Multi-axis servo driving system

Abstract

A multi-shaft servo drive system is suitable for being used in combination with a plurality of motors and comprises a first drive device and a second drive device. The second driving device is coupled with the first driving device through an external communication bus, and the first driving device and the second driving device respectively comprise a first control module and at least one direct current-alternating current conversion circuit. The DC-AC conversion circuits are respectively coupled to the first control module, and the first control module enables the DC-AC conversion circuits to provide AC power to control the motor. The first driving device further comprises a second control module, and the second control module is coupled with the first control module through the internal communication bus.

Description

Technical Field

[0001] The present invention relates to a multi-axis servo drive system, and in particular to a hybrid multi-axis servo drive system. Background Art

[0002] With the rapid development of microprocessor technology, the development of manufacturing technology of permanent magnet materials required for high-power and high-performance semiconductor power devices and servo motors, and the continuous improvement of their cost-effectiveness, AC servo motors and AC servo control systems have become the basic technologies for achieving automation in the current industrial field. Figure 1A The figure shows the appearance of the first known multi-axis servo drive system. Figure 1A The multi-axis servo drive system in the system is mainly a centralized architecture, usually a single power supply module A supplies power to the multi-axis servo drive system, and a single control module B (such as but not limited to DPS or MCU) controls multiple drive modules C, thereby achieving the purpose of multi-axis motor drive application. Further, the main function of the power supply module A is to convert the AC input power into a DC power supply, and then connect each module through the common DC bus inside the system. However, the power supply module A only has the power conversion function and does not have the ability to communicate with the host computer, let alone the ability to control and adjust the operation of the motor. The control module B is just the opposite. It communicates with the host computer to obtain the control command of the host computer, so as to control the operation of the motor in each drive module C. However, since the power supply module A, control module B and drive module C of the centralized architecture have different functions respectively, but are not integrated, it is necessary to increase the control signal connection terminal, which is not easy to make a miniaturized design.

[0003] In addition, if Figure 1B The figure shows the appearance of the second known multi-axis servo drive system. Figure 1B The multi-axis servo drive system in the system is mainly a distributed architecture. In addition to the power supply module A, the controller is configured in each drive module C to individually control and drive each axis motor. However, the distributed architecture requires multiple controllers to be configured in each drive module C, so the distributed architecture will inevitably significantly increase the system cost.

[0004] Therefore, how to design a multi-axis servo drive system to facilitate miniaturization and avoid excessive increase in system cost is a major research topic that the creators of this case want to conduct. Summary of the invention

[0005] In order to solve the above problems, the present disclosure provides a multi-axis servo drive system to overcome the problems of the known technology. Therefore, the multi-axis servo drive system disclosed in the present disclosure is suitable for use in combination with multiple motors, and the multi-axis servo drive system includes a first drive device and a second drive device. The second drive device is coupled to the first drive device through an external communication bus, and the first drive device and the second drive device respectively include a first control module and at least one DC-AC conversion circuit. The DC-AC conversion circuits are respectively coupled to the first control modules, and the first control module enables the DC-AC conversion circuit to provide AC power to control the motor. Among them, the first drive device also includes a second control module, and the second control module is coupled to the first control module through an internal communication bus.

[0006] In one embodiment, the first driving device and the second driving device further include at least one power detection circuit respectively. The power detection circuit respectively detects the AC power to provide a power signal corresponding to the AC power to the first control module.

[0007] In one embodiment, the first driving device further includes a power input port, a first power line and a power output port. The power input port receives DC power, and the first power line couples the power input port and the DC-AC conversion circuit to provide DC power to the DC-AC conversion circuit. The power output port couples the first power line to output DC power to the second driving device.

[0008] In one embodiment, the first driving device further includes a power input port, an AC / DC conversion circuit, a first power line, and a power output terminal. The power input port receives AC input power, and the AC / DC conversion circuit is coupled to the power input port to convert the AC input power into DC power. The first power line couples the AC / DC conversion circuit and the DC / AC conversion circuit to provide DC power to the DC / AC conversion circuit. The power output terminal is coupled to the first power line to output DC power to the second driving device.

[0009] In one embodiment, the first driving device further includes a signal output terminal, which is coupled to the first control module and the external communication bus to output the first control signal provided by the first control module to the external communication bus.

[0010] In one embodiment, the first driving device further includes a plurality of communication terminals, which are coupled to the second control module, and the second control module communicates with the host device via at least one of the communication terminals.

[0011] In one embodiment, the second driving device further includes a first connection end, a second power line and a second connection end. The first connection end is connected to the power output end to receive DC power. The second power line is coupled to the first connection end to provide DC power to the DC-AC conversion circuit. The second connection end is coupled to the second power line to output DC power.

[0012] In one embodiment, the second driving device further includes a signal input terminal and a signal output terminal. The signal input terminal is coupled to the first control module and the external communication bus to receive a first control signal provided by the external communication bus. The signal output terminal is coupled to the first control module to output a second control signal provided by the first control module.

[0013] In one embodiment, the second driving device further includes a plurality of communication terminals, which are coupled to the first control module, and the first control module communicates with an external device via at least one of the communication terminals.

[0014] In one embodiment, the first control module is a field programmable logic gate array, and the second control module is a central processing unit.

[0015] The main purpose and effect of the present disclosure is that, compared with the known technology in which the control module and the drive module are separated and require additional signal lines, the control module (i.e., the first control module and / or the second control module) and the drive module (i.e., the DC-AC conversion circuit) of the hybrid multi-axis servo drive system disclosed in the present disclosure are integrated together, thereby reducing the control signal connection terminals and facilitating miniaturization design.

[0016] In order to further understand the technology, means and effects adopted by the present invention to achieve the predetermined purpose, please refer to the following detailed description and drawings of the present invention. It is believed that the purpose, characteristics and features of the present invention can be understood in depth and in detail. However, the attached drawings are only provided for reference and explanation and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1A is a system appearance diagram of a first known multi-axis servo drive system;

[0018] Figure 1B is a system appearance diagram of a second known multi-axis servo drive system;

[0019] Figure 2 A schematic diagram of the configuration structure of the hybrid multi-axis servo drive system disclosed herein;

[0020] Figure 3A A circuit block diagram of a first embodiment of a hybrid multi-axis servo drive system disclosed herein;

[0021] Figure 3B A circuit block diagram of a second embodiment of the hybrid multi-axis servo drive system disclosed herein; and

[0022] Figure 4 The system appearance diagram of the hybrid multi-axis servo drive system disclosed herein is shown.

[0023]

Explanation of symbols

[0024] A…Power Supply Module

[0025] B…Control module

[0026] C...Driver module

[0027] 100...Multi-axis servo drive system

[0028] 1…First drive unit

[0029] 12…First control module

[0030] 14…DC to AC conversion circuit

[0031] 16…Second control module

[0032] CN1~CNN…communication terminal

[0033] 182…Power detection circuit

[0034] IN…Power input port

[0035] PL_1…First Power Line

[0036] OUT_P…Power output terminal

[0037] OUT…Power output port

[0038] 2… Second drive unit

[0039] 12…First control module

[0040] 14…DC to AC conversion circuit

[0041] CN1~CNN…communication terminal

[0042] CP1…First connection terminal

[0043] PL_2…Second power line

[0044] CP2…Second connection terminal

[0045] SIN…Signal input terminal

[0046] SOUT…Signal output terminal

[0047] Cbus_1~Cbus_N…external communication bus

[0048] Cbus_IN…Internal communication bus

[0049] 19…AC / DC conversion circuit

[0050] 200… Host equipment

[0051] 300…Motor

[0052] 400…External device

[0053] So…external signal

[0054] Si…Internal signal

[0055] Sc1…First control signal

[0056] Sc2…Second control signal

[0057] Sc...Control signal

[0058] Sv…Power signal

[0059] Vac…AC power

[0060] Vdc…Direct current power

[0061] Vac_in…AC input power DETAILED DESCRIPTION

[0062] The technical content and detailed description of the present invention are described as follows with reference to the accompanying drawings:

[0063] See also Figure 2 This is a schematic diagram of the configuration structure of the hybrid multi-axis servo drive system disclosed in this disclosure, and is also referred to in conjunction with Figure 1A-1B. The multi-axis servo drive system 100 is coupled to a host device 200 (for example, but not limited to, a host computer, a computer, and other devices), and the multi-axis servo drive system 100 is mainly suitable for use in combination with a plurality of motors 300. Therefore, the host device 200 can control the multi-axis servo drive system 100 by providing an external signal So, so as to control the operation of the motor 300 (i.e., control the direction, speed, etc.) through the multi-axis servo drive system 100. Further, the multi-axis servo drive system 100 may include a single first drive device 1 and at least one second drive device 2. The first drive device 1 is coupled to the host device 200, so that the host device 200 can communicate with the first drive device 1 through the external signal So. The second drive device 2 is coupled to the first drive device 1 through the external communication bus Cbus_1, and when the second drive devices 2 are plural, the second drive devices 2 are connected in series with each other through the external communication buses Cbus_2 to Cbus_N. Therefore, the first drive device 1 can provide the first control signal Sc1 to the second drive device 2 (through the external communication bus Cbus1) based on the external signal So, so that the first drive device 1 can communicate with the second drive device 2 through the first control signal Sc1. Similarly, the second drive device 2 can provide the second control signal Sc2 (through the external communication buses Cbus_2 to Cbus_N) based on the external signal So, so that the second drive device 2 can communicate with each other through the second control signal Sc2. In this way, the first drive device 1 and the second drive device 2 can respectively provide AC power Vac to control the motor 300 based on the external signal So.

[0064] See also Figure 3A The circuit block diagram of the first embodiment of the hybrid multi-axis servo drive system disclosed in this disclosure is shown in FIG. Figure 2The first driving device 1 includes a first control module 12, at least one DC-AC conversion circuit 14, a second control module 16 and a plurality of communication terminals CN1-CNN. The first control module 12 may be, for example but not limited to, a field programmable gate array (FPGA), and the second control module 16 is coupled to the host device 200. The second control module 16 may be a central processing unit (CPU), and the second control module 16 is coupled to the first control module 12 via an internal communication bus Cbus_IN. The communication terminals CN1-CNN may couple the second control module 16 and / or the first control module 12 and the DC-AC conversion circuit 14 accordingly according to their uses, and the second control module 16 may communicate with the host device 200 via the communication terminals CN1-CNN. The second control module 16 may mainly receive an external signal So provided by the host device 200 via at least one of the communication terminals CN1-CNN, and provide an internal signal Si to the internal communication bus Cbus_IN based on the external signal So, so that the second control module 16 may communicate with the first control module 12 via the internal signal Si. In addition, the second control module 16 , the first control module 12 and the DC-AC conversion circuit 14 can also be coupled to an external device 400 (such as but not limited to, a computer, a measuring device, etc.) via the communication terminals CN1 -CNN.

[0065] That is, the host device 200 can provide one or more signals representing different commands / information, and these signals are collectively referred to as external signals So. Similarly, the first control signal Sc1, the second control signal Sc2, etc. referred to in this article can also be collectively referred to as one or more signals. The first control module 12 is coupled to the DC-AC conversion circuit 14, and the first control module 12 provides a control signal Sc to the DC-AC conversion circuit 14 based on the internal signal Si. Therefore, the DC-AC conversion circuit 14 can provide AC power Vac based on the control signal Sc to control the operation of the motor 300, and the control signal Sc can be, for example but not limited to, a pulse width modulation signal (PWM), so that the first control module 12 can provide pulse width modulation control and current control capabilities. Among them, the difference between the host device 200 and the external device 400 is that the host device 200 is mainly a device that provides commands to control the multi-axis servo drive system 100, and the external device 400 is usually a device that can communicate with the multi-axis drive system 100 to know the operating status of the multi-axis drive system 100, or assist in peripheral control of the multi-axis drive system 100.

[0066] Furthermore, the first driving device 1 further includes at least one power detection circuit 182, a power input port IN, a first power line PL_1, a power output terminal OUT_P, a power output port OUT, and a signal output terminal SOUT. The power detection circuit 182 is respectively coupled between the DC-AC conversion circuit 14 and the power output port OUT, and respectively detects the AC power Vac provided by the DC-AC conversion circuit 14, so as to respectively provide a power signal Sv corresponding to the AC power Vac to the first control module 12. The first control module 12 can obtain the voltage, current, power and other parameters of the AC power Vac through the power signal Sv, and accordingly control the DC-AC conversion circuit 14 to adjust the AC power Vac to provide power that meets the operating requirements of the motor 300 and provide the ability of current control. Among them, the AC power Vac provided by the DC-AC conversion circuit 14 can be single-phase power or three-phase power, mainly depending on the requirements of the motor 300. In addition, the number of power detection circuits 182 is preferably equal to the number of DC-AC conversion circuits 14, so that each set of DC-AC conversion circuits 14 can have good AC power Vac control capabilities.

[0067] The power input port IN receives the DC power Vdc, and the first power line PL_1 couples the power input port IN and the DC-AC conversion circuit 14 to provide the DC power Vdc to the DC-AC conversion circuit 14. The DC-AC conversion circuit 14 receives the DC power Vdc and converts the DC power Vdc into AC power Vac to power the motor 300. The power output terminal OUT_P is coupled to the first power line PL_1, and provides the DC power Vdc on the first power line PL_1 to the second driving device 2. The signal output terminal SOUT couples the first control module 12 and the external communication bus Cbus_1, so that the first control module 12 can provide the first control signal Sc1 to the external communication bus Cbus_1 through the signal output terminal SOUT, and can communicate with the second driving device 2 through the first control signal Sc1.

[0068] See also Figure 3A, the difference between the second driving device 2 and the first driving device 1 is that the second driving device 2 does not have the second control module 16, and the second driving device 2 includes a first connection terminal CP1, a second power line PL_2, a second connection terminal CP2 and a signal input terminal SIN. The first connection terminal CP1 is connected to the power output terminal OUT_P of the first driving device 1 to receive the DC power Vdc provided by the power output terminal OUT_P. The second power line PL_2 is coupled to the first connection terminal CP1 to provide the DC power Vdc to the DC-AC conversion circuit 14. The second connection terminal CP2 is coupled to the second power line PL_2, and when there is still an additional second driving device 2 coupled to the rear end, the second connection terminal CP2 can provide the DC power Vdc on the second power line PL_2 to the rear end second driving device 2. The signal input terminal SIN is coupled to the self first control module 12 and the external communication bus Cbus_1 to receive the first control signal Sc1 provided by the first driving device 1 through the external communication bus Cbus_1, and communicate with the first control module 12 of the first driving device 1 through the first control signal Sc1.

[0069] The first control module 12 of the second drive device 2 can also provide a second control signal Sc2 to the external communication bus Cbus_2 through its own signal output terminal SOUT, so that each drive device (1, 2) of the multi-axis servo drive system 100 can provide AC power Vac to control the motor 300 based on the external signal So. On the other hand, the second drive device 2 also includes a plurality of communication terminals CN1-CNN. The second drive device 2 can be coupled to the external device 400 through the communication terminals CN1-CNN, and can also be coupled to the host device 200 through the communication terminals CN1-CNN to communicate with the external device 400 and the host device 200, but the command of the second drive device 2 to control the motor 300 still mainly comes from the external communication buses Cbus_1 and Cbus_2.

[0070] Furthermore, since the present disclosure only uses a single second control module 16 (such as a CPU, MCU, etc.) for communication with the upper device 200, and the second control module 16 commands the first control module 12 (such as an FPGA, etc.) to control the motor 300, it is not necessary to use a distributed architecture like the known technology, which requires each drive module C to be configured with a first control module 12 and a second control module 16 to control the motor 300. Therefore, the system cost can be greatly saved. It is worth mentioning that in one embodiment, information such as the operating status of the second drive device 2 can be transmitted back to the first drive device 1 through the external communication bus Cbus_1~Cbus_N, so that the first drive device 1 can uniformly communicate with each other to transmit information such as the operating status of each drive device 1, 2.

[0071] See also Figure 3BThe circuit block diagram of the second embodiment of the hybrid multi-axis servo drive system disclosed in this disclosure is shown in FIG. Figures 2 to 3A . Figure 3B Examples and Figure 3A The embodiment of the present invention is different in that the multi-axis servo drive system 100 further includes an AC-DC conversion circuit 19. The AC-DC conversion circuit 19 couples the power input port IN and the first power line PL_1, and the power input port IN receives the AC input power Vac_in. The AC-DC conversion circuit 19 converts the AC input power Vac_in into a DC power Vdc to provide the DC power Vdc to the first power line PL_1.

[0072] See also Figure 4 The system appearance diagram of the hybrid multi-axis servo drive system disclosed herein is shown in FIG. Figures 2 to 3B One end of the second driving device 2 can be engaged with the first driving device 1, so that the power output end OUT_P of the first driving device 1 is connected to the first connection end CP1 of the second driving device 2. In this way, the first power line PL_1 and the second power line PL_2 can be electrically connected to form a common DC bus structure (such as Figure 3A-3B The external communication bus Cbus_1 couples the signal output terminal SOU of the first drive device 1 and the signal input terminal SIN of the second drive device 2, so that the first control modules 12 of the first drive device 1 and the second drive device 2 communicate with each other through the external communication bus Cbus_1. On the other hand, the other end of the second drive device 2 can be coupled with an additional second drive device 2 by the same snap-in method, and several second drive devices 2 can be connected in series by analogy.

[0073] In summary, the advantages of the multi-axis servo drive system 100 disclosed herein are as follows:

[0074] The multi-axis servo drive system disclosed in the present invention can achieve a miniaturized design. Compared with the known technology in which the control module and the drive module are separated and require additional signal lines, the hybrid multi-axis servo drive system disclosed in the present invention retains the flexibility of expansion. If the number of axes is less than the number of the first drive device, there is no need to connect an additional drive module.

[0075] In the case of an application with only the first drive device, no additional signal line connection between axes is required, thereby achieving the purpose of simple wiring.

[0076] The multi-axis servo drive system disclosed in the present invention can reduce external noise interference with the signal transmission of the drive device. The reason is that, except for the external communication bus, the rest of the control signals are transmitted within the drive device and are not connected to the outside, so the shortest path can be achieved.

[0077] However, the above description is only a detailed description and drawings of the preferred specific embodiments of the present invention, but the features of the present invention are not limited thereto and are not used to limit the present invention. The entire scope of the present invention shall be based on the claims. All embodiments that conform to the spirit of the claims of the present invention and similar variations thereof shall be included in the scope of the present invention. Any changes or modifications that can be easily conceived by a person familiar with the art within the field of the present invention shall be covered by the patent scope of this case.

Claims

1. A multi-axis servo drive system, suitable for use in combination with multiple motors, characterized in that: The multi-axis servo drive system includes: a first driving device; A second driving device is coupled to the first driving device via an external communication bus, and the first driving device and the second driving device respectively include: a first control module; and At least one DC-AC conversion circuit is respectively coupled to the first control module, and the first control module enables the at least one DC-AC conversion circuit to provide at least one AC power to control at least one motor of the plurality of motors; The first driving device further includes a second control module, and the second control module is coupled to the first control module via an internal communication bus.

2. The multi-axis servo drive system according to claim 1, characterized in that: The first driving device and the second driving device further include: At least one power detection circuit detects the at least one AC power respectively to provide a power signal corresponding to the at least one AC power to the first control module.

3. The multi-axis servo drive system according to claim 1, characterized in that: The first driving device also includes: A power input port for receiving DC power; a first power line coupling the power input port and the at least one DC-AC conversion circuit to provide the DC power to the at least one DC-AC conversion circuit; A power output terminal is coupled to the first power line to output the DC power to the second driving device.

4. The multi-axis servo drive system according to claim 1, characterized in that: The first driving device also includes: A power input port for receiving an AC input power; an AC-DC conversion circuit coupled to the power input port and converting the AC input power into DC power; a first power line coupling the AC / DC conversion circuit and the at least one DC / AC conversion circuit to provide the DC power to the at least one DC / AC conversion circuit; A power output terminal is coupled to the first power line to output the DC power to the second driving device.

5. The multi-axis servo drive system according to claim 1, characterized in that: The first driving device also includes: A signal output terminal is coupled to the first control module and the external communication bus to output a first control signal provided by the first control module to the external communication bus.

6. The multi-axis servo drive system according to claim 1, characterized in that: The first driving device also includes: A plurality of communication terminals are coupled to the second control module, and the second control module communicates with a host device through at least one of the plurality of communication terminals.

7. The multi-axis servo drive system according to claim 1, characterized in that: The second driving device also includes: a first connection end connected to the power output end to receive the DC power; a second power line coupled to the first connection end to provide the DC power to the at least one DC to AC conversion circuit; A second connection end is coupled to the second power line to output the DC power.

8. The multi-axis servo drive system according to claim 1, characterized in that: The second driving device also includes: a signal input terminal, coupled to the first control module and the external communication bus, to receive a first control signal provided by the external communication bus; A signal output terminal is coupled to the first control module to output a second control signal provided by the first control module.

9. The multi-axis servo drive system according to claim 1, characterized in that: The second driving device also includes: A plurality of communication terminals are coupled to the first control module, and the first control module communicates with an external device through at least one of the plurality of communication terminals.

10. The multi-axis servo drive system according to claim 1, characterized in that: The first control module is a field programmable logic gate array, and the second control module is a central processing unit.

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