A servo motor controller and integrated servo motor

Abstract

The application relates to the field of motor control, in particular to a servo motor controller and an integrated servo motor, which comprises a servo motor controller, the controller is composed of an interface board, a control board, a driving board and an encoder board which are arranged in parallel in sequence, the interface board is connected with the control board and the driving board and has a bus communication port and a power supply port, the control board exchanges motor control signals with the driving board, the encoder board detects the position of a motor rotor and feeds back to the control board; the interface board is integrated with an EtherCAT bus control chip, the control board is integrated with a main control chip, the driving board is integrated with a power driving tube and a driving circuit, and the application further comprises a shell; in addition, the application further comprises an integrated servo motor which comprises a motor body and the servo motor controller; the application optimizes the structure of the servo motor controller, realizes effective connection and communication of various components, and is convenient to install at the tail of the motor to form an integrated structure.

Description

Technical Field

[0001] This application relates to the field of motor controllers, and more particularly to a servo motor controller and an integrated servo motor. Background Technology

[0002] Integrated servo controllers require integrating a control board onto the motor, which presents significant design challenges. Commercially available products are often side-mounted, resulting in a large footprint. As the integration level of existing industrial equipment increases, the requirements for motors and controllers are becoming increasingly stringent.

[0003] The design challenges of small, low-power motors and controllers with flange sizes below 40mm not only require high control precision and motor performance, but also place higher demands on hardware layout. Typical hardware layouts tend to result in large footprints and insufficient miniaturization. Utility Model Content

[0004] To achieve miniaturization and thus adapt to small, low-power motors with flange sizes of 40 or less, this application provides a servo motor controller and an integrated servo motor.

[0005] In a first aspect, this application provides a servo motor controller, which adopts the following technical solution: A servo motor controller includes an interface board, a control board, a drive board, and an encoder board arranged in parallel in sequence. The interface board has a bus communication port and a power port; the interface board is connected to the control board via a first connector to achieve data communication; the power port is connected to the drive board via a second connector to connect power to the drive board to control the motor; The control board is connected to the drive board via a third connector to exchange motor control signals; The encoder board is used to be installed on the motor shaft end to detect the position information of the motor rotor; the encoder board is communicatively connected to the control board to provide feedback on the position of the motor rotor.

[0006] By adopting the above technical solutions, a high degree of integration and compact structure of the controller are achieved. The interface, control, drive, and encoder functions are modularized into four independent PCB boards and stacked in parallel, making the entire controller a compact column that can be installed at the tail of the motor, reducing the overall system size and simplifying external wiring. Separation of responsibilities is achieved, resulting in strong anti-interference capabilities. The interface board, control board, and drive board are physically isolated, with the drive board, which generates the most heat and electromagnetic interference, being independently managed. This avoids interference from the power section to control and communication signals, improving system stability and control accuracy. Electrical and signal connections are optimized, with each board connected via board-to-board connectors, replacing traditional cables, shortening signal transmission paths, reducing signal attenuation and interference risks. Power and control signals use different connector paths, ensuring clear connection relationships. The heat dissipation path is clear, concentrating the power heat source on the drive board, allowing for targeted heat dissipation design to prevent excessive heat conduction to the control board, ensuring the operational stability of core components such as the main control chip.

[0007] Preferably, the interface board integrates an EtherCAT bus control chip, which communicates with the EtherCAT bus via a bus communication port. The control board integrates a main control chip for executing servo control algorithms, and the main control chip is connected to the EtherCAT bus control chip via a first connector.

[0008] By adopting the above technical solution, data communication between the interface board and the control board is realized. It can communicate with the EtherCAT bus through the EtherCAT bus control chip, and the main control chip executes the servo control algorithm, which further enhances the system's communication and control capabilities.

[0009] Preferably, the drive board integrates a power drive transistor; the power port is connected to the power drive transistor in sequence through the second connector and the drive board, and the output end of the power drive transistor is electrically connected to the three-phase winding of the motor. The driver board also integrates a drive circuit for controlling the on / off state of the power drive transistor.

[0010] By adopting the above technical solution, the drive board integrates a power drive tube. The power port is connected to the power drive tube via the second connector and the drive board. The output end of the power drive tube is electrically connected to the three-phase winding of the motor. The drive board integrates a drive circuit that controls the on and off of the power drive tube, which can realize the conversion of DC power into the three-phase AC power required to drive the motor, power the motor and control its operation, and effectively reduce the signal interference of high current and high voltage on the control board.

[0011] Preferably, the control board is provided with a through hole or notch for the second connector to pass through.

[0012] By adopting the above technical solution, the control board is provided with through holes or notches for the second connector to pass through, which can prevent strong current from flowing through the control board and ensure the signal purity of the control board.

[0013] Preferably, the control board also integrates a current and voltage detection circuit for detecting the operating current and operating voltage of the motor.

[0014] By adopting the above technical solution, the current and voltage detection circuit can detect the operating current and operating voltage of the motor, which can serve as the basis for current loop closed-loop control and various protection functions.

[0015] Preferably, the encoder board is connected to the control board via a ribbon cable.

[0016] By adopting the above technical solution, the encoder board is connected to the control board via a ribbon cable, which enables it to feed back the collected motor rotor position information to the main control chip of the control board for closed-loop control of the position loop and speed loop.

[0017] Preferably, it also includes a housing, in which the interface board, control board, drive board and encoder board are all located inside the housing, and the housing is used to fix and connect to the tail end of the servo motor.

[0018] By adopting the above technical solution, the interface board, control board, drive board and encoder board are placed inside the housing and fixedly connected to the tail end of the servo motor. This protects the internal components from external environmental factors and makes the servo motor controller and servo motor a whole, which is convenient for installation and use, and further improves the system's integration and stability.

[0019] On the other hand, this application provides an integrated servo motor, which adopts the following technical solution: An integrated servo motor includes a motor body and a servo motor controller mounted at the rear of the motor body.

[0020] By adopting the above technical solution, the drive control system and the motor body are seamlessly integrated to form a plug-and-play intelligent execution unit, which eliminates the need for external drivers and complex wiring, greatly simplifying the application deployment work of system integrators.

[0021] In summary, this application includes at least one of the following beneficial technical effects: 1. Highly integrated and compact structure: By modularizing the interface, control, drive and encoder functions into four independent PCB boards and adopting a parallel stacking structure, the entire controller forms a compact cylindrical or square column, which can be directly installed at the tail of the motor, greatly reducing the overall size of the system and simplifying external wiring. 2. Separation of Responsibilities and Strong Anti-interference Capability: The interface board responsible for external communication and power access, the control board responsible for core algorithm calculations, and the drive board responsible for handling high-voltage and power drive are physically isolated. In particular, the drive board, which generates the most heat and electromagnetic interference, is separated, effectively avoiding interference from the power section to control and communication signals, thus improving system stability and control accuracy. 3. Optimized electrical and signal connections: Board-to-board connectors replace traditional long cables, significantly shortening signal transmission paths and fundamentally reducing the risk of signal attenuation and interference. Simultaneously, power and control signals use separate connector paths, ensuring clear connections and avoiding design and assembly confusion. 4. Clear heat dissipation path: The main power heat source (power drive tube) is concentrated on a separate drive board, which can be designed for heat dissipation. For example, it can conduct heat directly in contact with the metal casing, without transferring too much heat to the temperature-sensitive control board, thus ensuring the working stability of core components such as the main control chip. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the controller and servo motor in the embodiments of this application; Figure 2 This is one of the schematic diagrams of the internal structure of the servo motor controller in the embodiments of this application; Figure 3 This is the second schematic diagram of the internal structure of the servo motor controller in the embodiments of this application.

[0023] The following labels are used in the attached diagram: 1. Interface board; 11. Bus communication port; 12. Power port; 2. Control board; 21. Cable strip connector; 3. Driver board; 4. Encoder board; 5. First connector; 6. Second connector; 7. Third connector; 8. Housing; 9. Motor body. Detailed Implementation

[0024] The following is in conjunction with the appendix Figures 1-3 This application will be described in further detail.

[0025] The servo motor controller provided in this application embodiment refers to... Figures 1-3 The servo motor controller includes an interface board 1, a control board 2, a drive board 3, an encoder board 4, and a housing. The interface board 1, control board 2, drive board 3, and encoder board 4 are stacked in parallel and housed inside the housing, making the entire controller a compact integrated structure. The housing can be directly installed at the tail of the motor, which greatly reduces the overall size of the system, simplifies external wiring, and separates the responsibilities of each functional board, effectively avoiding interference and improving the stability and control accuracy of the system.

[0026] Specifically, interface board 1 integrates an EtherCAT bus control chip, bus communication port 11, and power port 12. The EtherCAT bus control chip uses a LAN9252 chip and communicates with control board 2. Bus communication port 11 uses two RJ45 interfaces to communicate with the LAN9252 chip, used for EtherCAT bus input and output. Power port 12 is used to connect to an external power supply and is directly connected to drive board 3, supplying power to the three-phase windings of the motor.

[0027] Furthermore, interface board 1 is connected to control board 2 via first connector 5, which enables data exchange between interface board 1 and control board 2. Interface board 1 is connected to drive board 3 via second connector 6, and power port 12 is electrically connected to drive board 3 via second connector 6, thereby connecting drive board 3 to the power supply and providing power to the servo motor. Simultaneously, interface board 1 achieves physical fixed connections with control board 2 and drive board 3 via first connector 5 and second connector 6. Both first connector 5 and second connector 6 are pin header / female header connectors, ensuring reliable connection between the two circuit boards.

[0028] It is worth mentioning that, since the control board 2 is located between the interface board 1 and the drive board 3, a through hole or notch is provided on the control board 2 for the second connector 6 to pass through. The structural feature of the through hole or notch is that its size and position need to be precisely designed according to the size and installation position of the second connector 6 to ensure that the second connector 6 can pass smoothly through the control board 2, realizing the connection between the interface board 1 and the drive board 3.

[0029] Specifically, control board 2 integrates a main control chip for executing servo control algorithms. The main control chip can be an N32G455REL7 chip.

[0030] The control board 2 is connected to the drive board 3 via the third connector 7, and the drive circuit is also connected to the drive board 3 via the third connector 7, thereby transmitting the motor control signal to the drive board 3 to achieve servo motor control. The third connector 7 can be a pin header / female header connector.

[0031] Furthermore, the control board 2 also integrates a current and voltage detection circuit. This circuit samples the phase current and bus voltage of the motor in real time and feeds these signals back to the main control chip, serving as the basis for current loop closed-loop control and various protection functions. The current and voltage detection circuit is characterized by its use of high-precision sensors and signal processing circuits to ensure accurate detection and feedback. The purpose of this application is merely to integrate the current and voltage detection circuit onto the control board 2; it does not involve any improvement to the circuit structure of the current and voltage detection circuit, therefore, this embodiment will not describe it in detail.

[0032] Furthermore, the driver board 3 integrates power drive transistors and drive circuits. The power drive transistors can be MOSFETs or IGBTs, forming a three-phase inverter bridge. Their structural feature is the ability to withstand large currents and voltages, enabling power conversion and driving. The power drive transistors are mounted on the driver board 3 via soldering or other methods. They are connected to the power port 12 via the second connector 6, and the output terminals of the power drive transistors are electrically connected to the three-phase windings of the servo motor, thereby powering the servo motor.

[0033] The input end of the drive circuit is connected to the main control chip via the third connector 7 to receive control signals from the main control chip. The output end of the drive circuit is connected to the power drive tube to control the on / off state of the power drive tube, thereby realizing the control of the servo motor.

[0034] The drive circuit in this embodiment adopts a common circuit structure in the art, which generally includes a gate driver chip, a bootstrap circuit, a protection circuit, etc. Its function is to receive the PWM signal from the control board 2, amplify, isolate and shape it, and then precisely control the high-speed switching of the power drive transistor. The purpose of this application is only to integrate the drive circuit on the driver board 3, and does not involve any improvement to the drive circuit structure. Therefore, this embodiment will not be described in detail.

[0035] Specifically, encoder board 4 is a circular PCB, which is fixedly mounted on the shaft end of the servo motor via a bracket. A magnetic encoder chip is soldered onto encoder board 4, which can acquire the precise position information of the motor rotor in real time. Both encoder board 4 and the main control board are equipped with cable tray connectors 21, and a flexible cable enables communication between encoder board 4 and the main control chip integrated on control board 2, thereby feeding back the acquired position information to the main control chip for closed-loop control of the position loop and speed loop.

[0036] The encoder board 4 in this embodiment is an existing model purchased from the market. This application only relates to the application of the encoder board 4 and does not involve any improvement to the encoder board 4. Therefore, this application does not describe the specific structure and circuit structure of the encoder board 4 in detail.

[0037] This application also provides an integrated servo motor, see reference. Figure 1 The integrated servo motor includes a motor body 9 and a servo motor controller mounted at the rear of the motor body 9. The motor body 9 and the servo motor controller are combined to form a single unit.

[0038] The implementation principle of this embodiment is as follows: By modularizing the interface, control, drive, and encoder functions into four independent PCB boards and adopting a parallel stacking structure, a highly integrated and compact design is achieved. Each functional board has its own responsibilities and is physically isolated, effectively avoiding interference from the power section to control and communication signals, thus improving system stability and control accuracy. The boards are connected via board-to-board connectors, replacing traditional long cables, significantly shortening signal transmission paths and reducing the risk of signal attenuation and interference. Simultaneously, the main power heat sources are concentrated on the independent drive board 3, allowing for targeted heat dissipation design and ensuring the operational stability of core components. This design solves the problems of complex wiring and susceptibility to interference in traditional servo systems, providing an effective solution for the miniaturization and integration of servo motors.

[0039] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A servo motor controller, characterized in that, It includes an interface board (1), a control board (2), a drive board (3) and an encoder board (4) arranged in parallel in sequence. The interface board (1) has a bus communication port (11) and a power port (12); the interface board (1) is connected to the control board (2) through a first connector (5) to realize data communication; the power port (12) is connected to the drive board (3) through a second connector (6) to connect the power supply to the drive board (3) to control the motor; The control board (2) is connected to the drive board (3) via the third connector (7) to realize the exchange of motor control signals; The encoder board (4) is used to be installed on the motor shaft end to detect the position information of the motor rotor; the encoder board (4) is communicatively connected to the control board (2) to provide feedback on the position of the motor rotor.

2. The servo motor controller according to claim 1, characterized in that, The interface board (1) integrates an EtherCAT bus control chip, which is connected to the EtherCAT bus via a bus communication port (11). The control board (2) integrates a main control chip for executing servo control algorithms. The main control chip is connected to the EtherCAT bus control chip via the first connector (5).

3. The servo motor controller according to claim 1, characterized in that, The drive board (3) integrates a power drive tube; the power port (12) is connected to the power drive tube in sequence through the second connector (6) and the drive board (3), and the output end of the power drive tube is electrically connected to the three-phase winding of the motor. The drive board (3) also integrates a drive circuit for controlling the on / off state of the power drive tube.

4. The servo motor controller according to claim 3, characterized in that, The control board (2) is provided with a through hole or notch for the second connector (6) to pass through.

5. The servo motor controller according to claim 1, characterized in that, The control board (2) also integrates a current and voltage detection circuit for detecting the working current and working voltage of the motor.

6. The servo motor controller according to claim 1, characterized in that, The encoder board (4) is connected to the control board (2) via a ribbon cable.

7. The servo motor controller according to claim 1, characterized in that, It also includes a housing (8), in which the interface board (1), control board (2), drive board (3) and encoder board (4) are all located inside the housing (8), and the housing (8) is used to fix the tail end of the servo motor.

8. An integrated servo motor, characterized in that, The motor body (9) includes a servo motor controller as described in any one of claims 1-7, which is mounted at the tail of the motor body (9).

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