One-driving-four servo controller based on Hall
By using the Hall sensor instead of the encoder in the servo motor control system, the encoder is used to maintain complex problems, and the effect of reducing costs and maintenance is achieved.
Patent Information
- Application Number
- CN202323577213.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-27
- Publication Date
- 2025-01-28
- Estimated Expiration
- 2033-12-27
AI Technical Summary
In the existing servo motor control system, there are technical difficulties in maintaining and replacing encoders, especially the alignment principle of the same-server encoder is not disclosed, resulting in complex maintenance.
The Hall -based drag and four servo controller is used, and the Hall sensor is used instead of the encoder, and the position and speed detection of the motor is achieved through the single -chip module, communication module, Hall sensor and driving module.
The system cost was reduced, the maintenance process was simplified, the complexity of the coder's aimalized principle was avoided, and the servo motor control system that was easy to maintain is achieved.
Smart Images
Figure CN222423543U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of controllers, in particular to a Hall-based one-to-four servo controller. Background Art
[0002] Most servo motors on the market use encoders by default to measure the pole position, rotation angle and speed of the servo motor. The encoder feeds this information back to the controller to achieve precise control. Specifically, the encoder can transmit data to the controller by detecting parameters such as the rotation angle, speed and direction of the motor shaft. The controller then adjusts according to these data to control the operation of the motor. In a closed-loop control system, the encoder is usually directly connected to the motor shaft. When the motor rotates, the encoder will continuously output pulse signals. Each pulse signal corresponds to a small movement of the motor shaft. By counting these pulse signals, the position and speed information of the motor can be obtained. The controller can accurately grasp the position and speed of the motor by decoding and calculating the pulse signal output by the encoder, and further control the operating status of the motor.
[0003] However, servo encoders also have certain disadvantages. For example, the centering problem is a technical difficulty in maintaining and replacing encoders. Since general servo motor manufacturers do not disclose the magnetic pole source alignment principle of servo encoders to maintain technical confidentiality and prevent competitors from copying their products, the alignment principles of servo encoders of various companies are also different, which brings troubles to the maintenance of servo encoders. This is a big challenge for general maintenance companies. The maintenance process is no longer a problem that can be solved by traditional multimeters, and needs to be implemented using the concept of data domain maintenance.
[0004] Therefore, how to provide a Hall-based one-to-four servo controller to solve the problems existing in the prior art is of great significance to its application. Utility Model Content
[0005] In view of this, the purpose of this application is to provide a Hall-based one-to-four servo controller to solve the problem.
[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:
[0007] A one-to-four servo controller based on Hall, comprising a controller component and a matching motor, wherein the controller component comprises a single-chip microcomputer module, a communication module, a Hall sensor and a drive module;
[0008] The communication module, the Hall sensor and the driving module are all connected to the single chip computer module;
[0009] Wherein, the communication module is used for signal transmission;
[0010] The single chip microcomputer module is used for data processing;
[0011] The Hall sensor is directly connected to the motor shaft of the motor.
[0012] The driving module is used to analyze the motor current, compile and convert the signal or data into a signal that can be used for communication, transmission and storage, and the driving module is used to output the angle information of the approximate analog quantity.
[0013] Preferably, the communication module adopts RS485 master-slave multi-machine communication protocol, and the communication module meets the requirements of one master and three slaves.
[0014] Preferably, the single-chip microcomputer module adopts an STM32 single-chip microcomputer module, and the single-chip microcomputer module is matched with a communication module.
[0015] Preferably, the driving module adopts a full-bridge circuit, including four switching tubes and a load.
[0016] Preferably, the matching motor has 7 poles.
[0017] Compared with the prior art, the beneficial effects of the utility model are:
[0018] The present invention uses a Hall sensor instead of an encoder, which reduces costs and is easy to maintain.
[0019] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application so that it can be implemented in accordance with the contents of the specification, and to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following is a detailed description of the preferred embodiments of the present application in conjunction with the accompanying drawings as follows.
[0020] Based on the detailed description of the specific embodiments of the present application in combination with the accompanying drawings below, those skilled in the art will become more aware of the above and other objects, advantages and features of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.
[0022] Figure 1 This is a system block diagram of the utility model;
[0023] Figure 2 This is one of the principle diagrams of the utility model;
[0024] Figure 3 This is the second schematic diagram of the utility model;
[0025] Figure 4 The third schematic diagram of the utility model;
[0026] Figure 5 The fourth schematic diagram of the utility model;
[0027] Figure 6 This is the fifth schematic diagram of the utility model;
[0028] Figure 7 This is the sixth schematic diagram of the utility model;
[0029] Figure 8 It is the seventh principle diagram of the present utility model.
[0030] In the figure: 100, single chip microcomputer module; 200, communication module; 300, Hall sensor; 400, driving module. DETAILED DESCRIPTION
[0031] To make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, rather than all of the embodiments. In the following description, specific details such as specific configuration and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures is omitted in the embodiment.
[0032] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings discussed.
[0033] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there can be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.
[0034] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusions.
[0035] See also Figure 1-8 The present invention provides a technical solution of a one-to-four servo controller based on Hall sensors: comprising a controller component and a matching motor, wherein the controller component comprises a single-chip microcomputer module 100, a communication module 200, a Hall sensor 300 and a drive module 400;
[0036] The communication module 200, the Hall sensor 300 and the driving module 400 are all connected to the single chip computer module 100;
[0037] Wherein, the communication module 200 is used for signal transmission;
[0038] The single chip microcomputer module 100 is used for data processing;
[0039] The Hall sensor 300 is directly connected to the motor shaft of the motor.
[0040] The driving module 400 is used to analyze the motor current, compile and convert the signal or data into a signal that can be used for communication, transmission and storage. The driving module 400 is used to output the angle information of the approximate analog quantity.
[0041] The Hall sensor 300 is used to replace the servo motor encoder. Both the encoder and the Hall sensor analyze the current, compile and convert the signal or data into a signal that can be used for communication, transmission and storage. The Hall current sensor is based on the magnetic balance Hall principle. According to the Hall effect principle, the current I c is passed from the control current end of the Hall element. The Hall sensor 300 can output the angle information of the approximate analog quantity to the controller, which can meet many application scenarios that are not so demanding on the control accuracy, and is almost maintenance-free.
[0042] The communication module 200 adopts the RS485 master-slave multi-machine communication protocol, and the communication module 200 meets the requirements of one master and three slaves, and the controller uses the RS485 master-slave multi-machine communication protocol. The half-duplex network composed of the RS485 interface is generally a two-wire system, and shielded twisted pair transmission is mostly adopted. This wiring method is a bus topology structure, and up to 32 nodes can be connected on the same bus, which fully meets the requirements of one master and three slaves of the present invention.
[0043] The single-chip microcomputer module 100 adopts an STM32 single-chip microcomputer module, and the single-chip microcomputer module 100 is matched with the communication module 200 .
[0044] The driving module 400 adopts a full-bridge circuit, including four switch tubes and a load, wherein two symmetrical switch tubes control the current direction between the positive and negative electrodes of the power supply, and the other two switch tubes are connected in parallel with the two switch tubes to realize the reverse flow of current. When the working state of the switch tube changes, the voltage and current on the connected load also change accordingly.
[0045] The matching motor has 7 poles. The "number of poles" of a three-phase asynchronous motor refers to the number of magnetic poles in the motor's stator magnetic field. The stator magnetic fields of motors with different pole numbers are due to different connection methods of the motor's stator windings. We generally choose the number of poles of the motor based on the speed required by the motor load. The speed of the motor is affected by the number of poles of the motor. The formula is: motor speed = 60*frequency / number of motor pole pairs. Using a 7-pole motor can improve the accuracy of control and make up for the loss of accuracy caused by using the Hall sensor 300.
[0046] When used specifically, RS485 first sends the obtained mode command to the host. After the STM32 microcontroller receives the control mode of the servo motor, it controls the rotation of the host according to the requirements of the command, and sends data to the other three slaves to control the rotation of the slaves.
[0047] The Hall sensor 300 uses the Hall effect to detect the strength and direction of the magnetic field, thereby obtaining the position and speed information of the motor rotor. This information is sent to the servo controller, which calculates the current that the motor should output based on the set target position and speed, thereby achieving precise control and movement.
[0048] Two control modes are supported: one is speed mode, which controls the speed by analog input or pulse frequency, thereby controlling the motor rotation. The other is position mode, which determines the speed according to the frequency of the pulse input from the outside, and determines the rotation angle according to the number of pulses.
[0049] The above description is only the preferred embodiment of the utility model, which does not limit the protection scope of the utility model. For those skilled in the art, the utility model can be modified and varied in various ways. Any changes, modifications, substitutions, integrations and parameter changes to these embodiments within the spirit and principle of the utility model through conventional substitutions or capable of achieving the same functions without departing from the principles and spirit of the utility model shall fall within the protection scope of the utility model.
Claims
1. A one-to-four servo controller based on Hall, characterized by: It comprises a controller component and a matching motor, wherein the controller component comprises a single-chip computer module (100), a communication module (200), a Hall sensor (300) and a drive module (400); The communication module (200), the Hall sensor (300) and the driving module (400) are all connected to the single-chip computer module (100); Wherein, the communication module (200) is used for signal transmission; The single chip computer module (100) is used for data processing; The Hall sensor (300) is directly connected to the motor shaft of the motor; The driving module (400) is used to analyze the motor current, compile and convert the signal or data into a signal that can be used for communication, transmission and storage, and the driving module (400) is used to output angle information of an approximate analog quantity.
2. The Hall-based one-to-four servo controller according to claim 1, characterized in that: The communication module (200) adopts the RS485 master-slave multi-machine communication protocol, and the communication module (200) meets the requirement of one master and three slaves.
3. The Hall-based one-to-four servo controller according to claim 2, characterized in that: The single-chip computer module (100) adopts an STM32 single-chip computer module, and the single-chip computer module (100) is matched with a communication module (200).
4. The Hall-based one-to-four servo controller according to claim 3, characterized in that: The driving module (400) adopts a full-bridge circuit, comprising four switch tubes and a load.
5. The Hall-based one-to-four servo controller according to claim 4, characterized in that: The matching motor has 7 poles.