CN113381672B - Double-path servo driver control system and method - Google Patents
Double-path servo driver control system and method Download PDFInfo
- Publication number
- CN113381672B CN113381672B CN202110928503.5A CN202110928503A CN113381672B CN 113381672 B CN113381672 B CN 113381672B CN 202110928503 A CN202110928503 A CN 202110928503A CN 113381672 B CN113381672 B CN 113381672B
- Authority
- CN
- China
- Prior art keywords
- motor
- module
- signal
- control signal
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012545 processing Methods 0.000 claims description 30
- 238000004891 communication Methods 0.000 claims description 29
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/02—Details
- H02H3/05—Details with means for increasing reliability, e.g. redundancy arrangements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
- H02H7/0844—Fail safe control, e.g. by comparing control signal and controlled current, isolating motor on commutation error
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a control system and a control method for a double-path servo driver, and belongs to the technical field of motor control. The operation control signal output end of the motor operation controller is respectively connected with the operation control signal input end of the first motor pushing module and the operation control signal input end of the second motor pushing module, the control signal output end of the first motor pushing module is connected with the control signal input end of the first motor driving module, the control signal output end of the second motor pushing module is connected with the control signal input end of the second motor driving module, and the driving signal output end of the first motor driving module and the driving signal output end of the second motor driving module are respectively connected with the driving signal input end of the motor. The motor operation controller generates operation control signals according to the input signals to respectively control the two paths of motor pushing modules and the motor pushing modules, so that the operation of the motor is controlled, and the two-in-one control of the two paths of servo drivers is realized.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a double-path servo driver control system and a double-path servo driver control method.
Background
With the rapid development of economy and science and technology, more and more robots and intelligent vehicles gradually replace the manual work to carry out the work in the industrial field. The automatic handling of material relies on servo drive system's control, and servo driver controls servo motor through position, speed and moment three kinds of modes to realize the transmission positioning system of high accuracy. At present, a servo motor is usually controlled by a single driving system, if a driver corresponding to the motor is damaged, the servo motor needs to stop working immediately and maintain, and the problems of inconvenience in use, safety accidents and the like are easily caused.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a double-path servo driver control system and a double-path servo driver control method, and aims to solve the technical problems that a servo motor in the prior art is controlled by a single system and is poor in controllability.
In order to achieve the above object, the present invention provides a two-way servo driver control system, which comprises: the device comprises a motor operation controller, a first motor pushing module, a second motor pushing module, a first motor driving module, a second motor driving module and a motor;
the operation control signal output end of the motor operation controller is respectively connected with the operation control signal input end of the first motor pushing module and the operation control signal input end of the second motor pushing module, the control signal output end of the first motor pushing module is connected with the control signal input end of the first motor driving module, the control signal output end of the second motor pushing module is connected with the control signal input end of the second motor driving module, the driving signal output end of the first motor driving module and the driving signal output end of the second motor driving module are respectively connected with the driving signal input end of the motor.
Optionally, the two-way servo driver control system further comprises a hall sensor, and a measurement signal output end of the hall sensor is connected with a measurement signal input end of the motor operation controller.
Optionally, the two-way servo driver control system further comprises a core controller, and a control signal output end of the core controller is connected with a control signal input end of the motor operation controller.
Optionally, the two-way servo driver control system further comprises a current sensor;
the current sensor is electrically connected with the motor, and a current signal output end of the current sensor is connected with a current signal input end of the core controller.
Optionally, the two-way servo driver control system further includes an encoder processing module and an encoder;
the encoder is electrically connected with the motor, the position signal output end of the encoder is connected with the position signal input end of the encoder processing module, and the speed signal output end of the encoder processing module is connected with the speed signal input end of the core controller.
Optionally, the two-way servo driver control system further includes a serial communication interface module, a CAN bus module, and an input/output processing module.
The serial communication end of the core controller is connected with the serial communication end of the serial communication interface module, the information transmission end of the serial communication interface module is connected with the network communication end of the upper computer connected with the core controller and the network communication end of the CAN bus module, and the data transceiving end of the core controller is connected with the data transceiving end of the input/output processing module.
Optionally, the two-way servo driver control system further includes a power module and a power pushing module;
the voltage output end of the power supply module is connected with the voltage input end of the pushing power supply module, and the voltage output end of the pushing power supply module is respectively connected with the voltage input end of the first motor pushing module and the voltage input end of the second motor pushing module.
In addition, in order to achieve the above object, the present invention further provides a dual-path servo driver control method, which is applied to the dual-path servo driver control system described above, and the dual-path servo driver control system includes: the device comprises a motor operation controller, a first motor pushing module, a second motor pushing module, a first motor driving module, a second motor driving module and a motor;
the control method of the two-way servo driver comprises the following steps:
the motor operation controller acquires a configuration signal and a control signal, determines soft start time according to the configuration signal, and starts a motor according to the soft start time and the control signal;
the motor operation controller judges an operation mode and generates an operation control signal according to a current control mode and the control signal;
the first motor pushing module converts the operation control signal into a first pushing signal;
the second motor pushing module converts the operation control signal into a second pushing signal;
the first motor driving module generates a first driving signal according to the first pushing signal;
the second motor driving module generates a second driving signal according to the second pushing signal;
and the motor receives operation control of the first motor driving module and the second motor driving module according to the first driving signal and the second driving signal so as to meet the requirement of stable operation of the motor.
Optionally, the two-way servo driver control system further comprises a core controller;
the motor operation controller obtains a configuration signal and a control signal, determines soft start time according to the configuration signal, and further comprises the following steps before starting the motor according to the soft start time and the control signal:
the core controller obtains a motor running speed signal, generates a control signal according to the motor running speed signal, and sends the control signal to the motor running controller.
Optionally, the operation mode includes a dual drive mode and a single drive mode; wherein,
under the operation of the double-drive mode, the motor operation controller simultaneously controls the first motor driving module and the second motor driving module according to the control signal so as to realize the stable operation of the synchronous control motor;
and under the operation of the single-drive mode, the motor operation controller controls the first motor driving module or the second motor driving module according to the control signal so as to realize the stable operation of the independent control motor.
The invention relates to a two-way servo driver control system, comprising: the motor driving device comprises a motor operation controller, a first motor pushing module, a second motor pushing module, a first motor driving module, a second motor driving module and a motor, wherein an operation control signal output end of the motor operation controller is respectively connected with an operation control signal input end of the first motor pushing module and an operation control signal input end of the second motor pushing module, a control signal output end of the first motor pushing module is connected with a control signal input end of the first motor driving module, a control signal output end of the second motor pushing module is connected with a control signal input end of the second motor driving module, a driving signal output end of the first motor driving module and a driving signal output end of the second motor driving module are respectively connected with a driving signal input end of the motor, the motor operation controller generates operation control signals according to the input signals and respectively controls the two paths of motor pushing modules and the motor pushing modules, thereby controlling the operation of the motor and realizing the two-in-one control of the two-way servo driver.
Drawings
FIG. 1 is a schematic structural diagram of a two-way servo actuator control system according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a two-way servo actuator control system according to a second embodiment of the present invention;
FIG. 3 is a flowchart illustrating a control method of a dual servo driver according to a first embodiment of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | Motor operation controller | 9 | |
| 2 | First |
10 | |
| 3 | Second |
11 | Encoder for encoding a video signal |
| 4 | First |
12 | Serial |
| 5 | Second |
13 | |
| 6 | |
14 | Input/output processing module |
| 7 | |
15 | |
| 8 | |
16 | Push power supply module |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a two-way servo driver control system according to a first embodiment of the present invention.
In this embodiment, the two-way servo driver control system includes: the device comprises a motor operation controller 1, a first motor pushing module 2, a second motor pushing module 3, a first motor driving module 4, a second motor driving module 5 and a motor 6;
the operation control signal output of motor operation controller 1 respectively with the operation control signal input of first motor promotion module 2 reaches the operation control signal input of second motor promotion module 3 is connected, the control signal output of first motor promotion module 2 with the control signal input of first motor drive module 4 is connected, the control signal output of second motor promotion module 3 with the control signal input of second motor drive module 5 is connected, the drive signal output of first motor drive module 4 reaches the drive signal output of second motor drive module 5 respectively with the drive signal input of motor 6 is connected.
It should be noted that the motor operation controller 1 may receive the detection signal and the control signal, and generate the operation control signal according to the detection signal detected by each sensor and the control signal sent by the cart core controller 8, where the operation control signal may enable the motor 6 to operate according to preset parameters such as a set speed and a set frequency, and the motor 6 may adopt a high-power motor to meet the requirement of high-power driving.
It is easy to understand that the motor operation controller 1 can drive a plurality of driving circuits, and in the specific implementation, taking two-in-one control of a two-way servo driver as an example, the two-way driving circuit can include a first motor pushing module 2, a second motor pushing module 3, a first motor driving module 4, and a second motor driving module 5. The operation control signal output by the motor operation controller 1 is converted by the first motor pushing module 2 and the second motor pushing module 3, and then input to the first motor driving module 4 and the second motor driving module 5, so as to realize synchronous driving of the motor 6.
It should be understood that the motor operation controller 1 is composed of a microcontroller, and has the functions of signal acquisition, data operation and control output. Because the motor operation controller 1 cannot directly drive the motor 6 to operate, the motor pushing module and the motor driving module jointly form a driving circuit to control the motor 6 to operate, so that the synchronous driving of the motor 6 can be realized, and the motor 6 can be continuously controlled to operate when any one driving circuit fails.
The two-way servo driver control system of the embodiment comprises: a motor operation controller 1, a first motor pushing module 2, a second motor pushing module 3, a first motor driving module 4, a second motor driving module 5 and a motor 6, wherein an operation control signal output end of the motor operation controller 1 is connected with an operation control signal input end of the first motor pushing module 2 and an operation control signal input end of the second motor pushing module 3, a control signal output end of the first motor pushing module 2 is connected with a control signal input end of the first motor driving module 4, a control signal output end of the second motor pushing module 3 is connected with a control signal input end of the second motor driving module 5, a driving signal output end of the first motor driving module 4 and a driving signal output end of the second motor driving module 5 are connected with a driving signal input end of the motor 6, in this embodiment, the motor operation controller 1 generates operation control signals according to input signals to control the motor pushing module and push the motor pushing module respectively And the module is moved, so that the motor 6 is controlled to operate, and the two-in-one control of the two-way servo driver is realized.
Based on the first embodiment, a second embodiment of the dual servo driver control system of the present invention is proposed, referring to fig. 2, and fig. 2 is a schematic structural diagram of the second embodiment of the dual servo driver control system of the present invention.
In this embodiment, the two-way servo driver control system further includes a hall sensor 7, and a measurement signal output end of the hall sensor 7 is connected to a measurement signal input end of the motor operation controller 1.
It should be noted that the hall sensor 7 is mainly used for measuring alternating current and direct current and voltage, generates a measurement signal according to the measured value of the current and the voltage, and sends the measurement signal to the motor operation controller 1, and the motor operation controller 1 analyzes the measurement signal according to the measurement signal, so as to generate an operation control signal to control the operation of the motor 6, thereby realizing the continuous forward rotation and reverse rotation control of the motor 6.
The double-path servo driver control system further comprises a core controller 8, and a control signal output end of the core controller 8 is connected with a control signal input end of the motor operation controller 1.
It should be understood that the core controller 8 is composed of a microcontroller, and has the functions of signal acquisition, data operation and control output, the core controller 8 can receive various detection signals, input signals and preset control parameters, generate control signals according to the detection signals, the input signals and the preset control parameters, and send the control signals to the motor operation controller 1, and the motor operation controller 1 performs further analysis, so as to control the synchronous control of the first motor pushing module 2, the second motor pushing module 3, the first motor driving module 4 and the second motor driving module 5.
The two-way servo driver control system further comprises a current sensor 9;
the current sensor 9 is electrically connected with the motor 6, and a current signal output end of the current sensor 9 is connected with a current signal input end of the core controller 8.
It is understood that the core controller 8 is further connected to a current sensor 9, and the current sensor 9 can measure the current flowing through the motor 6, generate a current signal according to the measured value, and transmit the current signal to the core controller 8, so that the core controller 8 can perform data analysis according to the current signal, thereby preventing the overcurrent phenomenon.
The double-path servo driver control system also comprises an encoder processing module 10 and an encoder 11;
the encoder 11 with motor 6 electric connection, the position signal output of encoder 11 with the position signal input of encoder processing module 10 is connected, the speed signal output of encoder processing module 10 with the speed signal input of core controller 8 is connected.
It is easy to understand that, the encoder 11 is used for measuring the actual rotating speed of the motor 6, obtaining the speed of the motor 6 according to the angle displacement, outputting the actual rotating speed to the encoder processing module 10, and analyzing and processing the actual rotating speed into a speed signal by the encoder processing module 10, and the encoder processing module 10 sends the speed signal to the core controller 8 for data analysis, so as to improve the accuracy of synchronous control.
The two-way servo driver control system also comprises a serial communication interface module 12, a CAN bus module 13 and an input/output processing module 14;
the serial communication end of the core controller 8 is connected with the serial communication end of the serial communication interface module 12, the information transmission end of the serial communication interface module 12 is connected with the network communication end of the upper computer connected with the core controller 8 and the network communication end of the CAN bus module 13, and the data transceiving end of the core controller 8 is connected with the data transceiving end of the input/output processing module 14.
It CAN be understood that the core controller 8 is further connected to the serial communication interface module 12, the CAN bus module 13, and the input/output processing module 14, respectively, and the serial communication interface module 12, the CAN bus module 13, and the input/output processing module 14 CAN be used to realize fast data transmission. The input and output processing module 14 is used for inputting speed signals and differential signals to the core controller 8, the serial communication interface module 12 is connected with an upper computer to realize communication between the core controller 8 and the upper computer, and the core controller 8 is also connected with a plurality of double brushless low-voltage direct current motor 6 driving control systems through the CAN bus module 13 to realize cooperative work of a plurality of servo drivers.
The two-way servo driver control system also comprises a power supply module 15 and a pushing power supply module 16;
the voltage output end of the power module 15 is connected with the voltage input end of the power module 16, and the voltage output end of the power module 16 is connected with the voltage input end of the first motor pushing module 2 and the voltage input end of the second motor pushing module 3 respectively.
It CAN be understood that the power module 15 CAN be a power supply device of a two-way servo driver control system, the power module 15 CAN be respectively connected with the first motor driving module 4, the second motor driving module 5, the serial communication interface module 12, the CAN bus module 13, the input/output processing module 14, the encoding processing module and the core controller 8 to realize direct power supply, and the power module 15 CAN also be connected with the first motor pushing module 2 and the second motor pushing module 3 through the pushing power module 16 to realize indirect power supply.
The two-way servo driver control system of this embodiment further includes a hall sensor 7, a core controller 8, a current sensor 9, an encoder processing module 10, an encoder 11, a serial communication interface module 12, a CAN bus module 13, an input/output processing module 14, a power module 15, and a power pushing module 16, where the hall sensor 7, the current sensor 9, the encoder processing module 10, and the encoder 11 are used to provide a detection signal, and the serial communication interface module 12, the CAN bus module 13, and the input/output processing module 14 are used to implement data transmission. The core controller 8 can analyze data according to the detection signal, the power module 15 and the pushing power module 16 supply power to the system, and the accuracy of system control is improved while the two-in-one control of the two-way servo driver is realized.
Referring to fig. 3, fig. 3 is a flowchart illustrating a two-way servo driver control method according to a first embodiment of the present invention. Based on the first and second embodiments described above, the two-way servo driver control system includes: the device comprises a motor operation controller, a first motor pushing module, a second motor pushing module, a first motor driving module, a second motor driving module and a motor.
In this embodiment, the method for controlling the two-way servo driver includes the following steps:
step S10: the motor operation controller obtains a configuration signal and a control signal, determines soft start time according to the configuration signal, and starts the motor according to the soft start time and the control signal.
It should be noted that, after the two-way servo driver control system is started, the system CAN automatically retrieve the configuration information of the user, and the configuration information includes soft start time, soft stop time, maximum rotation speed, maximum current, and CAN bus parameters. The motor operation controller receives control signals sent by the core controller, and the control signals can comprise speed signals and differential signals for controlling the operation of the motor. And the motor operation controller is used for controlling the motor operation according to the configured soft start time.
The two-way servo driver control system further includes a core controller, and before step S10, the two-way servo driver control system further includes: the core controller obtains a motor running speed signal, generates a control signal according to the motor running speed signal, and sends the control signal to the motor running controller.
It can be understood that the core controller obtains a speed signal and a differential signal of the motor operation through the input interface, and converts the speed signal and the differential signal into a speed signal and a differential signal of a motor in the two-way servo driver control system, the control signal may include a speed signal and a differential signal for controlling the motor operation, and the differential signal may include a speed difference between the speed signal for controlling the motor operation and an actual speed signal of the motor.
Step S20: and the motor operation controller judges the operation mode and generates an operation control signal according to the current control mode and the control signal.
It is easy to understand that the operation mode can include a double-drive mode and a single-drive mode, the double-drive mode and the single-drive mode have corresponding control strategies, and the double-way servo driver control system can switch the single-drive mode and the double-drive mode at will by programming driver program firmware. The motor operation controller selects a corresponding control strategy according to the current control mode, and generates an operation control signal according to the control strategy and the control signal so as to realize stable control of the motor.
Under the operation of the double-drive mode, the motor operation controller simultaneously controls the first motor driving module and the second motor driving module according to the control signal so as to realize the stable operation of the synchronous control motor.
It is easy to understand that, under the operation of the dual-drive mode, the two-way driving two-in-one control adopts a control algorithm which is more complex than that of a single driver, the requirement on the consistency and the synchronism of the output two-way driving signals is particularly high, otherwise, a power device can be damaged, and the core controller or the motor operation controller carries out high-precision operation analysis according to the input signals and the two-in-one control algorithm, so that the first motor driving module and the second motor driving module are ensured to output the same driving signals or continuous driving signals, the synchronous operation control of the motor is realized, the stable operation requirement of the motor is met, and the damage of the power device is prevented.
And under the operation of the single-drive mode, the motor operation controller controls the first motor driving module or the second motor driving module according to the control signal so as to realize the stable operation of the independent control motor.
It should be understood that, in the single drive mode of operation, the core controller or the motor operation controller may control the first motor drive module or the second motor drive module to drive the motor such that the motor operates stably under independent driving of either motor drive module. The single-drive mode can also be interactive drive, the interactive drive is that the motors are continuously and interactively driven by the first motor drive module and the second motor drive module respectively according to a certain period of time, and the core controller or the motor operation controller adopts a complex control algorithm, so that the continuous and stable change of the running state of the motors is ensured, and the stable control of the single-drive mode is realized.
Step S30: the first motor pushing module converts the operation control signal into a first pushing signal; the second motor pushing module converts the operation control signal into a second pushing signal.
Step S40: the first motor driving module generates a first driving signal according to the first pushing signal; and the second motor driving module generates a second driving signal according to the second pushing signal.
It can be understood that the first pushing signal may be a signal that can be recognized and read by the first motor driving module, the second pushing signal may be a signal that can be recognized and read by the second motor driving module, and the operation control signal output by the motor operation controller is converted by the first motor pushing module and the second motor pushing module and then input to the first motor driving module and the second motor driving module to realize synchronous driving or separate driving of the motors.
Step S50: and the motor receives operation control of the first motor driving module and the second motor driving module according to the first driving signal and the second driving signal so as to meet the requirement of stable operation of the motor.
It can be understood that the motor may receive the first driving signal and the second driving signal simultaneously or separately, may be controlled by the synchronous operation of the motor driving module and the second motor driving module according to the first driving signal and the second driving signal, and may be controlled by the independent operation of the corresponding motor driving module according to any one of the first driving signal and the second driving signal.
In this embodiment, a configuration signal and a control signal are obtained by a motor operation controller, a soft start time is determined according to the configuration signal, a motor is started according to the soft start time and the control signal, the motor operation controller determines an operation mode, an operation control signal is generated according to a current control mode and the control signal, a first motor driving module converts the operation control signal into a first driving signal, a second motor driving module converts the operation control signal into a second driving signal, a first motor driving module generates a first driving signal according to the first driving signal, a second motor driving module generates a second driving signal according to the second driving signal, the motor receives operation control of the first motor driving module and the second motor driving module according to the first driving signal and the second driving signal to meet stable operation requirements of the motor, the motor operation controller generates the operation control signal according to an input signal to respectively control two paths of the motor driving module and the motor driving module, and the motor And the module is pushed, so that the operation of the motor is controlled, and the two-in-one control of the two-way servo driver is realized.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to the dual-path servo driver control system and method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A two-way servo drive control system, comprising: the dual-drive servo driver control system realizes the switching between a single-drive mode and a dual-drive mode by programming driver program firmware, and realizes the stable operation of a synchronous control motor under the operation of the dual-drive mode;
an operation control signal output end of the motor operation controller is connected with an operation control signal input end of the first motor pushing module and an operation control signal input end of the second motor pushing module respectively, a control signal output end of the first motor pushing module is connected with a control signal input end of the first motor driving module, a control signal output end of the second motor pushing module is connected with a control signal input end of the second motor driving module, and a driving signal output end of the first motor driving module and a driving signal output end of the second motor driving module are connected with a driving signal input end of the motor respectively;
the operation control signal output by the motor operation controller is converted by the first motor pushing module and the second motor pushing module and then input to the first motor driving module and the second motor driving module so as to realize synchronous driving of the motors;
under the operation of the single-drive mode, the core controller or the motor operation controller respectively controls the first motor driving module and the second motor driving module to continuously drive the motor in an interactive mode according to the cycle time, so that the running state of the motor is continuously and stably changed, and the stable control of the single-drive mode is realized.
2. The dual-path servo driver control system of claim 1 further comprising a hall sensor, a measurement signal output of the hall sensor being connected to a measurement signal input of the motor operation controller.
3. The dual-path servo actuator control system of claim 1 further comprising a core controller, the control signal output of the core controller being connected to the control signal input of the motor operation controller.
4. The dual-path servo actuator control system of claim 3 further comprising a current sensor;
the current sensor is electrically connected with the motor, and a current signal output end of the current sensor is connected with a current signal input end of the core controller.
5. The dual-way servo drive control system of claim 3 further comprising an encoder processing module and an encoder;
the encoder is electrically connected with the motor, the position signal output end of the encoder is connected with the position signal input end of the encoder processing module, and the speed signal output end of the encoder processing module is connected with the speed signal input end of the core controller.
6. The dual-path servo drive control system of claim 3 further comprising a serial communication interface module, a CAN bus module, and an input output processing module;
the serial communication end of the core controller is connected with the serial communication end of the serial communication interface module, the information transmission end of the serial communication interface module is connected with the network communication end of the upper computer connected with the core controller and the network communication end of the CAN bus module, and the data transceiving end of the core controller is connected with the data transceiving end of the input/output processing module.
7. The dual-path servo drive control system of any of claims 1 to 6, further comprising a power module and a push power module;
the voltage output end of the power supply module is connected with the voltage input end of the pushing power supply module, and the voltage output end of the pushing power supply module is respectively connected with the voltage input end of the first motor pushing module and the voltage input end of the second motor pushing module.
8. A two-way servo driver control method, applied to a two-way servo driver control system according to any one of claims 1 to 7, comprising: the dual-drive servo driver control system realizes the switching between a single-drive mode and a dual-drive mode by programming driver program firmware, and realizes the stable operation of a synchronous control motor under the operation of the dual-drive mode;
the control method of the two-way servo driver comprises the following steps:
the motor operation controller acquires a configuration signal and a control signal, determines soft start time according to the configuration signal, and starts a motor according to the soft start time and the control signal;
the motor operation controller judges an operation mode and generates an operation control signal according to a current control mode and the control signal;
the first motor pushing module converts the operation control signal into a first pushing signal;
the second motor pushing module converts the operation control signal into a second pushing signal;
the first motor driving module generates a first driving signal according to the first pushing signal;
the second motor driving module generates a second driving signal according to the second pushing signal;
the motor receives operation control of a first motor driving module and a second motor driving module according to the first driving signal and the second driving signal so as to meet the requirement of stable operation of the motor;
the operation control signal output by the motor operation controller is converted by the first motor pushing module and the second motor pushing module and then input to the first motor driving module and the second motor driving module so as to realize synchronous driving of the motors;
under the operation of the single-drive mode, the core controller or the motor operation controller respectively controls the first motor driving module and the second motor driving module to continuously drive the motor in an interactive mode according to the cycle time, so that the running state of the motor is continuously and stably changed, and the stable control of the single-drive mode is realized.
9. The dual-path servo drive control method of claim 8 wherein the dual-path servo drive control system further comprises a core controller;
the motor operation controller obtains a configuration signal and a control signal, determines soft start time according to the configuration signal, and further comprises the following steps before starting the motor according to the soft start time and the control signal:
the core controller obtains a motor running speed signal, generates a control signal according to the motor running speed signal, and sends the control signal to the motor running controller.
10. The dual servo drive control method of claim 8 wherein the run modes include a dual drive mode and a single drive mode; wherein,
under the operation of the double-drive mode, the motor operation controller simultaneously controls the first motor driving module and the second motor driving module according to the control signal so as to realize the stable operation of the synchronous control motor;
and under the operation of the single-drive mode, the motor operation controller controls the first motor driving module or the second motor driving module according to the control signal so as to realize the stable operation of the independent control motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110928503.5A CN113381672B (en) | 2021-08-13 | 2021-08-13 | Double-path servo driver control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110928503.5A CN113381672B (en) | 2021-08-13 | 2021-08-13 | Double-path servo driver control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113381672A CN113381672A (en) | 2021-09-10 |
| CN113381672B true CN113381672B (en) | 2021-11-16 |
Family
ID=77576993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110928503.5A Active CN113381672B (en) | 2021-08-13 | 2021-08-13 | Double-path servo driver control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113381672B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115316877A (en) * | 2022-08-12 | 2022-11-11 | 广东六六达智慧健康科技有限公司 | Control method and toilet bowl auxiliary equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203590098U (en) * | 2013-07-26 | 2014-05-07 | 浙江盛迈电气技术有限公司 | Dual-motor AC servo driver with UPS power off information protection |
| CN104601345A (en) * | 2013-10-30 | 2015-05-06 | 北京精密机电控制设备研究所 | Integrated dual-channel control driver for permanent magnet synchronous servo motors |
| CN110336495A (en) * | 2019-06-27 | 2019-10-15 | 济南科亚电子科技有限公司 | A dual-channel low-voltage AC servo driver control system and method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103809590B (en) * | 2012-11-08 | 2016-08-24 | 沈阳新松机器人自动化股份有限公司 | A kind of Handling device walking position control system |
| US9906183B1 (en) * | 2017-01-30 | 2018-02-27 | Otis Elevator Company | Parallel interleaved 2-level or 3-level regenerative drives |
-
2021
- 2021-08-13 CN CN202110928503.5A patent/CN113381672B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203590098U (en) * | 2013-07-26 | 2014-05-07 | 浙江盛迈电气技术有限公司 | Dual-motor AC servo driver with UPS power off information protection |
| CN104601345A (en) * | 2013-10-30 | 2015-05-06 | 北京精密机电控制设备研究所 | Integrated dual-channel control driver for permanent magnet synchronous servo motors |
| CN110336495A (en) * | 2019-06-27 | 2019-10-15 | 济南科亚电子科技有限公司 | A dual-channel low-voltage AC servo driver control system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113381672A (en) | 2021-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4956123B2 (en) | Motor control device | |
| US6775115B2 (en) | Voltage conversion system and method and recording medium | |
| US7443127B2 (en) | Apparatus and method for motor control using table | |
| CN201438687U (en) | A Brushless DC Motor Control System | |
| CN113381672B (en) | Double-path servo driver control system and method | |
| CN101227163B (en) | Control system and control method of brushless DC motor | |
| CN1973430A (en) | Method and apparatus for controlling an electric motor | |
| CN101188399A (en) | PWM pattern sequence to reduce losses in voltage source inverters | |
| CN104290611A (en) | Method of current sensor related torque error estimation for IPMSM based E-drive system | |
| EP3255778A1 (en) | System and method for an inverter for self-excitation of an induction machine | |
| KR101846709B1 (en) | Method for Motor Control Based On Variable Current Controller Gain and Eco Vehicle thereof | |
| CN109617468B (en) | Predictive control optimization method of two-vector modulation permanent magnet synchronous motor | |
| CN104638993A (en) | Commutation control circuit and method for direct current motor | |
| CN110445430B (en) | Current sampling coefficient compensation method for permanent magnet synchronous motor controller | |
| CN201001095Y (en) | Brushless DC motor control system and its inverter module | |
| CN109867104B (en) | Butt joint processing method and system | |
| Retif et al. | New hybrid direct-torque control for a winding rotor synchronous machine | |
| CN109313420B (en) | Robot system, driver, storage device, and method for switching control modes | |
| EP3258593B1 (en) | System and method for an inverter for self-excitation of an induction machine | |
| CN201312279Y (en) | Electric displacement platform and electric displacement platform controller | |
| CN205310270U (en) | General removal chassis control system | |
| CN112078378B (en) | Motor control method and device and vehicle | |
| CN103368485B (en) | A kind of special multi-coordinate servo drive method of medical imaging equipment and device | |
| CN102910165B (en) | A kind of motor vehicle driven by mixed power and power output control device thereof | |
| CN102468802B (en) | Feedback switching device and method driven by servo motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |