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CN-122001252-A - Dual-controller servo system for DC brushless motor

CN122001252ACN 122001252 ACN122001252 ACN 122001252ACN-122001252-A

Abstract

The invention belongs to the field of motor control, and particularly relates to a dual-controller servo system for a direct-current brushless motor, which comprises the following components: the system comprises a first control module, a second control module, a driving module, a current detection module, a brushless motor, a position detection module, a man-machine interface, a starting mode selection, a network communication module and a voltage detection module. The system comprises a position detection module, a man-machine interface, a starting mode selection module, a network communication module and a voltage detection module, wherein the position detection module, the man-machine interface, the starting mode selection module, the network communication module and the voltage detection module are all connected with a first control module, a driving module and a current detection module are connected with a second control module, the second control module is connected with the first control module, the current detection module is connected with the driving module, a brushless motor is connected with the driving module, and the position detection module is connected with the brushless motor. The first control module and the second control module respectively realize the accurate control of the torque, the speed and the position parameters of the brushless motor by the cooperation of different work, and the defect of processing speed of the domestic controller is overcome by adopting the double control modules.

Inventors

  • CHEN WUHANG
  • WANG LIN
  • YANG LING
  • LIU JIASHUO

Assignees

  • 湖南工业大学

Dates

Publication Date
20260508
Application Date
20241101

Claims (8)

  1. 1. A dual-controller servo system for a direct-current brushless motor comprises a first control module (1), a driving module (3), a current detection module (4), a brushless motor (5), a position detection module (6), a voltage detection module (10) and a power supply module (11), wherein the current detection module (4) and the brushless motor (5) are connected with the driving module (3), the position detection module (6) is connected with the brushless motor (5), and the dual-controller servo system is characterized by further comprising a second control module (2), a man-machine interface (7), a network communication module (9) and a starting mode selection (8), the position detection module (6), the man-machine interface (7), the starting mode selection (8), the network communication module (9) and the voltage detection module (10) are connected with the first control module (1), and the driving module (3) and the current detection module (4) are connected with the second control module (2).
  2. 2. A dual controller servo system for a DC brushless motor as claimed in claim 1, wherein said position detection module (6) comprises a grating encoder position sensor circuit and a serial magnetic encoder position sensor circuit; The grating encoder position sensor circuit comprises a first connector CN2, a first resistor R43, a second resistor R44, a third resistor R45, a fourth resistor R40, a fifth resistor R41, a sixth resistor R42, a seventh resistor R46, an eighth resistor R47, a ninth resistor R48 and a tenth resistor R49, wherein pins 1, 2 and 3 of CN2 are respectively connected with a Z, A, B three-phase position signal output line of the grating encoder, pins 4 and 5 of CN2 are respectively connected with a 5V power supply and GND of the grating encoder, R43, R44 and R45 are respectively connected between pins 1, 2 and 3 and 4 of CN2, one end of R40, R41 and R42 are respectively connected with pins 1, 2 and 3 of CN2, the other pin of R40 is connected with a first GPIO input pin of the first control module (1), R41 is connected with one ends of R46 and R47, the other end of R46 is connected with a first channel positive polarity signal input pin of a first timer of the first control module (1), the other end of R47 is connected with a first channel negative polarity signal input pin of the same timer of the first control module (1) connected with R46, R42 is connected with one ends of R48 and R49, the other end of R48 is connected with a second channel positive polarity signal input pin of the same timer of the first control module (1) connected with R46, and the other end of R49 is connected with a second channel negative polarity signal input pin of the same timer of the first control module (1) connected with R46; The serial magnetic encoder position sensor circuit comprises a second connector CN3, a third connector U21, a first RS485 interface chip U22, a first NPN triode Q5, a first switch diode D29, a first capacitor C41, a second capacitor C71, an eleventh resistor R52, a twelfth resistor R51, a thirteenth resistor R53, a fourteenth resistor R83 and a fifteenth resistor R84, wherein the U21 is connected with 11V through a jumper cap and is connected with 2 and 3 pins and is connected with 5V through a jumper cap, the 1,2 and 3 pins of CN3 are respectively connected with B, A, a power supply and GND signals of an external magnetic encoder, the R51 is connected between the 8 pin of U22 and the 2 pin of CN3, the R52 is connected between the 6 pin and 7 pin of CN3, the R53 is connected between the 1 pin and the GND pin of CN3, the 1 pin of U22 is connected with 5V, the 1 pin of U22 is connected with the first group of communication pins of a first control module (1), the other ends of the U22 are connected with the input pins of the U22 through jumper cap and the 3 pins of the U22, the input ends of the U22 are connected with the Q5, the Q5 of the Q3 are connected with the other ends of the Q1, the Q ends of the Q3 are connected with the Q ends of the Q1, the Q ends of the Q end groups are connected with the Q end of the Q end groups.
  3. 3. A dual controller servo system for a DC brushless motor as defined in claim 1, wherein said human-machine interface (7) comprises a five-way switch input circuit, a potentiometer input circuit, and an LCD screen output module circuit; the five-way switch input circuit comprises a five-way switch SW4, a sixteenth resistor R134, a seventeenth resistor R135, an eighteenth resistor R136, a third capacitor C111, a fourth capacitor C112 and a fifth capacitor C113, wherein one end of the R134, the R135 and the R136 is connected with a 3.3V power supply, a C, E pin of the SW4 is connected with GND, the C111, the C112 and the C113 are respectively connected between a A, B, D pin of the SW4 and the GND, and a A, B, D pin of the SW4 is respectively connected with a second GPIO input pin, a third GPIO input pin and a fourth GPIO input pin of the first control module (1); The potentiometer input circuit comprises a potentiometer SW5, a sixth capacitor C114 and a nineteenth resistor R137, wherein a middle tap pin of the SW5 is connected with a first pin of an analog-to-digital conversion module in the first control module (1), pins at two ends of the SW5 are connected with GND (ground), one pin is connected with one end of the C114 and one end of the R137, the other end of the R137 is connected with a 3.3V power supply, and the other end of the C114 is connected with the GND; The LCD screen output module circuit is connected with an external LCD display screen through a fourth connector U59, and pins 1, 2, 3, 4, 5 and 6 of the U59 are respectively connected with second, third, fourth, fifth, sixth and seventh GPIO output pins of the first control module (1).
  4. 4. A dual-controller servo system for a DC brushless motor according to claim 1, wherein the start mode selection (8) comprises two groups of 4-bit code pulling switches, 1, 2, 3 and 4 pins of a first group of 4-bit code pulling switches SW2 are respectively connected with first, second, third and fourth GPIO input pins of a second control module (2), 5, 6, 7 and 8 pins of SW2 are connected with GND, 1, 2, 3 and 4 pins of a second group of 4-bit code pulling switches SW3 are respectively connected with fifth, sixth, seventh and eighth GPIO input pins of the first control module (1), and 5, 6, 7 and 8 pins of SW2 are connected with GND.
  5. 5. The dual-controller servo system for the direct-current brushless motor according to claim 1, wherein the network communication module (9) comprises a second path RS485 communication interface circuit, a first path Ethernet communication interface circuit and a first path CAN communication interface circuit; The second path RS485 communication interface circuit is composed of a fifth connector CN5, a second RS485 interface chip U46, a second NPN triode Q6, a second switching diode D30, a seventh capacitor C72, an eighth capacitor C73, a twenty-first resistor R85, a twenty-second resistor R86, a twenty-second resistor R87, a twenty-third resistor R88, and a twenty-fourth resistor R89, wherein pins 1,2, 3, and 4 of CN5 are respectively connected with a signal B, a signal a, a power supply, and GND of an external host RS485 module, R85 is connected between pin 8 of U46 and pin 2 of CN5, R86 is connected with pin 1 of CN5, R87 is connected between pin 6 and pin 7 of U22, R87 is connected between pin 1 and pin 2 of CN5, pin C72 is connected between pin 1 of U46 and GND, pin 4 of U46 is connected with pin 1 of a first control module (1) of a second group of asynchronous serial communication port, pin 4 of U46 is connected with pin 1 of U46, pin 1 of U46 is connected with pin 3 of a group of an asynchronous serial communication port of a serial port, and pin 3 is connected with the other end of the same serial port of Q46, and the other end of Q is connected with pin 3 of the other end of the serial port Q46 is connected with the other end of the Q6, and the other end of the serial port Q is connected with the Q end of the Q port of the Q46 is connected with the Q3; The first path of Ethernet communication interface circuit consists of a sixth connector J1, a ninth capacitor C10, a twenty-fifth resistor R1 and a twenty-sixth resistor R2, wherein a 6 pin of the J1 is connected with an Ethernet module RXN pin of the first control module (1), a 3 pin of the J1 is connected with an Ethernet module RXP pin of the first control module (1), a 2 pin of the J1 is connected with an Ethernet module TXN pin of the first control module (1), a 1 pin of the J1 is connected with an Ethernet module TXP pin of the first control module (1), a 10 pin of the J1 is connected with an eighth GPIO output pin of the first control module (1), a 11 pin of the J1 is connected with a ninth GPIO output pin of the first control module (1), one pin of the R1 and R2 is connected with a 3.3V power supply, the other pin is respectively connected with 9 and 12 pins of the J1, and SH1 and SH2 pins of the J1 are connected with GND; The first path CAN communication interface circuit is composed of a first CAN bus transceiver chip U23, a twenty-seventh resistor R50, a tenth capacitor C40 and a seventh connector U24, wherein the U24 is connected with a CAN bus transceiver of an upper computer, the 1 pin of the U24 is connected with a CANH signal, the 2 pin of the U24 is connected with a CANL signal, the 1 pin of the U24 is connected with the 7 pin of the U23, the 2 pin of the U24 is connected with the 6 pin of the U23, the R50 is connected with the 6 pin and the 7 pin of the U23, the 2 pin and the 8 pin of the U23 are connected with GND, the 3 pin of the U23 is connected with a 5V power supply, the 5 pin of the U23 is suspended, and the 1 pin and the 4 pin of the U23 are respectively connected with CAN_TX and CAN_RX pins of the CAN of the first control module (1).
  6. 6. A dual-controller servo system for a DC brushless motor according to claim 1, wherein the voltage detection module (10) is used for detecting a 24V main power supply voltage, and is composed of an eleventh capacitor C74, a twenty eighth resistor R91, a twenty ninth resistor R92, a thirty-first resistor R93, a thirty-first resistor R167 and a third switching diode D31, wherein R91, R167, R92 and R93 are connected in series between the 24V main power supply and PGND, a connection point of the R92 and the R93 is connected with one end of the C74, an anode of the D31 is connected with a second analog-digital conversion pin of the first control module (1), the other end of the C74 is connected with GND, and a cathode of the D31 is connected with a 3.3V power supply.
  7. 7. A dual-controller servo system for a DC brushless motor as defined in claim 1, wherein the first control module (1) comprises a first domestic microcontroller U44 and circuits of decoupling capacitance, crystal oscillator, reset and the like attached thereto, the second control module (2) comprises a second domestic microcontroller U43 and circuits of decoupling capacitance, crystal oscillator, reset and the like attached thereto, and an SPI pin of the U44 and an SPI pin of the U43 are respectively connected through a thirty-second resistor R105, a thirty-third resistor R106, a thirty-fourth resistor R107 and a thirty-fifth resistor R108.
  8. 8. A dual controller servo system for a DC brushless motor as defined in claim 1, wherein the current detection module (4) is composed of a thirty-sixth resistor R109, a thirty-seventh resistor R110, a thirty-eighth resistor R111, a thirty-ninth resistor R112, a fortieth resistor R113, a fortieth resistor R114, a twelfth capacitor C100, a twelfth capacitor C101, a thirteenth capacitor C95, a first diode group D35, a first operational amplifier U57.1, one end of R109 being connected to a current sampling signal, the other end of R109 being connected to one end of C94, one end of R111, one end of R110 being connected to the other end of C94 and one end of R112, the other end of R111 being connected to one end of R113 and one end of U57.1, the other end of R113 being connected to a 1.65V power supply, the other end of R112 being connected to the inverting input pin of U57.1 and one end of R114, the other end of R114 being connected to an amplifying output pin of U57.1, the one end of U57.1 being connected to an amplifying output pin of U35, one end of C95 being connected to one end of C95 and one end of C35, and the other end of C5, and the other end of C35 being connected to C5, and the other end of C5, and the input pins of D5, 3 and D5 being connected to the input pin of U57.1 are connected between the input pin and the input pin of the L1.

Description

Dual-controller servo system for DC brushless motor Technical Field The invention belongs to the field of motor control, and particularly relates to a dual-controller servo system for a direct current brushless motor. Background Because the domestic MCU chip is later to develop and start, the domestic MCU has slower operation speed and the control algorithm with high operation complexity has an unsatisfactory effect. In the field of servo controllers, high-and-medium-end products in the current China market are mainly occupied by foreign brands, and even in the market where medium-and-low-end products are occupied by domestic brands, a main control MCU of the servo controller mainly adopts foreign chips, so that the method is unfavorable for the benign development of the domestic chip industry. In addition to the strong computing power, the servo controller also needs strong communication power and comprehensive information processing power, and a single MCU with weak performance is difficult to be able to cope with the work. The invention patent of China with publication number CN 117691911A provides a magnetic field orientation control system for a direct current brushless motor, and the technical scheme disclosed by the invention is that a microcontroller adopts one of foreign STM32F4 series MCU, and the scheme does not provide a technical route with stronger comprehensive information processing capability. The Chinese patent of publication No. CN 117724386A provides a communication device and a method for combining EPS system MCU and FOC chip, which connects EPS system MCU and FOC chip with 5 signal wires to make combined hardware equipment, and a set of communication time sequence and protocol is compiled between EPS system MCU and FOC chip to realize reliable data transmission and reception, the communication time sequence and protocol are similar to SPI bus communication protocol, and the system uses programmable FOC chip, which can make cost higher in medium and small quantity of products. In order to solve the problems that a domestic microcontroller with relatively low calculation power is adopted in a direct current brushless motor servo controller, and a middle-high end servo controller product with higher performance and cost performance is required to be provided, the invention provides the following technical scheme. Disclosure of Invention A dual-controller servo system for a direct-current brushless motor comprises a first control module (1), a driving module (3), a current detection module (4), a brushless motor (5), a position detection module (6), a voltage detection module (10) and a power supply module (11), wherein the current detection module (4) and the brushless motor (5) are connected with the driving module (3), the position detection module (6) is connected with the brushless motor (5), and the dual-controller servo system is characterized by further comprising a second control module (2), a man-machine interface (7), a network communication module (9) and a starting mode selection (8), the position detection module (6), the man-machine interface (7), the starting mode selection (8), the network communication module (9) and the voltage detection module (10) are connected with the first control module (1), and the driving module (3) and the current detection module (4) are connected with the second control module (2). Further, the position detection module (6) comprises a grating encoder position sensor circuit and a serial magnetic encoder position sensor circuit. The grating encoder position sensor circuit comprises a first connector CN2, a first resistor R43, a second resistor R44, a third resistor R45, a fourth resistor R40, a fifth resistor R41, a sixth resistor R42, a seventh resistor R46, an eighth resistor R47, a ninth resistor R48 and a tenth resistor R49, wherein pins 1,2 and 3 of CN2 are respectively connected with Z, A, B three-phase position signal output of the grating encoder, pins 4 and 5 of CN2 are respectively connected with 5V power supply and GND of the grating encoder, R43, R44 and R45 are respectively connected between pins 1,2 and 3 of CN2, one end of R40, R41 and one end of R42 are respectively connected with pins 1,2 and 3 of CN2, the other pin of R40 is connected with a first GPIO input pin of a first control module (1), R41 is connected with one ends of R46 and R47, the other end of R46 is connected with a first channel positive polarity signal input pin of a first timer of the first control module (1), the other end of R47 is connected with a first channel negative polarity signal input pin of the same timer of the first control module (1) connected with R46, R42 is connected with one ends of R48 and R49, the other end of R48 is connected with a second channel positive polarity signal input pin of the same timer of the first control module (1) connected with R46, and the other end of R49 is connected with a second channel negative polarity signal input