CN107053169A - A kind of bus intelligent servo drive system, robot and method - Google Patents

Abstract

The invention discloses a bus-type intelligent servo drive system, a robot and a method. The system includes a servo main controller module, and the servo main controller module communicates with an intelligent control unit through a bus peripheral interface unit; the intelligent control unit is used for sending motor control signals And it is transmitted to the intelligent control unit through the bus peripheral interface unit; the intelligent control unit is used to analyze the received motor control signal, and send the analyzed signal to the intelligent control output unit, and then send it to the power drive after level adjustment and conversion unit, the power drive unit drives the motor to run; the intelligent control unit is connected to the sensor unit, and the sensor unit is connected to the motor. Send it to the servo main controller module; the servo main controller module then adjusts the output motor control signal in real time according to the received motor operating status information.

Description

A bus type intelligent servo drive system, robot and method

technical field

The invention belongs to the field of advanced robot control, and in particular relates to a bus-type intelligent servo drive system, robot and method.

Background technique

Industrial robot technology is becoming more and more mature and has been widely used in industrial sites. Traditional industrial robot control generally adopts the design method of separating the controller and the driver, and the controller sends pulse signals to realize the control of the driver. This method has the following disadvantages:

1) The pulse signal is easily disturbed during the transmission process, especially when the transmission line is long, the frequency converter line, mobile phone signal and other industrial field signals are easy to cause the pulse signal to generate peak interference pulses, as shown in Figure 1. It may cause the communication between the controller and the driver to fail;

2) Because all servo drivers have a limit value for the pulse signal frequency, when the pulse signal frequency is too high, the servo driver will not be able to recognize the pulse signal;

3) When the frequency of the pulse signal is high but below the limit value of the servo drive, it is easy for individual pulse servo drives to fail to recognize, resulting in pulse loss and inaccurate positioning;

4) The wiring is complex, in addition to the pulse signal line, many control lines are required, and the line failure rate is high;

5) The scalability is poor. When the number of motors to be controlled needs to be increased, the hardware configuration must be changed.

Contents of the invention

In order to solve the shortcomings of the prior art, the first object of the present invention is to provide a bus-type intelligent servo drive system. The bus-type intelligent servo drive system can avoid unstable factors such as drift or electromagnetic interference generated during the transmission of analog signals and digital pulse signals. The control system is easy to expand, saves system costs, and greatly reduces the failure rate of the line.

The bus-type intelligent servo drive system of the present invention is used to realize the closed-loop control of the motor, and the system includes a servo main controller module, and the servo main controller module communicates with the intelligent control unit through the bus peripheral interface unit; the said The intelligent control unit is used to send the motor control signal and transmit it to the intelligent control unit via the bus peripheral interface unit; the intelligent control unit is used to analyze the received motor control signal, and send the analyzed signal to the intelligent control output unit, After level adjustment and conversion, it is sent to the power drive unit, and the power drive unit drives the motor to run;

The intelligent control unit is connected to the sensor unit, and the sensor unit is connected to the motor. The sensor unit is used to detect the running state information of the motor in real time and transmit it to the intelligent control unit, and then the intelligent control unit transmits it to the main servo controller module ; The main servo controller module adjusts the output motor control signal in real time according to the received motor operating status information.

Furthermore, the bus-type intelligent servo drive system also includes a data storage unit connected to the intelligent control unit, and the data storage unit is used to store process data of the servo control system, initial configuration information of the motor, and initial configuration information of the drive system.

When the bus-type intelligent servo drive system is powered on, the intelligent control unit first obtains initial configuration information from the data storage unit to initialize the bus-type intelligent servo drive system.

Preferably, the sensor unit is connected to a signal conditioning unit, and the signal conditioning unit is connected to an intelligent control unit.

Furthermore, the bus-type intelligent servo drive system also includes a power management unit, which is used to convert the power supplied to the servo drive system to supply power to the system.

Further, the power drive unit is also connected to the power protection unit.

Among them, the sensor unit includes current sensing, temperature sensing, voltage sensing and encoder.

The intelligent control unit includes a microprocessor, and the microprocessor is respectively connected with the power conversion circuit, the passive crystal oscillator circuit and the simulation debugging circuit; the power conversion circuit is provided for providing the required standard voltage for the microprocessor; The passive crystal oscillator circuit is used for the microprocessor to provide the required operating frequency; the simulation debugging circuit is used to provide the simulation interface for the microprocessor; the microprocessor and the main servo controller module through the bus peripheral interface unit connected.

The second object of the present invention is to provide a working method of a bus-type intelligent servo drive system.

The working method of the bus type intelligent servo drive system comprises the following steps:

The motor control signal output by the servo main controller module is transmitted to the intelligent control unit through the bus peripheral interface unit;

The intelligent control unit analyzes the received motor control signal, and sends the analyzed signal to the intelligent control output unit;

The signal output by the intelligent control output unit is sent to the power drive unit after level adjustment and conversion, and the power drive unit drives the motor to run;

The sensor unit detects the running status information of the motor in real time and transmits it to the intelligent control unit, and then the intelligent control unit transmits it to the main servo controller module;

The servo main controller module then adjusts the output motor control signal in real time according to the received motor operating status information, so as to realize the closed-loop control of the motor.

Further, the method further includes: the data storage unit connected to the intelligent control unit stores the process data of the servo control system, the initial configuration information of the motor, and the initial configuration information of the drive system;

When the bus-type intelligent servo drive system is powered on, the intelligent control unit first obtains initial configuration information from the data storage unit to initialize the bus-type intelligent servo drive system.

Further, the method further includes: using the power management unit to convert the power supplied to the servo drive system to supply power to the system.

The third object of the present invention is to provide a robot, which includes the above-mentioned bus-type intelligent servo drive system.

The beneficial effects of the present invention are:

(1) In order to solve the shortcomings of increasing the size and power consumption of the control system, increasing the difficulty of development and the development cost of the separate design of the controller and the driver, the present invention proposes a bus-type servo drive technology based on the existing servo drive technology The drive system, through the modular design method, reduces wiring and improves integrity. This modular design method not only increases the number of motors to be controlled, but also allows users to program the drive system through the bus to achieve effective control of the motors without having to consider how the system is implemented, which reduces the difficulty of use and can be widely used. Used in the field of robot control.

(2) The bus-type intelligent servo drive system and robot of the present invention better meet the requirements of servo system positioning accuracy, tracking accuracy and tracking speed, and avoid the interference of unstable factors such as drift caused by analog loops. The line is reduced by more than 50%, which saves the cost and greatly reduces the failure rate of the line.

(3) The working method of the bus-type intelligent servo drive system of the present invention realizes the effective control of the motor by programming the drive system through the bus, without having to consider how the system is implemented, which reduces the difficulty of use and can be widely used in the field of robot control .

Description of drawings

Fig. 1 is the waveform that the signal of the present invention is disturbed;

Fig. 2 is the overall structural diagram of the bus type intelligent servo drive system of the present invention;

Fig. 3 is ARM logical block diagram of the present invention;

Fig. 4 is a motor control flow chart of the servo drive system of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figure 2, it is a general structural block diagram of the present invention. The bus-type intelligent servo drive system of the present invention is used to realize the closed-loop control of the motor, and the system includes a servo main controller module, and the servo main controller module communicates with the intelligent control unit through the bus peripheral interface unit; the said The intelligent control unit is used to send the motor control signal and transmit it to the intelligent control unit via the bus peripheral interface unit; the intelligent control unit is used to analyze the received motor control signal, and send the analyzed signal to the intelligent control output unit, After level adjustment and conversion, it is sent to the power drive unit, and the power drive unit drives the motor to run;

The intelligent control unit is connected to the sensor unit, and the sensor unit is connected to the motor. The sensor unit is used to detect the running state information of the motor in real time and transmit it to the intelligent control unit, and then the intelligent control unit transmits it to the main servo controller module ; The main servo controller module adjusts the output motor control signal in real time according to the received motor operating status information.

Wherein, the bus-type intelligent servo drive system also includes a data storage unit connected to the intelligent control unit, and the data storage unit is used to store the process data of the servo control system, the initial configuration information of the motor and the initial configuration information of the drive system.

The intelligent control unit includes a microprocessor, and the microprocessor is respectively connected with the power conversion circuit, the passive crystal oscillator circuit and the simulation debugging circuit; the power conversion circuit is provided for providing the required standard voltage for the microprocessor; The passive crystal oscillator circuit is used for the microprocessor to provide the required operating frequency; the simulation debugging circuit is used to provide the simulation interface for the microprocessor; the microprocessor and the main servo controller module through the bus peripheral interface unit connected.

The intelligent control unit is an ARM intelligent control unit.

The data storage unit can be realized by using a data storage card, ROM or RAM.

When the bus-type intelligent servo drive system is powered on, the intelligent control unit first obtains initial configuration information from the data storage unit to initialize the bus-type intelligent servo drive system.

Furthermore, the bus-type intelligent servo drive system also includes a sensor unit, which is used to monitor the working state of the power drive unit and transmit it to the intelligent control unit for real-time feedback and processing of the abnormal state. The sensing information unit includes but is not limited to current sensing, temperature sensing, voltage sensing, encoder, etc., which are used to collect the working current of the motor, the temperature of the servo drive system, the working voltage of the motor, and the speed and position of the motor, etc. .

Furthermore, the sensor unit is connected to the signal conditioning unit, and the signal conditioning unit is connected to the intelligent control unit.

Wherein, the bus-type intelligent servo drive system also includes a power management unit, which is used to convert the power supplied to the servo drive system to supply power to the system.

In a specific implementation, the power drive unit is also connected to the power protection unit.

The working process of the intelligent servo drive system is as follows:

The control signal from the servo main controller module is sent to the intelligent control unit through the bus peripheral interface unit, and the intelligent control unit analyzes the control signal, and sends the analyzed signal to the intelligent control output unit, after level adjustment and conversion It is sent to the power drive unit and power protection unit to complete the precise control of the motor.

Wherein, the intelligent control unit may choose an ARM intelligent control unit. Take the ARM intelligent control unit as an example below:

The data storage unit is used to store the process data of the servo control system, the initial configuration information of the motor, and the initial configuration information of the drive system. After the system is powered on, the ARM intelligent control unit will first obtain the initial configuration information from the data storage unit to initialize the system.

The signal conditioning unit is used to amplify, filter, and analog-to-digital conversion the sensing signal of the servo drive system. After the processing is completed, it is sent to the ARM intelligent control unit. The ARM intelligent control unit monitors the working status of the drive according to the obtained sensing data. And provide real-time feedback and processing for abnormal status.

The power management unit is used to convert the power supply to the servo drive system and convert it into a suitable voltage to supply power to each unit of the system. The intelligent control output unit receives the control signal from the ARM intelligent control unit, performs level conversion and sends it to the power drive unit. The power drive unit and the power protection unit are used to drive the external motor.

The ARM-based intelligent control unit is the core of the entire intelligent servo drive system, as shown in Figure 3, including the ARM processor, power conversion unit, passive crystal oscillator unit, and simulation debugging unit: the power conversion unit supplies power to the drive system from the outside After proper voltage conversion, it is provided to the ARM processor to ensure the normal operation of the ARM processor; the passive crystal oscillator circuit provides the operating frequency required by the ARM processor; the simulation debugging circuit provides the ARM program software download and simulation interface; the ARM processor passes the data The bus accesses the data storage unit to realize data transmission and storage.

As shown in Figure 4, it is the motor control flow of the servo drive system of the present invention. After the servo drive system is initialized, it waits for the bus control command. After receiving the effective control command, the ARM unit analyzes the command and analyzes the obtained The control command is sent to the intelligent control output unit, and the intelligent control output unit performs corresponding conversion and sends it to the power drive and protection unit, and the power drive unit completes the control of the motor.

The robot of the present invention includes a bus-type intelligent servo drive system as shown in FIG. 2 . Other structures of the robot all belong to the prior art and will not be repeated here.

The robot of the present invention better satisfies the requirements of the positioning accuracy, tracking accuracy and tracking speed of the servo system, avoids the interference of unstable factors such as drift caused by the analog loop, reduces the line consumption by more than 50%, and saves costs. At the same time, the failure rate of the line is greatly reduced.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow diagram procedure or procedures and/or block diagram procedures or blocks.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM) and the like.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit 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 bus-type intelligent servo drive system, characterized in that, the system is used to realize the closed-loop control of the motor, the system includes a servo master controller module, and the servo master controller module communicates with an intelligent control unit through a bus peripheral interface unit Communicate with each other; the intelligent control unit is used to send motor control signals and transmit them to the intelligent control unit via the bus peripheral interface unit; the intelligent control unit is used to analyze the received motor control signals and send the analyzed signals to The intelligent control output unit is sent to the power drive unit after level adjustment and conversion, and the power drive unit drives the motor to run; The intelligent control unit is connected to the sensor unit, and the sensor unit is connected to the motor. The sensor unit is used to detect the running state information of the motor in real time and transmit it to the intelligent control unit, and then the intelligent control unit transmits it to the main servo controller module ; The main servo controller module adjusts the output motor control signal in real time according to the received motor operating status information. 2. A bus-type intelligent servo drive system as claimed in claim 1, wherein the bus-type intelligent servo drive system also includes a data storage unit connected to the intelligent control unit, and the data storage unit is used for Store the process data of the servo control system, the initial configuration information of the motor, and the initial configuration information of the drive system. 3. A bus-type intelligent servo drive system according to claim 1, wherein the sensor unit is connected to a signal conditioning unit, and the signal conditioning unit is connected to an intelligent control unit. 4. A bus-type intelligent servo drive system as claimed in claim 1, wherein the bus-type intelligent servo drive system also includes a power management unit, and the power management unit is used to supply power to the servo drive system After the power supply is converted, it supplies power to the system. 5. A bus-type intelligent servo drive system according to claim 1, characterized in that the power drive unit is also connected to a power protection unit. 6. A kind of bus type intelligent servo drive system as claimed in claim 1, is characterized in that, described intelligent control unit comprises microprocessor, and described microprocessor is connected with power conversion circuit, passive crystal oscillator circuit and emulation debugging respectively The circuit is connected; the power conversion circuit is used to provide the required standard voltage for the microprocessor; the passive crystal oscillator circuit is used for the microprocessor to provide the required operating frequency; the simulation debugging circuit is used for the microprocessor The controller provides an emulation interface; the microprocessor is connected with the main servo controller module through the bus peripheral interface unit. 7. A working method of the bus-type intelligent servo drive system according to any one of claims 1-6, characterized in that it comprises the following steps: The motor control signal output by the servo main controller module is transmitted to the intelligent control unit through the bus peripheral interface unit; The intelligent control unit analyzes the received motor control signal, and sends the analyzed signal to the intelligent control output unit; The signal output by the intelligent control output unit is sent to the power drive unit after level adjustment and conversion, and the power drive unit drives the motor to run; The sensor unit detects the running status information of the motor in real time and transmits it to the intelligent control unit, and then the intelligent control unit transmits it to the main servo controller module; The servo main controller module then adjusts the output motor control signal in real time according to the received motor operating status information, so as to realize the closed-loop control of the motor. 8. The working method of the bus type intelligent servo drive system as claimed in claim 7, is characterized in that, the method also includes: the data storage unit that is connected with the intelligent control unit stores the initial configuration information of the servo control system process data, the motor and Initial configuration information of the drive system; When the bus-type intelligent servo drive system is powered on, the intelligent control unit first obtains initial configuration information from the data storage unit to initialize the bus-type intelligent servo drive system. 9. The working method of the bus-type intelligent servo drive system according to claim 7, further comprising: using a power management unit to convert the power supply to the servo drive system and supply power to the system. 10. A robot, characterized in that it comprises the bus-type intelligent servo drive system according to any one of claims 1-6.