WO2021093398A1

WO2021093398A1 - Compact stacked structure driven and controlled by multiple shafts

Info

Publication number: WO2021093398A1
Application number: PCT/CN2020/110292
Authority: WO
Inventors: 姚瑱; 刘冬; 徐小军; 高原; 余国军; 钱巍
Original assignee: 南京埃斯顿自动化股份有限公司
Priority date: 2019-11-13
Filing date: 2020-08-20
Publication date: 2021-05-20
Also published as: CN110808664B; CN110808664A

Abstract

The present invention provides a compact stacked structure driven and controlled by multiple shafts. The structure consists of a central control board, a front-end board, and multiple amplifier modules. The central control board and the front-end board are both polygonal, are stacked parallel to each other, are fixed by means of structural members, and transmit an electrical signal by means of a connector. The amplifier modules form an integrated element, and are sequentially fixed to an edge of the polygonal central control board and an edge of the polygonal front-end board by means of structural members. The amplifier modules are electrically connected, by means of a bus communication interface, to the central control board located at an upper region, and are electrically connected, by means of a power interface, to the front-end board located at a lower region. The connections at the two interfaces are both rigid connections. Each amplifier module receives control information from the central control board, drives one or multiple motors to operate, and implements, according to requirements, part of control functions of the one or multiple motors originally implemented by the central control board. The compact stacked structure driven and controlled by multiple shafts is modularly designed, facilitates configuration and maintenance, has high power density, and simplifies wiring to be performed by the user.

Description

A compact multi-axis drive and control stack structure

Technical field

The invention relates to a multi-motor drive shaft motion controller stack structure, in particular to a compact multi-axis drive control stack structure.

Background technique

Mechanical equipment, especially large-scale mechanical equipment, usually contains multiple motor drive shafts. The motion controller is used to control the coordinated actions between multiple shafts, and the drive matching the number of motor shafts is used to drive the motor to complete the command action.

In the prior art, the traditional multi-axis drive control method is shown in FIG. 1, one motion controller controls multiple drives, and one drive drives one or more motors to complete command actions. The communication cable, the interconnecting power supply cable, the common bus cable and so on between the motion controller and each drive need to be interconnected. The advantage of this method is the modular structure. The number of axes and drive power can be flexibly configured according to customer needs. The maintenance is convenient. The disadvantages are also obvious: it occupies a large installation space in the customer’s electrical cabinet. The interconnection cable greatly increases the complexity of wiring and distribution. Line cost.

In the prior art, the shortcomings of the multi-axis drive control method disclosed in FIG. 1 are improved, and a commonly used multi-axis drive control stack structure is formed, as shown in FIG. 2. This kind of multi-axis drive control stack structure combines the motion controller and multiple drives to form a multi-axis drive control stack, which is usually composed of a control board, a power board, and a radiator. The control board integrates the motion controller function and the control function of multiple motors. The power board integrates the rectification function, bus support function, part of the control function of multiple motors, and the drive function of multiple motors. The power board can receive speed commands or current commands issued by the control board to realize speed control or current amplification, and drive more One motor completes the command action, or it can be a simple actuator, which receives the PWM signal from the control board and drives multiple motors to complete the specified action. The heat sink is used to dissipate heat for the heat-generating power devices on the power board. Multi-axis drive control stacking can reduce the installation space of the customer's electrical cabinet to a certain extent, eliminate the interconnection cables between the shafts and reduce the wiring complexity and wiring cost. However, the stacking structure also has disadvantages: maintenance is not convenient, due to the centralized design, any axis failure requires replacement of the centralized circuit board, and it is not a modular design, and the number of axes and axis power cannot be flexibly configured according to customer needs. At the same time, the power board in the stacked structure tends to have the largest area, and the area of the control board and the heat sink is much smaller than that of the power board. Therefore, the stacked structure causes low system space utilization and low power density.

Summary of the invention

The purpose of the present invention is to overcome the shortcomings of the traditional multi-axis drive and control method and the commonly used multi-axis drive and control stack structure, and to overcome the defects of the prior art, and propose a compact multi-axis drive and control stack structure. Its high power density can minimize the installation space of the customer's electrical cabinet. Adopting a modular stacking structure, the number and power of the drag motors can be flexibly configured with amplifier modules according to customer needs, which is convenient for maintenance.

The compact multi-axis drive control stack structure proposed by the present invention is composed of a central control board, a front-end board and a plurality of amplifier modules. The central control board is the control core of the entire stack, which integrates the control functions of multiple motors, and can integrate motion controller functions as needed. The front-end board has a rectification function and a bus support function to provide a stable DC bus for the entire stack. Each amplifier module receives control information from the central control board, and drives one or more motors to run. It can also realize part of the control functions of one or more motors originally realized by the central control board as needed. The central control board and the front-end board are both polygonal, stacked parallel to each other, fixed by structural parts, and transmitting electrical signals through connectors. The amplifier module as a whole is fixed on the polygonal edge of the central control board and the front-end board through structural parts in turn, and is connected to the upper central control board through the bus communication interface for electrical signals, and through the power interface and the lower front-end board for electrical signal connection. The interfaces are all hard-wired.

In the compact multi-axis drive control stack structure proposed by the present invention, the amplifier module includes a control board, a power supply board and a drive board. The control board is used to control a certain number of motor shafts, and can integrate speed control functions and current control functions according to customer needs. The power board provides the required auxiliary power for the entire amplifier module, and at the same time integrates the isolated drive circuit of the power switch tube. The bridge inverter topology on the drive board receives the drive signal from the control board, performs power amplification, and drives the motor to run. The control board, power board, and drive board are parallel to each other and fixed by structural parts. The control board and the power board are connected by in-line connectors to transmit electrical signals, and the power board and the drive board are interconnected by multiple sets of in-line connectors. Each group of interconnection signals includes phase bridge arm drive signals, overcurrent detection signals, and current sampling signals. This connection mode can control the stray inductance of the drive loop, give full play to the high-frequency performance of the power switch, and reduce switching losses. The amplifier module carries out bus communication interaction with the central control board through the bus communication interface, and carries out the DC bus energy transmission through the power interface and the front-end board. Both interfaces are in the form of hard connections.

Compared with the traditional multi-axis drive control method and the commonly used multi-axis drive control stack structure, the compact multi-axis drive control stack structure proposed by the present invention has the following advantages:

1. The high power density can minimize the installation space of the customer's electrical cabinet. Split the power board in the commonly used drive and control stack structure, and stack the rectifier part and the bus bar support part as the front-end board and the central control board. Both have the same area and can make full use of space. The motor drive inverter bridge is divided into multiple amplifier modules according to certain principles. Each amplifier module can control and drive a certain number of motor shafts. The amplifier modules are sequentially fixed on the central control board and the front-end board stack through structural parts. On the surface, maximize the use of system space. In addition, due to the splitting of the inverter part, the heating components are scattered, supplemented by the loss reduction technology, the amplifier module can save the heat sink, of course, you can also install a small discrete heat sink fixed on the PCB as needed, and the system heat sink volume can be greatly increased. optimization.

2. The modular stacking structure can flexibly configure the number and power of the drag motor with mature amplifier modules according to customer needs, and the maintenance is very convenient. The amplifier modules are fixed on each side of the central control board and the front-end board stack in turn through structural parts. As long as space permits, they can be flexibly increased or decreased. Each amplifier module can drive a certain number of motors with a certain power, with several mature specifications. The amplifier module meets the needs of customers for the number and power of motor shafts in different applications. The amplifier module is connected to the upper central control board through the bus communication interface for electrical signals, and the power interface is connected to the lower front-end board for electrical signals. Both interfaces are hard-connected, so that the amplifier module can be easily removed, replaced and installed as a whole. , So the maintenance is very convenient.

3. Eliminates interconnection cables, greatly reducing customer wiring complexity and wiring costs. The amplifier module carries out bus communication interaction with the central control board through the bus communication interface, and carries out the DC bus energy transmission through the power interface and the front-end board. Both interfaces are in the form of hard connection, eliminating the need for the interconnection network in the traditional multi-axis drive control method. Communication cables and interconnecting power cables simplify customer wiring.

Description of the drawings

Fig. 1 is a schematic diagram of a conventional multi-axis drive control method in the prior art. Among them, 101-controller; 102-amplifier (n); 103-interconnect cable.

Fig. 2 is a schematic diagram of a multi-axis drive control stack structure commonly used in the prior art. Among them: Figure a is a front view, Figure b is a side view. 201-control board; 202-power board; 203-radiator.

Fig. 3 is a three-dimensional schematic diagram of the compact multi-axis drive control stack structure proposed by the present invention.

4 is a schematic diagram of the amplifier module structure of the compact multi-axis drive control stack structure proposed by the present invention.

Fig. 5 is an example 1 of the control division of the central control board and the amplifier module of the compact multi-axis drive control stack structure of the present invention.

Fig. 6 is an example 2 of the control division of the central control board and the amplifier module of the compact multi-axis drive control stack structure of the present invention.

Fig. 7 is an example 3 of the control division of the central control board and the amplifier module of the compact multi-axis drive control stack structure of the present invention.

FIG. 8 is an example 4 of the control division of the central control board and the amplifier module of the compact multi-axis drive control stack structure of the present invention.

9 is an example 5 of the control division of the central control board and the amplifier module of the compact multi-axis drive control stack structure of the present invention.

Fig. 10 is an example 6 of the control division of the central control board and the amplifier module of the compact multi-axis drive control stack structure of the present invention.

FIG. 11 is an example 7 of the control division of the central control board and the amplifier module of the compact multi-axis drive control stack structure of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with specific embodiments and drawings.

The present invention uses a quadrangular central control board and a front end board as examples to illustrate the compact multi-axis drive control stack structure proposed by the present invention.

As shown in Figure 3, it consists of a lumped central control board 1, a lumped front-end board 3 and 4n amplifier modules 2. Each amplifier module 2 can control and drive m motors, and the entire drive control stack can control and drive 4mn motors. The central control board 1 is the control core of the entire drive control stack, which integrates part of the control functions of the 4mn motors, and can integrate the functions of the motion controller as required. The front-end board 3 has a rectification function and a bus support function, and provides a stable DC bus for the entire drive control stack. The amplifier module receives the control information from the central control board, realizes the remaining part of the control function of m motors, and drives m motors to run. An example of the division of labor between the central control board and the amplifier module is shown in Figure 5-11. The central control board in Figure 5-7 does not have the function of an integrated motion controller. The amplifier module in Figure 5 is only the control signal amplifying execution unit, and the system in Figure 6 The current loop is moved down to the amplifier module for execution, and the speed loop and current loop in Figure 7 are all moved down to the amplifier module for execution. Figure 8-11 The central control board integrates the functions of the motion controller. The central control panel in Figure 8 only integrates the functions of the motion controller. The three-loop control of the motor is all executed in the amplifier module. The amplifier module in Figure 9 is only the amplification of the control signal. Execution unit, the system current loop in Figure 10 is moved down to the amplifier module for execution, and the speed loop and current loop in Figure 11 are all moved down to the amplifier module for execution.

As shown in Figure 3, the present invention splits the power board in the commonly used drive and control stack structure, stacks the rectifier part and the bus bar support part as the front-end board and the central control board up and down, fixed by structural parts, and transmits electrical signals through the connector , Both have the same area and can make full use of space. The motor drive inverter bridge is divided into 4n amplifier modules. Each amplifier module can control and drive m motor shafts. The amplifier module is fixed on the periphery of the central control board and the front-end board stack through structural parts. The amplifier module 1-n is fixed on the stacking side of the central control board and the front-end board. Looking counterclockwise, the amplifier module (n+1)–2n is fixed on the next side of the stack, and then the amplifier module (2n+1)–3n is fixed on the next side. Amplifier modules (3n+1)–4n are fixed on the bottom side to maximize the use of system space. In addition, due to the splitting of the inverter part, the heating components are scattered, supplemented by the loss reduction technology, the amplifier module can save the heat sink, of course, you can also install a small discrete heat sink fixed on the PCB as needed, and the system heat sink volume can be greatly increased. optimization. Therefore, the compact multi-axis drive control stack of the present invention has high power density and can minimize the installation space of the customer's electrical cabinet.

In the compact multi-axis drive and control stack structure of the present invention, the stack structure of the amplifier module is shown in FIG. 4, which is composed of a control board 4, a power supply board 5, and a drive board 6. The control board can realize part of the motor control functions of m motor shafts, and the control signal is amplified and executed. The power board provides the required auxiliary power for the entire amplifier module, and at the same time integrates the isolated drive circuit of the power switch tube. The bridge inverter topology on the drive board receives the drive signal from the control board, performs power amplification, and drives the motor to run. The control board, power board, and drive board are fixed by structural parts. The control board and the power board are connected by in-line connectors to transmit electrical signals. The power board and the drive board are interconnected by multiple sets of in-line connectors. Group interconnection signals include phase bridge arm drive signals, overcurrent detection signals, current sampling signals, etc. This connection mode can control the stray inductance of the drive loop, give full play to the high-frequency performance of the power switch, and reduce switching losses. Each amplifier module performs bus communication interaction with the upper central control board through the bus communication interface 7, and performs DC bus energy transfer through the power interface 8 and the lower front-end board. Both interfaces are hard-connected, making the amplifier module as a whole convenient Removal, replacement and installation make maintenance very convenient. At the same time, it eliminates the interconnection network communication cables and interconnection power cables in the traditional multi-axis drive control mode, which greatly reduces the complexity and cost of customer wiring. The multi-axis drive control stack structure and the amplifier modular design of the present invention can flexibly configure the number and power of the drag motors with mature amplifier modules according to customer requirements.

Claims

A compact multi-axis drive control stack structure, composed of a central control board, a front-end board and multiple amplifier modules; its characteristics are:

The central control board integrates the control functions of multiple motors, as well as the motion controller function; the front-end board has the rectification function and the bus support function to provide the DC bus for the entire stack; each amplifier module receives the control information from the central control board, Drag one or more motors to run;

The central control board and the front end board are both polygonal, stacked in parallel with each other, fixed by structural parts, and transmitting electrical signals through connectors.
The compact multi-axis drive and control stack structure according to claim 1, characterized in that: the amplifier module as a whole is fixed on the polygonal sides of the central control board and the front-end board through structural parts, and communicates with the upper center through the bus communication interface. The control board is connected to the electrical signal, and the electrical signal is connected to the lower front-end board through the power interface. The two interfaces are in the form of hard connection.
The compact multi-axis drive control stack structure according to claim 1 or 2, characterized in that: the amplifier module also has part of the control function of one or more motors originally implemented by the central control board.
The compact multi-axis drive control stack structure according to claim 1, 2 or 3, wherein the amplifier module includes a control board, a power supply board and a drive board; the control board is used to control a set number of motor shafts, Integrated speed control function and current control function; the power board provides auxiliary power for the amplifier module, and integrates the isolated drive circuit of the power switch tube; the bridge inverter topology on the drive board accepts the drive signal from the control board and executes the power Zoom in and drag the motor to run;

The control board, power board, and drive board are parallel to each other and fixed by structural parts. The control board and the power board are connected by in-line connectors to transmit electrical signals, and the power board and the drive board are interconnected by multiple sets of in-line connectors. Each group of interconnection signals includes phase bridge arm drive signals, overcurrent detection signals and current sampling signals; the amplifier module communicates with the central control board through the bus communication interface, and transmits the energy of the DC bus through the power interface and the front-end board. Both interfaces are hard-connected.