Drive system, redundant drive system, and redundant drive control system
By using ordinary controllers and drive control units in the drive system to send speed control instructions to multiple drivers, the problems of high costs and high failure rates in the prior art are solved, and a large span of lower cost and higher reliability are achieved Load drive control.
Patent Information
- Application Number
- CN202322900252.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-27
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2033-10-27
AI Technical Summary
In the prior art, systems driving large span loads require the use of expensive controllers with motion control for synchronous control, resulting in high costs and increased failure rates.
A drive system is provided in which one controller sends speed control instructions to a plurality of drivers through a drive control unit, reducing the number of drive control units, and switching to a backup system in the event of a failure to improve stability and reliability.
Reduces the cost of the controller and drive control unit, reduces the failure rate, and improves the stability and reliability of motion control for large span loads through redundant drive systems.
Smart Images
Figure CN222301659U_ABST
Abstract
Description
Technical Field
[0001] Embodiments of the present application relate to the field of industrial control, and in particular, to a drive system, a redundant drive system, and a redundant drive control system for driving a large-span load. Background Art
[0002] For large-span loads, due to their large lateral span and weak rigidity, it is generally necessary to arrange a motor on each side of the load and perform synchronous control between the two motors. In the prior art, a controller with motion control function is usually used for synchronous control. The controller with motion control function calculates the speed given value and outputs it to the driver control unit, which is only responsible for the speed control function. Since the controller needs to perform position control and synchronous control operations, a controller with motion control function is required, which is expensive. And each driver needs to be equipped with a separate driver control unit, which is costly on the one hand and increases the failure rate on the other. Utility Model Content
[0003] The utility model provides a driving system, a redundant driving system and a redundant driving control system for driving a large-span load.
[0004] The utility model solves the above technical problems through the following technical solutions:
[0005] In a first aspect, the present application provides a drive system, comprising:
[0006] a controller;
[0007] a drive control unit, which is in communication with the controller;
[0008] At least two groups of drive units, wherein each group of drive units comprises:
[0009] A driver connected to the drive control unit;
[0010] a motor in communication with the drive; and,
[0011] The drive control unit is configured to receive a control instruction sent by the controller and send a speed control instruction to each of the drivers based on the control instruction, and each of the drivers controls the synchronous movement of the corresponding motor based on the speed control instruction.
[0012] In one embodiment, the drive control unit is configured with an electronic cam module, and the electronic cam module sends a speed control instruction to the driver based on a control instruction sent by a controller and a preset electronic cam curve so that the driver controls the motor to perform synchronous movement.
[0013] In one implementation, the speed control instruction includes at least a speed instruction and an acceleration instruction.
[0014] In one embodiment, the drive system further includes a local control device, which is communicatively connected to the drive control unit. The local control device is configured with a plurality of operation buttons, and the operation buttons include at least one synchronization button.
[0015] In one embodiment, the drive system further includes an expansion module, an input end of the expansion module is communicatively connected to the local control device, and an output end of the expansion module is communicatively connected to the drive control unit.
[0016] In one embodiment, the controller is connected to the drive control unit via a Profinet cable;
[0017] The drive control unit is connected to the driver via a Drive-CLiQ cable;
[0018] The drive control unit is connected to the expansion module via a Drive-CLiQ cable;
[0019] The expansion module is connected to the local control device via a control cable; and
[0020] The driver of each drive unit is connected to the motor of the drive unit through a communication cable and a power cable.
[0021] In one embodiment, the controller is a PLC.
[0022] In a second aspect, the present application provides a redundant drive system, which includes at least two groups of drive systems as described above, wherein each of the controllers is communicatively connected to other controllers, and each of the drive control units is communicatively connected to other drive control units.
[0023] In one embodiment, each of the controllers is connected to other controllers via optical fibers; and
[0024] Each of the drive control units is connected to other drive control units via a Profinet cable.
[0025] In a third aspect, the present application provides a redundant drive control system for driving a large-span load, wherein the large-span load includes a first end and a second end along a first direction, and the redundant drive control system for driving the large-span load includes two groups of drive systems as described above, wherein each group of the drive systems includes two groups of drive units, wherein:
[0026] Output ends of two motors of the first group of driving units are connected to the first end and the second end respectively; and
[0027] The output ends of the two motors of the second group of driving units are connected to the first end and the second end respectively.
[0028] The positive and progressive effects of the utility model are:
[0029] In the drive system provided by the present application, one drive control unit can control multiple drives, which greatly reduces the number of drive control units in a drive system. On the one hand, it reduces the cost, and on the other hand, the reduction in the number of drive control units also reduces the failure rate. Moreover, since the controller only sends control instructions, it is no longer necessary to perform position control and synchronization control operations. In this way, there is no need to use a controller with motion control function, and an ordinary controller can be used, which reduces the cost of the controller.
[0030] The redundant drive system provided in the present application can switch to other drive systems to control the load when a main drive system fails, thereby improving the stability and reliability of the system.
[0031] The redundant drive control system for driving a large-span load provided by the present application includes two sets of drive components in each drive system. Under normal circumstances, the two sets of drive components of the main drive system synchronously drive the two ends of the large-span load based on the speed control signal output by the drive control unit of the drive system, so that the large-span load moves stably and reliably; when the main drive system has an equipment failure or a communication failure, it can switch to the backup drive system to control the load, which greatly improves the stability and reliability of the motion control of the large-span load. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] The following drawings are only intended to illustrate and explain the present application, and do not limit the scope of the present application.
[0033] Figure 1 The schematic diagram of the prior art drive system is shown;
[0034] Figure 2 shows an architecture diagram of a drive system according to an embodiment of the present application;
[0035] Figure 3 shows an architecture diagram of a redundant drive system according to an embodiment of the present application;
[0036] Figure 4 A schematic diagram of a long-span load according to an embodiment of the present application is shown.
[0037] Description of reference numerals:
[0038] Controller 11
[0039] Drive control unit 12
[0040] The first driving unit 13
[0041] First driver 131
[0042] The first motor 132
[0043] The second driving unit 14
[0044] Second driver 141
[0045] The second motor 142
[0046] Extension Module 15
[0047] Local control device 16
[0048] The first drive system 20
[0049] Controller 210 of the first driving system
[0050] The driving control unit 220 of the first driving system
[0051] The first driver 231 of the first driving system
[0052] The first motor 232 of the first drive system
[0053] The second driver 241 of the first driving system
[0054] The second motor 242 of the first drive system
[0055] Extension module 250 of the first drive system
[0056] Local control device 260 of the first drive system
[0057] Second drive system 30
[0058] Controller 310 of the second driving system
[0059] The drive control unit 320 of the second drive system
[0060] The first driver 331 of the second driving system
[0061] The first motor 332 of the second drive system
[0062] The second driver 341 of the second driving system
[0063] The second motor 342 of the second drive system
[0064] Extension module 350 of the second drive system
[0065] Local control device 360 of the second drive system
[0066] Profinet Cable 51
[0067] Drive-CLiQ Cable 52
[0068] Control cable 53
[0069] Fiber 54
[0070] First beam 81
[0071] Second beam 82
[0072] Connecting beam 83 DETAILED DESCRIPTION
[0073] In order to have a clearer understanding of the technical features, purposes and effects of the embodiments of the present application, the specific implementation methods of the embodiments of the present application are now described with reference to the accompanying drawings.
[0074] For a large-span load, due to its large lateral span and weak rigidity, it is generally necessary to arrange a motor on each side of the load and perform synchronous control between the two motors. In the prior art, a controller with motion control function is usually used to perform synchronous control of the two motors. Figure 1 FIG. 1 is a control block diagram for synchronously controlling two motors in the prior art. Figure 1 As shown, the drive system includes a controller with motion control function, i.e., motion controller 71, and two groups of drive units 72 and 73, wherein the first group of drive units 72 includes a drive control unit 721, a driver 722 and a motor 723, and the second group of drive units 73 includes a drive control unit 731, a driver 732 and a motor 733. The motion controller 71 calculates the speed given value and outputs it to the drive control unit 721 of the first group of drive units 72 and the drive control unit 731 of the second group of drive units 73, and the drive control units 721 and 731 are only responsible for the speed control function. In this control system, since the controller needs to perform position control and synchronous control operations, a controller with motion control function is required, and the controller with motion control function is relatively expensive. In addition, each driver needs to be equipped with a separate driver control unit, which is costly on the one hand and increases the failure rate of the equipment on the other hand.
[0075] Based on the above problems, embodiments of the present application provide a drive system, a redundant drive system, and a redundant drive control system for driving large-span loads, so as to at least partially solve the above technical problems.
[0076] The specific implementation of the embodiments of the present application is described in detail below with reference to the accompanying drawings.
[0077] Example 1
[0078] Embodiment 1 provides a driving system, which includes a controller 11, a driving control unit 12 and at least two groups of driving units 13, 14, wherein each group of driving units includes a driver and a motor. The controller 11 is connected to the driving control unit 12 in communication, and the driving control unit 12 is connected to the driver of each driving unit in communication, and the driver of each driving unit is connected to the motor of the driving unit. The driving control unit 12 receives the control instruction sent by the controller 11 and generates a speed control instruction based on the control instruction, and outputs the speed control instruction to the driver of each driving unit respectively, and the driver of each driving unit drives the motor of the corresponding driving unit based on the speed control instruction, so that all the motors of the driving system move synchronously.
[0079] In one implementation, the control instruction sent by the controller 11 includes a position instruction and a speed instruction.
[0080] For example, Figure 2 The driving system shown in FIG. 1 includes two sets of driving units: a first driving unit 13 and a second driving unit 14, wherein the first driving unit 13 includes a first driver 131 and a first motor 132, and the second driving unit 14 includes a second driver 141 and a second motor 142. Figure 2 As shown, the controller 11 is connected to the drive control unit 12 for communication, the drive control unit 12 is connected to the first driver 131 and the second driver 141 for communication, the first driver 131 is connected to the first motor 132, and the second driver 141 is connected to the second motor 142. Figure 2 As shown, the controller 11 sends a control instruction to the drive control unit 12, and the drive control unit 12 sends a speed control instruction to the first driver 131 and the second driver 141 based on the received control instruction, so that the first driver 131 and the second driver 141 respectively drive the first motor 132 and the second motor 142 to move synchronously based on the speed control instruction.
[0081] In this embodiment, one drive control unit can control multiple drives, which greatly reduces the number of drive control units in a drive system. On the one hand, this reduces costs, and on the other hand, the reduction in the number of drive control units also reduces the failure rate.
[0082] Furthermore, in this embodiment, multiple drive units are synchronously controlled by the drive control unit, so that even if the controller or the communication network between the controller and the drive control unit fails, the required control function can be completed only by the drive control unit itself.
[0083] In this embodiment, since the controller only sends control instructions, it is no longer necessary to perform position control and synchronization control operations. Therefore, there is no need to use a controller with motion control function, and an ordinary controller can be used, thereby reducing the cost of the controller.
[0084] Specifically, based on the above embodiments, in one implementation, the drive control unit 12 is configured with an electronic cam module, which generates a speed control instruction based on the control instruction sent by the controller and a preset electronic cam curve and outputs it to the driver of each drive unit. The driver drives the corresponding motor according to the speed control instruction, so that all motors of the drive system move synchronously.
[0085] Specifically, in one implementation, the speed control instruction output by the driving control unit 12 includes at least a speed instruction and an acceleration instruction, wherein the speed instruction is used to control the speed of the motor, and the acceleration instruction is used to control the acceleration of the motor.
[0086] Specifically, in one embodiment, the drive system further includes a local control device 16. Figure 2 As shown, the local control device 16 is in communication connection with the drive control unit 12, and the local control device is provided with at least one synchronization button, through which the motor connected to the drive control unit can be locally synchronously controlled.
[0087] The drive system in the prior art requires the cooperation of a controller with motion control function, a network and a driver to complete the required control task. Failure in any of the three links will cause the failure of the entire system. However, in the drive system of this embodiment, when the controller fails or the communication network between the controller and the drive control unit fails seriously and cannot be used, the command source of the drive control unit can be switched to local control, so that the required synchronous control function can be realized locally by only relying on the local operating device to complete the control task, thereby greatly improving the reliability of the entire drive system.
[0088] Specifically, in one embodiment, the drive system further includes an expansion module 15, such as Figure 2 As shown, the input end of the expansion module 15 is connected to the terminal of the local control device 16 , and the output end of the expansion module 15 is communicatively connected to the drive control unit 12 .
[0089] The local operating device usually does not have an interface that can be directly connected to the drive control unit, and the cost of customizing a dedicated local operating device is high. To solve this problem, this embodiment connects the local control device and the drive control unit through an expansion module, thereby greatly reducing the cost.
[0090] In one embodiment, Figure 2As shown, the controller 11 is connected to the drive control unit 12 via a Profinet cable 51, the drive control unit 12 is connected to the drivers 131 and 141 via a Drive-CLiQ cable 52, the drive control unit 12 is connected to the expansion module 15 via the Drive-CLiQ cable 52, the expansion module 15 is connected to the local control device 16 via a control cable 53, and the drive of each drive unit is connected to the motor of the drive unit via a communication cable and a power cable.
[0091] In one embodiment, the controller is a PLC.
[0092] Example 2
[0093] In the drive systems of various embodiments of Example 1, when the controller or the communication network between the controller and the drive control unit fails due to a serious failure and cannot be used, the local operating device can realize the synchronous control function and complete the control task. However, when the drive control unit fails or the driver or motor fails, the load cannot be driven, resulting in shutdown or safety accidents. Therefore, for some applications that require higher stability and reliability, this control method cannot fully meet the control requirements. To solve the above problems, Example 2 provides a redundant drive system, so that when a set of drive systems has problems, it automatically switches to a backup drive system to meet the control requirements of applications that require higher stability and reliability.
[0094] Embodiment 2 provides a redundant drive system, which includes at least two groups of drive systems in Embodiment 1, wherein the controller of each group of drive systems is communicatively connected with the controllers of other drive systems, and the drive control unit of each group of drive systems is communicatively connected with the drive control units of other drive systems.
[0095] For example, Figure 3 The redundant drive system shown in FIG. 1 includes two sets of drive systems: a first drive system 20 and a second drive system 30, wherein the second drive system 30 is a backup drive system. Figure 3 As shown, the controller 210 of the first driving system is communicatively connected with the controller 310 of the second driving system, and the driving control unit 220 of the first driving system is communicatively connected with the driving control unit 320 of the second driving system.
[0096] Under normal circumstances, the load is driven by the first drive system 20. When the controller 210 of the first drive system fails or a communication failure occurs between the controller 210 of the first drive system and the drive control unit 220 of the first drive system, the controllers of the redundant drive systems are connected to each other through optical fibers for data synchronization, so the controller 310 of the second drive system can be switched to without disturbance, and the drive control unit 220 of the first drive system is connected to the drive control unit 320 of the second drive system for communication, and the controller 310 of the second drive system sends a control signal to the drive control unit 220 of the first drive system via the interface of the drive control unit 320 of the second drive system.
[0097] When the drive control unit 220 of the first drive system itself fails, the driver 210 of the first drive system sends a control signal to the drive control unit 320 of the second drive system via the interface of the controller 310 of the second drive system, and the drive control unit 320 of the second drive system controls the two drive units 330 and 340 of the second drive system 30 to drive the load.
[0098] When one or more of the first driver 231 of the first drive system, the first motor 232 of the first drive system, the second driver 241 of the first drive system and the second motor 242 of the first drive system fail, the driver 210 of the first drive system sends a control signal to the drive control unit 320 of the second drive system via the interface of the controller 310 of the second drive system, and the drive control unit 320 of the second drive system controls the two drive units 330 and 340 of the second drive system 30 to drive the load.
[0099] When both the driver 210 and the drive control unit 220 of the first drive system fail, the load is controlled by switching to the second drive system 30 .
[0100] In extreme cases, when both the controller 210 of the first drive system and the controller 310 of the second drive system fail, the local control device 260 of the first drive system can be used to locally control the drive control unit 220 of the first drive system, or the local control device 360 of the second drive system can be used to locally control the drive control unit 320 of the second drive system 30.
[0101] Specifically, in one embodiment, each controller is connected to other controllers via an optical fiber 54 ; and each drive control unit is connected to other drive control units via a Profinet cable 51 .
[0102] Example 3
[0103] Example 3 is a redundant drive control system for driving a large-span load, wherein the large-span load includes a first end and a second end along a first direction. The redundant drive control system for driving the large-span load includes two groups of drive systems as described in the above embodiments and implementation methods, wherein each group of the drive systems includes two groups of drive units, wherein the output ends of the two motors of the first group of drive units are respectively connected to the first end and the second end; and the output ends of the two motors of the second group of drive units are respectively connected to the first end and the second end.
[0104] For example, Figure 4 A load of an H-type structure is shown. The load of the H-type structure includes a first beam 81 and a second beam 82 spaced apart along a first direction and a connecting beam 83 connected between the first beam 81 and the second beam 82. Since the lateral span (i.e., the span along the first direction) of the load of the H-type structure is large and the rigidity is weak, in order to drive the load to move stably, a motor 232, 242 is arranged at each end of the load along the first direction (i.e., on the first beam 81 and the second beam 82), and synchronous control is performed between the two motors 232, 242. At the same time, in order to improve the reliability of the entire system, another motor 332, 342 is installed on each of the first beam 81 and the second beam 82, so that when the first drive system fails, the second drive system can ensure the normal operation of the entire system.
[0105] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.
[0106] The above description is only an illustrative specific implementation of the embodiment of the present application, and is not intended to limit the scope of the embodiment of the present application. Any equivalent changes, modifications and combinations made by any technician in this field without departing from the concept and principle of the embodiment of the present application should fall within the scope of protection of the embodiment of the present application.
Claims
1. A drive system, characterized in that: include: a controller (11); a drive control unit (12) which is in communication connection with the controller (11); At least two groups of drive units, wherein each group of drive units comprises: A driver, which is in communication with the drive control unit (12); a motor connected to the drive; and The drive control unit (12) is configured to receive a control instruction sent by the controller (11) and send a speed control instruction to each of the drivers based on the control instruction, and each of the drivers controls the corresponding motor to move synchronously based on the speed control instruction.
2. The drive system according to claim 1, characterized in that: The drive control unit (12) is equipped with an electronic cam module, which sends a speed control instruction to the driver based on a control instruction sent by the controller (11) and a preset electronic cam curve so that the driver controls the motor to perform synchronous movement.
3. The drive system according to claim 1 or 2, characterized in that: The speed control instruction at least includes a speed instruction and an acceleration instruction.
4. The drive system according to claim 1, characterized in that: The drive system further comprises a local control device (16), the local control device (16) being communicatively connected to the drive control unit (12), the local control device (16) being provided with a plurality of operation buttons, the operation buttons comprising at least one synchronization button.
5. The drive system according to claim 4, characterized in that: The drive system further comprises an expansion module (15), the input end of the expansion module (15) being communicatively connected to the local control device (16), and the output end of the expansion module (15) being communicatively connected to the drive control unit (12).
6. The drive system according to claim 5, characterized in that: The controller (11) is connected to the drive control unit (12) via a Profinet cable (51); The drive control unit (12) is connected to the driver via a Drive-CLiQ cable (52); The drive control unit (12) is connected to the expansion module (15) via a Drive-CLiQ cable (52); The expansion module (15) is connected to the local control device via a control cable (53); as well as The driver of each drive unit is connected to the motor of the drive unit through a communication cable and a power cable.
7. The drive system according to claim 6, characterized in that: The controller (11) is a PLC.
8. A redundant drive system, characterized in that: The redundant drive system comprises at least two groups of drive systems as claimed in any one of claims 1 to 7, wherein each of the controllers is communicatively connected with other controllers, and each of the drive control units is communicatively connected with other drive control units.
9. The redundant drive system according to claim 8, characterized in that: Each of the controllers is connected to other controllers via optical fiber (54); and Each of the drive control units is connected to other drive control units via a Profinet cable (51).
10. A redundant drive control system for driving a long-span load, the long-span load comprising a first end and a second end along a first direction, characterized in that: The redundant drive control system for driving a large-span load comprises two groups of drive systems according to any one of claims 1 to 7, wherein each group of the drive systems comprises two groups of drive units, wherein: Output ends of two motors of the first group of driving units are connected to the first end and the second end respectively; and The output ends of the two motors of the second group of driving units are connected to the first end and the second end respectively.