器的结构更为简单,从而实现伺服驱动器的小型化、集成化,进而满足工业现场的需求。The current drive circuit 130 in the above servo driver only needs to be responsible for the calculation of the current loop without calculating the position loop and the speed loop, so that the calculation of the current loop can be realized by using only one single chip, thereby eliminating the conventional servo driver. The programmable logic chip that needs to calculate the position loop and the speed loop also eliminates the network interface connected with the programmable logic chip, so the structure of the servo driver is simpler, thereby realizing the miniaturization and integration of the servo driver. To meet the needs of industrial sites.
在一实施例中,请参考图2,电流驱动电路130包括编码器接口芯片131 和计算芯片132。编码器接口芯片131的一端连接伺服电机编码器,另一端连接计算芯片132的输入端,计算芯片132的输入端还连接电流采样电路120的输出端,输出端连接矢量控制电路140的输入端。In an embodiment, referring to FIG. 2, the current driving circuit 130 includes an encoder interface chip 131 and a computing chip 132. One end of the encoder interface chip 131 is connected to the servo motor encoder, and the other end is connected to the input end of the computing chip 132. The input end of the computing chip 132 is also connected to the output end of the current sampling circuit 120, and the output end is connected to the input end of the vector control circuit 140.
编码器接口芯片131设置为接收伺服电机编码器输出的反馈信号,并将反馈信号输出至计算芯片132。其中,编码器接口芯片131只要能实现将编码器输出的反馈信号输出至伺服驱动器中的计算芯片132即可,从而确保编码器和伺服驱动器之间可进行通信。The encoder interface chip 131 is arranged to receive a feedback signal output by the servo motor encoder and output the feedback signal to the calculation chip 132. The encoder interface chip 131 can output the feedback signal output by the encoder to the computing chip 132 in the servo driver, thereby ensuring communication between the encoder and the servo driver.
计算芯片132设置为接收电流采样电路120输出的电流信号,还设置为接收编码器接口芯片131输出的反馈信号,同时接收外部发送的电流指令,并根据电流指令对电流信号及反馈信号进行计算,得到电压控制信号,再对电压控制信号进行数学变形,得到电压信号,并将电压信号输出至矢量控制电路140。具体地,计算芯片132接收电流采样电路120输出的电流信号,接收编码器接口芯片131输出的反馈信号,还接收外部发送的电流指令,并根据电流指令对电流信号及反馈信号进行计算,得到电压控制信号,再对电压控制信号进行数学变形,得到电压信号,并将电压信号输出至矢量控制电路140。The calculation chip 132 is configured to receive the current signal output by the current sampling circuit 120, and is further configured to receive the feedback signal output by the encoder interface chip 131, receive the externally sent current command, and calculate the current signal and the feedback signal according to the current command. A voltage control signal is obtained, and the voltage control signal is mathematically deformed to obtain a voltage signal, and the voltage signal is output to the vector control circuit 140. Specifically, the computing chip 132 receives the current signal output by the current sampling circuit 120, receives the feedback signal output by the encoder interface chip 131, receives the externally sent current command, and calculates the current signal and the feedback signal according to the current command to obtain a voltage. The control signal is then mathematically deformed to obtain a voltage signal, and the voltage signal is output to the vector control circuit 140.
在一实施例中,请参考图3,电流驱动电路130还包括第一滤波芯片133。第一滤波芯片133的输入端和输出端分别对应连接编码器接口芯片131的输出端和计算芯片132的输入端。第一滤波芯片133设置为接收反馈信号,并对反馈信号进行滤波,且将滤波后的反馈信号输出至计算芯片132。具体地,第一滤波芯片133接收编码器接口芯片131输出的反馈信号,并对该反馈信号进行滤波,再将滤波后的反馈信号输出至计算芯片132。其中,第一滤波芯片133可以是任何可对该反馈信号进行滤波的电路、滤波器等等。In an embodiment, referring to FIG. 3, the current driving circuit 130 further includes a first filter chip 133. The input end and the output end of the first filter chip 133 are respectively connected to the output end of the encoder interface chip 131 and the input end of the computing chip 132. The first filter chip 133 is configured to receive the feedback signal, filter the feedback signal, and output the filtered feedback signal to the computing chip 132. Specifically, the first filter chip 133 receives the feedback signal output by the encoder interface chip 131, filters the feedback signal, and outputs the filtered feedback signal to the computing chip 132. The first filter chip 133 can be any circuit, filter, or the like that can filter the feedback signal.
在一实施例中,请参考图4,计算芯片132包括三角函数计算子芯片1321和电流环路计算子芯片1322。三角函数计算子芯片1321的输入端和输出端分别对应连接编码器接口芯片131的输出端和电流环路计算子芯片1322的输入端,电流环路计算子芯片1322的输入端和输出端还分别对应连接电流采样 电路120的输出端和矢量控制电路140的输入端。In an embodiment, referring to FIG. 4, the computing chip 132 includes a trigonometric function computing sub-chip 1321 and a current loop computing sub-chip 1322. The input end and the output end of the trigonometric function computing sub-chip 1321 are respectively connected to the output end of the encoder interface chip 131 and the input end of the current loop computing sub-chip 1322, and the input end and the output end of the current loop computing sub-chip 1322 are respectively respectively Corresponding to the output of the current sampling circuit 120 and the input of the vector control circuit 140.
三角函数计算芯片1321设置为对反馈信号进行计算,得到伺服电机转动角度信号,并将伺服电机转动角度信号输出至电流环路计算子芯片1322。具体地,三角函数计算芯片接收伺服电机的编码器输出的反馈信号,并对该反馈信号进行计算,得到伺服电机转动角度信号,且将该伺服电机转动角度信号输出至电流环路计算子芯片1322。The trigonometric function calculation chip 1321 is configured to calculate the feedback signal to obtain a servo motor rotation angle signal, and output the servo motor rotation angle signal to the current loop calculation sub-chip 1322. Specifically, the trigonometric function computing chip receives the feedback signal of the encoder output of the servo motor, and calculates the feedback signal to obtain a servo motor rotation angle signal, and outputs the servo motor rotation angle signal to the current loop calculation chiplet 1322. .
电流环路计算子芯片1322设置为根据外部指令对电流信号和伺服电机转动角度信号进行计算,得到电压控制信号,再对电压控制信号进行数学变形得到电压信号,并将电压信号输出至矢量控制电路140。具体地,电流环路计算子芯片1322接收三角函数计算芯片输出的伺服电机转动角度信号,还接收电流采样电路120输出的电流信号及外部所发送的外部指令,并根据外部指令对电流信号和伺服电机转动角度信号进行计算,得到电压控制信号,再对电压控制信号进行数学变形,得到电压信号,并将电压信号输出至矢量控制电路140。The current loop calculation chiplet 1322 is configured to calculate the current signal and the servo motor rotation angle signal according to an external command to obtain a voltage control signal, and then mathematically deform the voltage control signal to obtain a voltage signal, and output the voltage signal to the vector control circuit. 140. Specifically, the current loop computing sub-chip 1322 receives the servo motor rotation angle signal output by the trigonometric function computing chip, and also receives the current signal output by the current sampling circuit 120 and an external command sent externally, and the current signal and the servo according to an external command. The motor rotation angle signal is calculated to obtain a voltage control signal, and then the voltage control signal is mathematically deformed to obtain a voltage signal, and the voltage signal is output to the vector control circuit 140.
在一实施例中,请参考图5,电流驱动电路130还包括第二滤波芯片134。第二滤波芯片134的输入端和输出端分别对应连接电流采样电路120的输出端和计算芯片132的输入端。第二滤波芯片134设置为对电流信号进行滤波,并将滤波后的电流信号输出至计算芯片132。In an embodiment, referring to FIG. 5, the current driving circuit 130 further includes a second filter chip 134. The input end and the output end of the second filter chip 134 are respectively connected to the output end of the current sampling circuit 120 and the input end of the computing chip 132. The second filter chip 134 is configured to filter the current signal and output the filtered current signal to the computing chip 132.
具体地,第二滤波芯片134接收电流采样电路120输出的电流信号,并对电流信号进行滤波,且将滤波后的电流信号输出至计算芯片132。其中,第二滤波芯片134包括Sinc滤波器。在信号处理领域,Sinc滤波器是一个全部除去给定带宽之上的信号分量而只保留低频信号的理想电子滤波器。Specifically, the second filter chip 134 receives the current signal output by the current sampling circuit 120, filters the current signal, and outputs the filtered current signal to the computing chip 132. The second filter chip 134 includes a sinc filter. In the field of signal processing, the sinc filter is an ideal electronic filter that removes all signal components above a given bandwidth while retaining only low frequency signals.
在一实施例中,请参考图6,电流驱动电路130还包括网络接口135。网络接口135的一端连接计算芯片132,另一端连接外部芯片。网络接口135设置为将计算芯片132输出的反馈信号和电流信号输出至外部芯片,同时接收外部芯片发送的电流指令。具体地,网络接口135接收计算芯片132输出的反馈信号和电流信号,并将反馈信号和电流信号传输至外部芯片,从而使 得外部芯片也可进行速度、位置计算及进行相应的电流补偿,还可通过其将外部芯片发送的电流指令输出至计算芯片132。其中,网络接口135可支持各类网络协议,从而实现与外部芯片的连接。In an embodiment, referring to FIG. 6, the current driving circuit 130 further includes a network interface 135. One end of the network interface 135 is connected to the computing chip 132, and the other end is connected to the external chip. The network interface 135 is configured to output the feedback signal and the current signal output by the computing chip 132 to the external chip while receiving the current command sent by the external chip. Specifically, the network interface 135 receives the feedback signal and the current signal output by the computing chip 132, and transmits the feedback signal and the current signal to the external chip, so that the external chip can also perform speed, position calculation, and corresponding current compensation, and The current command sent by the external chip is output to the calculation chip 132. The network interface 135 can support various network protocols to implement connection with an external chip.
在一实施例中,请参考图7,伺服驱动器还包括保护电路140。保护电路140连接电流驱动电路130。保护电路140设置为对电流驱动电路130所接收的反馈信号和电流信号进行监测,若反馈信号和电流信号超过预设值,则控制电流驱动电路130停止输出脉宽调制信号。具体地,保护电路140对电流驱动电路130所接收的反馈信号和电流信号进行检测,只要反馈信号和电流信号中的任一个超过预设值,或者反馈信号和电流信号均超过预设值,则控制电流驱动电路130停止输出脉宽调制信号,从而避免电流驱动电路130被烧毁。若反馈信号和电流信号中的任一个均未超过预设值,则电流驱动电路130正常输出脉宽调制信号。其中,预设值可以根据实际情况进行设定。In an embodiment, referring to FIG. 7, the servo driver further includes a protection circuit 140. The protection circuit 140 is connected to the current drive circuit 130. The protection circuit 140 is configured to monitor the feedback signal and the current signal received by the current driving circuit 130. If the feedback signal and the current signal exceed a preset value, the control current driving circuit 130 stops outputting the pulse width modulation signal. Specifically, the protection circuit 140 detects the feedback signal and the current signal received by the current driving circuit 130, as long as any one of the feedback signal and the current signal exceeds a preset value, or both the feedback signal and the current signal exceed a preset value, The control current drive circuit 130 stops outputting the pulse width modulation signal, thereby preventing the current drive circuit 130 from being burnt. If any of the feedback signal and the current signal does not exceed the preset value, the current driving circuit 130 normally outputs the pulse width modulation signal. Among them, the preset value can be set according to the actual situation.
具体地,保护电路140设置为对电流驱动电路130所接收的反馈信号和电流信号的幅值进行监测,当监测到反馈信号和电流信号中的任何一个幅值超过预设值时,则控制电流驱动电路130停止输出开关信号,从而避免电流驱动电路130被烧毁,当监测到反馈信号和电流信号中的任何一个幅值均未超过预设值时,则确保电流驱动电路130正常工作。其中,保护电路140可以包括过流过压保护电路,该过流过压保护电路可以是采用模拟运放等构成的综合保护电路。Specifically, the protection circuit 140 is configured to monitor the amplitudes of the feedback signal and the current signal received by the current driving circuit 130, and control the current when any one of the feedback signal and the current signal is detected to exceed a preset value. The driving circuit 130 stops outputting the switching signal, thereby preventing the current driving circuit 130 from being burnt. When it is detected that any one of the feedback signal and the current signal does not exceed the preset value, the current driving circuit 130 is ensured to operate normally. The protection circuit 140 may include an overcurrent and overvoltage protection circuit, and the overcurrent and overvoltage protection circuit may be an integrated protection circuit formed by using an analog operational amplifier or the like.
在一实施例中,请参考图8,伺服驱动器还包括状态机150。状态机150连接电流驱动电路130。状态机150设置为对所述电流驱动电路130内部的计算进行协调。具体地,状态机150对电流驱动电路130内部的计算进行协调,使得电流驱动电路130内部的各种计算均能相互配合。其中,状态机150包括状态寄存器和组合逻辑电路,能够根据控制信号按照预先设定的状态进行状态转移,是协调相关信号动作,完成特定操作的控制中心。状态机150包括摩尔型状态机和米莉型状态机。In an embodiment, referring to FIG. 8, the servo drive further includes a state machine 150. The state machine 150 is connected to the current drive circuit 130. State machine 150 is arranged to coordinate the calculations within the current drive circuit 130. Specifically, the state machine 150 coordinates the calculations within the current drive circuit 130 such that various calculations within the current drive circuit 130 can cooperate with each other. The state machine 150 includes a status register and a combination logic circuit, and can perform state transition according to a preset state according to the control signal, and is a control center that coordinates related signal actions and completes a specific operation. State machine 150 includes a Moore state machine and a Milli state machine.
需要说明的是,上述伺服驱动器中的各个电路可全部或部分通过软件、 硬件及其组合来实现。上述各电路可以硬件形式内嵌于或独立于计算机设备中的处理器中,也可以以软件形式存储于计算机设备中的存储器中,以便于处理器调用执行以上各个电路对应的操作。It should be noted that each circuit in the above servo driver may be implemented in whole or in part by software, hardware, and a combination thereof. The above circuits may be embedded in or independent of the processor in the computer device in hardware form, or may be stored in a memory in the computer device in software form, so that the processor calls to perform operations corresponding to the above respective circuits.
以上所述实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.
以上所述实施例仅表达了本申请的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对本申请专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本申请构思的前提下,还可以做出若干变形和改进,这些都属于本申请的保护范围。因此,本申请专利的保护范围应以所附权利要求为准。The above-mentioned embodiments are merely illustrative of several embodiments of the present application, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the claims. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the present application. Therefore, the scope of the invention should be determined by the appended claims.

Claims (16)

  1. 一种伺服驱动器,设置为驱动伺服电机转动,包括:整流与逆变电路、电流采样电路、电流驱动电路及矢量控制电路;A servo driver configured to drive a servo motor to rotate, comprising: a rectification and inverter circuit, a current sampling circuit, a current driving circuit, and a vector control circuit;
    所述整流与逆变电路的输入端连接所述矢量控制电路的输出端,输出端分别连接所述电流采样电路的输入端及所述伺服电机,所述电流采样电路的输出端及所述伺服电机编码器的输出端连接所述电流驱动电路的输入端,所述电流驱动电路的输出端连接所述矢量控制电路的输入端;An input end of the rectification and inverter circuit is connected to an output end of the vector control circuit, and an output end is respectively connected to an input end of the current sampling circuit and the servo motor, an output end of the current sampling circuit and the servo An output end of the motor encoder is connected to an input end of the current driving circuit, and an output end of the current driving circuit is connected to an input end of the vector control circuit;
    所述整流与逆变电路设置为对外部输入的电压进行整流、逆变得到三相交流电流,并将所述三相交流电流输出至所述伺服电机,还设置为接收所述矢量控制电路输出的开关信号,并根据所述开关信号断开或导通所述整流与逆变电路与所述伺服电机的连接;The rectifying and inverting circuit is configured to rectify and invert an externally input voltage to obtain a three-phase alternating current, and output the three-phase alternating current to the servo motor, and further configured to receive the vector control circuit output Switching signal, and disconnecting or conducting the connection between the rectifying and inverter circuit and the servo motor according to the switching signal;
    所述电流采样电路设置为对所述三相交流电流进行采样,得到电流信号,并将所述电流信号输出至所述电流驱动电路;The current sampling circuit is configured to sample the three-phase alternating current to obtain a current signal, and output the current signal to the current driving circuit;
    所述电流驱动电路设置为接收所述电流采样电路输出的电流信号,还设置为接收所述伺服电机编码器输出的反馈信号,同时设置为接收外部发送的电流指令,并根据所述电流指令对所述电流信号及所述反馈信号进行计算,得到电压信号,并将所述电压信号输出至所述矢量控制电路;The current driving circuit is configured to receive a current signal output by the current sampling circuit, and is further configured to receive a feedback signal output by the servo motor encoder, and is configured to receive an externally sent current command, and according to the current command pair Calculating the current signal and the feedback signal to obtain a voltage signal, and outputting the voltage signal to the vector control circuit;
    所述矢量控制电路设置为接收所述电压信号,并根据所述电压信号生成开关信号,且将所述开关信号输出至所述整流与逆变电路。The vector control circuit is configured to receive the voltage signal, generate a switching signal based on the voltage signal, and output the switching signal to the rectifying and inverting circuit.
  2. 根据权利要求1所述的伺服驱动器,其中在所述整流与逆变电路与所述伺服电机的连接导通时,所述整流与逆变电路还设置为根据所述开关信号输出对应的电压值至所述伺服电机。The servo driver according to claim 1, wherein when the connection between the rectification and inverter circuit and the servo motor is turned on, the rectifying and inverting circuit is further configured to output a corresponding voltage value according to the switching signal. To the servo motor.
  3. 根据权利要求1所述的伺服驱动器,其中所述电流驱动电路包括编码器接口芯片和计算芯片;The servo driver according to claim 1, wherein said current driving circuit comprises an encoder interface chip and a computing chip;
    所述编码器接口芯片的一端连接所述伺服电机编码器,另一端连接所述计算芯片的输入端,所述计算芯片的输入端还连接所述电流采样电路的输出端,输出端连接所述矢量控制电路的输入端;One end of the encoder interface chip is connected to the servo motor encoder, and the other end is connected to an input end of the computing chip, an input end of the computing chip is further connected to an output end of the current sampling circuit, and an output end is connected to the output end. The input of the vector control circuit;
    所述编码器接口芯片设置为接收所述伺服电机编码器输出的反馈信号,并将所述反馈信号输出至所述计算芯片;The encoder interface chip is configured to receive a feedback signal output by the servo motor encoder, and output the feedback signal to the computing chip;
    所述计算芯片设置为接收所述电流采样电路输出的所述电流信号,还设置为接收所述编码器接口芯片输出的反馈信号,同时接收外部发送的电流指令,并根据所述电流指令对所述电流信号及所述反馈信号进行计算,得到电压控制信号,再对所述电压控制信号进行数学变形,得到电压信号,并将电压信号输出至所述矢量控制电路。The computing chip is configured to receive the current signal output by the current sampling circuit, and is further configured to receive a feedback signal output by the encoder interface chip, and simultaneously receive an externally sent current command, and according to the current command The current signal and the feedback signal are calculated to obtain a voltage control signal, and the voltage control signal is mathematically deformed to obtain a voltage signal, and the voltage signal is output to the vector control circuit.
  4. 根据权利要求3所述的伺服驱动器,其中所述电流驱动电路还包括第一滤波芯片;The servo driver according to claim 3, wherein said current driving circuit further comprises a first filter chip;
    所述第一滤波芯片的输入端和输出端分别对应连接所述编码器接口芯片的输出端和所述计算芯片的输入端;The input end and the output end of the first filter chip are respectively connected to an output end of the encoder interface chip and an input end of the computing chip;
    所述第一滤波芯片设置为接收所述反馈信号,并对所述反馈信号进行滤波,且将滤波后的反馈信号输出至所述计算芯片。The first filter chip is configured to receive the feedback signal, filter the feedback signal, and output the filtered feedback signal to the computing chip.
  5. 根据权利要求3所述的伺服驱动器,其中所述计算芯片包括三角函数计算子芯片和电流环路计算子芯片;The servo driver according to claim 3, wherein said computing chip comprises a trigonometric function computing chip and a current loop computing chip;
    所述三角函数计算子芯片的输入端和输出端分别对应连接所述编码器接口芯片的输出端和所述电流环路计算子芯片的输入端,所述电流环路计算子芯片的输入端和输出端还分别对应连接所述电流采样电路的输出端和所述矢量控制电路的输入端;The input end and the output end of the trigonometric computing sub-chip are respectively connected to an output end of the encoder interface chip and an input end of the current loop computing sub-chip, and the current loop calculates an input end of the sub-chip and The output ends are also respectively connected to the output end of the current sampling circuit and the input end of the vector control circuit;
    所述三角函数计算芯片设置为对所述反馈信号进行计算,得到伺服电机转动角度信号,并将所述伺服电机转动角度信号输出至所述电流环路计算子芯片;The trigonometric function computing chip is configured to calculate the feedback signal, obtain a servo motor rotation angle signal, and output the servo motor rotation angle signal to the current loop calculation sub-chip;
    所述电流环路计算子芯片设置为根据外部指令对所述电流信号和所述伺服电机转动角度信号进行计算,得到电压控制信号,再对所述电压控制信号进行数学变形输出,得到电压信号,并将电压信号输出至所述矢量控制电路。The current loop computing sub-chip is configured to calculate the current signal and the servo motor rotation angle signal according to an external command to obtain a voltage control signal, and then perform mathematical deformation output on the voltage control signal to obtain a voltage signal. And outputting a voltage signal to the vector control circuit.
  6. 根据权利要求3所述的伺服驱动器,其中所述电流驱动电路还包括第二滤波芯片;The servo driver according to claim 3, wherein said current driving circuit further comprises a second filter chip;
    所述第二滤波芯片的输入端和输出端分别对应连接所述电流采样电路的输出端和所述计算芯片的输入端,所述第二滤波芯片设置为对所述电流信号进行滤波,并将滤波后的电流信号输出至所述计算芯片。An input end and an output end of the second filter chip are respectively connected to an output end of the current sampling circuit and an input end of the computing chip, and the second filter chip is configured to filter the current signal, and The filtered current signal is output to the computing chip.
  7. 根据权利要求6所述的伺服驱动器,其中所述第二滤波芯片包括Sinc滤波器。The servo drive of claim 6 wherein said second filter chip comprises a sinc filter.
  8. 根据权利要求3所述的伺服驱动器,其中所述电流驱动电路还包括网络接口;The servo drive of claim 3 wherein said current drive circuit further comprises a network interface;
    所述网络接口的一端连接所述计算芯片,另一端连接外部芯片;所述网络接口设置为将所述计算芯片输出的所述反馈信号和所述电流信号输出至外部芯片,同时接收外部芯片发送的电流指令。One end of the network interface is connected to the computing chip, and the other end is connected to an external chip; the network interface is configured to output the feedback signal and the current signal output by the computing chip to an external chip, and receive an external chip to send Current command.
  9. 根据权利要求1所述的伺服驱动器,其中所述伺服驱动器还包括保护电路;The servo drive of claim 1 wherein said servo drive further comprises a protection circuit;
    所述保护电路连接所述电流驱动电路;所述保护电路设置为对所述电流驱动电路所接收的所述反馈信号和所述电流信号进行监测,若所述反馈信号和所述电流信号超过预设值,则控制所述电流驱动电路停止输出所述电压信号。The protection circuit is connected to the current driving circuit; the protection circuit is configured to monitor the feedback signal and the current signal received by the current driving circuit, if the feedback signal and the current signal exceed a pre- When a value is set, the current drive circuit is controlled to stop outputting the voltage signal.
  10. 根据权利要求9所述的伺服驱动器,其中所述保护电路包括过流过压保护电路。The servo drive of claim 9 wherein said protection circuit comprises an overcurrent and overvoltage protection circuit.
  11. 根据权利要求1所述的伺服驱动器,其中所述伺服驱动器还包括状态机;The servo drive of claim 1 wherein said servo drive further comprises a state machine;
    所述状态机连接所述电流驱动电路;所述状态机设置为对所述电流驱动电路内部的计算进行协调。The state machine is coupled to the current drive circuit; the state machine is configured to coordinate calculations within the current drive circuit.
  12. 根据权利要求11所述的伺服驱动器,其中所述状态机包括状态寄存器和组合逻辑电路。The servo drive of claim 11 wherein said state machine comprises a status register and a combinational logic circuit.
  13. 根据权利要求11所述的伺服驱动器,其中所述状态机包括摩尔型状态机和米莉型状态机。The servo drive of claim 11 wherein said state machine comprises a Moore state machine and a Milli state machine.
  14. 根据权利要求1所述的伺服驱动器,其中所述电流驱动电路包括处 理器和可编程逻辑器件中的一种。The servo drive of claim 1 wherein said current drive circuit comprises one of a processor and a programmable logic device.
  15. 根据权利要求14所述的伺服驱动器,其中所述处理器为带网络协议的处理器。The servo drive of claim 14 wherein said processor is a processor with a network protocol.
  16. 一种伺服驱动器,设置为驱动伺服电机转动,包括:整流与逆变电路、电流采样电路、电流驱动电路及矢量控制电路;A servo driver configured to drive a servo motor to rotate, comprising: a rectification and inverter circuit, a current sampling circuit, a current driving circuit, and a vector control circuit;
    所述整流与逆变电路的输入端连接所述矢量控制电路的输出端,输出端分别连接所述电流采样电路的输入端及所述伺服电机,所述电流采样电路的输出端及所述伺服电机编码器的输出端连接所述电流驱动电路的输入端,所述电流驱动电路的输出端连接所述矢量控制电路的输入端;An input end of the rectification and inverter circuit is connected to an output end of the vector control circuit, and an output end is respectively connected to an input end of the current sampling circuit and the servo motor, an output end of the current sampling circuit and the servo An output end of the motor encoder is connected to an input end of the current driving circuit, and an output end of the current driving circuit is connected to an input end of the vector control circuit;
    所述整流与逆变电路设置为对外部输入的电压进行整流、逆变得到三相交流电流,并将所述三相交流电流输出至所述伺服电机,还设置为接收所述矢量控制电路输出的开关信号,并根据所述开关信号断开或导通所述整流与逆变电路与所述伺服电机的连接,在所述整流与逆变电路与所述伺服电机的连接导通时,所述整流与逆变电路还设置为根据所述开关信号输出对应的电压值至所述伺服电机;The rectifying and inverting circuit is configured to rectify and invert an externally input voltage to obtain a three-phase alternating current, and output the three-phase alternating current to the servo motor, and further configured to receive the vector control circuit output a switching signal, and according to the switching signal, disconnecting or conducting the connection between the rectifying and inverter circuit and the servo motor, when the connection between the rectifying and inverter circuit and the servo motor is turned on, The rectifying and inverting circuit is further configured to output a corresponding voltage value to the servo motor according to the switching signal;
    所述电流采样电路设置为对所述三相交流电流进行采样,得到电流信号,并将所述电流信号输出至所述电流驱动电路;The current sampling circuit is configured to sample the three-phase alternating current to obtain a current signal, and output the current signal to the current driving circuit;
    所述电流驱动电路设置为接收所述电流采样电路输出的电流信号,还设置为接收所述伺服电机编码器输出的反馈信号,同时设置为接收外部发送的电流指令,并根据所述电流指令对所述电流信号及所述反馈信号进行计算,得到电压信号,并将所述电压信号输出至所述矢量控制电路;The current driving circuit is configured to receive a current signal output by the current sampling circuit, and is further configured to receive a feedback signal output by the servo motor encoder, and is configured to receive an externally sent current command, and according to the current command pair Calculating the current signal and the feedback signal to obtain a voltage signal, and outputting the voltage signal to the vector control circuit;
    所述矢量控制电路设置为接收所述电压信号,并根据所述电压信号生成开关信号,且将所述开关信号输出至所述整流与逆变电路;The vector control circuit is configured to receive the voltage signal, generate a switch signal according to the voltage signal, and output the switch signal to the rectification and inverter circuit;
    其中,所述电流驱动电路包括编码器接口芯片和计算芯片;Wherein, the current driving circuit comprises an encoder interface chip and a computing chip;
    所述编码器接口芯片的一端连接所述伺服电机编码器,另一端连接所述计算芯片的输入端,所述计算芯片的输入端还连接所述电流采样电路的输出端,输出端连接所述矢量控制电路的输入端;所述编码器接口芯片设置为接 收所述伺服电机编码器输出的反馈信号,并将所述反馈信号输出至所述计算芯片,所述计算芯片设置为接收所述电流采样电路输出的所述电流信号,还设置为接收所述编码器接口芯片输出的反馈信号,同时接收外部发送的电流指令,并根据所述电流指令对所述电流信号及所述反馈信号进行计算,得到电压控制信号,再对所述电压控制信号进行数学变形,得到电压信号,并将电压信号输出至所述矢量控制电路;One end of the encoder interface chip is connected to the servo motor encoder, and the other end is connected to an input end of the computing chip, an input end of the computing chip is further connected to an output end of the current sampling circuit, and an output end is connected to the output end. An input end of the vector control circuit; the encoder interface chip is configured to receive a feedback signal output by the servo motor encoder, and output the feedback signal to the computing chip, the computing chip configured to receive the current The current signal output by the sampling circuit is further configured to receive a feedback signal output by the encoder interface chip, receive an externally sent current command, and calculate the current signal and the feedback signal according to the current command. Obtaining a voltage control signal, performing mathematical deformation on the voltage control signal to obtain a voltage signal, and outputting the voltage signal to the vector control circuit;
    所述电流驱动电路还包括第一滤波芯片;The current driving circuit further includes a first filter chip;
    所述第一滤波芯片的输入端和输出端分别对应连接所述编码器接口芯片的输出端和所述计算芯片的输入端;所述第一滤波芯片设置为接收所述反馈信号,并对所述反馈信号进行滤波,且将滤波后的反馈信号输出至所述计算芯片;An input end and an output end of the first filter chip are respectively connected to an output end of the encoder interface chip and an input end of the computing chip; the first filter chip is configured to receive the feedback signal, and The feedback signal is filtered, and the filtered feedback signal is output to the computing chip;
    所述计算芯片包括三角函数计算子芯片和电流环路计算子芯片;The computing chip includes a trigonometric function computing chip and a current loop computing chip;
    所述三角函数计算子芯片的输入端和输出端分别对应连接所述编码器接口芯片的输出端和所述电流环路计算子芯片的输入端,所述电流环路计算子芯片的输入端和输出端还分别对应连接所述电流采样电路的输出端和所述矢量控制电路的输入端;所述三角函数计算芯片设置为对所述反馈信号进行计算,得到伺服电机转动角度信号,并将所述伺服电机转动角度信号输出至所述电流环路计算子芯片;所述电流环路计算子芯片设置为根据外部指令对所述电流信号和所述伺服电机转动角度信号进行计算,得到电压控制信号,再对所述电压控制信号进行数学变形输出,得到电压信号,并将电压信号输出至所述矢量控制电路;The input end and the output end of the trigonometric computing sub-chip are respectively connected to an output end of the encoder interface chip and an input end of the current loop computing sub-chip, and the current loop calculates an input end of the sub-chip and The output end is further respectively connected to the output end of the current sampling circuit and the input end of the vector control circuit; the trigonometric function computing chip is configured to calculate the feedback signal to obtain a servo motor rotation angle signal, and The servo motor rotation angle signal is output to the current loop calculation chip; the current loop calculation chip is configured to calculate the current signal and the servo motor rotation angle signal according to an external command to obtain a voltage control signal. And performing a mathematical deformation output on the voltage control signal to obtain a voltage signal, and outputting the voltage signal to the vector control circuit;
    所述电流驱动电路还包括第二滤波芯片;The current driving circuit further includes a second filter chip;
    所述第二滤波芯片的输入端和输出端分别对应连接所述电流采样电路的输出端和所述计算芯片的输入端,所述第二滤波芯片设置为对所述电流信号进行滤波,并将滤波后的电流信号输出至所述计算芯片。An input end and an output end of the second filter chip are respectively connected to an output end of the current sampling circuit and an input end of the computing chip, and the second filter chip is configured to filter the current signal, and The filtered current signal is output to the computing chip.
PCT/CN2018/124146 2018-04-09 2018-12-27 Servo driver WO2019196506A1 (en)

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