Motor servo driver

Abstract

The application provides a motor servo driver, which comprises a power module, a driving module, a sampling module and a control module, the driving module is connected with the power module and an external motor, the sampling module is connected with the external motor, the sampling module comprises a current sampling module and a position sampling module, the position sampling module is used for acquiring position sampling of the external motor, the position sampling module comprises a grating sampling sub-module and an encoder sampling sub-module, the control module is connected with the driving module and the sampling module, and is used for controlling the driving module to convert voltage provided by the power module into a driving voltage for driving the external motor according to the current sampling and the position sampling, wherein the driving voltage comprises a direct current driving voltage and an alternating current driving voltage.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of servo drive, in particular to a motor servo driver. BACKGROUND

[0002] The servo driver is an important part of modern motion control, which is widely used in industrial robots and numerical control machining centers and other automatic equipment. In the prior art, the traditional dual-shaft motor servo drive system basically adopts two servo drivers to control two motors. This method has high cost, large control system size, low control precision and poor coordination response of two degrees of freedom.

[0003] Therefore, it is necessary to provide a motor servo driver to solve the above technical problems. SUMMARY

[0004] To solve the above technical problems, an embodiment of the present application provides a motor servo driver, which comprises:

[0005] a power module;

[0006] a drive module connected with the power module and an external motor, used for converting the voltage provided by the power module into a drive voltage for driving the external motor;

[0007] a sampling module connected with the external motor, the sampling module comprising a current sampling module and a position sampling module, the current sampling module being used for acquiring current sampling of the external motor, and the position sampling module being used for acquiring position sampling of the external motor, wherein the position sampling module comprises a grating sampling submodule and an encoder sampling submodule, the grating sampling submodule being used for performing the position sampling on the linear motion of the external motor, and the encoder sampling submodule being used for performing the position sampling on the rotary motion of the external motor;

[0008] a control module connected with the drive module and the sampling module, used for controlling the drive module to convert the voltage provided by the power module into the drive voltage for driving the external motor according to the current sampling and the position sampling, wherein the drive voltage comprises a direct-current drive voltage and an alternating-current drive voltage.

[0009] According to an embodiment of the present application, the drive module comprises five bridge arm circuits and five corresponding power amplification circuits, the power amplification circuits being connected between the control module and the corresponding bridge arm circuits, used for amplifying the drive signal output by the control module, and the drive signal being used for driving the bridge arm circuits to generate the drive voltage.

[0010] According to an embodiment of the present application, the bridge arm circuit comprises a first power field effect transistor and a second power field effect transistor, the first drain of the first power field effect transistor is connected with the positive pole of the power module, the first source of the first power field effect transistor is connected with the second drain of the second power field effect transistor, the first gate of the first power field effect transistor is connected with the control module, the second source of the second power field effect transistor is connected with the negative pole of the power module, the second gate of the second power field effect transistor is connected with the control module, the bridge arm circuit further comprises an output end arranged at the connection between the first power field effect transistor and the second power field effect transistor, and the output end is used for outputting the driving voltage for driving the external motor.

[0011] According to an embodiment of the present application, any two of the five bridge arm circuits output the direct current driving voltage, and any three of the five bridge arm circuits output the alternating current driving voltage.

[0012] According to an embodiment of the present application, the current sampling module comprises a sampling resistor, one end of the sampling resistor is connected with the second source of the second power field effect transistor, the other end of the sampling resistor is connected with the negative pole of the power module, and the connection between the sampling resistor and the second power field effect transistor and the connection between the sampling resistor and the power module output the sampling signal of the current sampling.

[0013] According to an embodiment of the present application, the motor servo driver further comprises a protection module connected between the control module and the external motor, and used for acquiring the working information of the external motor during working, and the control module controls the driving module according to the working information, so as to control the movement or stop of the external motor.

[0014] According to an embodiment of the present application, the motor servo driver further comprises a communication module connected with the control module, and used for providing a communication interface for the motor servo driver.

[0015] According to an embodiment of the present application, the motor servo driver further comprises an expansion function module connected with the control module, and used for providing a man-machine interaction circuit and / or a control circuit access for the motor servo driver.

[0016] According to an embodiment of the present application, the external motor is a linear motor.

[0017] According to an embodiment of the present application, the external motor is at least one of an alternating current servo motor and a voice coil motor.

[0018] Compared with the prior art, the motor servo driver of the application is used for servo driving an external motor, the control module drives the drive module to convert the voltage provided by the power module into a drive voltage for driving the external motor, thereby driving the external motor, each module is integrated on a set of hardware, the servo driver is provided for the external motor, the control precision is higher, the integration degree is higher, and the coordinated response to two degrees of freedom is better.

[0019] Further, the drive module includes five bridge arm circuits with the same structure, any two of the five bridge arm circuits output the direct current drive voltage at the output end, and any three of the five bridge arm circuits output the alternating current drive voltage at the output end, the structure is simple, linear motion drive and rotary motion drive are integrated, and the production cost and the volume of the servo driver are reduced.

[0020] Further, the current sampling of the external motor is obtained by the current sampling module of the adoption module, and the position sampling of the external motor is obtained by the position sampling module, thereby further improving the control precision.

[0021] Further, the working information of the external motor during operation is obtained by the protection module, the control module controls the drive module according to the working information, thereby controlling the movement or stop of the external motor, and the motor can be protected in the case of abnormal state of the external motor.

[0022] Further, the communication module provides a communication interface for the motor servo driver, so that the motor servo driver can communicate with an external intelligent device, thereby facilitating the control of the motor servo driver.

[0023] Further, the extension function module provides a man-machine interaction circuit and / or a control circuit access for the motor servo driver, so that the function can be further extended, and the functionality of the motor servo driver is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute the embodiments of the application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of the provided drawings.

[0025] Figure 1 is a structural schematic diagram of the motor servo driver of an embodiment of the application.

[0026] Figure 2 is a structural schematic diagram of the bridge arm circuit of an embodiment of the application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0028] The terms "first", "second" and "third" and the like in the description and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a particular order. In addition, the term "comprising" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0029] Please refer to Figure 1 , Figure 1 is a structural schematic diagram of a motor servo driver 100 according to an embodiment of the present application. In the embodiment, the external motor 2 can be a linear rotary motor, and the motor servo driver 100 can be used to servo drive the linear rotary motor. The linear rotary motor is a motor that can output linear motion and rotary motion. The motor servo driver 100 includes a power supply module 10, a driving module 11 and a control module 12.

[0030] The driving module 11 is connected to the power supply module 10 and the linear rotary motor, and the control module 12 is connected to the driving module 11. The control module 12 provides a PWM driving signal for the driving module 11 to convert the voltage provided by the power supply module 10 into a driving voltage for driving the linear rotary motor. The driving module 11 can include a bridge arm circuit 111, and the power supply module 10 provides the driving voltage for the linear rotary motor through the switching of the bridge arm circuit 111. The driving voltage includes a direct current driving voltage for linear motion of the linear rotary motor and an alternating current driving voltage for rotary motion of the linear rotary motor. The power supply module 10 is a direct current linear voltage stabilizing power supply circuit, and the power supply module 10 also provides power supply for each module in the motor servo driver 100. The control module 12 is a DSP minimum system and a functional peripheral circuit.

[0031] The motor servo driver 100 of the application is used for servo driving a linear motor, the control module 12 drives the drive module 11 to convert the voltage provided by the power module 10 into a drive voltage for driving the linear motor, thereby driving the linear motor, each module is integrated on a set of hardware, forming an integrated motor servo driver 100 for driving the linear motor, providing servo drive for the linear motor, higher control accuracy, higher integration, better coordinated response to two degrees of freedom.

[0032] Please refer to Figure 2 , Figure 2 is a structural schematic diagram of the bridge arm circuit 111 of an embodiment of the application. In the embodiment, the drive module 11 includes five structurally identical bridge arm circuits 111 and their corresponding five power amplifier circuits 112, the power amplifier circuit 112 is connected between the control module 12 and the corresponding bridge arm circuit 111, for amplifying the drive signal output by the control module 12, the drive signal is a PWM drive signal for driving the bridge arm circuit 111 to generate the drive voltage.

[0033] Specifically, the bridge arm circuit 111 includes a first power field effect tube Q1 and a second power field effect tube Q2, the first drain of the first power field effect tube Q1 is connected with the positive pole of the power module 10, the first source of the first power field effect tube Q1 is connected with the second drain of the second power field effect tube Q2, the first gate of the first power field effect tube Q1 is connected with the control module 12, the second source of the second power field effect tube Q2 is connected with the negative pole of the power module 10, the second gate of the second power field effect tube Q2 is connected with the control module 12, the DSP minimum system in the control module 12 outputs two complementary PWM signals through functional peripheral circuits, the high bit signal and the low bit signal of the PWM signal are input to the bridge arm composed of the first power field effect tube Q1 and the second power field effect tube Q2 after being amplified by the bridge arm drive chip and the power amplifier circuit 112, in the embodiment, the first power field effect tube Q1 and the second power field effect tube Q2 are MOS tubes IRFR120NTRPBF, and the bridge arm drive chip is a U1 drive chip LM5109B.

[0034] The bridge arm circuit 111 further comprises an output end L1 arranged at the connection between the first power field effect transistor Q1 and the second power field effect transistor Q2, and the output end L1 is used to output the driving voltage for driving the linear motor. In this embodiment, the control module 12 can output the direct current driving voltage for the linear motion of the linear motor from the output end L1 of any two of the five bridge arm circuits 111 by controlling the switches of the first power field effect transistor Q1 and the second power field effect transistor Q2 of any two of the five bridge arm circuits 111, and the control module 12 can output the alternating current driving voltage for the rotary motion of the linear motor from any three of the output ends L1 of any three of the five bridge arm circuits 111 by controlling the switches of the first power field effect transistor Q1 and the second power field effect transistor Q2 of any three of the five bridge arm circuits 111.

[0035] In one embodiment of the present application, the driving module 11 comprises five bridge arm circuits 111 with the same structure, any two of the output ends L1 of the five bridge arm circuits 111 output the direct current driving voltage for the linear motion of the linear motor, and any three of the output ends L1 of the five bridge arm circuits 111 output the alternating current driving voltage for the rotary motion of the linear motor, which is simple in structure, integrates the linear motion driving and the rotary motion driving, and reduces the production cost and the volume of the motor servo driver 100.

[0036] In another embodiment, the motor servo driver 100 further comprises a sampling module 13 connected to the control module 12 and the linear motor, and the sampling module 13 comprises a current sampling module 131 and a position sampling module 132, the current sampling module 131 can obtain the current sampling of the linear motor, and the position sampling module 132 can obtain the position sampling of the linear motor, so that the control module 12 can accurately control the output of the driving module 11 according to the sampling data. In this embodiment, the current sampling module 131 comprises a sampling resistor R, one end of the sampling resistor R is connected to the second source of the second power field effect transistor Q2, the other end of the sampling resistor R is connected to the negative electrode of the power supply module 10, and the connection between the sampling resistor R and the second power field effect transistor Q2 and the connection between the sampling resistor R and the power supply module 10 output the sampling signal of the current sampling, and in this embodiment, the sampling resistor R is a sampling resistor with a resistance of 0.01 ohm. The position sampling module 132 comprises a grating sampling sub-module 132a and an encoder sampling sub-module 132b, the grating sampling sub-module 132a can perform the position sampling on the linear motion of the linear motor, and the encoder sampling sub-module 132b can perform the position sampling on the rotary motion of the linear motor.

[0037] An embodiment of the present application acquires the current sample of the linear motor through the current sampling module 131 of the using module 13, and the position sampling module 132 acquires the position sample of the linear motor, thereby further improving the control precision.

[0038] In another embodiment, the motor servo driver 100 further comprises a protection module 14 connected between the control module 12 and the linear motor, for acquiring the working information of the linear motor during operation. In this embodiment, the working information includes the current, voltage and temperature information of the linear motor during operation. The protection module 14 comprises an overcurrent protection circuit, an overvoltage protection circuit and an overtemperature protection circuit, respectively used to acquire the current, voltage and temperature information of the linear motor during operation. The control module 12 controls the driving module 11 to control the linear motor to move or stop according to the working information. Specifically, the protection module 14 sends the acquired current, voltage and temperature information of the linear motor during operation to the control module 12. When the control module 12 determines that overcurrent, overvoltage or overtemperature occurs during the operation of the linear motor according to the current, voltage and temperature information of the linear motor during operation, the control module 12 controls the driving module 11 to stop outputting the driving voltage, thereby stopping the linear motor.

[0039] An embodiment of the present application acquires the working information of the linear motor during operation through the protection module 14, and the control module 12 controls the driving module 11 to control the linear motor to move or stop according to the working information, thereby protecting the motor safety when the state of the linear motor is abnormal.

[0040] In another embodiment, the motor servo driver 100 can further comprise a communication module 15 connected to the control module 12, for providing a communication interface for the motor servo driver 100. In this embodiment, the communication module 15 comprises three communication interface circuits of RS485, RS232 and CANOpen.

[0041] An embodiment of the present application provides the communication module 15 for the motor servo driver 100 to provide a communication interface, so that the motor servo driver 100 can communicate with external intelligent devices, thereby facilitating the control of the motor servo driver 100.

[0042] In another embodiment, the motor servo driver 100 further comprises an extension function module 16 connected to the control module 12, which provides the motor servo driver 100 with human-computer interaction circuit and / or control circuit access.

[0043] In an embodiment of the present application, the extension function module 16 provides the motor servo driver 100 with human-computer interaction circuit and / or control circuit access, which can be further extended in function, thereby improving the functionality of the motor servo driver 100.

[0044] In another embodiment, the external motor 2 can be an AC servo motor, and the motor servo driver 100 can be used to servo drive the AC servo motor. The control module 12 can output the AC driving voltage for the movement of the AC servo motor from the output terminals L1 of any three of the three bridge arm circuits 111 by controlling the switches of the first power field effect tube Q1 and the second power field effect tube Q2 of any three of the three bridge arm circuits 111. It can be understood that the structure and modules of the motor servo driver 100 and their functions are similar to those of the above-mentioned embodiments, and thus are not described here.

[0045] In another embodiment, the external motor 2 can be a voice coil motor, and the motor servo driver 100 can be used to servo drive the voice coil motor. The control module 12 can output the DC driving voltage for the operation of the voice coil motor from the output terminals L1 of any two of the five bridge arm circuits 111 by controlling the switches of the first power field effect tube Q1 and the second power field effect tube Q2 of any two of the five bridge arm circuits 111. It can be understood that the structure and modules of the motor servo driver 100 and their functions are similar to those of the above-mentioned embodiments, and thus are not described here.

[0046] In another embodiment, the external motor 2 can also be an AC servo motor and a voice coil motor, the motor servo driver 100 can be used to servo drive the AC servo motor and the voice coil motor, the control module 12 can output the AC driving voltage for the movement of the AC servo motor from any three output terminals L1 of any three of the five bridge arm circuits 111 by controlling the switches of the first power field effect tube Q1 and the second power field effect tube Q2 of the three bridge arm circuits 111, and the control module 12 can output the DC driving voltage for the operation of the voice coil motor from the output terminals L1 of any two of the five bridge arm circuits 111 by controlling the switches of the first power field effect tube Q1 and the second power field effect tube Q2 of the two bridge arm circuits 111. It can be understood that the structure and modules of the motor servo driver 100 and their functions are similar to those of the above-mentioned embodiments, and thus are not described here.

[0047] In an embodiment of the present application, the motor servo driver 100 can access at least one of an AC servo motor and a voice coil motor or simultaneously access both the AC servo motor and the voice coil motor, and the use is flexible, thereby reducing the size and cost of the servo driver. The above only discloses one embodiment of the present application, and of course cannot limit the scope of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

1. An electric motor servo drive, characterized by The motor servo driver comprises: a power module; a driving module, which is connected with the power module and an external motor, and is used for converting the voltage provided by the power module into a driving voltage for driving the external motor, wherein the external motor is a linear rotary motor; the driving module comprises five bridge arm circuits and five corresponding power amplifier circuits; the power amplifier circuits are connected between the control module and the bridge arm circuits, and are used for amplifying the driving signal output by the control module, so as to drive the bridge arm circuits to generate the driving voltage; a sampling module, which is connected with the external motor, and comprises a current sampling module and a position sampling module; the current sampling module is used for acquiring the current sampling of the external motor; the position sampling module is used for acquiring the position sampling of the external motor, wherein the position sampling module comprises a grating sampling submodule and an encoder sampling submodule; the grating sampling submodule is used for sampling the linear motion of the external motor; and the encoder sampling submodule is used for sampling the rotary motion of the external motor; a control module, which is connected with the driving module and the sampling module, and is used for controlling the driving module to convert the voltage provided by the power module into the driving voltage for driving the external motor according to the current sampling and the position sampling, wherein the driving voltage comprises a direct current driving voltage and an alternating current driving voltage; wherein the bridge arm circuit comprises a first power field effect transistor and a second power field effect transistor; the first drain of the first power field effect transistor is connected with the positive pole of the power module; the first source of the first power field effect transistor is connected with the second drain of the second power field effect transistor; the first gate of the first power field effect transistor is connected with the control module; the second source of the second power field effect transistor is connected with the negative pole of the power module; the second gate of the second power field effect transistor is connected with the control module; and the bridge arm circuit further comprises an output end arranged at the connection position of the first power field effect transistor and the second power field effect transistor, which is used for outputting the driving voltage for driving the external motor.

2. The motor servo drive of claim 1, wherein, The output ends of any two of the five bridge arm circuits output the direct current driving voltage, and the output ends of any three of the five bridge arm circuits output the alternating current driving voltage.

3. The motor servo drive of claim 1, wherein, The current sampling module comprises a sampling resistor, one end of which is connected with the second source of the second power field effect transistor, and the other end of which is connected with the negative pole of the power module; the connection position of the sampling resistor and the second power field effect transistor and the connection position of the sampling resistor and the power module output the sampling signal of the current sampling.

4. The motor servo drive of claim 1, wherein, The motor servo driver further comprises a protection module, which is connected between the control module and the external motor, and is used for acquiring the working information of the external motor during operation; and the control module controls the driving module according to the working information, so as to control the movement or stop of the external motor.

5. The motor servo drive of claim 1, wherein, The motor servo driver further comprises a communication module connected with the control module, and providing a communication interface for the motor servo driver.

6. The motor servo drive of claim 1, wherein, The motor servo driver further comprises an expansion function module connected with the control module, and providing a human-computer interaction circuit and / or a control circuit access for the motor servo driver.

7. The motor servo drive of claim 1, wherein, The external motor is at least one of an AC servo motor and a voice coil motor.

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