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CN112332714B - Multi-axis servo drive system - Google Patents

Multi-axis servo drive system

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Publication number
CN112332714B
CN112332714B CN202011072971.9A CN202011072971A CN112332714B CN 112332714 B CN112332714 B CN 112332714B CN 202011072971 A CN202011072971 A CN 202011072971A CN 112332714 B CN112332714 B CN 112332714B
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CN
China
Prior art keywords
module
motor
current
sampling
drive system
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Application number
CN202011072971.9A
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Chinese (zh)
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CN112332714A (en
Inventor
姚玉春
马扣成
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SUZHOU GUFUDAO AUTOMATION TECHNOLOGY CO LTD
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SUZHOU GUFUDAO AUTOMATION TECHNOLOGY CO LTD
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Priority to CN202011072971.9A priority Critical patent/CN112332714B/en
Publication of CN112332714A publication Critical patent/CN112332714A/en
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Classifications

    • 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
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more AC dynamo-electric motors
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/28—Controlling the motor by varying the switching frequency of switches connected to a DC supply and the motor phases
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements 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
    • H02P27/06—Arrangements 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
    • H02P27/08—Arrangements 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 with pulse width modulation
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The application discloses a multi-axis servo driving system which comprises an AC/DC rectifying module, a control module, a plurality of independent single-way inversion sampling modules and a servo motor, wherein the AC/DC rectifying module is used for converting alternating current into direct current and outputting direct current voltage DC+ and DC to each single-way inversion sampling module, the DC+ and the DC of each single-way inversion sampling module are connected together, and the control module independently controls each single-way inversion sampling module and samples the current of each single-way inversion sampling module so as to control the servo motor to rotate. Therefore, when the multi-shaft servo driver faces different power combinations, the motor combination with any different power can be realized only by motor wiring and software configuration without changing hardware, and meanwhile, the change of the motor shaft number from single shaft to multi-shaft and any shaft number is supported, so that the application occasion of the multi-shaft servo driver is expanded.

Description

Multi-axis servo driving system
Technical Field
The application relates to the technical field of drive control, in particular to a multi-shaft servo drive system.
Background
Along with the increasing requirements on control precision, processing efficiency and intellectualization, a single processing device requires more and more motor servo axes, so that a multi-axis servo motor driver appears, but in most practical applications, the servo motor axes are often required to be different, and each axis is also a combination of different power sections, so that the application range of the multi-axis motor servo driver is limited, the flexible combination of different power sections and the axes cannot be solved, and a great deal of inconvenience is brought to the production management of products.
Disclosure of Invention
To solve one or more of the above problems, the present application provides a multi-axis servo drive system capable of varying both the number of axes and the maximum current.
According to one aspect of the application, a multi-axis servo driving system is provided, which comprises an AC/DC rectifying module, a control module, a plurality of independent single-way inversion sampling modules and a servo motor, wherein the AC/DC rectifying module is used for converting alternating current into direct current, outputting direct current voltage DC+ and DC-to each single-way inversion sampling module, the DC+ and DC-of each single-way inversion sampling module are connected together, and the control module independently controls each single-way inversion sampling module and samples the current of each single-way inversion sampling module so as to control the servo motor to rotate.
In some embodiments, each single-path inversion sampling module includes an upper bridge single tube, a lower bridge single tube, a driving circuit of the single tube, and a path of current sampling processing module, where the upper bridge single tube and the lower bridge single tube have a control signal respectively, there is an intermediate output point between the upper bridge single tube and the lower bridge single tube, the current sampling processing module can output phase current sampling output signals, the direct current voltages dc+ and DC-are respectively connected with the upper bridge single tube and the lower bridge single tube, and the intermediate output points of the upper bridge single tube and the lower bridge single tube are connected with a phase coil of the servo motor.
In some embodiments, the driving circuit comprises a bootstrap circuit.
In some embodiments, each of the intermediate output points can be short-circuited.
In some embodiments, the control module includes a switching power supply, an EtherCat slave communication module, an IO driving circuit module, an encoder communication circuit module and a core processor module, where the switching power supply is used to provide power for the EtherCat slave communication module, the IO driving circuit module, the encoder communication circuit module and the core processor module, the EtherCat slave communication is used to receive a position instruction of the motion control system, the encoder communication circuit module communicates with the motor code and receives a motor position signal, and the core processor module performs closed loop calculation according to the position instruction sent by the motion control system, the motor position signal and a current signal fed back by the single-channel inversion sampling module, so as to control the motor to move according to the instruction.
In certain embodiments, the upper bridge single tube and/or the lower bridge single tube are IGBT single tubes.
In some embodiments, the core processor module is xlinx Zynq7010 chips.
In some embodiments, each of the intermediate output points selects a short circuit connection mode according to the number of servo motors.
In certain embodiments, the servo motor is a three-phase motor.
In some embodiments, the number of single-pass inversion sampling modules is 3 times the number of three-phase motors.
Compared with the prior art, the application has the following beneficial effects:
Aiming at the problems that when the current multi-axis servo driver faces different servo motor power combinations, hardware modules are required to be replaced, so that the application of products is limited and the hardware types of the products are increased. When the multi-axis servo driver faces to different power combinations, any power motor combinations can be realized without changing hardware, and meanwhile, the change of the motor axis number from single axis to multi-axis arbitrary axis number is supported, so that the application occasion of the multi-axis servo driver is greatly expanded, the hardware model of a product is reduced, the hardware stock is reduced, and the operation cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the circuit connections of a multi-axis servo drive system of the present application driving three servo motors;
FIG. 2 is a schematic circuit diagram of a single-channel inversion sampling module of the multi-axis servo drive system of the present application;
FIG. 3 is a schematic diagram of a bootstrap circuit configuration of the multi-axis servo drive system of the present application;
FIG. 4 is a schematic diagram of the hardware structure of the control module of the multi-axis servo driving system of the present application;
FIG. 5 is a block diagram of a control method of the multi-axis servo drive system of the present application for one embodiment of FIG. 1;
FIG. 6 is a schematic diagram of the connection of a multi-axis servo drive system of the present application to a single axis servo motor;
FIG. 7 is a block diagram of a control method of the multi-axis servo drive system of the present application for one embodiment of FIG. 6;
FIG. 8 is a schematic diagram of the connection of a multi-axis servo drive system of the present application to drive a two-axis servo motor;
fig. 9 is a circuit diagram of a current sampling process of the multi-axis servo drive system of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the multi-axis servo driving system comprises an AC/DC rectifying module, a control module, a plurality of independent single-path inversion sampling modules and a servo motor, wherein the AC/DC rectifying module is used for converting alternating current into direct current, outputting direct current voltage dc+ and-to each single-path inversion sampling module, and the dc+ and-of each single-path inversion sampling module are connected together.
The single-channel inversion sampling modules are shown in fig. 2, each single-channel inversion sampling module comprises an upper bridge single tube, a lower bridge single tube, a driving circuit of the upper bridge single tube, a lower bridge single tube driving circuit and a current sampling processing circuit, wherein the upper bridge single tube and the lower bridge single tube are respectively provided with a control signal a/b, and an intermediate output point c is arranged between the upper bridge single tube and the lower bridge single tube.
As shown in fig. 9, the current sample processing circuit may use the chip HCPL7860 to sample the output phase current sample output signal with 210 milliohms parallel resistance, denoted as d. Of course, the current sampling processing circuit can also adopt chips of other types, as long as the same function is achieved, the size and the number of the resistors, the maximum current supported and the selected chips are correspondingly adjusted.
And (3) converting the current passing through the sampling resistor into a digital signal by using an optical coupler, and sending the digital signal into an FPGA for signal sampling.
The direct current voltages DC+ and DC-are respectively connected with an upper bridge single tube and a lower bridge single tube of the single-channel inversion sampling module according to the illustration of fig. 2, and the middle output points of the upper bridge single tube and the lower bridge single tube are connected with a phase coil of the servo motor. Because the power supply voltage of each single-channel inversion module is the same, the power supply of the upper bridge arm driving circuit is based on the c1 point voltage, and the c1 point voltage changes along with motor control fluctuation, if each inversion module independently supplies power, the single-channel inversion module can be realized, but the requirement of excessive independent power supply is caused. In order to simplify the circuit, the driving circuit of each inversion sampling module comprises a bootstrap circuit, so that the whole system can be realized by only one power supply. The bootstrap circuit is shown in fig. 3, VCC is the supply voltage of the driving module, and c is the single-tube intermediate output point, i.e. the motor input point.
Because the servo motor generally adopts an alternating current permanent magnet synchronous motor, and is generally a three-phase motor, each motor needs three single-way inversion sampling modules for driving, and so on, and the n motors need 3n single-way inversion sampling modules. As shown in fig. 1, the 3 servo motors need 9 single-path inversion sampling modules, for convenience of subsequent description, three-phase coils of the servo motors are marked as u, v and w, the motors are numbered as i, the single-path inversion sampling modules are numbered as j, and in the embodiment of fig. 1, i=1 to 3, and j=1 to 9.
Therefore, according to the wiring of fig. 1, the three-phase coils of the servo motor 1 are respectively connected with the single-path inversion sampling modules 1,2 and 3, the control signals of the upper bridge single tube of the single-path inversion sampling module 1 are respectively marked as a 11u, the control signals of the lower bridge single tube are respectively marked as b 11u, the current sampling signals are d 11u, the output signals of the motor coils are c 11u, the control signals of the upper bridge single tube of the single-path inversion sampling module 2 are respectively marked as a 21v, the control signals of the lower bridge single tube are respectively marked as b 21v, the current sampling signals are d 21v, the output signals of the motor coils are c 21v, the control signals of the upper bridge single tube of the single-path inversion sampling module 3 are marked as a 31w, the control signals of the lower bridge single tube are respectively marked as b 31w, the current sampling signals are d 31w, the output signals of the motor coils are c 31w, and the feedback signals e 1 of the encoder of the servo motor 1.
According to the wiring method and the numbering principle, the following rules can be obtained:
The u-phase coil with the servo motor number of i is connected to a single-way inversion sampling module j, the control signal of an upper bridge single tube of the single-way inversion sampling module is marked as a jiu, the control signal of a lower bridge single tube is respectively marked as b jiu, the current sampling signal is d jiu, the output signal of a motor coil is c jiu, and the feedback signal e i of a motor encoder is obtained.
Referring to fig. 4, the control module includes a switching power supply, an EtherCat slave communication module, an IO driving circuit module, an encoder communication circuit module, a core processor module, and the like. The switching power supply provides power for each module circuit, the EtherCat slave station communication module receives a position instruction of the motion control system, the encoder communication circuit communicates with motor codes to receive motor position signals, the core processing module adopts xlinx Zynq7010 chips, the chips integrate arm A9 cores and FPGA functions, the FPGA module provides the capability of carrying out IO logic fast parallel processing, the functional algorithms such as input and output logic processing calculation, SVPWM calculation, sampling signal calculation processing, encoder calculation processing and the like of the single-channel inversion sampling module are realized, and the arm cores realize EtherCat communication processing, motor position, speed and torque control algorithms and other servo motor driver application functions.
The core processing module receives a communication instruction and IO information of the motion control system, reads the position information e i of the encoder of the motor i, samples the current d jiu、d(j+1)iv、d(j+2)iw of the single-path inversion sampling module connected to the three-phase coil uvw of the motor i, and obtains upper and lower bridge arm signals a jiu、bjiu、a(j+1)iv、b(j+1)iv、a(j+2)iw、b(j+2)iw of the single-path inversion sampling modules j, j+1 and j+2 through a motor control algorithm.
As shown in FIG. 5, the encoder processing module processes the encoder original information ei to obtain a magnetic pole angle and a feedback position posfdb _i of a motor i, and then calculates the actual speed spdfdb _i;
The current sampling modules j, j+1 and j+2 obtain actual currents Idfdb and Iqfdb of the D axis and the Q axis of the motor i according to the motor phase current D jiu、d(j+1)iv、d(j+2)iw and the magnetic pole angle of the motor through a clark and park algorithm.
The servo driving system receives a position command posref _i of the motor i from the motion control system, and calculates an upper bridge control signal a jiu、bjiu、a(j+1)iv、b(j+1)iv、a(j+2)iw、b(j+2)iw and a lower bridge control signal a jiu、bjiu、a(j+1)iv、b(j+1)iv、a(j+2)iw、b(j+2)iw of the inverter by adopting a classical position, speed and control tricyclic control algorithm, so that the motor i is precisely controlled to move to a designated position.
In some embodiments, each of the intermediate output points can be short-circuited. And each intermediate output point selects a short circuit connection mode according to the number of the servo motors. Thereby realizing the control of motor shafts with different combinations.
Referring to fig. 1, a wiring diagram for driving 3 servomotors is shown.
The AC/DC rectifying module rectifies and outputs direct-current voltages DC+ and DC-, the direct-current voltages DC+ and DC-are transmitted to each single-way sampling inversion module, and all the single-way inversion sampling modules DC+ and DC-are connected together. Each single-channel inversion sampling module is provided with an upper bridge single tube and a lower bridge single tube, igbt single tubes are respectively selected to form an upper bridge arm and a lower bridge arm, each igbt single tube supports that the maximum output current of a motor is 15A, rated current output is related to the design of a radiator, the rated output current of the embodiment is 2.8A, and the output power of the motor is 400W. Each single-way inversion sampling module is connected with one phase coil of the motor, and three-phase servo motors are connected with 3, so that 9 single-way inversion modules can be just connected with three servo motors.
After the design of each single-channel inversion sampling module is finished, the maximum output current of the single-channel inversion sampling module is fixed, but in practical application, servo motors with different powers are often used, and the phase currents of the servo motors are different.
Referring to fig. 6, a wiring diagram for driving 1 servo motor is shown.
In fig. 1, the intermediate output points c of the upper and lower bridges of the single-path sampling inverter modules 1,2 and 3 are short-circuited to the u-phase coil of the servo motor, the intermediate output points c of the upper and lower bridges of the single-path sampling inverter modules 4, 5 and 6 are short-circuited to the v-phase coil of the servo motor, and the intermediate output points c of the upper and lower bridges of the single-path sampling inverter modules 7, 8 and 9 are short-circuited to the w-phase coil of the servo motor, and referring to fig. 6, it changes the aforementioned 3-axis servo driver of fig. 1 into a wiring diagram for driving the single-axis servo motor driver. In the figure, the middle output points of the upper bridge and the lower bridge of the three single-way sampling inverter modules are connected to a phase coil of the servo motor in a short circuit manner, which is equivalent to the parallel connection of the single-way sampling inverter modules, so that the phase current of the motor is equal to the sum of the sampling currents of the three single-way sampling inverter modules, and the maximum output current of the motor can be maximally increased to 3 times of the original single-way maximum output current, namely 45A, and the rated current is 10A.
Specifically, a control method of driving the uniaxial servo is shown in fig. 7. Compared with the servo control algorithm of fig. 5, the servo control algorithm has more input/output signal port logic processing modules, and realizes the following functions:
1) And determining the lower label of the input and output signals of the single-channel inverter module and the input and output signal marks according to the wiring of the single-channel inversion sampling module and the motor coil, as shown in the following table.
2) And (3) collecting and calculating phase current of the servo motor i, wherein the value of the phase current is equal to the sum of sampling currents of all single-path inverter sampling modules connected to the phase coil of the servo motor. As shown in the embodiment of FIG. 6, the u-phase current of the servo motor is d 11u+d21u+d31u, the v-phase current of the servo motor is d 41v+d51v+d61v, and the w-phase current of the servo motor is d 71w+d81w+d91w.
3) The phase current of the motor i is controlled by a pair of upper and lower bridge control signals of the single-path inverter sampling module, namely, the uvw three-phase coil of the motor i is controlled by three pairs of independent upper and lower bridge control signals. As shown in the embodiment of fig. 6, in the figure, the u-phase current of the servo motor is controlled by the single-way inverter sampling modules 1, 2 and 3, so that the single-way inverter sampling modules 1, 2 and 3 are controlled by a pair of upper and lower bridge control signals a 1u、b1u, namely, each inverter upper bridge control signal a 11u、a21u、a31u is short-circuited to a 1u, the lower bridge control signal b 11u、b21u、b31u is short-circuited to b 1u, in the same way, the v-phase current of the servo motor is controlled by the single-way inverter sampling modules 4, 5 and 6, the v-phase pair of upper and lower bridge control signals are respectively a 1v、b1v, namely, each inverter upper bridge control signal a 41v、a51v、a61v is short-circuited to a 1v, the lower bridge control signal b 41v、b51v、b61v is short-circuited to b 1v, the w-phase current of the servo motor is controlled by the single-way inverter sampling modules 7, 8 and 9, and the w-phase pair of upper and lower bridge control signals are respectively a 1w、b1w, namely, each inverter upper bridge control signal a 71w、a81w、a91w is short-circuited to a 1w, and the lower bridge control signal b 71w、b81w、b91w is short-circuited to b 1w.
After the input/output signal port processing module is arranged, a triaxial servo motor driver is changed into a uniaxial servo driver with the maximum output current being 3 times of the original maximum output current. I.e. a single-axis servo driver with a maximum output current of 45A and a rated output current of 10A.
The system can also short-circuit any two single-way inversion sampling modules to form a two-axis motor servo driver, for example, the upper and lower bridge middle output points c of the single-way sampling inverter modules 1 and 2 are connected to the u-phase coil of the servo motor 1 in a short-circuit manner, the upper and lower bridge middle output points c of the single-way sampling inverter modules 3 and 4 are connected to the v-phase coil of the servo motor 1 in a short-circuit manner, the upper and lower bridge middle output points c of the single-way sampling inverter modules 5 and 6 are connected to the w-phase coil of the servo motor 1 in a short-circuit manner, and the single-way sampling inverter modules 7, 8 and 9 are respectively connected to the uvw three-phase coil of the servo motor 2, and refer to a wiring diagram of the 3-axis servo driver of the figure 1 to drive 2-axis servo motor driver. In the drawing, each phase coil of the servo motor 1 is short-circuited and connected together by the middle output points of the upper bridge and the lower bridge of 2 single-way sampling inverter modules, which is equivalent to the parallel connection of the 2 single-way sampling inverter modules, so that the phase current of the motor 1 is equal to the sum of the sampling currents of the 2 single-way sampling inverter modules, the maximum output current of the motor can be increased to 2 times of the original single-way maximum output current, namely 30A, and the rated current is 6.8A, and the maximum output of the phase current of the motor 2 is the maximum output current of the single-way inverter, namely 15A.
The control method is similar to the control method described above, and the input/output signal port logic processing module performs the following processing according to the wiring of fig. 8:
1) The u-phase current of the servo motor 1 is d 11u+d21u, the v-phase current of the servo motor is d 31v+d41v, the w-phase current of the servo motor is d 51w+d61w, and the uvw-phase current of the servo motor 2 is d 72u、d82v、d92w;
2) The u-phase current of the servo motor 1 is controlled by the single-way inverter sampling modules 1 and 2, so that the single-way inverter sampling modules 1 and 2 are controlled by a pair of upper and lower bridge control signals a 1u、b1u and 6, namely, each inverter upper bridge control signal a 11u、a21u is short-circuited to a 1u, each inverter upper bridge control signal b 11u、b21u is short-circuited to b 1u, the v-phase current of the servo motor is controlled by the single-way inverter sampling modules 3 and 4, the v-phase pair of upper and lower bridge control signals are respectively a 1v、b1v, namely, each inverter upper bridge control signal a 31v、a41v is short-circuited to a 1v, each inverter upper bridge control signal b 31v、b41v is short-circuited to b 1v, the w-phase current of the servo motor is controlled by the single-way inverter sampling modules 5 and 6, and the w-phase pair of upper and lower bridge control signals are respectively a 1w、b1w, namely, each inverter upper bridge control signal a 51w、a61w is short-circuited to a 1w, and the lower bridge control signal b 51w、b61w is short-circuited to b 1w.
3) The uvw phase current of the servo motor 2 is controlled by the single-path inverter sampling modules 7, 8 and 9, and the upper bridge control signal and the lower bridge control signal of the servo motor are a 72u、b72u、a82v、b82v、a92w、b92w.
Through any combination, the multi-axis servo driver of the application can realize any motor combination with different power without changing hardware when facing different power combinations, and can support the change of the motor axis number from single axis to multi-axis arbitrary axis number at the same time, thereby greatly expanding the application occasion of the multi-axis servo driver, reducing the hardware model of products, reducing the hardware stock and the operation cost.

Claims (8)

1.多轴伺服驱动系统，其特征在于，包括1. A multi-axis servo drive system, characterized in that it includes: AC/DC整流模块、控制模块、若干个相互独立的单路逆变采样模块以及伺服电机，其中，The system includes an AC/DC rectifier module, a control module, several independent single-channel inverter sampling modules, and a servo motor. 所述AC/DC整流模块用于将交流电转变为直流电，输出直流电压DC+和DC-给每个所述的单路逆变采样模块，每个所述的单路逆变采样模块的DC+和DC-连接在一起；The AC/DC rectifier module is used to convert alternating current into direct current and output DC voltages DC+ and DC- to each of the single-channel inverter sampling modules. The DC+ and DC- of each of the single-channel inverter sampling modules are connected together. 所述控制模块独立控制每一个单路逆变采样模块，并采样每个单路逆变采样模块的电流，进而控制伺服电机转动；The control module independently controls each single-channel inverter sampling module and samples the current of each single-channel inverter sampling module, thereby controlling the rotation of the servo motor. 每个所述单路逆变采样模块中包括上桥单管、下桥单管、上桥单管的驱动电路和下桥单管驱动电路，上桥单管和下桥单管分别有一个控制信号，上桥单管和下桥单管之间还有中间输出点，每个所述的中间输出点之间能够短路连接，每个所述的中间输出点根据伺服电机的数量选择短路连接方式；Each of the single-channel inverter sampling modules includes an upper bridge single transistor, a lower bridge single transistor, a driving circuit for the upper bridge single transistor, and a driving circuit for the lower bridge single transistor. The upper bridge single transistor and the lower bridge single transistor each have a control signal. There is also an intermediate output point between the upper bridge single transistor and the lower bridge single transistor. Each of the intermediate output points can be short-circuited. The short-circuit connection method of each intermediate output point is selected according to the number of servo motors. 所述控制模块包括编码器通信电路模块以及核心处理器模块，所述编码器通信电路模块和电机编码进行通信并接收电机位置信号，所述核心处理器模块读取电机编码器位置信息，根据位置指令，电机位置信号以及单路逆变采样模块反馈的电流信号进行闭环计算，进而控制电机按照指令进行运动；The control module includes an encoder communication circuit module and a core processor module. The encoder communication circuit module communicates with the motor encoder and receives the motor position signal. The core processor module reads the motor encoder position information, performs closed-loop calculation based on the position command, the motor position signal and the current signal fed back by the single-channel inverter sampling module, and then controls the motor to move according to the command. 编码器处理模块将编码器原始信息处理得到电机的磁极角和反馈位置，再通过速度计算得到实际速度，电流采样模块根据电机相电流以及电机磁极角，计算得到电机的的D轴和Q轴实际电流，根据已知的电机位置指令，计算单路逆变采样模块的控制信号。The encoder processing module processes the encoder's raw information to obtain the motor's magnetic pole angle and feedback position, and then calculates the actual speed. The current sampling module calculates the actual current of the motor's D-axis and Q-axis based on the motor's phase current and magnetic pole angle, and calculates the control signal of the single-channel inverter sampling module based on the known motor position command. 2.根据权利要求1所述的多轴伺服驱动系统，其特征在于，2. The multi-axis servo drive system according to claim 1, characterized in that, 每个所述的单路逆变采样模块包括上桥单管、下桥单管、单管的驱动电路以及一路电流采样处理模块，其中，Each of the aforementioned single-channel inverter sampling modules includes an upper-bridge single transistor, a lower-bridge single transistor, a single transistor drive circuit, and a current sampling and processing module. 电流采样处理模块能够输出相电流采样输出信号，The current sampling processing module can output phase current sampling output signals. 所述直流电压DC+和DC-分别连接所述上桥单管和下桥单管，The DC voltages DC+ and DC- are respectively connected to the upper bridge transistor and the lower bridge transistor. 所述上桥单管和下桥单管的中间输出点连接伺服电机的一相线圈。The intermediate output point of the upper bridge single tube and the lower bridge single tube is connected to one phase coil of the servo motor. 3.根据权利要求2所述的多轴伺服驱动系统，其特征在于，3. The multi-axis servo drive system according to claim 2, characterized in that, 所述驱动电路包含一个自举电路。The driving circuit includes a bootstrap circuit. 4.根据权利要求1所述的多轴伺服驱动系统，其特征在于，4. The multi-axis servo drive system according to claim 1, characterized in that, 所述控制模块还包括开关电源、EtherCat从站通信模块以及IO驱动电路模块，其中，The control module also includes a switching power supply, an EtherCat slave communication module, and an I/O driver circuit module. 所述开关电源用于给所述EtherCat从站通信模块、IO驱动电路模块、编码器通信电路模块以及核心处理器模块提供电源，The switching power supply is used to provide power to the EtherCat slave communication module, IO driver circuit module, encoder communication circuit module, and core processor module. 所述EtherCat从站通信模块用于接收位置指令。The EtherCat slave communication module is used to receive location commands. 5.根据权利要求2所述的多轴伺服驱动系统，其特征在于，所述上桥单管和/或下桥单管为IGBT单管。5. The multi-axis servo drive system according to claim 2, wherein the upper bridge single tube and/or the lower bridge single tube is an IGBT single tube. 6.根据权利要求4所述的多轴伺服驱动系统，其特征在于，所述核心处理器模块为xlinx Zynq7010芯片。6. The multi-axis servo drive system according to claim 4, wherein the core processor module is an Xlinx Zynq7010 chip. 7.根据权利要求1-6任一项所述的多轴伺服驱动系统，其特征在于，所述伺服电机为三相电机。7. The multi-axis servo drive system according to any one of claims 1-6, wherein the servo motor is a three-phase motor. 8.根据权利要求7所述的多轴伺服驱动系统，其特征在于，所述单路逆变采样模块的数量为三相电机数量的3倍。8. The multi-axis servo drive system according to claim 7, wherein the number of single-channel inverter sampling modules is three times the number of three-phase motors.
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