Multi-axis linkage controller

Abstract

The utility model discloses a multi-axis linkage controller, belongs to the technical field of motor controllers, and solves the problems of adverse factors such as poor anti-interference performance, reduced reliability, increased system cost and the like. Comprising a control module, a serial communication module and a driving output circuit, the serial port communication module is used for connecting the upper computer and the control module and completing data transmission; the output end of the control module is connected with the driving output circuit, and the control module receives data and sends out a signal to start the driving output circuit; and the driving output circuit receives a signal sent by the control module to electrify the brushless motor and control the brushless motor to act. In order to reduce signal interference, different modules and circuits adopt independent power supply strategies, and safe transmission of signals is successfully realized by applying optoelectronic isolation and digital signal isolation circuits in signal transmission, so that the protection capability of the controller to electrical interference is remarkably enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of motor controllers, in particular to a multi-axis linkage controller. Background Art

[0002] In many life and industrial scenarios, such as motion robots, automatic cooking machines and automated production lines, motion control systems play an irreplaceable role. Common multi-axis motion control systems often need to be equipped with a series of efficient control and detection equipment in order to accurately achieve motion control and positioning. These key devices include program logic controllers (PLCs), signal detection modules, and communication modules, which can monitor and transmit key operating data. At the same time, analog-to-digital conversion (AD) modules and digital-to-analog conversion (DA) modules are responsible for the mutual conversion of data, encoders are used to measure position or angle changes, and drivers directly control motor movement. These independent devices work together to ensure the efficiency and accuracy of the motion control system. Through these high-precision components and advanced control technologies, multi-axis motion control systems can achieve precise motion execution and position control in complex automation applications.

[0003] Brushless DC motors are favored in many motion control systems due to their intuitive and compact structure, excellent control performance, high ease of operation, integrated Hall position sensing to ensure accuracy, and the advantages of maintaining stability without accumulating errors during continuous operation. Brushless DC motors have become the motion control system for various types of equipment. These motion control systems cover a variety of industrial and household equipment, and the wide application of brushless DC motors in them has significantly improved the accuracy and efficiency of equipment operation and ensured the precision and reliability of motion control.

[0004] In the prior art, whether it is a motion robot, an automatic cooking machine, or other automated production equipment, a single DC brushless motor is driven by a single controller. For example, in an automatic cooking machine, when multiple motion control systems for brushless DC motors need to be designed as power sources to drive the cooking action, multiple controllers will control the same number of brushless DC motors for driving. However, the distributed combined control method of multiple controllers and multiple DC brushless motors makes the entire controller complicated, and wiring, installation, debugging and other tasks become difficult, resulting in poor anti-interference performance, reduced reliability, increased system costs and other unfavorable factors.

[0005] Therefore, a multi-axis linkage controller is proposed to solve or alleviate the above problems. Utility Model Content

[0006] The utility model aims to solve the shortcomings in the prior art and proposes a multi-axis linkage controller.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A multi-axis linkage controller includes a control module, a serial communication module, and a drive output circuit;

[0009] The serial communication module is used to connect the host computer and the control module and complete data transmission;

[0010] The output end of the control module is connected to the drive output circuit, which receives data and sends a signal to start the drive output circuit;

[0011] The drive output circuit receives a signal from the control module to energize the brushless motor and control the movement of the brushless motor;

[0012] It also includes a digital signal isolation circuit, the input end of the digital signal isolation circuit is coupled to the output end of the control module and the serial communication module, the output end of the digital signal isolation circuit is coupled to the input end of the control module, the serial communication module, and the drive output circuit, and the digital signal isolation circuit is used to electrically isolate the control module from external signals.

[0013] Preferably, the drive output circuit includes a brushless motor drive circuit and a relay output circuit, and the brushless motor drive circuit and the relay output circuit are both coupled to the control module through a digital signal isolation circuit, and the brushless motor drive circuit receives a signal from the control module to control the action of the brushless motor, and the relay output circuit receives a signal from the control module to power on the brushless motor.

[0014] Preferably, it also includes a sensor signal input module and an optocoupler isolation circuit;

[0015] The sensor signal input module is used to connect to an external sensor and input a sensor signal;

[0016] The optical coupling isolation circuit is connected to the sensor signal input module and the control module, and is used to convert the sensor signal into a voltage that meets the working voltage of the control module and transmit it to the control module.

[0017] Preferably, it also includes an AD / DA conversion module, which is coupled to the control module through a digital signal isolation circuit, and is used to collect the motor working current and transmit it to the control module, and convert the signal sent by the control module into an analog voltage and output it.

[0018] Preferably, the AD / DA conversion module includes an AD conversion circuit and a DA conversion circuit;

[0019] The AD conversion circuit is used to connect the current collection circuit and the control module of the Hall current sensor in the brushless DC motor, and it can collect the working current of the motor to determine the working state of the motor;

[0020] The DA conversion circuit is coupled to the control module through a digital signal isolation circuit, and the DA conversion circuit converts the PWM digital signal output sent from the control module into an analog voltage output.

[0021] Preferably, it also includes a power module, which is used to supply power to all modules and circuits except the control module.

[0022] Preferably, the power module includes a quick connector JP3, an anti-reverse connection diode, a DC / DC converter, an LDO linear voltage regulator, and a filter capacitor. The quick connector JP3, the anti-reverse connection diode, the DC / DC converter, and the LDO linear voltage regulator respectively provide DC working voltages, and the filter capacitor is used to filter out harmonic voltages.

[0023] The utility model has the following beneficial effects:

[0024] In order to avoid signal interference, the utility model uses independent power supplies for different modules and circuits, and uses optical coupling and digital signal isolation circuits for signal transmission, which effectively improves the electrical anti-interference performance of the controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural block diagram of the utility model;

[0026] Figure 2 This is the wiring diagram of the power module in the utility model;

[0027] Figure 3 It is the wiring diagram of the sensor signal input module and the optocoupler isolation circuit in the utility model;

[0028] Figure 4 It is the wiring diagram of the serial communication module in the utility model;

[0029] Figure 5 The wiring diagram of the drive output circuit in the utility model Figure 1 ;

[0030] Figure 6 The wiring diagram of the drive output circuit in the utility model Figure 2 ;

[0031] Figure 7 It is the wiring diagram of the current collection circuit in the utility model;

[0032] Figure 8 It is the wiring diagram of the DA conversion circuit in the utility model.

[0033] 1. Control module; 2. Digital signal isolation circuit; 3. Serial communication module; 4. Drive output circuit; 5. Sensor signal input module; 6. Optocoupler isolation circuit; 7. AD / DA conversion module; 8. Power supply module. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0035] A multi-axis linkage controller, such as Figure 1 As shown, it includes a control module 1, a serial communication module 3, a drive output circuit 4, a digital signal isolation circuit 2, a sensor signal input module 5 and an optocoupler isolation circuit 6, an AD / DA conversion module 7, and a power supply module 8.

[0036] The power module 8 is used to supply power to all modules and circuits except the control module 1. The power module 8 includes a quick connector JP3, an anti-reverse connection diode, a DC / DC converter, an LDO linear voltage regulator, and a filter capacitor. The quick connector JP3, the anti-reverse connection diode, the DC / DC converter, and the LDO linear voltage regulator provide DC working voltages respectively. The filter capacitor is used to filter out harmonic voltages, such as Figure 2 As shown, the voltage is distributed and converted through the quick connector JP3, anti-reverse connection diode, DC / DC converter, and LDO linear voltage regulator. After the harmonic voltage is filtered out by the filter capacitor, a stable DC working voltage of 15V, 12V, 5V, and 3.3V is generated.

[0037] The serial communication module 3 is used to connect the host computer and the control module 1 and complete the data transmission. Figure 4 As shown, the serial communication module 3 is composed of three RS485 circuits of the same structure. The communication circuit is composed of an RS485 serial integrated communication drive circuit, a safety resistor, and a TVS diode. The RS485 serial integrated communication drive circuit has a data sending end, a data receiving end, and an enabling control end. These ports are respectively connected to the digital signal isolation circuit 2, which serves as a bridge for connecting with the external bus control to complete signal conversion and transmission and realize long-distance serial communication. The safety resistor realizes overcurrent protection for the serial integrated communication drive circuit, and the TVS diode realizes peak overvoltage protection. In the three-way communication interface, MODBUSRTU communication protocol is used for data transmission. The first way is connected to the host computer, and the controller is used as a slave station. The other two controllers are used as master stations, which can control external communication equipment respectively to complete more complex functions and function expansion applications.

[0038] The output end of the control module 1 is connected to the drive output circuit 4, which receives data and sends a signal to start the drive output circuit 4. The control module 1 is mainly composed of the MCU processor U1, which is the stm32f-407zgt6 minimum system, the oscillation circuit composed of the XT1 crystal oscillator and the capacitor and resistor, the reset circuit, the debugging and upgrading circuit, the indicator light circuit, and the memory circuit. The oscillation circuit network composed of the XT1 crystal oscillator and the capacitor and resistor is respectively connected to the input and output ends of the MCU oscillator to provide a reference clock for the CPU, counter, DMA and other circuits inside the MCU; the memory uses a large-capacity serial I 2C circuit chip and is connected to the serial I 2C port of the MCU. The memory can store the operating parameters of multiple motors, such as the minimum speed of the motor, the maximum speed, the start-up time, the motor pulse feedback coefficient, the PID adjustment parameter, the motor operation limit current value, etc. These parameters can be set and adjusted by the host computer, and the host computer and the MCU exchange data through the serial communication module 3.

[0039] The external pins of the MCU are connected to other control input and output signals respectively, and the transmission between each signal is connected by an isolation circuit to prevent interference signals from entering the circuit of the control module 1 to cause interference.

[0040] The control module 1 has a power module 8 that provides an independent +3.3V DC working voltage. The power ground is isolated from the ground of other module circuits to prevent pulse signals from interfering with the operation of the MCU through the ground loop, thereby providing a guarantee for the stable operation of the MCU. The working indicator light circuit provides an MCU working status display for distinguishing the working status of the circuit. The stm32f-407zgt6 minimum system is a prior art and does not involve improvements to the computer program.

[0041] The drive output circuit 4 receives the signal from the control module 1 to energize the brushless motor and control the action of the brushless motor. The drive output circuit 4 includes a brushless motor drive circuit and a relay output circuit. The brushless motor drive circuit and the relay output circuit are coupled to the control module 1 through the digital signal isolation circuit 2. The brushless motor drive circuit receives the signal from the control module 1 to control the action of the brushless motor. The relay output circuit receives the signal from the control module 1 to energize the brushless motor. Figure 5 As shown, the brushless motor control signal sent by the MCU in the control module 1 is connected to the digital signal isolation circuit 2, and the output of the digital signal isolation circuit 2 is connected to the speed and steering drive control signal of the controlled brushless motor. The brushless motor Hall pulse feedback signal is also transmitted to the MCU in the control module 1 through the digital signal isolation circuit 2, as shown in FIG. Figure 6As shown, the relay action signal sent by the MCU in the control module 1 is transmitted to the digital signal isolation circuit 2, and the output of the digital signal isolation circuit 2 is connected to the relay drive circuit, which drives the relay to be attracted to provide working power for each brushless motor.

[0042] The input end of the digital signal isolation circuit 2 is coupled with the output end of the control module 1 and the serial communication module 3, and the output end of the digital signal isolation circuit 2 is coupled with the input end of the control module 1, the serial communication module 3, and the drive output circuit 4. The digital signal isolation circuit 2 is used to electrically isolate the control module 1 from external signals. The digital signal isolation circuit 2 adopts an integrated capacitor coupling type high-speed digital circuit. The digital isolation circuit has the advantages of high integration, simple circuit structure, fast communication rate, small PCB area, strong anti-interference performance, etc. One end of the digital signal isolation circuit 2 is connected to the MCU end of the control module 1 for pin correspondence, and the other isolated end is respectively connected to the serial communication module 3, the drive output circuit 4, the AD / DA conversion module 7, and the current acquisition circuit of the brushless motor. The digital signal isolation circuit 2 can effectively electrically isolate the MCU from the external connection signal to improve the stability of the overall controller, which is specifically a Si8462AB isolator.

[0043] The sensor signal input module 5 is used to connect to an external sensor and input a sensor signal. The optocoupler isolation circuit 6 connects the sensor signal input module 5 and the control module 1, and is used to convert the sensor signal into a voltage that meets the working voltage of the control module 1 and transmit it to the control module 1. Figure 3 As shown, the sensor signal input module 5 has a quick connection terminal to connect the external sensor switch signal, and the +24V working voltage is provided to the sensor through the quick connection terminal. The starting position of multiple motors, various control commands, etc. can be detected through these sensor signals. The detected sensor switch signal input is first connected to the anode of the light-emitting diode, and then the cathode of the light-emitting diode is connected to the input end of the high-speed optocoupler. Through the photoelectric coupling effect of the optocoupler, the change of the input signal is reflected to the output end of the high-speed optocoupler. The output end of the high-speed optocoupler is connected to a pull-up resistor row, and the common end of the resistor row provides a +3.3V working voltage. At the same time, the high-speed optocoupler also plays a role in converting the working level, and transmits the sensor signal that meets the MCU working voltage to the MCU.

[0044] The AD / DA conversion module 7 is coupled to the control module 1 through the digital signal isolation circuit 2. It is used to collect the working current of the motor and transmit it to the control module 1, and convert the signal sent by the control module 1 into an analog voltage and output it. The AD / DA conversion module 7 includes an AD conversion circuit and a DA conversion circuit. The AD conversion circuit is used to connect the current collection circuit of the Hall current sensor in the brushless DC motor and the control module 1, and it can collect the working current of the motor to determine the working state of the motor.

[0045] like Figure 7 As shown, the current acquisition circuit is composed of an isolated Hall current sensor chip, a filter capacitor, and an operational amplifier. The Hall current sensor is a linear analog circuit that converts current into voltage. The two current inputs of the Hall current sensor chip are connected in series to the main power supply circuit of the brushless motor. The output end of the Hall current sensor chip transmits the signal voltage reflecting the working current of the brushless motor to the operational amplifier for voltage amplification through a coupling capacitor. The amplified voltage is connected to a first-order RC filter circuit. The voltage signal after RC filtering is connected to the AD input end of the control module 1 MCU, and then the internal program of the MCU is used to calculate the working current of the brushless motor.

[0046] like Figure 8 As shown, the DA conversion circuit is coupled to the control module 1 through the digital signal isolation circuit 2. The DA conversion circuit converts the PWM digital signal output sent from the control module 1 into an analog voltage output. The DA conversion circuit is composed of a digital signal isolator, a PWM / U converter, and an operational amplifier. The PWM digital signal sent by the MCU first passes through the digital signal isolator, and then the PWM signal is transmitted to the PWM / U converter through the isolator. After the PWM / U conversion, the PWM signal reflecting the duty cycle can be converted into a corresponding voltage signal. The converted voltage signal then passes through a voltage follower circuit composed of an operational amplifier. The voltage follower circuit has the function of enhancing the voltage driving capability and is used to drive an external voltage control device. The MCU changes the duty cycle of the output PWM to change the size of the output voltage. The duty cycle of the PWM is linearly related to the size of the output voltage. The voltage follower output is also connected to a Zener diode D27 to protect the voltage follower from overvoltage breakdown. At the same time, it is also connected to a load resistor to ensure that the voltage follower outputs 0V voltage without virtual electricity.

[0047] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-axis linkage controller, characterized in that: It comprises a control module (1), a serial communication module (3), and a drive output circuit (4); The serial communication module (3) is used to connect the host computer and the control module (1) and complete data transmission; The output end of the control module (1) is connected to the drive output circuit (4), which receives data and sends a signal to start the drive output circuit (4); The drive output circuit (4) receives a signal from the control module (1) to energize the brushless motor and control the movement of the brushless motor; The invention also comprises a digital signal isolation circuit (2), wherein the input end of the digital signal isolation circuit (2) is coupled to the output end of the control module (1) and the serial communication module (3), and the output end of the digital signal isolation circuit (2) is coupled to the input end of the control module (1), the serial communication module (3) and the drive output circuit (4), and the digital signal isolation circuit (2) is used to electrically isolate the control module (1) from external signals.

2. A multi-axis linkage controller according to claim 1, characterized in that: The drive output circuit (4) comprises a brushless motor drive circuit and a relay output circuit. The brushless motor drive circuit and the relay output circuit are coupled to the control module (1) via a digital signal isolation circuit (2). The brushless motor drive circuit receives a signal from the control module (1) to control the action of the brushless motor, and the relay output circuit receives a signal from the control module (1) to energize the brushless motor.

3. A multi-axis linkage controller according to claim 1, characterized in that: It also includes a sensor signal input module (5) and an optical coupling isolation circuit (6); The sensor signal input module (5) is used to connect to an external sensor and input a sensor signal; The optical coupling isolation circuit (6) is connected to the sensor signal input module (5) and the control module (1), and is used to convert the sensor signal into a voltage that meets the working voltage of the control module (1) and transmit it to the control module (1).

4. A multi-axis linkage controller according to claim 1, characterized in that: It also includes an AD / DA conversion module (7), which is coupled to the control module (1) via a digital signal isolation circuit (2), and is used to collect the motor working current and transmit it to the control module (1), and to convert the signal sent by the control module (1) into an analog voltage and output it.

5. A multi-axis linkage controller according to claim 4, characterized in that: The AD / DA conversion module (7) comprises an AD conversion circuit and a DA conversion circuit; The AD conversion circuit is used to connect the current collection circuit of the Hall current sensor in the brushless DC motor and the control module (1), and can collect the working current of the motor to determine the working state of the motor; The DA conversion circuit is coupled to the control module (1) via a digital signal isolation circuit (2), and the DA conversion circuit converts the PWM digital signal output from the control module (1) into an analog voltage output.

6. A multi-axis linkage controller according to claim 1, characterized in that: It also comprises a power supply module (8), wherein the power supply module (8) is used to supply power to all modules and circuits except the control module (1).

7. A multi-axis linkage controller according to claim 6, characterized in that: The power supply module (8) comprises a quick connector JP3, an anti-reverse connection diode, a DC / DC converter, an LDO linear voltage regulator tube, and a filter capacitor. The quick connector JP3, the anti-reverse connection diode, the DC / DC converter, and the LDO linear voltage regulator tube respectively provide various DC working voltages, and the filter capacitor is used to filter out harmonic voltages.

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