CN205105136U - Motor drive - Google Patents

Abstract

The utility model provides a motor driver and relates to the technical field of driving. The motor driver includes a control chip and a transponder circuit electrically connected to the control chip, a power supply circuit, a position detection encoder, an H bridge drive circuit, a current sampling circuit, a pulse direction circuit, an encoder output circuit and a brake circuit; the control The chip is provided with an upper computer interface for connecting with the upper computer and a bus interface for connecting with other motor drivers through the bus; the forwarding circuit is used for forwarding the control instructions sent by the upper computer to the other motor drivers. The motor driver provided by the utility model can realize the control of multiple motors without adding additional hardware devices, and at the same time, can realize the control of motors on different buses through the forwarding function of the forwarding circuit.

Description

motor driver

technical field

The utility model relates to the technical field of driving, in particular to a motor driver.

Background technique

In the motor drive system, the motor driver is used to drive the motor to rotate. When the motor driver receives a pulse signal from the controller, it drives the motor to rotate at a fixed angle in the set direction.

At present, single-axis control is often used to control motors in the prior art. If multi-axis control is to be realized, the user needs to purchase additional corresponding hardware equipment, which increases the application cost. At the same time, in practical applications, the motor driver is a mature standard product, while the controller is developed by the customer. This structure makes the controller must adapt to the bus standard of the motor driver, and these buses that can be networked by multiple units have their own shortcomings. , For example, the difficulty of development and the high cost of hardware.

Utility model content

The purpose of this utility model is to provide a motor driver to improve the above problems.

The utility model is achieved in that:

A motor driver, used to drive a motor, the motor driver includes a control chip and a forwarding circuit electrically connected to the control chip, a power supply circuit, a position detection encoder, an H bridge drive circuit, a current sampling circuit, a pulse direction circuit, an encoding output circuit and brake circuit;

The control chip is provided with a host computer interface for connecting with the host computer and a bus interface for connecting with other motor drivers through the bus;

The forwarding circuit is used for forwarding the control instructions sent by the upper computer to the other motor drivers.

For the motor driver as described above, preferably, the forwarding circuit includes a forwarding control chip and a four-position side switch, and the data sending pin of the forwarding control chip is connected to an input of the control chip through a first resistor (R97) Pin, the data receiving pin of the described forwarding control chip is connected to another output pin of the described control chip through the second resistor (R70), the high level pin of the described forwarding control chip is connected with the four-bit side dial The seventh terminal of the switch is connected, and the low level pin of the forwarding control chip is connected with the eighth terminal of the four-position side dial switch through a third resistor (R69).

As for the motor driver described above, preferably, the motor driver further includes an overvoltage protection circuit, and the overvoltage protection circuit is electrically connected to the control chip.

An overvoltage protection circuit is set, and when the voltage of the motor driver is too high, it can automatically stop running to ensure the safe operation of the motor driver.

As for the motor driver described above, preferably, the motor driver further includes a temperature protection circuit, and the temperature protection circuit is electrically connected to the control chip.

The temperature protection circuit is set, and when the temperature of the motor driver is too high, it can automatically stop running to ensure the safe operation of the motor driver.

For the motor driver described above, preferably, the host computer interface includes one or more of CAN communication interface, RS232 interface, USB interface, SPI interface, and Centronics interface.

As for the above-mentioned motor driver, preferably, the bus interface is one or more of Ethercat interface, CAN interface, and 485 interface.

As for the motor driver described above, preferably, the motor driver further includes a firmware download circuit, and the firmware download circuit is electrically connected to the control chip.

By setting the firmware download circuit, it is very convenient to realize the corresponding motor driver software update.

For the motor driver described above, preferably, the position detection encoder is an absolute encoder or an incremental encoder.

As for the motor driver mentioned above, preferably, the control chip is further provided with an external input/output interface.

For the motor driver described above, preferably, the control chip is an ARMSTM103FRBT6 chip.

For the prior art, the motor driver provided by the utility model has the following beneficial effects:

In the motor driver provided by the utility model, the control chip is provided with a host computer interface and a bus interface, and the forwarding circuit can forward the control instructions sent by the host computer to other motor drivers connected to the motor driver through the bus to control other motors. Without adding additional hardware devices, the control of multiple motors can be realized, and at the same time, the control of motors on different buses can be realized through the forwarding function of the forwarding circuit.

In order to make the above-mentioned purpose, features and advantages of the present invention more comprehensible, preferred embodiments are specifically cited below, together with the accompanying drawings, and are described in detail as follows.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following drawings will be briefly introduced in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention. Therefore, it should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained according to these drawings without creative work.

Fig. 1 is the functional block diagram of the motor driver provided by the first embodiment of the utility model;

Fig. 2 is a circuit diagram of the forwarding circuit provided by the first embodiment of the utility model;

Fig. 3 is the circuit diagram of the pulse direction circuit provided by the first embodiment of the utility model;

Fig. 4 is the circuit diagram of the drive circuit through the H bridge provided by the first embodiment of the utility model;

Fig. 5 is the circuit diagram of the brake circuit provided by the first embodiment of the utility model;

6 is a circuit diagram of a firmware download circuit provided by the second embodiment of the present invention;

Fig. 7 is a circuit diagram of the overvoltage protection circuit provided by the second embodiment of the present invention;

Fig. 8 is a circuit diagram of the temperature protection circuit provided by the second embodiment of the present invention;

Fig. 9 is a functional block diagram of the motor driver provided by the second embodiment of the present invention.

Among them, the corresponding relationship between reference signs and component names is as follows:

Control chip 101, forwarding circuit 102, power supply circuit 103, position detection encoder 104, H bridge drive circuit 105, current sampling circuit 106, pulse direction circuit 107, encoder output circuit 108, brake circuit 109, host computer interface 110, bus Interface 111 , overvoltage protection circuit 112 , temperature protection circuit 113 , firmware download circuit 114 , external input/output interface 115 .

detailed description

In the motor drive system, the motor driver is used to drive the motor to rotate. When the motor driver receives a pulse signal from the controller, it drives the motor to rotate at a fixed angle in the set direction. At present, single-axis control is often used to control motors in the prior art. If multi-axis control is to be realized, the user needs to purchase additional corresponding hardware equipment, which increases the application cost. At the same time, in practical applications, the motor driver is a mature standard product, while the controller is developed by the customer. This structure makes the controller must adapt to the bus standard of the motor driver, and these buses that can be networked by multiple units have their own shortcomings. , For example, the difficulty of development and the high cost of hardware. After long-term observation and research, the inventor found that the motor driver provided by the embodiment of the present invention is provided.

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. . The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present utility model.

Embodiment one

Referring to Fig. 1, the utility model embodiment provides a kind of motor driver, and motor driver comprises control chip 101 and forwarding circuit 102, power supply circuit 103, position detection encoder 104, H bridge drive circuit 105 that are electrically connected with control chip 101 respectively , current sampling circuit 106, pulse direction circuit 107, encoder output circuit 108 and brake circuit 109; the control chip 101 is provided with a host computer interface 110 for connecting with the host computer and for connecting with other motor drivers through the bus The bus interface 111 and the forwarding circuit 102 are used to forward the control commands sent by the host computer to other motor drivers.

The host computer interface 110 on the control chip 101 is used to connect with the host computer, and the bus interface 111 is used to connect with multiple control chips of other motor drivers through the bus. The motor driver corresponds to a unique address information, and the control command includes target address information. After the motor driver receives the control command, it compares the target address information in the control command with its own address information through the control chip 101, and judges Are the two the same. If they are the same, perform the operation corresponding to the control command, that is, control the motor to work. If it is different, the control instruction is forwarded to all other motor drivers connected to it by the bus through the forwarding circuit 102, so that other motor drivers can judge the target address information in the received control instruction by its control chip and its own Whether the bound address information is the same, so as to control multiple motors. The control chip 101 can be realized in many ways, for example, ARMSTM103FRBT6 control chip or ARMSTM32F105RBT6 control chip, and the ARMSTM103FRBT6 control chip is used in this embodiment. Wherein, the host computer interface 110 on the control chip 101 can be implemented in various ways, such as one or more of CAN communication interface, RS232 interface, USB interface, SPI interface, and Centronics interface. In this embodiment, the host computer interface 110 adopts a combination of the above-mentioned multiple interfaces. Similarly, the bus interface 111 may also have multiple types, such as one or more of Ethercat interface, CAN interface, and 485 interface. In this implementation, the bus interface 111 adopts a combination of the above-mentioned multiple interfaces.

The forwarding circuit 102 is used to forward the control instruction. When the target address information in the instruction is different from the address information of the motor driver itself, the control chip 101 sends the control instruction to other motor drivers through the forwarding circuit 102 . Referring to Fig. 2, the forwarding circuit 102 includes a resistor R97, a resistor R70, a capacitor C67, a forwarding control chip 101, a capacitor 76, a capacitor C77, a resistor R69 and a four-position side toggle switch, and the forwarding control chip 101 includes a data transmission pin TXD, a ground pin Pin GND, power supply pin VCC, data receiving pin RXD, high level pin CANH and low level pin CANL, the four-position side switch includes a first terminal, a second terminal, a third terminal, a fourth terminal, The fifth terminal, the sixth terminal, the seventh terminal, and the eighth terminal; one end of the resistor R97 is connected to the output pin on the control chip 101, the other end is connected to the data transmission pin TXD, and one end of the resistor R70 is connected to the input on the control chip 101 pin, the other end is connected to the data transmission pin TXD, one end of the capacitor C67 is connected to the ground and the ground pin GND, the other end is connected to the 5V power supply and the power supply pin VCC, one end of the capacitor C76 is connected to the ground, and the other end is respectively connected to the high level pin CANH and the seventh terminal, one end of the capacitor C77 is grounded, the other end is respectively connected to the low level pin CANL and one end of the resistor R69, the other end of the resistor R69 is connected to the eighth terminal, the first terminal, the second terminal, the third terminal, the The four terminals, the fifth terminal and the sixth terminal are respectively connected to the reserved function selection circuit. The user can choose to operate different functions according to the terminals connected to the function circuit. Specifically, the function selection circuit includes electronic R100, resistor R101, and resistor R110. , resistor R102 and resistor R113, one end of the resistor R100 is respectively connected to the 3.3V power supply and the first terminal, the other end is connected to one end of the resistor R101, the other end of the resistor R101 is respectively connected to one end of the resistor R110, the second terminal and the fourth terminal, the resistor The other end of R110 is respectively connected to one end of the resistor R102, the third terminal and the fifth terminal, the other end of the resistor R102 is respectively connected to the sixth terminal, one end of the resistor R113 and the switch pin on the control chip 101, and the other end of the resistor R113 is grounded . Through the forwarding circuit 102, the control instructions can be forwarded to other motor drivers, and the control of multiple motors can be realized without adding additional hardware devices. At the same time, through different bus interfaces 111, the control instructions can be forwarded to different The motor driver on the bus realizes the control of the motors on different buses. When using a short-distance transmission network bus such as I ² C, the control command can also be forwarded by the short-distance network bus through the forwarding circuit 102 to the The long-distance network bus is used to realize remote control of the driver, and then control the motor at the remote end. In addition, the forwarding circuit 102 is equipped with a four-position side dial switch, which can control 256 motors by forwarding control instructions, which cleverly saves hardware resources. .

In this embodiment, the forwarding control chip 101 adopts a TJA1050 chip. Of course, the forwarding control chip 101 is not limited to the TJA1050 chip, for example, a TJA1040 chip may also be used.

During the operation of the motor driver, the pulse direction circuit 107 is used to send the pulse signal (that is, the control command) sent by the host computer to the control chip 101. The circuit structure of the pulse direction circuit 107 is referred to FIG. The pulse signal processed by the chip 101 controls the forward/reverse rotation of the motor driven by the motor driver. Refer to FIG. 4 for the circuit structure of the H-bridge driving circuit 105 . The current sampling circuit 106 is used to sample the driving current of the motor, convert the current signal into an analog signal, and feed it back to the control chip 101, and the control chip 101 converts it into a digital signal and calculates the rotational torque, thereby accurately controlling the motor rotation angle. The position detection encoder 104 is used to detect the rotation angle of the motor, and feeds back to the control chip 101 , after being processed by the control chip 101 , it is fed back to the host computer through the encoder output circuit 108 . The brake circuit 109 is used to send a control signal to the external brake of the motor to control the motor to stop rotating. For the circuit structure of the brake circuit 109, refer to FIG. 5 . The realization of the pulse direction circuit 107, the H-bridge drive circuit 105, the current sampling circuit 106, the position detection encoder 104 and the brake circuit 109 are all prior art, and will not be described in detail here.

The position detection encoder 104 can be realized in various ways, for example, an absolute encoder or an incremental encoder is used. In this embodiment, an absolute encoder is used. Considering the differences of different brands of absolute encoders, two RS-485 communication modules can also be set, which can support HIPERFACE, BISS, SSI and other absolute encoder interfaces of different brands, and the communication rate is up to 20MHZ.

The motor driver provided in this embodiment can be used to drive brushless servo motors, brushed servo motors, brushless motors without encoders, brushless motors with encoders without Hall, linear motors, voice coil motors and coreless motors, etc.

Embodiment two

Referring to FIG. 9 , the motor driver provided in this embodiment is an improvement on the basis of Embodiment 1. For details not involved in this embodiment, please refer to the description in Embodiment 1.

When the motor driver controls the motor, it needs to cooperate with the corresponding application program. With the continuous development of technology, the corresponding application program is also constantly upgraded in order to achieve faster and more accurate control. In order to realize the upgrade function of the application program, this embodiment provides The motor driver is also provided with a firmware download circuit 114 electrically connected to the control chip 101. When in use, the motor driver is directly connected to the corresponding developer with the corresponding data interface, and the software can be upgraded, which is convenient for the user to configure the program on site. Refer to FIG. 6 for the circuit structure of the firmware download circuit 114 .

In the process of using the motor driver, when the working voltage of the motor is too high, the strong current may burn the motor, and when the voltage is too low, it will also cause the motor to become fatigued and stalled, resulting in an overcurrent several times the rated current , burn out the motor. In view of this, the motor driver provided in this embodiment is also provided with an overvoltage protection circuit 112 electrically connected to the control chip 101. The overvoltage protection circuit 112 is used to detect the voltage of the power circuit current of the motor. When the voltage is higher or lower than the set The power supply can be automatically cut off during a certain range value, which plays a protective role. The circuit structure of the overvoltage protection circuit 112 is shown in FIG. 7 .

In addition, when the operating temperature of the motor is too high, the motor may burn out. In view of this, the motor driver provided in this embodiment is also provided with a temperature protection circuit 113 electrically connected to the control chip 101. When the circuit temperature is too high When it is high, it can automatically start and cut off the power to prevent the motor from being burned. For the circuit structure of the temperature protection circuit 113, refer to FIG. 8 .

In this embodiment, the implementation manners of the overvoltage protection circuit 112 and the temperature protection circuit 113 are prior art, and thus will not be described in detail.

Further, in order to facilitate the control of the motor, the motor driver provided in this embodiment is also provided with an external input/output interface 115 on the control chip 101, and the external input/output interface 115 can be used for external alarm devices and limit switches.

In the description of the present utility model, it should also be noted that, unless otherwise clearly stipulated and limited, the terms "setting", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection , can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediary, and can be internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

The above descriptions are only preferred embodiments of the utility model, and are not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (10)

1. A motor driver, used to drive a motor, is characterized in that, comprising: a control chip and a forwarding circuit, a power supply circuit, a position detection encoder, an H bridge drive circuit, a current sampling circuit, Pulse direction circuit, encoder output circuit and brake circuit; The control chip is provided with a host computer interface for connecting with the host computer and a bus interface for connecting with other motor drivers through the bus; The forwarding circuit is used for forwarding the control instructions sent by the upper computer to the other motor drivers. 2. The motor driver according to claim 1, wherein the forwarding circuit comprises a forwarding control chip and a four-position side dial switch, and the data sending pin of the forwarding control chip is connected to the An input pin of the control chip, the data receiving pin of the forwarding control chip is connected to another output pin of the control chip through a second resistor (R70), and the high level pin of the forwarding control chip is connected to the The seventh terminal of the four-position side dial switch is connected, and the low-level pin of the forwarding control chip is connected to the eighth terminal of the four-position side dial switch through a third resistor (R69). 3. The motor driver according to claim 1, further comprising an overvoltage protection circuit electrically connected to the control chip. 4. The motor driver according to claim 1, further comprising a temperature protection circuit electrically connected to the control chip. 5. The motor driver according to claim 1, wherein the host computer interface includes one or more of CAN communication interface, RS232 interface, USB interface, SPI interface, and Centronics interface. 6. The motor driver according to claim 1, wherein the bus interface is one or more of an Ethercat interface, a CAN interface, and a 485 interface. 7. The motor driver according to any one of claims 1-6, further comprising a firmware download circuit electrically connected to the control chip. 8. The motor driver according to claim 7, wherein the position detection encoder is an absolute encoder or an incremental encoder. 9. The motor driver according to claim 7, characterized in that, the control chip is also provided with an external input/output interface. 10. The motor driver according to claim 7, wherein the control chip is an ARMSTM103FRBT6 chip.