A high-speed and high-precision multi-axis parallel control system for electromechanical servo

Abstract

The utility model relates to a high-speed and high-precision multi-axis parallel control system for electromechanical servo and relates to the field of electromechanical servo control. The high-speedand high-precision multi-axis parallel control system for electromechanical servo comprises a processor unit, a memorizer unit, a bus interface unit, an instruction output unit and a signal processingunit, wherein the processor unit includes an asynchronous serial port module, an SRAM module, an SPI bus module, an SSI decoding module, an AD conversion module, a control algorithm module and a PWMmodule, the bus interface unit includes an isolation transformation module, a network voltage transformation module and a network protocol control module, the signal processing unit includes an R / D conversion module, an isolation transformation module, an A / D conversion module and a signal conditioning module. The high-speed and high-precision multi-axis parallel control system improves the degreeof integration of a servo control driver, improves the execution speed and parallel capability of the control algorithm, and achieves the multi-motor high-speed synchronous control.

Description

technical field [0001] The invention relates to the field of electromechanical servo control, in particular to a high-speed and high-precision multi-axis parallel control system for electromechanical servo. Background technique [0002] Hydraulic servo mechanism includes mechanical feedback type and electric feedback type. In the current technology: [0003] At present, in the electromechanical servo system of various models under development, the control driver used for permanent magnet synchronous motor control mostly adopts a DSP+FPGA+ bus controller architecture as its core, DSP is used for closed-loop and FOC algorithm realization, and FPGA is used for logic decoding , PWM expansion and dead zone control, the bus controller realizes the data interaction with the upper computer; the main frequency is 120MHz, and the current loop control period is between 50us and 100us. One control driver generally controls 2-4 motors at the same time, and multiple motors When controlli...

AI Technical Summary

Problems solved by technology

[0003] At present, in the electromechanical servo system of various models under development, the control driver used for permanent magnet synchronous motor control mostly adopts a DSP+FPGA+ bus controller architecture as its core, DSP is used for closed-loop and FOC algorithm realization, and FPGA is used for logic decoding , PWM expansion and dead zone control, the bus controller realizes the data interaction with the upper computer; the main frequency is 120MHz, and the current loop control period is between 50us and 100us. One control driver generally controls 2-4 motors at the same time, and multiple motors When controlling, the FOC control of each motor adopts a serial structure of sequential execution, and the closed-loop control cycle may take longer, and it is difficult to achieve good synchronous control among multiple motors;

[0004] With the development of servo technology, the demand for the integration of control and drive mechanisms, multi-axis control, and high-speed control is becoming more and more intense, and traditional technology can no longer meet the demand.

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