Control system and control method for servo driver

Abstract

The invention provides a control system and a control method for servo drivers, the system comprises a servo main controller and a plurality of servo drivers, the servo main controller is connected with the plurality of servo drivers in a star connection mode, the servo main controller is a central node in the star connection mode, and the plurality of servo drivers are connected with the servo main controller. The servo motor control module is used for sending a servo motor control instruction to a corresponding servo driver; the servo drivers are branch nodes in a star connection mode and used for controlling the corresponding servo motors to operate after receiving the servo motor control instructions and sending control instruction execution feedback information to the servo main controller. According to the invention, a star connection communication mode is adopted to replace an existing daisy chain communication mode to carry out servo driver equipment networking, so that each slave station equipment is directly connected with the controller, the transmission of data among the slave station equipment is reduced, the communication efficiency is greatly improved, and the communication speed and the communication stability are improved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a control system and a control method for a servo drive. Background Art

[0002] The servo drive is a critical component in the servo system. It is specifically used to control the servo motor and is mainly used in the field of motion control that requires high precision. The servo drive precisely controls the operation of the servo motor through position control, speed control, and torque control, thereby ensuring that the transmission system can achieve high-precision positioning.

[0003] In the existing servo drive system, the bus communication adopts the daisy chain networking architecture. In the daisy chain networking architecture, the controller first sends a control instruction to the first servo drive. After the first servo drive receives the instruction and performs corresponding signal processing, it will continue to pass the instruction to the second servo drive. This process will be carried out in sequence until all devices in the system are connected, forming a daisy chain-like communication networking structure. This communication transmission method has problems such as low efficiency and slow communication speed.

[0004] In addition, the existing daisy chain networking method has a significant disadvantage. Once a communication failure occurs in any device in the network, the failure will directly affect all the devices subsequently connected to it, resulting in communication interruption of these devices. This chain reaction not only increases the complexity of system maintenance, but also greatly hinders the efficiency and smooth progress of on-site debugging. Therefore, a control system and control method for a servo drive are urgently needed to solve the above problems. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a control system and a control method for a servo drive.

[0006] The present invention provides a control system for a servo drive, comprising a servo main controller and a plurality of servo drives, wherein the servo main controller and the plurality of servo drives are connected in a star connection manner, wherein: The servo main controller is the central node in the star connection mode, and is used to send the servo motor control instructions to the corresponding servo driver; The servo driver is a branch node in the star connection mode, which is used to control the operation of the corresponding servo motor after receiving the servo motor control instruction, and send the control instruction execution feedback information to the servo main controller, wherein the control instruction execution feedback information is generated according to the execution results of the operating status of the servo driver and the servo motor.

[0007] According to a control system for a servo driver provided by the present invention, the system further comprises a first optical transceiver and a plurality of second optical transceivers, wherein the first optical transceiver is arranged in the servo main controller, and each of the second optical transceivers is arranged in the corresponding servo driver, wherein: The first optical transceiver end is connected to each of the second optical transceiver ends through an optical fiber, and the optical transceiver end signal conversion module in the first optical transceiver end is used to convert the servo motor control instruction into a corresponding servo motor control optical signal, and send the servo motor control optical signal to the second optical transceiver end through the optical fiber, wherein the servo motor control instruction is an electrical signal; The optical transceiver signal conversion module in the second optical transceiver is used to convert the received servo motor control optical signal into the servo motor control instruction, and send the servo motor control instruction to the core control chip in the servo driver, wherein the core control chip is used to perform data analysis and processing on the servo motor control instruction to obtain the servo motor control instruction after data analysis and processing.

[0008] According to a control system for a servo drive provided by the present invention, the system further comprises an optical receiving end signal conversion module configuration circuit, the optical receiving end signal conversion module configuration circuit is arranged between the optical transceiver end signal conversion module in the second optical transceiver and the core control chip, wherein: The core control chip controls the operation state of the optical transceiver signal conversion module through the optical receiving end signal conversion module configuration circuit, and obtains the communication data of the servo motor control instruction sent by the optical transceiver signal conversion module.

[0009] According to a control system for a servo drive provided by the present invention, the optical transceiver signal conversion module in the second optical transceiver is further used to convert the servo motor control optical signal into a parallel communication electrical signal to obtain the servo motor control instruction after determining that the data type of the servo motor control optical signal meets the requirements. The parallel communication electrical signal is composed of an address line and a data line.

[0010] According to a control system for a servo drive provided by the present invention, an optical bus interface circuit is also arranged between the optical transceiver signal conversion module in the second optical transceiver and the core control chip, and the optical bus interface circuit is used to establish a communication connection between the optical transceiver signal conversion module in the second optical transceiver and the core control chip.

[0011] According to a control system for a servo drive provided by the present invention, the system also includes a digital signal processor, which is connected to the core control chip and is used to generate a corresponding pulse width modulation signal according to the servo motor control instruction after the data analysis and processing.

[0012] The present invention also provides a control method based on the above control system for a servo drive, comprising: Receive servo motor control instructions sent by the servo main controller; After receiving the servo motor control instruction, the corresponding servo motor is controlled to run, and the control instruction execution feedback information is sent to the servo main controller, wherein the control instruction execution feedback information is generated according to the execution result of the operating status of the servo driver and the servo motor.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the control methods described above when executing the program.

[0014] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the control method described above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the control methods described above.

[0016] The control system and control method for a servo drive provided by the present invention adopt a star connection communication mode to replace the existing daisy chain communication mode for servo drive device networking, so that each slave station device is directly connected to the controller, reducing the transmission of data between each slave station device, greatly improving the communication efficiency, and increasing the communication speed and communication stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of a control system for a servo drive provided by the present invention; Figure 2 A schematic diagram of the internal signal processing architecture of the servo drive provided by the present invention; Figure 3 A schematic flow chart of a control method for a servo controller provided by the present invention; Figure 4 This is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the existing servo system, the controller sends precise control instructions to the servo drive through bus communication technology. These instructions include key operating parameters such as the acceleration and deceleration of the servo drive and the output speed. At the same time, the servo drive also feeds back its operating status to the controller in real time through bus communication, and immediately issues an alarm when any fault is detected. The role of bus communication in this process is crucial. It not only directly affects the control accuracy of the servo drive and the entire motion control system, but also profoundly affects the reliability of the system.

[0021] There are two main bus protocol parsing methods for existing bus slave devices: 1. The EhterCAT (Ethernet Control Automation Technology) input and output signals of the bus slave device are processed by the PHY (physical layer) communication analysis circuit and then exchange data with the FPGA. The Field Programmable Gate Array (FPGA) sends control instructions and controls the PHY communication analysis circuit through the PHY communication configuration circuit. After the FPGA processes the data exchanged by the PHY communication analysis circuit, it also exchanges data with the Digital Signal Processor (DSP). This method relies on the FPGA to analyze the EtherCAT signal and is often used in situations where the device itself is integrated with the FPGA.

[0022] 2. The EtherCAT input and output signals of the bus slave device are parsed through the EtherCAT communication protocol using the EtherCAT dedicated parsing chip ET1100. The parsed signals can be directly read by microcontroller units (MCUs) such as DSP. This method relies on the EtherCAT dedicated parsing chip to parse the EtherCAT signal, which has a relatively high cost.

[0023] In terms of control accuracy, the bus communication cycle has a significant impact on the control accuracy of the servo drive. The existing bus communication cycle is often set to 1 millisecond (that is, 1000 data interactions are completed per second). The shorter the cycle, the more data interactions between the controller and the servo drive per unit time, thereby achieving a higher control frequency and a more refined control effect. However, the existing bus transmits signals through metal wires, that is, the bus communication between slave devices in the existing motion control system and between the slave devices and the controller generally uses "electrical" signals of metal wires. There are impedance, parasitic inductance and distributed capacitance on the metal wires. These factors will cause the rising and falling edges of the communication signal to be distorted. Therefore, in order to ensure the quality of the communication signal, the communication cycle will be limited, and the existing equipment can only achieve 1 millisecond.

[0024] In terms of reliability, the working environment of servo drives is usually full of complex electromagnetic interference, and electrical signals are easily affected by these interferences. In motion control systems, multiple servo drives control the operation of multiple motors, and sometimes the working current of the servo drives is extremely large, which generates large electromagnetic interference in the system. This interference is coupled to the metal wires of the bus communication through electromagnetic induction, causing communication signal distortion, thereby causing communication failure. Once the bus communication is interfered with, it may trigger a fault alarm or even cause the servo drive to shut down by mistake. This shutdown phenomenon will not only affect the servo drive itself, but will also further cause the shutdown of key equipment such as machine tools that rely on it to operate, thereby causing serious impact on production efficiency and equipment stability. Therefore, ensuring the stability and anti-interference ability of bus communication is crucial to improving the overall reliability of the servo system.

[0025] Figure 1 The structure diagram of the control system for the servo drive provided by the present invention is as follows: Figure 1 As shown, the present invention provides a control system for a servo drive, comprising a servo main controller 101 and a plurality of servo drives 102, wherein the servo main controller 101 and the plurality of servo drives 102 are connected in a star connection manner, wherein: The servo main controller 101 is a central node in the star connection mode, and is used to send servo motor control instructions to the corresponding servo driver 102; The servo driver 102 is a branch node in the star connection mode, which is used to control the operation of the corresponding servo motor after receiving the servo motor control instruction, and send the control instruction execution feedback information to the servo main controller 101, wherein the control instruction execution feedback information is generated according to the execution results of the servo driver and the servo motor operating status.

[0026] In the present invention, the optical bus communication adopts a "star connection" communication mode to replace the existing "daisy chain" communication mode to network the servo drive devices, and the servo main controller 101 simultaneously performs bidirectional data transmission with multiple devices (servo drives 102).

[0027] Specifically, the servo main controller 101, as the core of the entire control system, is the central node of the entire star connection mode, responsible for generating servo motor control instructions and sending these instructions to the corresponding servo driver 102, wherein these servo motor control instructions include motor start, stop, speed adjustment and position movement, etc. In the present invention, the servo main controller 101 communicates with each servo driver 102 through a star connection structure to ensure accurate transmission of instructions.

[0028] The servo drivers 102 serve as branch nodes of the star connection mode, and each servo driver 102 is directly connected to the servo main controller 101. The servo driver 102 receives the servo motor control instructions from the servo main controller 101, and controls the corresponding servo motor to perform corresponding servo motor motion control operations according to the instructions, and these operations may include driving the motor to rotate, adjusting the speed or positioning, etc.

[0029] After the servo driver 102 and the servo motor execute the control instruction, the servo driver 102 will generate control instruction execution feedback information, which is generated based on the servo motor operation status execution result corresponding to the servo motor motion control operation, for example, the actual speed, position, whether a fault occurs, etc. of the motor. Further, the servo driver 102 sends the generated feedback information back to the servo main controller 101, so that the servo main controller 101 can understand the operation status of each servo driver 102 and the corresponding servo motor.

[0030] In the present invention, a star connection method is used for networking. In this connection method, the servo main controller 101 is located in the center, and each servo driver 102 is located around the central node as a branch node. Since all communications are carried out through the central node (servo main controller 101), centralized management and control of communications are ensured, and parallel control of multiple servo drivers is achieved, thereby improving the overall performance and flexibility of the system. At the same time, by feeding back the execution results of the control instructions to the servo main controller through the servo driver, the system can achieve real-time monitoring and precise control of the motor operating status.

[0031] The control system for the servo drive provided by the present invention adopts a star connection communication mode to replace the existing daisy chain communication mode for servo drive device networking, so that each slave station device is directly connected to the controller, reducing the transmission of data between each slave station device, greatly improving the communication efficiency, and increasing the communication speed and communication stability.

[0032] On the basis of the above embodiment, the system further includes a first optical transceiver and a plurality of second optical transceivers, wherein the first optical transceiver is arranged in the servo main controller, and each of the second optical transceivers is arranged in the corresponding servo driver, wherein: The first optical transceiver end is connected to each of the second optical transceiver ends through an optical fiber, and the optical transceiver end signal conversion module in the first optical transceiver end is used to convert the servo motor control instruction into a corresponding servo motor control optical signal, and send the servo motor control optical signal to the second optical transceiver end through the optical fiber, wherein the servo motor control instruction is an electrical signal; The optical transceiver signal conversion module in the second optical transceiver is used to convert the received servo motor control optical signal into the servo motor control instruction, and send the servo motor control instruction to the core control chip in the servo driver, wherein the core control chip is used to perform data analysis and processing on the servo motor control instruction to obtain the servo motor control instruction after data analysis and processing.

[0033] In the present invention, the servo main controller and the servo driver each have an optical transceiver integrated therein, and a signal conversion module is provided in the optical transceiver. Based on the optical transceiver and the signal conversion module, the servo main controller and the servo driver transmit signals via "optical" signals. After the servo main controller and the servo driver receive the optical signals via their respective optical transceivers, the optical signals are converted into electrical signals to achieve photoelectric conversion.

[0034] Specifically, the present invention adds a first optical transceiver and a plurality of second optical transceivers in the servo drive control system to realize the conversion between electrical signals and optical signals, and to perform high-speed, long-distance, low-loss communication through optical fibers.

[0035] Among them, the first optical transceiver is set on the servo main controller, serving as the transmitting end of the entire optical fiber communication system. Through its own optical transceiver signal conversion module, the servo motor control instructions (electrical signals) generated by the servo main controller are converted into corresponding optical signals, and sent to the second optical transceiver on each servo driver through optical fiber.

[0036] There are multiple second optical transceivers, which are respectively arranged on each servo drive. As the receiving end of the optical fiber communication system, they are responsible for receiving the optical signal from the first optical transceiver, and converting the received optical signal back to the original servo motor control instruction (electrical signal) through their own optical transceiver signal conversion module, and then sending it to the core control chip (such as FPGA, CPLD, etc.) in the servo drive for processing.

[0037] In the present invention, after the servo main controller generates servo motor control instructions (electrical signals), these instructions are sent to the first optical transceiver, and the optical transceiver signal conversion module in the first optical transceiver converts these electrical signals into optical signals. This conversion process involves signal encoding, modulation, etc. to ensure efficient and stable transmission of optical signals in optical fibers.

[0038] Furthermore, the converted optical signal is sent to the second optical transceiver on the corresponding servo driver through the optical fiber. After the second optical transceiver on the servo driver receives the optical signal, its optical transceiver signal conversion module converts these optical signals back to the original servo motor control instructions (electrical signals). This conversion process also involves signal decoding and demodulation to ensure the accurate restoration of the electrical signal.

[0039] Furthermore, the second optical transceiver sends the converted servo motor control instructions to the core control chip in the servo driver. The core control chip performs data analysis on these instructions, including the format, content, target and other information of the analysis instructions, and generates corresponding control signals or operation instructions according to the analysis results. The servo driver performs corresponding servo motor motion control operations according to these control signals or operation instructions.

[0040] After executing the control command, the servo driver can generate feedback information (such as execution status, error code, etc.). This feedback information can also be converted into an optical signal by the second optical transceiver and sent back to the first optical transceiver through the optical fiber. The first optical transceiver then converts the optical signal back into an electrical signal and sends it to the servo main controller for processing.

[0041] Through this design, the present invention realizes high-speed, long-distance, low-loss communication between the servo main controller and the servo driver, and improves the efficiency and reliability of signal transmission. At the same time, the introduction of optical fiber communication also enhances the anti-interference ability of the system, so that the system can operate stably in complex and harsh environments.

[0042] On the basis of the above embodiment, the system further includes an optical receiving end signal conversion module configuration circuit, and the optical receiving end signal conversion module configuration circuit is arranged between the optical transceiver end signal conversion module in the second optical transceiver and the core control chip, wherein: The core control chip controls the operation state of the optical transceiver signal conversion module through the optical receiving end signal conversion module configuration circuit, and obtains the communication data of the servo motor control instruction sent by the optical transceiver signal conversion module.

[0043] In the present invention, a light receiving end signal conversion module configuration circuit is newly added in the servo drive control system. This light receiving end signal conversion module configuration circuit is located between the light transceiver end signal conversion module of the second light transceiver end and the core control chip. The core control chip can send control signals to the light transceiver end signal conversion module through the light receiving end signal conversion module configuration circuit. These control signals are used to adjust the working state of the light transceiver end signal conversion module, including but not limited to its working mode (such as receiving mode, sending mode or standby mode), working frequency and signal gain, etc. Through this control, the core control chip can ensure that the light transceiver end signal conversion module works in the best state, thereby optimizing the performance and stability of the entire system.

[0044] In the present invention, after receiving the optical signal from the first optical transceiver, the optical transceiver signal conversion module will convert it into a servo motor control instruction in the form of an electrical signal. In this process, the optical transceiver signal conversion module will also identify and extract the type of communication data of these control instructions, wherein the type of communication data may include information such as communication status, format, priority, and check code. The configuration circuit of the optical receiving end signal conversion module is responsible for reading these communication data type information from the optical transceiver signal conversion module and passing it to the core control chip. Based on this information, the core control chip can further parse and process the servo motor control instruction, thereby generating a corresponding control signal or operation instruction.

[0045] In the present invention, when the core control chip needs to adjust the working state of the optical transceiver signal conversion module, the core control chip will send corresponding control signals through the optical receiving end signal conversion module configuration circuit. These control signals are processed by the optical receiving end signal conversion module configuration circuit and then transmitted to the optical transceiver signal conversion module, thereby realizing the adjustment of the module working state.

[0046] The present invention sets an optical receiving end signal conversion module configuration circuit between the core control chip and the optical transceiver end signal conversion module in the second optical transceiver end, which not only realizes the precise control of the operating state of the optical transceiver end signal conversion module on the servo driver side, but also enables the core control chip to easily obtain the communication data type information of the servo motor control instruction, thereby improving the reliability and flexibility of the entire system.

[0047] On the basis of the above embodiment, the optical transceiver signal conversion module in the second optical transceiver is further used to convert the servo motor control optical signal into a parallel communication electrical signal to obtain the servo motor control instruction after determining that the data type of the servo motor control optical signal meets the requirements. The parallel communication electrical signal is composed of an address line and a data line.

[0048] In the present invention, the servo motor control instructions can be set according to actual needs to control various instructions and information for the operation of the servo motor. Preferably, the servo motor control optical signal is converted into an electrical signal composed of an address line and a data line after passing through the optical transceiver signal conversion module, wherein the address line plays a role of identification and selection in the servo motor control optical signal, and it carries address information for specifying the servo motor or a specific functional unit (such as a position sensor, speed controller, etc.) inside it. When the optical signal is received and converted into an electrical signal, the information on the address line will be used to determine which servo motor or functional unit the data to be processed next belongs to.

[0049] The data line carries specific control instructions or data, including the start / stop command, speed setting and position target of the servo motor. The information on the data line will be used to directly control the operation of the servo motor or adjust its operating parameters.

[0050] In the present invention, the optical transceiver signal conversion module in the second optical transceiver is responsible for converting the received servo motor control optical signal into a servo motor control instruction in the form of an electrical signal. During the conversion process, after determining that the optical signal data type meets the preset data type, the optical transceiver signal conversion module in the second optical transceiver will perform parallel communication electrical signal conversion on the optical signal. Parallel communication means that the information on the address line and the data line will be converted into electrical signals at the same time, and these electrical signals will be transmitted in parallel to the subsequent circuit or processor. This parallel transmission method can greatly improve the communication speed.

[0051] After the parallel communication electrical signal conversion, the optical transceiver signal conversion module in the second optical transceiver will output an electrical signal containing servo motor control instructions, which will be sent to the controller or driver of the servo motor to control the operation of the servo motor.

[0052] Based on the above embodiment, an optical bus interface circuit is also arranged between the optical transceiver signal conversion module in the second optical transceiver and the core control chip, and the optical bus interface circuit is used to establish a communication connection between the optical transceiver signal conversion module in the second optical transceiver and the core control chip.

[0053] In the present invention, an optical bus interface circuit is provided between the optical transceiver signal conversion module of the second optical transceiver and the core control chip in order to improve the stability and efficiency of the communication signal. This circuit acts as a bridge and link, ensuring the smooth conversion between the optical signal and the electrical signal, and establishing a reliable communication connection between the two.

[0054] Specifically, the optical bus interface circuit establishes a communication connection between the optical transceiver signal conversion module and the core control chip through a specific interface and protocol. This connection is bidirectional and can realize both data transmission and data reception. The design of the optical bus interface circuit takes into account the signal's anti-interference and transmission stability, which can effectively reduce the signal attenuation and distortion during transmission, thereby improving the stability and reliability of the communication signal.

[0055] On the basis of the above embodiment, the system further comprises a digital signal processor, which is connected to the core control chip and is used to generate a corresponding pulse width modulation signal according to the servo motor control instruction after the data analysis and processing.

[0056] In the present invention, the core control chip (such as FPGA) is also connected to a digital signal processor (DSP). The DSP is responsible for receiving the servo motor control instructions parsed and processed by the FPGA, and generating a pulse width modulation signal (PWM wave) for controlling the servo motor according to these instructions.

[0057] Specifically, the DSP is connected to the FPGA via a high-speed data bus or a dedicated interface to ensure fast and reliable communication between the two, so that the FPGA transmits the parsed servo motor control instructions to the DSP in real time so that the DSP can respond quickly and generate corresponding control signals.

[0058] In the FPGA, the servo motor control instructions are first parsed and converted into a format suitable for DSP processing, including decoding instructions, verifying data integrity, and performing necessary preprocessing operations. Furthermore, the FPGA passes the processed data to the DSP through an interface. These data contain key information such as the specific action, speed, and position that the servo motor needs to perform.

[0059] After receiving the data transmitted by FPGA, DSP further processes the data according to the built-in servo motor control algorithms, including position control, speed control, torque control, etc. Furthermore, according to the processing results, DSP generates the corresponding PWM wave. The PWM wave generated by DSP has high precision and programmability, and its frequency, duty cycle and other parameters can be adjusted as needed, thereby achieving precise control of the servo motor's speed, torque and other performance.

[0060] The generated PWM wave is transmitted to the servo motor driver, which adjusts the motor's supply voltage or current according to the duty cycle of the PWM wave, thereby controlling the motor's speed and torque. By adjusting the parameters of the PWM wave, precise control of the servo motor can be achieved to meet various complex application requirements.

[0061] Figure 2The schematic diagram of the internal signal processing architecture of the servo drive provided by the present invention can be referred to Figure 2 As shown, after the optical receiving end signal conversion module converts and processes the received optical signal, the servo system signal reception, processing and transmission are realized through the coordinated work of components such as DSP, FPGA, and optical bus interface circuit, and the final output is a servo motor drive control PWM signal suitable for specific applications.

[0062] In the present invention, the optical bus communication adopts a "star" communication mode to replace the existing "daisy chain" communication mode for servo driver device networking, so that the servo main controller can simultaneously transmit data with multiple devices (servo drivers) through the optical transmitter. Compared with the existing "daisy chain" communication mode, each servo driver in the present invention is directly connected to the servo main controller, which reduces the transmission of data between each slave station device, greatly improves the communication efficiency, and increases the communication speed. The communication cycle can be increased from 1mS to 25uS.

[0063] On the other hand, the "star" communication method reduces the data transmission path and reduces the possibility of data transmission failure; at the same time, the failure of any device in the networked servo drive will not cause the communication of other devices to be interrupted, reducing the possibility of other devices being unable to communicate due to the failure of a certain device.

[0064] In the present invention, the optical bus communication adopts a "star" communication mode, replacing the bus mode commonly used in servo drives, such as EtherCAT bus, CAN bus and Modbus bus. In addition, in view of the complex electromagnetic environment surrounding the existing servo drive motor, the use of copper wires for signal transmission is prone to electromagnetic coupling and thus causes bus communication abnormalities. The optical bus communication in the present invention uses optical fibers to replace copper wires for long-distance signal transmission, which has high anti-interference ability.

[0065] Figure 3 A flow chart of a control method for a servo controller provided by the present invention is shown in FIG. Figure 3 As shown, the present invention provides a control method for a control system of a servo drive based on the above embodiments, comprising: Step 301, receiving a servo motor control instruction sent by a servo main controller; Step 302, after receiving the servo motor control instruction, control the corresponding servo motor to run, and send the control instruction execution feedback information to the servo main controller, wherein the control instruction execution feedback information is generated according to the execution result of the operating status of the servo driver and the servo motor.

[0066] In the present invention, in the control system for servo drives, servo drives play a vital role. They are closely connected to the servo main controller located at the central node as branch nodes in the star connection network. This connection is achieved through optical signals, ensuring the high speed and accuracy of signal transmission. When the servo main controller needs to control the movement of one or some servo motors, it will generate corresponding servo motor control instructions according to preset algorithms and logics, and send them to the corresponding servo drives in the form of optical signals through the star network.

[0067] After receiving the servo motor control instruction from the servo main controller, the servo driver will immediately parse the instruction and identify the servo motor motion control operations that need to be performed. These operations may include starting the motor, adjusting the speed, changing the direction, setting the torque, etc., depending on the content of the control instruction. The servo driver will then use its own control algorithm and hardware resources to accurately perform these operations and drive the servo motor to move according to the instruction requirements.

[0068] During the execution of the servo motor motion control operation, the servo drive will also monitor the operating status of the servo motor in real time, including key parameters such as speed, position, and torque. These parameters can reflect the actual situation and performance of the servo motor movement. Once the operation is completed, the servo drive will generate a control instruction execution feedback information based on the execution results of the monitored servo motor operating status. This information records the execution results of the servo motor motion control operation in detail, including whether it was successfully completed, whether the expected effect was achieved, whether there were any abnormalities or errors, etc.

[0069] Finally, the servo drive will send this control instruction execution feedback information back to the servo main controller in the form of an optical signal. After receiving this information, the servo main controller will further analyze and process it to evaluate the execution effect of the servo motor motion control operation and adjust the subsequent control instructions as needed. This two-way communication mechanism ensures that the servo drive control system can control the movement of the servo motor in real time and accurately, achieving efficient and stable automatic control.

[0070] The control method for a servo drive provided by the present invention adopts a star connection communication mode to replace the existing daisy chain communication mode for servo drive device networking, so that each slave station device is directly connected to the controller, reducing the transmission of data between each slave station device, greatly improving the communication efficiency, and increasing the communication speed.

[0071] Figure 4 A schematic diagram of the structure of an electronic device provided by the present invention, such as Figure 4As shown, the electronic device may include: a processor (Processor) 401, a communication interface (Communications Interface) 402, a memory (Memory) 403 and a communication bus 404, wherein the processor 401, the communication interface 402, and the memory 403 complete mutual communication through the communication bus 404. The processor 401 may call the logic instructions in the memory 403 to execute the control method, which includes: receiving a servo motor control instruction sent by a servo main controller; after receiving the servo motor control instruction, controlling the corresponding servo motor to run, and sending control instruction execution feedback information to the servo main controller, wherein the control instruction execution feedback information is generated according to the execution result of the running state of the servo driver and the servo motor.

[0072] In addition, the logic instructions in the above-mentioned memory 403 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0073] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the control methods provided by the above methods, and the method includes: receiving a servo motor control instruction sent by a servo main controller; after receiving the servo motor control instruction, controlling the operation of the corresponding servo motor, and sending control instruction execution feedback information to the servo main controller, wherein the control instruction execution feedback information is generated according to the execution results of the operating status of the servo drive and the servo motor.

[0074] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the control method provided by the above-mentioned embodiments, the method comprising: receiving a servo motor control instruction sent by a servo main controller; after receiving the servo motor control instruction, controlling the operation of the corresponding servo motor, and sending control instruction execution feedback information to the servo main controller, wherein the control instruction execution feedback information is generated according to the execution results of the operating status of the servo driver and the servo motor.

[0075] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0076] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control system for a servo drive, characterized in that: It includes a servo main controller and a plurality of servo drivers, wherein the servo main controller and the plurality of servo drivers are connected in a star connection, wherein: The servo main controller is the central node in the star connection mode, and is used to send the servo motor control instructions to the corresponding servo driver; The servo driver is a branch node in the star connection mode, which is used to control the operation of the corresponding servo motor after receiving the servo motor control instruction, and send the control instruction execution feedback information to the servo main controller, wherein the control instruction execution feedback information is generated according to the execution results of the operating status of the servo driver and the servo motor.

2. The control system for a servo drive according to claim 1, characterized in that: The system further comprises a first optical transceiver and a plurality of second optical transceivers, wherein the first optical transceiver is arranged in the servo main controller, and each of the second optical transceivers is arranged in the corresponding servo driver, wherein: The first optical transceiver end is connected to each of the second optical transceiver ends through an optical fiber, and the optical transceiver end signal conversion module in the first optical transceiver end is used to convert the servo motor control instruction into a corresponding servo motor control optical signal, and send the servo motor control optical signal to the second optical transceiver end through the optical fiber, wherein the servo motor control instruction is an electrical signal; The optical transceiver signal conversion module in the second optical transceiver is used to convert the received servo motor control optical signal into the servo motor control instruction, and send the servo motor control instruction to the core control chip in the servo driver, wherein the core control chip is used to perform data analysis and processing on the servo motor control instruction to obtain the servo motor control instruction after data analysis and processing.

3. The control system for a servo drive according to claim 2, characterized in that: The system further includes an optical receiving end signal conversion module configuration circuit, and the optical receiving end signal conversion module configuration circuit is arranged between the optical transceiver end signal conversion module in the second optical transceiver and the core control chip, wherein: The core control chip controls the operation state of the optical transceiver signal conversion module through the optical receiving end signal conversion module configuration circuit, and obtains the communication data of the servo motor control instruction sent by the optical transceiver signal conversion module.

4. The control system for a servo drive according to claim 2, characterized in that: The optical transceiver signal conversion module in the second optical transceiver is also used to convert the servo motor control optical signal into a parallel communication electrical signal after determining that the data type of the servo motor control optical signal meets the preset data type, so as to obtain the servo motor control instruction, wherein the parallel communication electrical signal is composed of an address line and a data line.

5. The control system for a servo drive according to claim 2, characterized in that: An optical bus interface circuit is also provided between the optical transceiver signal conversion module in the second optical transceiver and the core control chip, and the optical bus interface circuit is used to establish a communication connection between the optical transceiver signal conversion module in the second optical transceiver and the core control chip.

6. The control system for a servo drive according to claim 2, characterized in that: The system further comprises a digital signal processor, which is connected to the core control chip and is used for generating a corresponding pulse width modulation signal according to the servo motor control instruction after the data analysis and processing.

7. A control method for a control system for a servo drive based on any one of claims 1 to 6, characterized in that: include: Receive servo motor control instructions sent by the servo main controller; After receiving the servo motor control instruction, the corresponding servo motor is controlled to run, and the control instruction execution feedback information is sent to the servo main controller, wherein the control instruction execution feedback information is generated according to the execution result of the operating status of the servo driver and the servo motor.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the control method according to claim 7 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method as claimed in claim 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the control method as claimed in claim 7 is implemented.

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