Double-shaft synchronous driving double permanent magnet synchronous motor driver

Abstract

A double-shaft synchronous driving double permanent magnet synchronous motor driver comprises a power supply input unit, a control module, a driving module, a rectification unit and an acquisition module, the driving module comprises two three-phase inversion units, an input end of the rectification unit is connected with the power supply input unit, and an output end of the rectification unit is connected with the acquisition module. The output end of the rectification unit is respectively connected with the input ends of the two three-phase inversion units, the output ends of the two three-phase inversion units are respectively connected with a permanent magnet synchronous motor of the permanent magnet synchronous motor, the signal ends of the three-phase inversion units are connected with the control module, and the acquisition module is connected with the control module. According to the design, one control module is used for processing data to control the two three-phase inverter units to drive the two motors to operate, and the synchronous operation speed is coordinated through operation feedback of the motors; synchronization is achieved on control time, data transmission is reduced, and synchronism is improved; meanwhile, the integrated design is adopted, the chip utilization rate is improved, line connection is reduced, and the space utilization rate is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of motor drive, in particular to a dual permanent magnet synchronous motor driver with dual-axis synchronous drive. Background Technique

[0002] The mechanical telescopic arm uses a large truss as a supporting mechanism, and can complete movements in three directions in space through the movement of the truss and its own movement, thereby increasing the executable area. As a frame structure with good stability and load-bearing capacity, due to the application characteristics of large-span and heavy-load of the truss structure, it cannot be driven by a single motor, so it involves the synchronous drive control of a dual-axis motor. Since the dual-axis operation in the actual working condition is not equal torque and disturbance, the dual-axis needs to be self-regulated to maintain the synchronization of operation. Generally, for dual-axis synchronous drive control, usually a main control board is used to receive control information and then control two independent systems composed of a frequency converter and a permanent magnet synchronous motor. Therefore, data transmission between the main control board and the two frequency converters is required, and through data feedback calculation, adjustment is formed. However, due to the delay in the information data transmission between the two motors, the synchronization of the two motors is poor; due to the use of two independent systems, the overall structure is complex, and at the same time, there are too many external lines and interfaces, resulting in complex wiring of the motor driver. Summary of the Invention

[0003] The purpose of the utility model is to overcome the defects and problems of poor synchronization and complex structure in the prior art, and provide a dual permanent magnet synchronous motor driver with dual-axis synchronous drive that has high synchronization and a simple structure.

[0004] To achieve the above purpose, the technical solution of the utility model is: a dual permanent magnet synchronous motor driver with dual-axis synchronous drive, including a power input unit, a control module, a drive module, a rectification unit, and a collection module. The drive module includes two three-phase inverter units. The input end of the rectification unit is connected to the power input unit, the output ends of the rectification unit are respectively connected to the input ends of the two three-phase inverter units, the output ends of the two three-phase inverter units are respectively connected to the permanent magnet synchronous motors of two permanent magnet synchronous motors, the signal ends of the three-phase inverter units are connected to the control module, and the collection module is connected to the control module;

[0005] The power input unit is used for inputting an alternating current power supply;

[0006] The rectification unit is used for converting the input alternating current into direct current;

[0007] The three-phase inverter unit is used for converting the direct current into three-phase alternating current with variable frequency and voltage according to the digital signal of the control module;

[0008] The acquisition module is used to acquire the voltage and current of the permanent magnet synchronous motor during operation and feedback them to the control module;

[0009] The control module is used to convert the control signal into a digital signal, send the digital signal to the three-phase inverter unit, and complete the closed-loop control through the voltage and current information acquired by the acquisition module.

[0010] The control module is connected to the motion controller. The control module is used to obtain the control signal sent by the motion controller and convert it into a digital signal.

[0011] A communication interface module is connected between the control module and the motion controller. The communication interface module is used to transmit bidirectional data and instructions.

[0012] The control module includes an expansion interface, and the communication interface module is plugged into the expansion interface of the control module.

[0013] The control module includes a control chip DSP, two A / D conversion modules, two EQEP modules, and two PWM modules. The two A / D conversion modules, EQEP modules, and PWM modules are all connected to the control chip DSP;

[0014] The A / D conversion module is used to process the electrical signal acquired by the acquisition module into a digital signal;

[0015] The EQEP module is used to receive the information of the encoder on the permanent magnet synchronous motor, calculate the rotation angle and speed of the permanent magnet synchronous motor, and obtain the position information of the permanent magnet synchronous motor;

[0016] The PWM module is used to output PWM signals to the three-phase inverter unit;

[0017] The control chip DSP is used to process the control signal of the motion controller, calculate and process the PWM signals transmitted to the two three-phase inverter units, and at the same time process the digital signal processed by the A / D conversion module and the position information of the permanent magnet synchronous motor obtained by the EQEP module to complete the synchronous closed-loop control.

[0018] The PWM module outputs 6 PWM signals. The three-phase inverter unit includes 6 IGBTs, and the 6 PWM signals respectively control the on and off of the 6 IGBTs in the three-phase inverter unit.

[0019] A buck module is connected between the control module and the rectifier unit;

[0020] The buck module is used to adjust the voltage output by the rectifier unit to the voltage required by the control module.

[0021] The rectifying unit includes a rectifying AC / DC module, and two of the three-phase inverter units are connected in parallel to the D-line terminal and the C-line terminal of the rectifying AC / DC module.

[0022] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0023] 1. In the dual permanent magnet synchronous motor driver with dual-axis synchronous drive of the present utility model, a control module processes data to control the operation of two three-phase inverter units to drive two motors, and coordinates the synchronous operation speed through the feedback of the motor operation; synchronization is achieved in terms of control time, data transmission is reduced, and synchronization is improved; at the same time, an integrated design is adopted, the chip utilization rate is improved, the line connection is reduced, and the space utilization rate is increased. Therefore, the present utility model has a high synchronization rate and a simple structure.

[0024] 2. In the dual permanent magnet synchronous motor driver with dual-axis synchronous drive of the present utility model, a control chip DSP analyzes the position and current of the permanent magnet synchronous motor, calculates the current respective operation speeds and performs coupling adjustment, and completes the adjustment of the three-phase inverter unit by outputting six-way PWM for each of the two permanent magnet synchronous motors to complete the adjustment output, so as to achieve the operation effect of speed synchronization. After receiving the control instruction from the upper computer, the control chip DSP converts the control instruction into a drive signal to drive the permanent magnet synchronous motor to operate, and completes the closed-loop control through the information of the permanent magnet synchronous motor. Therefore, the present utility model has high reliability and high synchronization. Description of the Drawings

[0025] Figure 1 is the structural block diagram of the dual permanent magnet synchronous motor driver in the present utility model.

[0026] Figure 2 is the structural block diagram of the rectifying unit and the three-phase inverter unit in the present utility model.

[0027] Figure 3 is the main structural schematic diagram of the dual permanent magnet synchronous motor driver in application.

[0028] Figure 4 is the structural block diagram of the mechanical telescopic arm motion control system in the present utility model.

[0029] In the figure: power input unit 1, control module 2, control chip DSP21, A / D conversion module 22, EQEP module 23, PWM module 24, drive module 3, three-phase inverter unit 31, rectification unit 4, rectification AC / DC module 41, acquisition module 5, buck module 6, upper computer 7, PLC 8, motion controller 9, position detection and adjustment device 10, end effector controller 11, end effector mechanism 12, telescopic motor 13, walking motor 14, permanent magnet synchronous motor 15, telescopic driver 16, walking driver 17, dual permanent magnet synchronous motor driver 18, mechanical telescopic arm 19, truss 20. Detailed implementation mode

[0030] The present utility model will be further described in detail below in conjunction with the accompanying drawings and the specific implementation mode.

[0031] Embodiment 1:

[0032] Refer to Figures 1 to 3 , a dual permanent magnet synchronous motor driver with dual-axis synchronous drive, including a power input unit 1, a control module 2, a drive module 3, a rectification unit 4, and an acquisition module 5. The drive module 3 includes two three-phase inverter units 31. The input end of the rectification unit 4 is connected to the power input unit 1, and the output ends of the rectification unit 4 are respectively connected to the input ends of the two three-phase inverter units 31. The output ends of the two three-phase inverter units 31 are respectively connected to the permanent magnet synchronous motors of two permanent magnet synchronous motors 15. The signal ends of the three-phase inverter units 31 are connected to the control module 2. The acquisition module 5 is connected to the control module 2. A communication interface module is connected between the control module 2 and the motion controller 9. The control module 2 includes an expansion interface, and the communication interface module is plugged into the expansion interface of the control module 2. A buck module 6 is connected between the control module 2 and the rectification unit 4; the rectification unit 4 includes a rectification AC / DC module 41, and the two three-phase inverter units 31 are connected in parallel to the D line end and the C line end of the rectification AC / DC module 41;

[0033] The power input unit 1 is used to input an AC power supply;

[0034] The rectification unit 4 is used to convert the input AC power into DC power;

[0035] The three-phase inverter unit 31 is used to convert the DC power into three-phase AC power with variable frequency and voltage according to the digital signal of the control module 2;

[0036] The acquisition module 5 is used to collect the voltage and current of the permanent magnet synchronous motor 15 during operation and feedback them to the control module 2;

[0037] The control module 2 is used to convert the control signal into a digital signal and send the digital signal to the three-phase inverter unit 31, and complete the closed-loop control through the voltage and current information collected by the acquisition module 5.

[0038] The control module 2 is used to obtain the control signal sent by the motion controller 9 and convert it into a digital signal.

[0039] The buck module 6 is used to adjust the voltage output by the rectifier unit 4 to the voltage required by the control module 2.

[0040] In this embodiment, the dual permanent magnet synchronous motor driver is mainly applied to two permanent magnet synchronous motors 15. The two permanent magnet synchronous motors 15 are installed on the left and right sides of the truss 20. The two permanent magnet synchronous motors 15 are driven by the dual permanent magnet synchronous motor driver to work synchronously, so that the truss 20 moves longitudinally on the rack.

[0041] Embodiment 2:

[0042] The basic content is equivalent to that of Embodiment 1, and the difference lies in:

[0043] See Figure 1 , the control module 2 includes a control chip DSP21, two A / D conversion modules 22, two EQEP modules 23, and two PWM modules 24. The two A / D conversion modules 22, EQEP modules 23, and PWM modules 24 are all connected to the control chip DSP21;

[0044] The A / D conversion module 22 is used to process the electrical signal collected by the acquisition module 5 into a digital signal;

[0045] The EQEP module 23 is used to receive the information of the encoder on the permanent magnet synchronous motor 15, calculate the rotation angle and speed of the permanent magnet synchronous motor 15, and obtain the position information of the permanent magnet synchronous motor 15;

[0046] The PWM module 24 is used to output PWM signals to the three-phase inverter unit 31;

[0047] The control chip DSP21 is used to process the control signal of the motion controller 9, calculate and process the PWM signals transmitted to the two three-phase inverter units 31, and at the same time process the digital signal processed by the A / D conversion module 22 and the position information of the permanent magnet synchronous motor 15 obtained by the EQEP module 23 to complete the synchronous closed-loop control.

[0048] The PWM module 24 outputs 6 PWM signals. The three-phase inverter unit 31 includes 6 IGBTs, and the 6 PWM signals respectively control the on-off of the 6 IGBTs in the three-phase inverter unit 31.

[0049] In this embodiment, the EQEP module refers to the Enhanced Quadrature Encoder Pulse module, which is a module dedicated to processing the signals of the photoelectric encoder. The encoder is installed on the permanent magnet synchronous motor 15. The PWM signal refers to the Pulse Width Modulation signal. Every 6 PWM signals are divided into 3 groups, and the PWM signals in each group are complementary. The on / off of 6 IGBTs in the three-phase inverter unit 31 is controlled by 6 PWM signals. The adjustment of the driver mainly relies on the control chip DSP21. The control chip DSP21 analyzes the position and current of the permanent magnet synchronous motor 15, calculates their respective current operating speeds and performs coupling adjustment, and completes the adjustment output by outputting six PWM signals for each of the two permanent magnet synchronous motors 15 to control the three-phase inverter unit 31, achieving the operating effect of speed synchronization adjustment. The control chip DSP21 converts the control instruction into a drive signal to drive the permanent magnet synchronous motor 15 to operate, and completes the closed-loop control through the information of the permanent magnet synchronous motor 15.

[0050] Embodiment 3:

[0051] See Figure 4 , a mechanical telescopic boom motion control system, including a host computer 7, a PLC 8, a motion controller 9, a position detection and adjustment device 10, an end execution controller 11, an end execution mechanism 12, a telescopic motor 13, a traveling motor 14, two permanent magnet synchronous motors 15, a telescopic driver 16, a traveling driver 17, and the dual permanent magnet synchronous motor driver 18 of Embodiment 1. The host computer 7 is connected to the PLC 8, the PLC 8 is connected to the motion controller 9, the motion controller 9 is respectively connected to the telescopic driver 16, the traveling driver 17, the dual permanent magnet synchronous motor driver 18, and the position detection and adjustment device 10. The telescopic driver 16 is connected to the telescopic motor 13, the traveling driver 17 is connected to the traveling motor 14, the dual permanent magnet synchronous motor driver 18 is connected to the two permanent magnet synchronous motors 15, the position detection and adjustment device 10 is connected to the end execution controller 11, and the end execution controller 11 is connected to the end execution mechanism 12;

[0052] The host computer 7 is used to obtain BIM data, process the BIM data, complete the predetermined trajectory and execution plan of the mechanical telescopic boom 19, and send an execution command.

[0053] The PLC 8 is used to parse the execution command and execute the logic control instructions for different types of actions.

[0054] The motion controller 9 is used to parse the logic control instructions, decompose and control the position in space, and act on the longitudinal travel of the truss 20, the lateral travel of the mechanical telescopic boom 19, and the vertical telescoping of the mechanical telescopic boom 19 respectively, so that the mechanical telescopic boom 19 reaches the specified spatial position through the movements in the longitudinal, lateral, and vertical directions.

[0055] The telescopic driver 16 is used to drive the telescopic motor 13 to complete the telescopic action of the mechanical telescopic arm 19;

[0056] A travel driver 17 is used to drive the travel motor 14 to complete the lateral movement of the mechanical telescopic arm 19;

[0057] The dual permanent magnet synchronous motor driver 18 is used to drive and control the two permanent magnet synchronous motors 15 to move at a relatively synchronous speed to complete the longitudinal movement of the mechanical telescopic arm 19.

[0058] The end effector controller 11 is used to operate the end effector 12 to complete a specified action after the mechanical telescopic arm 19 reaches a spatial position.

[0059] The position detection and adjustment device 10 is used to complete spatial positioning through the control of the motion controller 9, detect the spatial position, and feed back the deviation value to the motion controller 9 for adjustment.

[0060] In this embodiment, the host computer 7 sends instructions to the motion controller 9, and the motion controller 9 controls the walking driver 17 of the mechanical telescopic arm 19 and the dual permanent magnet synchronous motor driver 18 on the truss 20, and the mechanical telescopic arm 19 moves in the direction perpendicular to the walking direction of the truss 20 and the truss 20 moves horizontally along the running track to reach the horizontal plane. The telescopic driver 16 in the direction perpendicular to the horizontal plane completes the spatial positioning, thereby performing the specified function; during the walking process of the truss 20, the truss 20 will be unevenly loaded and other disturbances will cause the operation to be asynchronous, resulting in the truss 20 and the running track are not perpendicular, thereby aggravating the unbalanced force, so it is necessary to adjust the movement state of the two permanent magnet synchronous motors 15 through the dual permanent magnet synchronous motor driver 18, keep the synchronous operation as much as possible and ensure that the truss 20 is perpendicular to the running track, and the position detection and adjustment device 10 is a laser scanner. The end actuator 12 is a steel bar binding robot or a pouring robot or a wall polishing robot.

Claims

1. A dual-axis synchronously driven dual permanent magnet synchronous motor driver, characterized in that: The invention comprises a power input unit (1), a control module (2), a drive module (3), a rectifier unit (4), and a collection module (5); the drive module (3) comprises two three-phase inverter units (31); the input end of the rectifier unit (4) is connected to the power input unit (1); the output end of the rectifier unit (4) is respectively connected to the input ends of the two three-phase inverter units (31); the output ends of the two three-phase inverter units (31) are respectively connected to the permanent magnet synchronous motors of two permanent magnet synchronous motors (15); the signal end of the three-phase inverter unit (31) is connected to the control module (2); and the collection module (5) is connected to the control module (2); The power input unit (1) is used to input AC power; The rectifying unit (4) is used to convert the input alternating current into direct current; The three-phase inverter unit (31) is used to convert direct current into three-phase alternating current with variable frequency and voltage according to the digital signal of the control module (2); The acquisition module (5) is used to acquire the voltage and current of the permanent magnet synchronous motor (15) during operation and feed the data back to the control module (2); The control module (2) is used to convert the control signal into a digital signal and send the digital signal to the three-phase inverter unit (31), and complete the closed-loop control through the voltage and current information collected by the collection module (5).

2. The dual-axis synchronously driven dual permanent magnet synchronous motor driver according to claim 1, characterized in that: The control module (2) is connected to the motion controller (9), and the control module (2) is used to obtain the control signal sent by the motion controller (9) and convert it into a digital signal.

3. The dual-axis synchronously driven dual permanent magnet synchronous motor driver according to claim 2, characterized in that: A communication interface module is connected between the control module (2) and the motion controller (9), and the communication interface module is used for transmitting bidirectional data and instructions.

4. The dual-axis synchronously driven dual permanent magnet synchronous motor driver according to claim 3, characterized in that: The control module (2) comprises an expansion interface, and the communication interface module is plugged into the expansion interface of the control module (2).

5. The dual-axis synchronously driven dual permanent magnet synchronous motor driver according to claim 1, characterized in that: The control module (2) comprises a control chip DSP (21), two A / D conversion modules (22), two EQEP modules (23), and two PWM modules (24); the two A / D conversion modules (22), the EQEP module (23), and the PWM module (24) are all connected to the control chip DSP (21); The A / D conversion module (22) is used to process the electrical signal collected by the collection module (5) into a digital signal; The EQEP module (23) is used to receive information from an encoder on the permanent magnet synchronous motor (15), calculate the rotation angle and speed of the permanent magnet synchronous motor (15), and obtain position information of the permanent magnet synchronous motor (15); The PWM module (24) is used to output a PWM signal to the three-phase inverter unit (31); The control chip DSP (21) is used to process the control signal of the motion controller (9), calculate and process the PWM signal transmitted to the two three-phase inverter units (31), and simultaneously process the digital signal processed by the A / D conversion module (22) and the position information of the permanent magnet synchronous motor (15) obtained by the EQEP module (23), thereby completing synchronous closed-loop control.

6. The dual-axis synchronously driven dual permanent magnet synchronous motor driver according to claim 5, characterized in that: The PWM module (24) outputs 6 PWM signals, the three-phase inverter unit (31) includes 6 IGBTs, and the 6 PWM signals respectively control the on and off of the 6 IGBTs in the three-phase inverter unit (31).

7. The dual-axis synchronously driven dual permanent magnet synchronous motor driver according to claim 1, characterized in that: A voltage reduction module (6) is connected between the control module (2) and the rectifier unit (4); The voltage reduction module (6) is used to adjust the voltage output by the rectification unit (4) to the voltage required by the control module (2).

8. The dual-axis synchronously driven dual permanent magnet synchronous motor driver according to claim 1, characterized in that: The rectifying unit (4) comprises a rectifying AC / DC module (41), and the two three-phase inverter units (31) are connected in parallel to a D-line terminal and a C-line terminal of the rectifying AC / DC module (41).

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