概述

　　变频伺服系统的功率部分由整流、滤波、刹车和逆变组成，对于中小功率的系统，本文提供整流、刹车和逆变一体化的 IGBT功率模块以及具有控制、滤波和保护等配套的整机方案，让中小功率的变频伺服系统架构变得更简单，安装更方便，控制更灵敏，系统更加可靠。

　　优势

　　• RT/Z1系列32位带浮点运算单元MCU R7S910002CBG，集成逆变控制IP，安全加密功能，高采样的速度和精度，使伺服系统的开关频率达到更高速率，提升了效率，满足业界对电机的转速要求;

【R7S910002CBG】

Features

■ On-chip 32-bit ARM Cortex-R4 processor

• High-speed realtime control with maximum operating frequency of300/450/600 MHzCapable of 498/747/996 DMIPS (in operation at 300/450/600MHz)

• On-chip 32-bit ARM Cortex-R4 (revision r1p4)

• Tightly coupled memory (TCM) with ECC: 512 Kbytes/32 Kbytes

• Instruction cache/data cache with ECC: 8 Kbytes per cache • High-speed interrupt

• The FPU supports addition, subtraction, multiplication, division,multiply-and-accumulate, and square-root operations at singleprecisionand double-precision.

• Harvard architecture with 8-stage pipeline

• Supports the memory protection unit (MPU)

• ARM CoreSight architecture, includes support for debuggingthrough JTAG and SWD interfaces

■ On-chip 32-bit ARM Cortex-M3 processor(in products incorporating an R-IN engine)

• 150-MHz operating frequency • On-chip 32-bit ARM Cortex-M3 (revision r2p1) • RISC Harvard architecture with 3-stage pipeline • Supports the memory protection unit (MPU)

■ Low power consumption

• Standby mode, sleep mode, and module stop function

■ On-chip extended SRAM

• Up to 1 Mbyte of the on-chip extended SRAM with ECC

• 150 MHz

■ Data transfer

• DMAC: 16 channels × 2 units

• DMAC for the Ethernet controller: 1 channel

■ Event link controller

• Module operations can be started by event signals rather than by

interrupt handlers.

• Linked operation of modules is available even while the CPU is inthe sleep state.

■ Reset and power supply voltage control

• Four reset sources including a pin reset

• Dual power-voltage configuration: 3.3 V (I/O unit), 1.2 V(internal)

■ Clock functions

• External clock/oscillator input frequency: 25 MHz

• CPU clock frequency: Up to 300/450/600 MHz

• Low-speed on-chip oscillator (LOCO): 240 kHz

■ Independent watchdog timer

• Operated by a clock signal obtained by frequency-dividing theclock signal from the low-speed on-chip oscillator: Up to 120 kHz

■ Safety functions

• Register write protection, input clock oscillation stop detection,CRC, IWDTa, and A/D self-diagnosis

• An error control module is incorporated to generate a pin signaloutput, interrupt, or internal reset in response to errors originatingin the various modules.

■ Security functions (optional)*2

• Boot mode with security through encryption

■ Encoder interfaces (optional)*3

• EnDat 2.2, BiSS-C, FA-CODER, A-format, and HIPERFACEDSL-compliant interfaces*4

• Frequency-divided output from an encoder

■ Various communications interfaces • Ethernet

- EtherCAT slave controller: 2 ports (optional) - Ethernet MAC: 1 port (an Ethernet switch is not used)or

- Ethernet MAC: 1 port (an Ethernet switch to support 2 ports is used) • USB 2.0 high-speed host/function : 1 channel • CAN (compliant with ISO11898-1): 2 channels (max.)

•SCIFA with 16-byte transmission and reception FIFOs: 5 channels

• I2C bus interface: 2 channels for transfer at up to 400 kbps

• RSPIa: 4 channels

• SPIBSC: Provides a single interface for multi-I/O compatibleserial flash memory

■ External address space

• Buses for high-speed data transfer at 75 MHz (max.) • Support for up to 6 CS areas • 8-, 16-, or 32-bit bus space is selectable per area

■ Up to 33 extended-function timers

• 16-bit TPUa (12 channels), MTU3a (9 channels), GPTa (4channels): Input capture, output compare, PWM waveform output

• 16-bit CMT (6 channels), 32-bit CMTW (2 channels)

■ Serial sound interface (1 channel)

■ ΔΣ interface

• Up to 4 ΔΣ modulators are connectable externally.

■ 12-bit A/D converters

• 12 bits × 2 units (max.)(8 channels for unit 0; 16 channels for unit 1)

• Self diagnosis

• Detection of analog input disconnection

■ Temperature sensor for measuring temperature within the chip

■ General-purpose I/O ports

• 5-V tolerance, open drain, input pull-up

■ Multi-function pin controller

• The locations of input/output functions for peripheral modules areselectable from among multiple pins.

■ Operating temperature range

      • Tj = -40°C to +125°CTj: Junction temperature

　　• IGBT PIM模块V23990系列的前级是增强型三相全波整流器，中间级是可选的W/O BRC模块，后级为 IGBT 三相逆变电路，体积小，功率大，损耗低，较稳定;优化内部布线，低电感设计，减少寄生噪音;有完全的自我保护电路，快速灵敏;其特性为600V/6A-100A，1200V/8A-100A，产品系列齐全;

　　• 隔离放大器PS8352采用高精度的Σ-ΔA/D转换器， 具有体积小、寿命长、无触点、抗干扰能力强、输出和输入之间绝缘、单向传输信号等优点;

　　• 驱动光耦 PS9031 最大驱动电流 为2.5A，爬电距离为 8mm，可推挽式输出，具有高速、高共模抑制和欠压保护等特性，工作温度可达 125℃，适合工业逆变应用。

     【变频伺服】

　　(1)伺服系统：是使物体的位置、方位、状态等输出，能够跟随输入量(或给定值)的任意变化而变化的自动控制系统。

　　(2)在自动控制系统中，能够以一定的准确度响应控制信号的系统称为随动系统，亦称伺服系统。

　　伺服的主要任务是按控制命令的要求，对功率进行放大、变换与调控等处理，使驱动装置输出的力矩、速度和位置控制得非常灵活方便。

　　1.3 伺服系统的分类及组成

　　伺服系统按系统结构可分为开环伺服系统、闭环伺服系统、半闭环系统、复合控制系统。

　　具有反馈的闭环自动控制系统由位置检测部分、偏差放大部分、执行部分及被控对象组成。

　　1.4 伺服系统的性能要求

　　伺服系统必须具备可控性好，稳定性高和适应性强等基本性能。说明一下，可控性好是指讯号消失以后，能立即自行停转;稳定性高是指转矩随转速的增加而均匀下降;适应性强是指反应快、灵敏、响态品质好。

　　1.5 伺服系统的种类

　　通常根据伺服驱动机的种类来分类，有电气式、油压式或电气—油压式三种。

　　伺服系统若按功能来分，则有计量伺服和功率伺服系统;模拟伺服和功率伺服系统;位置伺服和加速度伺服系统等。

　　电气式伺服系统根据电气信号可分为DC直流伺服系统和AC交流伺服系统二大类。AC交流伺服系统又有异步电机伺服系统和同步电机伺服系统两种。