CN108549303A - Three axis servos control integrated control system - Google Patents

Abstract

The invention discloses three axis servos of one kind controling integrated control system, the control system includes motion controller, three axis servo drive control units and power adjustment unit, the motion controller, the three axis servo drive control unit and the power adjustment unit are sequentially connected with and become one, and the power adjustment unit is connect with external motor.The present invention replaces traditional dcs, realizes motion controller, three axis servo drive control units shared power modules, reduce production cost by integrating motion controller and three axis servo drive control units；In addition, being connected by I/O buses, CAN communication module between the motion controller and three axis servo drive control units of the present invention, distribution structure is not only simplified, and improve the anti-interference ability of system.

Description

Three-axis servo drive and control integrated control system

technical field

The invention relates to a control system, in particular to a three-axis servo drive-control integrated control system.

Background technique

Under the overall policy of China's Smart Manufacturing 2025, in order to meet the upgrading of smart manufacturing in traditional industries and the rapid rise of new industries, smart equipment (such as industrial robots, truss robots, 5D theater seats, etc.) has been widely used. A motion control system includes a controller, a servo driver, a motor, and corresponding sensors. The current typical servo driver includes a power supply module, an inverter module, a control module, AI and AO modules, and an encoder module. When the controlled objects are multiple motors in the entire control system, it is necessary to configure a corresponding number of drives.

At present, a distributed multi-axis servo control framework is used. As shown in Figure 1, the motion controller is separated from the servo drive, and each drive includes an independent power supply module, inverter module, and control module. Existing motion controllers use the traditional single wiring method to control multi-axis servo drives. The disadvantages of this structure are: high cost, each servo driver includes a power module, inverter module and control module; complex wiring: the motion controller is connected through the traditional pulse + direction control method, and each group of lines contains pulse direction signals , Feedback signals, input and output signals, etc.; Poor anti-interference ability: once more or less pulses appear in the pulse-type control mode, the servo drive cannot be identified.

Contents of the invention

In order to solve the above technical problems, the present invention provides a three-axis servo drive and control integrated control system. The present invention replaces the traditional distributed control system by integrating the motion controller and the three-axis servo drive control unit to realize the motion controller, The three-axis servo drive control unit shares the power supply module, which reduces the production cost; in addition, the motion controller of the present invention and the three-axis servo drive control unit are connected through the I/O bus and the CAN communication module, which not only reduces wiring, simplifies The wiring structure is improved, and the problem that the servo drive cannot be identified once more or less pulses appear in the existing pulse-type control method is solved, and the anti-interference ability of the system is improved.

To achieve the above object, the specific scheme of the present invention is as follows:

One aspect of the present invention provides a three-axis servo drive control integrated control system, the system includes a motion control unit, a three-axis servo drive control unit and a power adjustment unit, the motion control unit, the three-axis servo drive control unit and the power adjustment unit are sequentially connected and integrated, the power adjustment unit is connected to an external motor, the motion control unit outputs control signals to the three-axis servo drive control unit, and the three-axis servo drive control unit Outputting a motor driving signal according to the control signal, the power adjustment unit processes the motor driving signal to drive the external motor to operate.

As a preferred embodiment, the three-axis servo drive control unit is an integrated servo drive control unit, and the integrated servo drive control unit is connected to the motion control unit through a first encoding module and a plurality of connection lines.

As a preferred embodiment, the multiple connection lines include pulse and bus dual-mode connection lines, specifically, the bus line includes an I/O bus, and the pulse line includes a CAN communication module.

As a preferred embodiment, the power adjustment unit includes a power adjustment module, a rectification module, a filter module, and a power module, and the power module, the rectification module, the filter module, and the power adjustment module are connected in sequence, The power supply module is connected to the three-axis servo drive control unit, and the power adjustment module is connected to an external motor; in addition, the present invention uses a power supply module instead of the original three power supply modes to supply power for the system; a The rectifier module replaces the original three rectifier modules, and a filter module replaces the original three filter modules to supply power to the power module; the circuit structure is further simplified.

As a preferred embodiment, there are three power adjustment modules, and each power adjustment unit is connected to an external motor for controlling the external motors respectively.

As a preferred embodiment, the filter module includes a filter capacitor, the filter module replaces the original three filter modules, and is connected to the three power adjustment modules through one filter module, replacing the original three filter modules The connection mode in which the modules filter the three power adjustment modules respectively further simplifies the circuit structure.

As a preferred embodiment, the motion control unit includes a motion controller, an Ethernet module and an input and output module, one end of the Ethernet module is connected to the motion controller, and the other end is connected to an external device, and the motion control The controller performs information interaction with external network equipment through the Ethernet module, one end of the input and output module is connected to the motion controller, and the other end is connected to the external device, and the motion controller passes the input and output module and the The Ethernet module exchanges information with the external device. It should be noted here that the external devices connected to the Ethernet include external network devices, and the external devices connected to the input and output modules include external sensors, relays, etc., which may also be external network devices.

As a preferred embodiment, the three-axis servo drive-control integrated control system further includes a programmable module, one end of the programmable module is connected to the three-axis servo drive control unit, and the other end is connected to the power adjustment unit, It is used to generate three-axis pulses, three-axis input and output digital signals to control the external motor, and at the same time, it can also control the external relay and detect the input signal of the external sensor. The present invention further simplifies the structure of the control system by replacing the original three programmable modules with one programmable module.

As a preferred embodiment, the programmable module of the present invention adopts FPGA chip.

As a preferred embodiment, the three-axis servo drive and control integrated control system further includes an overcurrent protection module, one end of the overcurrent protection module is connected to the three-axis servo drive control unit, and the other end is connected to the power regulator unit connection, the overcurrent protection module monitors and overcurrent protects the current value output by the three-axis servo drive control unit.

As a preferred embodiment, the three-axis servo drive and control integrated control system further includes a second encoding module, one end of the second encoding module is connected to the external motor, and the other end is connected to the three-axis servo drive control unit connected, the second encoding module transmits the output signal of the external motor to the three-axis servo drive control unit.

As a preferred embodiment, the three-axis servo drive and control integrated control system further includes a first storage module and a second storage module, the first storage module is connected to the motion control module; the second storage module is connected to the The three-axis servo drive control unit is connected, and the first storage module and the second storage module are respectively used to store the working parameters of the motion controller and the servo drive unit.

The beneficial effects of the present invention are:

1) The present invention replaces the traditional distributed control system by integrating the motion controller and the three-axis servo drive control unit to realize the shared power module of the motion controller and the three-axis servo drive control unit, which reduces the production cost;

2) The motion controller of the present invention and the three-axis servo drive control unit are connected through the I/O bus and the CAN communication module, which not only reduces the wiring, simplifies the wiring structure, but also improves from the traditional single wiring method It is a pulse and bus dual-mode control method, which solves the problem that the servo driver cannot identify once more or less pulses appear in the existing pulse-type control method, improves the anti-interference ability of the system, and makes the control method more flexible to meet different functions. Require.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and not to limit the present application.

Fig. 1 is the connection structural diagram of existing motion control system;

Fig. 2 is a connection structure diagram of the three-axis servo drive-control integrated control system according to the first embodiment of the present invention.

Among them, 1. Motion controller; 2. Three-axis servo drive control unit; 3. Programmable module; 4. Overcurrent protection module; 5. First storage module; 6. Second storage module; 7. Ethernet module; 8. The first encoding module; 9. I/O bus; 10. CAN communication module; 11. Encoder a; 12. Encoder b; 13. Encoder c; 14. Motor a; 15. Motor b; 16. Motor c; 17, external network equipment; 31, power supply module; 32, sorting module; 33, filter module; 34, IPM module a; 35, IPM module b; 36, IPM module c.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

Embodiment one:

A three-axis servo drive and control integrated control system, the control system includes a motion control unit, a three-axis servo drive control unit 2 and a power adjustment unit, wherein the motion control unit, the three-axis servo drive control unit 2 and the power adjustment unit are sequentially The power adjustment unit is connected to the external motor, the motion control unit outputs control signals to the three-axis servo drive control unit 2, and the three-axis servo drive control unit 2 outputs motor drive signals according to the control signals. After the motor drive signal is processed, the external motor is driven to operate.

The three-axis servo drive control unit 2 includes three servo drivers, and the three servo drivers are connected to the motion control unit through the I/O bus 9, the CAN communication module 10 and the first encoding module 8. Specifically, the motion control unit is connected through the I/O bus 9, the CAN communication module 10 and the first encoding module 8. The O bus 9 and the CAN communication module 10 perform motion control and information interaction with each servo driver, and the servo driver outputs control signals to the motion control unit through the first encoding module 8 .

The power adjustment unit includes a power adjustment module, a rectification module, a filter module 33 and a power supply module 31, the power supply module 31, the rectification module, the filter module 33 and the power adjustment module are connected in sequence, and the power supply module 31 is connected to the three-axis servo drive control unit 2, The power adjustment module is connected to an external motor. In this embodiment, the filter module 33 includes a filter capacitor, and there are three power adjustment modules, namely: IPM module a34, IPM module b35, and IPM module c36. Specifically, IPM module a34 and IPM module The b35 and the IPM module c36 are respectively connected to the motor a14 , the motor b15 and the motor c16 correspondingly, and are used to control the motor a14 , the motor b15 and the motor c16 respectively.

The motion control unit includes a motion controller 1 and an Ethernet module 7, wherein one end of the Ethernet module 7 is connected to the motion controller 1, and the other end is connected to an external network device 17, and the motion controller 1 is connected to the external network through the Ethernet module 7. The equipment 17 performs information exchange, and the three-axis servo drive control unit 2 is connected to the motion controller 1 through the I/O bus 9 , the CAN communication module 10 and the first encoding module 8 .

In this embodiment, a programmable module 3, an overcurrent protection module 4, a second encoding module and a storage module are also included;

Among them, one end of the programmable module 3 is connected to the three-axis servo drive control unit 2, and the other end is connected to the power adjustment unit, which is used to generate three-axis pulses, three-axis input and output digital signals to control the external motor. In this embodiment, The programmable module 3 adopts the FPGA chip, and the three-axis driver control unit receives the encoder signals of the motor a14, the motor b15 and the motor c16 respectively through the encoder a11, the encoder b12 and the encoder c13, and performs position calculation and speed calculation of the motor. The overcurrent protection module 44 obtains the actual torque values of the motor a14, the motor b15 and the motor c16, and transmits the calculation and settlement to the FPGA, and generates the PWM pulses required for the three-axis motor control through the FPGA.

One end of the overcurrent protection module 4 is connected to the three-axis servo drive control unit 2 , and the other end is connected to the power adjustment unit. The overcurrent protection module 4 monitors and protects the current value output by the three-axis servo drive control unit 2 .

The second encoding module includes an encoder a11, an encoder b12 and an encoder c13, wherein one end of the encoder a11 is connected to the external motor a14, and the other end is connected to the three-axis servo drive control unit 2; one end of the encoder b12 is connected to the external motor b15 One end of the encoder c13 is connected to the external motor c16, and the other end is connected to the three-axis servo drive control unit 2; The output signal is converted into a motor control signal.

This embodiment also includes a first storage module 5 and a second storage module 6, wherein the first storage module 5 is connected to the motion control module; the second storage module 6 is connected to the three-axis servo drive control unit 2, and the first storage module 5 and the second storage module 6 are respectively used for storing the working parameters of the motion controller 1 and the servo drive unit.

In addition, this embodiment also includes a DI/DO module (not shown in the figure) connected to the three-axis servo drive control unit, which is used for limit input protection signals, zero input signals, and output brake signals.

The implementation process of this embodiment is:

The three-axis driver control unit replaces the traditional three control units. Through the encoder signals of the encoder a11, the encoder b12 and the encoder c13 respectively, the encoder signals of the motor a14, the motor b15 and the motor c16 are used to calculate the position and speed of the motor. The protection module 44 acquires the actual torque values of the motor a14, the motor b15 and the motor c16, and transmits the calculation and settlement to the FPGA to generate the PWM pulses required for the three-axis motor control; the IPM module a34, the IPM module b35 and the IPM module c36 receive the PWM pulse After the pulse model, the DC power generated by the rectifier module is converted into three-phase power to drive the motor. The motor encoder signal can be an incremental encoder or an absolute encoder. The protection of the IPM module a34 , the IPM module b35 and the IPM module c36 is realized through the calculation results of the voltage and current signals sent by the overcurrent protection module 44 .

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (10)

1. A three-axis servo drive and control integrated control system, characterized in that, comprising a motion control unit, a three-axis servo drive control unit and a power adjustment unit, the motion control unit, the three-axis servo drive control unit and the The power adjustment unit is sequentially connected and integrated, the power adjustment unit is connected to the external motor, the motion control unit outputs control signals to the three-axis servo drive control unit, and the three-axis servo drive control unit is based on the The control signal outputs a motor driving signal, and the power adjustment unit drives the external motor to operate after processing the motor driving signal. 2. A three-axis servo drive and control integrated control system according to claim 1, wherein the three-axis servo drive control unit is an integrated servo drive control unit, and the integrated servo drive control unit passes the first code The module and a plurality of connection lines are connected with the motion control unit. 3 . The three-axis servo drive-control integrated control system according to claim 2 , wherein the plurality of connection lines include pulse and bus dual-mode connection lines. 4 . 4. A three-axis servo drive and control integrated control system according to claim 1, characterized in that, the power adjustment unit includes a power adjustment module, a rectification module, a filter module and a power module, the power module, the The rectifier module, the filter module and the power regulation module are connected in sequence, the power module is connected to the three-axis servo drive control unit, and the power regulation module is connected to an external motor. 5. A three-axis servo drive-control integrated control system according to claim 4, characterized in that there are three power adjustment modules, and each of the power adjustment units is connected to an external motor for The external motors are individually controlled. 6. A three-axis servo drive and control integrated control system according to claim 1, wherein the motion control unit includes a motion controller, an Ethernet module and an input/output module, and one end of the Ethernet module is connected to The other end of the motion controller is connected to an external device, and the motion controller performs information exchange with the external network device through the Ethernet module. One end of the input and output module is connected to the motion controller, and the other end is connected to the external device. The device is connected, and the motion controller performs information exchange with the external device through the input and output module and the Ethernet module. 7. A three-axis servo drive-control integrated control system according to claim 1, characterized in that, the three-axis servo drive-control integrated control system further comprises a programmable module, one end of the programmable module is connected to the The other end of the three-axis servo drive control unit is connected to the power adjustment unit for generating three-axis pulses and three-axis input and output digital signals to control the external motor. 8. A three-axis servo drive-control integrated control system according to claim 1, characterized in that, the three-axis servo drive-control integrated control system further comprises an overcurrent protection module, one end of the overcurrent protection module is connected to The three-axis servo drive control unit is connected, and the other end is connected to the power adjustment unit. The overcurrent protection module monitors and protects the current value output by the three-axis servo drive control unit. 9. A three-axis servo drive-control integrated control system according to claim 1, characterized in that, the three-axis servo drive-control integrated control system further comprises a second encoding module, one end of the second encoding module is connected to The external motor is connected, and the other end is connected to the three-axis servo drive control unit, and the second encoding module transmits the output signal of the external motor to the three-axis servo drive control unit. 10. A three-axis servo drive-control integrated control system according to claim 1, characterized in that, the three-axis servo drive-control integrated control system further comprises a first storage module and a second storage module, the first The storage module is connected to the motion control module; the second storage module is connected to the three-axis servo drive control unit, and the first storage module and the second storage module are respectively used to store the motion controller and the Working parameters of the servo drive unit.