WO2021147351A1 - 基于EtherCAT P总线技术的多轴伺服电机控制系统及方法 - Google Patents
基于EtherCAT P总线技术的多轴伺服电机控制系统及方法 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
Definitions
- the invention belongs to the technical field of motor control, and specifically relates to a multi-axis servo motor control system and method based on EtherCAT P bus technology.
- multi-axis servo control systems have developed rapidly, and are widely used in fields such as intelligent robots, high numerical control machine tools, and flexible manufacturing. With the increasing complexity of these application fields and the increasingly powerful functions, new requirements are put forward for the communication interface of the servo control system.
- Traditional multi-axis servo control systems are mostly buses based on serial communication characteristics, which have the problems of low communication speed and poor synchronization performance.
- there are many cables for power supply and communication of these complex control devices and there are problems such as high installation and maintenance costs and poor reliability.
- the present invention provides a multi-axis servo motor control system and control method based on EtherCAT P bus technology.
- the specific technical solutions are as follows:
- a multi-axis servo motor control system based on EtherCAT P bus technology which includes a motion controller and several servo drive systems.
- the motion controller and the servo drive system are connected through the EtherCAT P bus; each servo
- the drive system includes a servo drive and a motor that are electrically connected; a position sensor is embedded in the motor to sense the rotor position of the motor;
- the EtherCAT P bus is used to transmit the control and feedback signals of each motor, thereby realizing multi-motor control; the EtherCAT P bus is also used to transmit 2 isolated power supplies required by each servo drive system; the 2 The isolated power supply is used for the control power supply and drive power supply of the servo drive.
- the motion controller includes a first processor module, a first power module, N standard Ethernet adapters, N EtherCAT P network ports, and N power processing modules; the first processor module and N standard Ethernet adapters are connected, one standard Ethernet adapter corresponds to an EtherCAT P network port, one end of the first power module is connected to the first processor module, and the other end is connected to the N power processing modules.
- the processing module is connected to its corresponding EtherCAT P network port;
- the first processor module runs the EtherCAT master station protocol, and executes the multi-axis motion control algorithm, calculates the control instructions of each motor, and sends them to each servo drive system through the EtherCAT P bus;
- the first power supply module supplies power to the first processor module, and the power supply processing module transmits power to the corresponding EtherCAT P network port;
- the power processing module includes a circuit for realizing current-limiting protection, reverse protection and inrush current protection, and an LC filter circuit;
- the EtherCAT P network port includes four signal pins TX+/- and RX+/-, which transmit two isolated power supplies while transmitting EtherCAT signals.
- the current limiting protection is realized by using a fuse
- the reverse protection is realized by a diode
- the inrush current protection is realized by adopting a surge current control chip
- the first processor module adopts The processor is Intel I7 series CPU.
- the servo driver includes a microcontroller module, an isolation module, a drive module, a detection module, a servo drive power processing module, an EtherCAT slave interface control module, and an EtherCAT P input network port, an EtherCAT P output network port ;
- the microcontroller module, the isolation module, the drive module, the detection module, and the microcontroller module are connected in sequence, and the drive module and the detection module are also connected to the motor;
- the servo drive power processing module receives external power input
- the power input of the EtherCAT P input network port is used to supply power to other modules and the EtherCAT P output network port;
- the EtherCAT slave interface control module is also connected to the EtherCAT P input network port, the microcontroller module, and the EtherCAT P output network port.
- the EtherCAT slave station interface control module takes the EtherCAT slave station control chip as the core, and is used to realize EtherCAT data frame processing and perform data interaction with the microcontroller module; the microcontroller module is controlled by the EtherCAT slave station interface The module obtains the control signal sent by the motion controller, executes the servo motor control algorithm according to the signal collected by the detection module, and outputs the PWM signal after being processed by the isolation module and then transmitted to the drive module to drive the motor; or The microcontroller module feeds back to the motion controller through the EtherCAT slave station interface control module the operating information of the motor collected by the detection module;
- the servo drive power processing module includes an LC filter circuit and a reverse protection circuit, and transmits two isolated power sources, which are respectively used for the control power supply and drive power supply of the servo drive; the TX+ and TX- lines of the EtherCAT P input network port Used to transmit the control power of the servo drive, and RX+, RX- are used to transmit the drive power of the servo drive.
- the EtherCAT slave interface control module includes EEPROM, which is used to store the configuration file of the EtherCAT slave device, and indicates that the slave is of the EtherCAT P type.
- a motor control method of a multi-axis servo motor control system based on EtherCAT P bus technology specifically includes the following steps:
- the motion controller obtains the actual position or speed of each motor through the EtherCAT P bus, and executes the corresponding multi-axis servo control algorithm in a certain period according to actual application requirements to calculate the position or speed command data of each motor;
- the motion controller updates the calculated position or speed command data of each motor to the EtherCAT data frame, and sends it to each servo drive through the EtherCAT P bus;
- Each servo driver receives the position or speed command of each motor through the EtherCAT slave interface control module, the microcontroller module executes the motor control algorithm, generates a drive signal, and drives the servo motor to a specified state.
- the microcontroller obtains the current current data after processing according to the current current measured by the detection module, executes the current control algorithm, and generates a drive signal after coordinate transformation and SVPWM algorithm;
- the microcontroller sends the drive signal to the corresponding motor, and controls the motor to rotate to a specified position;
- the microcontroller obtains the current current data after processing according to the current current measured by the detection module, executes the current control algorithm, and generates a drive signal after coordinate transformation and SVPWM algorithm;
- the microcontroller sends the drive signal to the corresponding motor, and controls the motor to rotate to a specified speed.
- the multi-axis servo drive system based on EtherCAT P line technology provided by the present invention can realize EtherCAT signal and two-way isolated power transmission on one network line. Using the method of the invention, while providing system communication speed and synchronization performance, it also reduces the complexity of system cables and improves system reliability.
- Figure 1 is a block diagram of the multi-axis servo control system of the present invention
- FIG. 2 is a structural block diagram of an embodiment of the multi-axis servo motor control system of the present invention
- FIG. 3 is a structural block diagram of another embodiment of the multi-axis servo motor control system of the present invention.
- Figure 4 is a structural block diagram of the motion controller of the present invention.
- FIG. 5 is a schematic diagram of one embodiment of the EtherCAT P network port power processing circuit of the motion controller of the present invention.
- Figure 6 is a structural block diagram of the servo driver of the present invention.
- FIG. 7 is a schematic circuit diagram of the servo drive power processing module of the servo drive of the present invention.
- FIG. 8 is a schematic flowchart of the multi-axis motion control method of the present invention.
- Fig. 9 is a schematic flow chart of the servo motor position control method of the present invention.
- Fig. 10 is a schematic flow chart of the method for controlling the speed of the servo motor of the present invention.
- Fig. 1 The structure block diagram of the multi-axis servo control system provided by the present invention is shown in Fig. 1, which includes a motion controller and several servo drive systems, and the motion controller and the servo drive system are connected through the EtherCAT P bus;
- a servo drive system includes a servo drive and a motor that are electrically connected; a position sensor is embedded in the motor to sense the rotor position of the motor.
- the EtherCAT P bus is used to transmit the control and feedback signals of each motor, thereby realizing multi-motor control; the EtherCAT P bus is also used to transmit 2 isolated power supplies required by each servo drive system; the 2 The isolated power supply is used for the control power supply and drive power supply of the servo drive.
- the connection between the motion controller and multiple servo drive systems is very flexible.
- FIG 2 is a structural block diagram of one embodiment of the multi-axis servo motor control system of the present invention, each servo drive system is directly connected to the motion controller;
- Figure 3 is the structure of another embodiment of the multi-axis servo motor control system of the present invention In the block diagram, part of the servo drive system is directly connected to the motion controller, and can also be connected to the EtherCAT P network port of other servo drive systems.
- the motor is a permanent magnet brushless servo motor.
- the motion controller includes a first processor module, a first power module, N standard Ethernet adapters, N EtherCAT P network ports, and N power processing Module;
- the first processor module is connected to N standard Ethernet adapters, one standard Ethernet adapter corresponds to an EtherCAT P network port, and one end of the first power module is connected to the first processor module, The other end is connected to N power processing modules, and the power processing module is connected to its corresponding EtherCAT P network port.
- the first processor module runs the EtherCAT master station protocol and executes the multi-axis motion control algorithm, calculates the control instructions of each motor, and sends them to each servo drive system through the EtherCAT P bus.
- the first power supply module supplies power to the first processor module, and the power supply processing module transmits power to the corresponding EtherCAT P network port. At the same time, capacitor filtering is used between the EtherCAT P network port and the standard Ethernet adapter.
- the power processing module includes circuits for realizing current-limiting protection, reverse protection, and inrush current protection, and an LC filter circuit, as shown in FIG. 5.
- the current-limiting protection is realized by using a fuse
- the reverse protection is realized by a diode
- the inrush current protection is realized by a surge current control chip, such as the LM5069 chip.
- the processor adopted by the first processor module is an Intel I7 series CPU.
- the EtherCAT P network port includes four signal pins TX+/- and RX+/-, which transmit two isolated power supplies while transmitting EtherCAT signals.
- the servo drive includes a microcontroller module, an isolation module, a drive module, a detection module, and a servo drive power processing module. It also has an EtherCAT slave interface control module, as well as an EtherCAT P input network port and an EtherCAT P output network port. ;
- the microcontroller module, isolation module, drive module, detection module, and microcontroller module are connected in sequence, and the drive module and detection module are also connected to the motor; the servo drive power processing module receives external power input
- the power input of the EtherCAT P input network port is used to supply power to other modules and the EtherCAT P output network port; the EtherCAT slave interface control module is also connected to the EtherCAT P input network port, the microcontroller module, and the EtherCAT P output network port.
- the EtherCAT slave station interface control module takes the EtherCAT slave station control chip as the core, and is used to realize EtherCAT data frame processing and perform data interaction with the microcontroller module; the microcontroller module is controlled by the EtherCAT slave station interface The module obtains the control signal sent by the motion controller, executes the servo motor control algorithm according to the signal collected by the detection module, and outputs the PWM signal after being processed by the isolation module and then transmitted to the drive module to drive the motor; or The microcontroller module feeds back to the motion controller through the EtherCAT slave station interface control module the operating information of the motor collected by the detection module;
- the servo drive power processing module includes an LC filter circuit and a reverse protection circuit, and transmits two isolated power sources, which are respectively used for the control power supply and drive power supply of the servo drive.
- the EtherCAT P input network port The TX+ and TX- lines are used to transmit the control power of the servo drive, and RX+, RX- are used to transmit the drive power of the servo drive.
- the EtherCAT slave control chip can use ET1100/AX58100/LAN9252; the EtherCAT slave interface control module contains EEPROM, which is used to store the configuration file of the EtherCAT slave device and indicates that the slave is of the EtherCAT P type.
- the detection module includes a position detection module, a current detection module and a bus voltage detection module, which are respectively used to detect the motor rotor position, the motor three-phase current and the bus voltage, and send them to the microcontroller module.
- the microcontroller can use a DSP28335/STM32F407 chip with floating point operations.
- the motor control method of the multi-axis servo motor control system based on EtherCAT P bus technology of the present invention specifically includes the following steps:
- the motion controller obtains the actual position or speed of each motor through the EtherCAT P bus, and executes the corresponding multi-axis servo control algorithm in a certain period according to actual application requirements to calculate the position or speed command data of each motor;
- the motion controller updates the calculated position or speed command data of each motor to the EtherCAT data frame, and sends it to each servo drive through the EtherCAT P bus;
- Each servo driver receives the position or speed command of each motor through the EtherCAT slave interface control module, the microcontroller module executes the motor control algorithm, generates a drive signal, and drives the servo motor to a specified state;
- the microcontroller obtains the current current data after processing according to the current current measured by the detection module, executes the current control algorithm, and generates a drive signal after coordinate transformation and SVPWM algorithm;
- the microcontroller sends the drive signal to the corresponding motor, and controls the motor to rotate to a specified position.
- the microcontroller obtains the current current data after processing according to the current current measured by the detection module, executes the current control algorithm, and generates a drive signal after coordinate transformation and SVPWM algorithm;
- the microcontroller sends the drive signal to the corresponding motor, and controls the motor to rotate to a specified speed.
Abstract
Description
Claims (8)
- 一种基于EtherCAT P总线技术的多轴伺服电机控制系统,其特征在于,该电机控制系统包括一个运动控制器以及若干个伺服驱动系统,所述的运动控制器与所述的伺服驱动系统通过EtherCAT P总线连接;每个伺服驱动系统包括电连接的伺服驱动器和电机;所述的电机内嵌有位置传感器,用于感应电机转子位置;所述的EtherCAT P总线用于传递各个电机的控制及反馈信号,进而实现多电机控制;所述EtherCAT P总线还用于传递每个伺服驱动系统所需的2路隔离的电源;所述的2路隔离的电源分别用于伺服驱动器的控制供电和驱动供电。
- 根据权利要求1所述的基于EtherCAT P总线技术的多轴伺服电机控制系统,其特征在于,所述的运动控制器包括第一处理器模块、第一电源模块、N个标准以太网适配器、N个EtherCAT P网口和N个电源处理模块;所述的第一处理器模块与N个标准以太网适配器相连,一个标准以太网适配器对应一个EtherCAT P网口,所述的第一电源模块一端与所述的第一处理器模块连接,另一端与N个电源处理模块连接,电源处理模块与其对应的EtherCAT P网口连接;所述的第一处理器模块运行EtherCAT主站协议,并执行多轴运动控制算法,计算得到各个电机的控制指令,并通过EtherCAT P总线发送给各个伺服驱动系统;所述的第一电源模块为所述的第一处理器模块供电,并经过电源处理模块后传给对应的EtherCAT P网口;所述的电源处理模块包括实现限流保护、反向保护和冲击电流保护的电路,以及LC滤波电路;所述的EtherCAT P网口包含TX+/-、RX+/-四个信号引脚,在传输EtherCAT信号的同时传输2路隔离的电源。
- 根据权利要求1所述的基于EtherCAT P总线技术的多轴伺服电机控制系统,其特征在于,所述的电机采用永磁无刷伺服电机。
- 根据权利要求2所述的基于EtherCAT P总线技术的多轴伺服电机控制系统,其特征在于,所述的限流保护使用保险丝来实现,所述的反向保护采用二极管来实现;所述的冲击电流保护采用浪涌电流控制芯片来实现,所述的第一处理器模块采用的处理器为Intel I7系列CPU。
- 根据权利要求1所述的基于EtherCAT P总线技术的多轴伺服电机控制系统,其特征在于,所述的伺服驱动器包括微控制器模块、隔离模块、驱动模块、检测模块、伺服驱动 电源处理模块,还具有EtherCAT从站接口控制模块,以及EtherCAT P输入网口、EtherCAT P输出网口;所述的微控制器模块、隔离模块、驱动模块、检测模块、微控制器模块依次连接,所述的驱动模块、检测模块还与电机相连;所述的伺服驱动电源处理模块接收外部的电源输入及EtherCAT P输入网口的电源输入,用于给其他模块和EtherCAT P输出网口供电;所述的EtherCAT从站接口控制模块还与EtherCAT P输入网口、微控制器模块、EtherCAT P输出网口相连;所述的EtherCAT从站接口控制模块以EtherCAT从站控制芯片为核心,用于实现EtherCAT数据帧处理,并与所述微控制器模块进行数据交互;所述微控制器模块通过EtherCAT从站接口控制模块得到运动控制器发来的控制信号,根据所述的检测模块采集的信号,执行伺服电机控制算法,输出PWM信号经所述的隔离模块处理后传递给所述的驱动模块来驱动电机;或者所述微控制器模块根据所述的检测模块采集的电机的运行信息,并通过所述的EtherCAT从站接口控制模块反馈给运动控制器;所述的伺服驱动电源处理模块包括LC滤波电路和反向保护电路,传递2路隔离的电源,分别用于伺服驱动器的控制供电和驱动供电;所述EtherCAT P输入网口的TX+、TX-线路用于传输伺服驱动器的控制电源,而RX+、RX-用于传输伺服驱动器的驱动电源。
- 根据权利要求4所述的基于EtherCAT P总线技术的多轴伺服电机控制系统,其特征在于,所述的EtherCAT从站接口控制模块包含EEPROM,用于存储EtherCAT从站设备的配置文件,并说明从站为EtherCAT P类型。
- 一种如权利要求1所述的基于EtherCAT P总线技术的多轴伺服电机控制系统的电机控制方法,其特征在于,该方法具体包括如下步骤:S1:所述的运动控制器通过EtherCAT P总线得到各个电机的实际位置或速度,并根据实际应用需求,按照一定周期执行对应的多轴伺服控制算法,计算出各个电机位置或速度指令数据;S2:所述的运动控制器将计算得到的各个电机位置或速度指令数据更新至EtherCAT数据帧中,并通过EtherCAT P总线发送给各个伺服驱动器;S3:各个伺服驱动器通过EtherCAT从站接口控制模块接收到各个电机的位置或速度指令,微控制器模块执行电机控制算法,生成驱动信号,驱动伺服电机达到指定状态。
- 根据权利要求7所述的基于EtherCAT P总线技术的多轴伺服电机控制系统的电机控制方法,其特征在于,所述的S3中,当各个伺服驱动器通过EtherCAT从站接口控制模块接收到各个电机的位置指令时,具体的控制步骤如下:(1)判断是否接收到EtherCAT同步时钟信号,若接收到就进行下一步处理;(2)通过EtherCAT通讯得到运动控制器发来的控制模式和位置指令,根据检测模块得到当前电机位置,微控制器执行位置控制算法后,输出给定转速;(3)根据给定转速和检测模块测量的当前转速,微控制器执行转速控制算法后,输出给定电流信号;(4)微控制器根据检测模块测量的当前电流,经过处理后得到当前的电流数据,执行电流控制算法,并经坐标变换及SVPWM算法后,生成驱动信号;(5)微控制器发送所述驱动信号至对应的电机,控制电机转动至指定位置;当各个伺服驱动器通过EtherCAT从站接口控制模块接收到各个电机的转速指令时,具体的控制步骤如下:(1)判断是否接收到EtherCAT同步时钟信号,若接收到就进行下一步处理;(2)通过EtherCAT通讯得到运动控制器发来的控制模式和转速指令,根据检测模块得到当前电机转速,微控制器执行转速控制算法后,输出给定电流;(3)微控制器根据检测模块测量的当前电流,经过处理后得到当前的电流数据,执行电流控制算法,并经坐标变换及SVPWM算法后,生成驱动信号;(4)微控制器发送所述驱动信号至对应的电机,控制电机转动至指定转速。
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CN114039810A (zh) * | 2022-01-10 | 2022-02-11 | 至新自动化(北京)有限公司 | 基于以太网的柔性自动化控制系统 |
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