阅读说明：本技术 一种通用多路永磁式同步交流伺服电机控制器 (Universal multi-path permanent magnet synchronous alternating current servo motor controller ) 是由 陈莎 谭志强 蒙浩 毕清磊 崔莹莹 于 2019-11-06 设计创作，主要内容包括：本发明涉及一种通用多路永磁式同步交流伺服电机控制器,它主要包括主控制板、电机驱动板、IGBT模块、电容、电流传感器、连接器、散热器、机箱等。本发明可以实现一台伺服电机控制器根据需要可控制一个或最多四个电机,硬件平台通用性强,电机个数选择灵活度高,且整机采用集成化、轻量化设计理念,能够满足客户对于伺服电机控制的多样化需求。(The invention relates to a universal multi-path permanent magnet type synchronous alternating current servo motor controller which mainly comprises a main control board, a motor drive board, an IGBT module, a capacitor, a current sensor, a connector, a radiator, a case and the like. The servo motor controller can control one or at most four motors according to the requirements, the hardware platform is strong in universality, the selection flexibility of the number of the motors is high, and the whole machine adopts the integrated and light-weight design concept, so that the diversified requirements of customers on the control of the servo motors can be met.)

1. A universal multi-path permanent magnet type synchronous alternating current servo motor controller comprises a main control board, a motor drive board, an IGBT module, a capacitor, a current sensor, a connector, a radiator and a case; the method is characterized in that:

the main control board receives upper-layer control intentions through the CAN communication module, then internal CAN communication is utilized to transmit the intentions to the four motor drive boards, the motor drive boards receive instructions and then obtain corresponding PWM signals through operation of the internal data processing module, if the motor works in a rotating speed mode, a corresponding current is obtained through table lookup according to a target speed by using the speed ring and is output to the power module, the motor is driven to work by using the power module IGBT, and the current is fed back to the speed ring according to the rotating speed of the tachometer to realize closed-loop control; if the motor works in a torque mode, a corresponding current value is obtained directly through a current loop table look-up, the motor is output through a power module and is driven to work under a target torque, the actual working current of the motor is collected through a current sensor and fed back to the current loop to realize closed-loop control, the four motor drive plates have the same working principle, corresponding actions are executed according to instructions sent by a main control plate, and the main control plate finishes coordination control and communication management work among the four motor drive plates, so that the multi-path motor can work simultaneously;

the intelligent power module utilizes input high-voltage direct current to drive a three-phase permanent magnet type synchronous alternating current servo motor through frequency conversion of a three-phase sine PWM voltage inverter, the motor drive board comprises a power board and a control board, the power board belongs to a strong current part, and the intelligent power board comprises an IPM power drive unit for driving the motor and a switching power supply for providing digital and analog power supplies for the whole system; the control panel belongs to a weak current part, is a control core of the motor and an operation carrier of a servo driver technology core control algorithm, and is used for outputting PWM (pulse-width modulation) waves as driving signals of a driving circuit through a corresponding algorithm to change the output power of the inverter so as to achieve the purpose of controlling the three-phase permanent magnet type synchronous alternating current servo motor;

the IGBT module is used for receiving control voltage output by the motor drive board and outputting alternating current with required frequency by switching on and off;

the capacitor comprises a supporting capacitor and an absorption capacitor, the supporting capacitor is used for smoothing filtering of the input voltage of the direct-current bus, and the absorption capacitor is used for absorbing a voltage peak in a main loop, smoothing filtering of the input voltage of the bus and absorbing a voltage peak generated by high-frequency switching of the IGBT;

the current sensor is used for feeding back the actual output current of the motor to the motor control board to carry out closed-loop control on a current loop;

the connector comprises a two-core direct-current high-voltage bus connector and a three-core motor drive output end three-phase alternating-current high-voltage connector, and is used for connecting a direct-current high-voltage bus and a motor drive output end high-voltage wire;

the radiator is used for taking away heat generated by the IGBT module in the working process of the motor controller;

and the case is used for installing all devices of the hardware of the motor controller and shielding external electromagnetic interference.

Technical Field

The invention belongs to the field of industrial automation equipment control, and particularly relates to a universal multi-path permanent magnet type synchronous alternating current servo motor controller.

Background

With the continuous development of rare earth permanent magnet materials, power electronics and control technologies, the permanent magnet synchronous alternating current servo motor has the advantages of light weight, high efficiency, small size and the like, and is widely applied to the field of new energy automobiles and the field of industrial control, but a plurality of permanent magnet synchronous alternating current servo motors can be simultaneously used as executing devices on some new energy automobiles adopting distributed driving and some special fields of industrial control, the cost of single motor is higher due to the independent control of a single driver, the required space for installation and arrangement is larger, the circuit arrangement is complex, the integration degree is poor, and the economic benefit is poor.

Disclosure of Invention

The invention aims to solve the problems of complex control and poor integration when a single driver is respectively driven in the situation that a plurality of permanent magnet synchronous alternating current servo motors are simultaneously applied, and provides a universal multi-path permanent magnet synchronous alternating current servo motor controller.

The invention relates to a universal multi-path permanent magnet type synchronous alternating current servo motor controller which comprises a main control board, a motor drive board, an IGBT module, a capacitor, a current sensor, a connector, a radiator and a case, wherein the main control board is connected with the motor drive board; the main control board is respectively connected with the upper-layer control system and the motor drive board through the CAN communication module, receives an external control signal, responds to the control intention of the upper layer, forwards a corresponding instruction to the motor drive module, collects the state information of each motor module and receives the state query of the upper computer; the motor driving board receives a control signal of the main control board through the CAN communication module on the upper layer, is connected with the IGBT module on the lower layer, carries out complex analysis and calculation on a DSP chip of the control board, generates PWM waves for driving the IGBT module to realize accurate control on the motor, and is used for providing a power supply and realizing driving on the motor; the upper layer of the IGBT module is connected with a motor drive board, the lower layer of the IGBT module is directly connected with a motor through a motor drive output end connector and a high-voltage wire, and the upper layer of the IGBT module receives a PWM signal to realize the on-off of input voltage, so that high-voltage electricity with required frequency is generated; two ends of the capacitor are directly connected with the input B + and B-ends of the power battery and are used for filtering the input voltage of the power battery and high-voltage peaks generated by the high-frequency switch of the IGBT module; the current sensor is arranged on a three-phase alternating-current high-voltage wire at the driving output end of the motor, the signal feedback end is directly connected with the main control board, and the actual current of the motor is collected and directly fed back to the main control board to be used as feedback input of closed-loop control; the radiator is used as an installation frame of the IGBT, so that heat generated by the IGBT in the working process of the motor controller is taken away conveniently; the case is used for installation of all hardware and arrangement of cooling water paths, and is provided with water inlet and outlet mounting holes, so that cooling water can enter the radiator to circularly take away heat.

The main control board receives upper-layer control intentions through the CAN communication module, then internal CAN communication is utilized to transmit the intentions to the four motor drive boards, the motor drive boards receive instructions and then obtain corresponding PWM signals through operation of the internal data processing module, if the motor works in a rotating speed mode, a corresponding current is obtained through table lookup according to a target speed by using the speed ring and is output to the power module, the motor is driven to work by using the power module IGBT, and the current is fed back to the speed ring according to the rotating speed of the tachometer to realize closed-loop control; if the motor works in a torque mode, a corresponding current value is obtained directly through a current loop table look-up, the motor is output through a power module and is driven to work under a target torque, the actual working current of the motor is collected through a current sensor and fed back to the current loop to realize closed-loop control, the four motor drive plates have the same working principle, corresponding actions are executed according to instructions sent by a main control plate, and the main control plate completes coordination control and communication management work among the four motor drive plates, so that the multi-path motor can work simultaneously.

The universal multi-path permanent magnet synchronous alternating current servo motor controller can realize the simultaneous control of one-path or at most four-path permanent magnet synchronous alternating current servo motors, has the weight not more than 25kg, can greatly save the installation space, simplifies the control logic, is convenient for the arrangement of high-voltage power supply lines, has higher integration degree and strong universality of a hardware platform, can realize the flexible arrangement of one or more motors under the condition of not replacing the motor controller, reduces the economic cost of selecting and using a plurality of motor controllers, and improves the overall benefit.

Drawings

FIG. 1 is a schematic diagram of a main circuit of a general multi-path permanent magnet synchronous AC servo motor controller according to the present invention;

FIG. 2 is a schematic diagram of a motor drive board of a universal multi-path permanent magnet synchronous AC servo motor controller according to the present invention;

fig. 3 is a control flow chart of the software of the universal multi-path permanent magnet synchronous ac servo motor controller according to the present invention.

Detailed Description

The present invention will be further explained with reference to the following examples and the accompanying drawings.