CN103901814B - A kind of multiaxial motion digital control system - Google Patents
A kind of multiaxial motion digital control system Download PDFInfo
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- CN103901814B CN103901814B CN201410087093.6A CN201410087093A CN103901814B CN 103901814 B CN103901814 B CN 103901814B CN 201410087093 A CN201410087093 A CN 201410087093A CN 103901814 B CN103901814 B CN 103901814B
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Abstract
The invention discloses a kind of multiaxial motion digital control system, comprise a CAN, CAN comprises the DSP communicated by PCI with host computer, the DSP of drive motor in multiple CAN, PCI communication interface module, CAN, general purpose I/O interface and photoelectric isolation module; The interpolation operation of the DSP primary responsibility motion control that CAN is communicated by PCI with host computer; The communication of PCI communication interface module primary responsibility DSP and host computer.Compared with prior art, the present invention ensure that real-time Communication for Power in conjunction with the characteristic of CAN, improves system reliability, shorten the construction cycle, the ability giving full play to DSP high-speed computation completes real-time interpolation, and speed planning and open and close ring control, and add adaptability and the extensibility of control system.
Description
Technical field
The present invention relates to a kind of digital control system, specifically a kind of multiaxial motion digital control system.
Background technology
Multiaxial motion digital control system is widely used in automation equipment, particularly in numerically controlled processing equipment, textile machine, package packing machine and printing machinery.Be characterized in that control number of motors is many, device distribution scope is comparatively wide, synchronism requires high, particularly high to requirement of real-time.For this kind of Multi-axis motion control, the Fieldbus Based distributed control technology of many employings realizes multi-shaft interlocked.
CAN is the abbreviation of controller local area network (Controller Area Network), belongs to the category of fieldbus, the serial communication network being a kind of effective support distributed AC servo system or controlling in real time.Its feature has: (1) data communication does not have master-slave, and any one node can initiate data communication to other (one or more) nodes; (2) adopt non-destructive arbitration technique, make the low node of priority to dodge priority high, effectively prevent bus collision and communication line blocking; (3) communication distance can reach 10KM (speed is lower than 5Kbps) speed farthest and can reach 1Mbps (communication distance is less than 40M).The perfect communication protocol that CAN has can be realized by CAN controller chip and interface chip thereof, thus greatly reduces system development difficulty, shortens the construction cycle.Compared with general communication bus, the data communication of CAN has outstanding reliability, real-time and dirigibility.
Through finding the retrieval of existing patent documentation, China's application number is 200410017112.4, publication number is CN1564095A, and the patent that name is called " multi-axis motion control card based on RS-232 universal serial bus ", gives a kind of motion control card having single-chip microcomputer and RS-232 bus.But in this invention, resource-constrained in single chip microcomputer, particularly computing are more weak with process data capability, can not meet high performance servo control algorithm, system real time and the requirement to higher interpolation rate very well; RS-232 can only form primary and secondary structure system, and communication mode also can only carry out in the mode of main website training in rotation, and system real time, reliability are poor, and the construction cycle is long.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of multiaxial motion digital control system, characteristic in conjunction with CAN ensures real-time Communication for Power, improve reliability, shorten the construction cycle, give full play to DSP (Digital Signal Processing, digital signal processing) high-speed computation ability and complete real-time interpolation, speed planning and open and close ring control, and the introducing of CAN network adds adaptability and the extensibility of control system.
To achieve these goals, this multiaxial motion digital control system comprises a CAN, CAN comprises the DSP communicated by PCI with host computer, the DSP of drive motor in multiple CAN, PCI communication interface module, CAN, general purpose I/O interface and photoelectric isolation module;
The communication of described PCI communication interface module primary responsibility DSP and host computer, it mainly comprises pci bus interface chip, dual port RAM, CPLD chip and level transferring chip;
The DSP of described each drive motor exports four road PWM ripples, through Phototube Coupling by Signal transmissions to servo-driver, drive two motors;
The interpolation operation of the DSP primary responsibility motion control that described CAN is communicated by PCI with host computer;
Motor position rate signal is returned to servo-driver and forms system half-closed loop control by motor encoder; Topworks's end grating scale signal is returned to the DSP of drive motor through Phototube Coupling, this DSP has two quadrature coding pulse circuit, can form system full closed loop control;
Described each node DSP all carries data clock, and frequency setting is identical.
Further, described pci bus interface chip is CH365, and dual port RAM is high speed static two-port RAM chip id T7025, data buffering at a high speed and exchange between primary responsibility pci bus and DSP.
Further, the built-in CAN2.0 controller of the dsp chip in described CAN, support CAN2.0 agreement, by twisted pair line connection, have at most 110 nodes, transmission speed is 1Mbit/s to the maximum; Described CAN transceiver adopts model SN65HVD230 chip, CANTX and CANRX signal is converted into CANH and CANL signal and transmits in bus by transceiver.
Further, described SRAM be connect host computer DSP extend out memory headroom.
Further, the described DSP be connected with host computer also connects keyboard, pilot lamp and liquid crystal display.
Further, the dsp chip of described each node is provided with jtag interface.
Compared with prior art, this multiaxial motion digital control system ensure that real-time Communication for Power in conjunction with the characteristic of CAN, improve system reliability, shorten the construction cycle, the ability giving full play to DSP high-speed computation completes real-time interpolation, speed planning and open and close ring control, and add adaptability and the extensibility of control system.
Accompanying drawing explanation
Fig. 1 is multiaxial motion digital control system general structure schematic diagram;
Fig. 2 is DSP and communication interface with pc schematic diagram;
Fig. 3 is CAN Principle of Communication figure.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1, Figure 2 and Figure 3, this multiaxial motion digital control system comprises a CAN, CAN connects DSP (Digital Signal Processing, the digital signal processing) chip communicated by PCI with host computer, as the TMS320F2812 of TI company, the dsp chip of drive motor in multiple CAN, PCI communication interface module, CAN, general purpose I/O interface, photoelectric isolation module, keyboard and display screen.
The interpolation operation of the DSP primary responsibility motion control that described CAN is communicated by PCI with host computer, interpolation result composition message is kept in local buffer, wait for that CAN sends to interrupt producing, when central stopping pregnancy is raw, to determine whether bus is normally run before message sends, as broken down, carry out fault handling, as normally then sent message.
The communication of described PCI communication interface module primary responsibility DSP and host computer.It mainly comprises pci bus interface chip, dual port RAM, CPLD chip and level transferring chip.Due to the use of pci bus Special Interface Chip, signal wiring only needs by the address data signal line about pci bus side in Special Interface Chip, control signal wire and the status signal lines golden finger corresponding with the PCI slot on PC couple together.
Described pci bus interface chip be Nanjing ooze permanent electronics produce CH365.32 high-speed PCI general line system are easy easy-to-use 8 the active parallel interfaces being similar to isa bus by CH365, may be used for the computer card based on pci bus making low cost.13 bit address line A [0...12] of dual port RAM are connected with the address wire A [0...12] of CH365 with the address wire XA [0...12] of DSP, and using the enable signal of the address wire A0 of CH365 as Data-Bus extension.Data width due to CH365 is 8, and dual port RAM is 16, therefore utilize a slice serial CPLD chip (as EPM7064) to expand CH365 data bus, by the enable of CH365 address wire A0, timesharing read-write is carried out to 16 bit data, thus solve the scaling problem of data bus.
Described dual port RAM is the high speed static two-port RAM chip id T7025 that Integrated Device Technology, Inc. produces, data buffering at a high speed and exchange between primary responsibility pci bus and DSP.IDT7025 is as the shared data space between DSP and PC, and right output port and CH365, be mapped to its storage space; Left port is connected with DSP, is mapped to XINTF area 0.Because IDT7025 supply voltage is 5V, dsp chip supply voltage is 3.3V, therefore in the middle of them, adds a slice voltage conversion chip SN74LVTH16245.
The built-in CAN2.0 controller of described dsp chip, enormously simplify the design of CAN controller and peripheral circuit thereof.Described CAN transceiver adopts model SN65HVD230 chip, and this chip is 3.3V power supply chip, and this just eliminates the voltage transitions between DSP and transceiver.CANTX and CANRX signal is converted into CANH and CANL signal and transmits in bus by transceiver.
Described CAN, supports CAN2.0 agreement.Twisted pair line connection, have at most 110 nodes (controlling 218 motors at most), transmission speed is 1Mbit/s to the maximum.
Described each node DSP all carries data clock, and frequency setting is identical, when system cloud gray model starts, host computer broadcasts a clock synchronous instruction by connected DSP in bus, after each node receives instruction, local time counter is reset, completion system clock synchronous.
The DSP of described each drive motor exports four road PWM ripples, through Phototube Coupling by Signal transmissions to servo-driver, drive two motors.Motor position rate signal is returned to servo-driver and forms system half-closed loop control by motor encoder.Topworks's end grating scale signal is returned to the DSP of drive motor through Phototube Coupling, this DSP has two quadrature coding pulse circuit, can form system full closed loop control.
Described SRAM be connect host computer DSP extend out memory headroom.Because DSP memory headroom is limited, need to process mass data because DSP for this reason carries out interpolation operation again, therefore need to extend out memory headroom.
Described general purpose I/O, a part is for receiving exterior I/O device control message, and a part is idle, user friendly exploitation.
Multiaxial motion digital control system of telling, in order to further facilitate operation, the described DSP be connected with host computer also connects keyboard, pilot lamp, the liquid crystal display of being convenient to man-machine interaction.
Multiaxial motion digital control system of telling, in order to improve systemic openness, the dsp chip of described each node has opened jtag interface, user friendly secondary development.
This multiaxial motion digital control system ensure that real-time Communication for Power in conjunction with the characteristic of CAN, improve system reliability, shorten the construction cycle, the ability giving full play to DSP high-speed computation completes real-time interpolation, speed planning and open and close ring control, and add adaptability and the extensibility of control system.
Claims (6)
1. a multiaxial motion digital control system, comprises a CAN, CAN comprises the DSP communicated by PCI with host computer, the DSP of drive motor in multiple CAN, PCI communication interface module, CAN, general purpose I/O interface and photoelectric isolation module;
The communication of described PCI communication interface module primary responsibility DSP and host computer, it mainly comprises pci bus interface chip, dual port RAM, CPLD chip and level transferring chip;
The DSP of described each drive motor exports four road PWM ripples, through Phototube Coupling by Signal transmissions to servo-driver, drive two motors; It is characterized in that,
The interpolation operation of the DSP primary responsibility motion control that described CAN is communicated by PCI with host computer;
Motor position rate signal is returned to servo-driver and forms system half-closed loop control by motor encoder; Topworks's end grating scale signal is returned to the DSP of drive motor through Phototube Coupling, this DSP has two quadrature coding pulse circuit, can form system full closed loop control;
Described each node DSP all carries data clock, and frequency setting is identical.
2. a kind of multiaxial motion digital control system according to claim 1, it is characterized in that, described pci bus interface chip is CH365, and dual port RAM is high speed static two-port RAM chip id T7025, data buffering at a high speed and exchange between primary responsibility pci bus and DSP.
3. a kind of multiaxial motion digital control system according to claim 1, is characterized in that, the built-in CAN2.0 controller of the dsp chip in described CAN, support CAN2.0 agreement, by twisted pair line connection, have at most 110 nodes, transmission speed is 1Mbit/s to the maximum; Described CAN transceiver adopts model SN65HVD230 chip, CANTX and CANRX signal is converted into CANH and CANL signal and transmits in bus by transceiver.
4. a kind of multiaxial motion digital control system according to claim 1, is characterized in that, described SRAM be connect host computer DSP extend out memory headroom.
5. a kind of multiaxial motion digital control system according to claim 1, is characterized in that, the described DSP be connected with host computer also connects keyboard, pilot lamp and liquid crystal display.
6. a kind of multiaxial motion digital control system according to claim 1, is characterized in that, the dsp chip of described each node is provided with jtag interface.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105892413B (en) * | 2014-12-15 | 2019-11-05 | 广西大学 | A kind of modular Multi-axis motion control device |
| CN105892412B (en) * | 2014-12-15 | 2019-02-19 | 广西大学 | Multi-shaft motion control system hardware structure based on self-defined bus |
| CN105281619A (en) * | 2015-04-20 | 2016-01-27 | 重庆有法数控设备有限责任公司 | Servo driver |
| CN109581973A (en) * | 2019-01-09 | 2019-04-05 | 南通西塔自动化科技有限公司 | A kind of distributing moves synchronously programmable controller |
| CN111338274A (en) * | 2020-04-27 | 2020-06-26 | 核工业理化工程研究院 | Digital closed-loop control device based on CAN bus |
| CN113093723A (en) * | 2021-02-20 | 2021-07-09 | 中科龙人高新技术有限公司 | Multi-axis motion linkage controller for intelligent mobile robot |
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| CN2751338Y (en) * | 2004-10-29 | 2006-01-11 | 广州市诺信数字测控设备有限公司 | Numerical control device used in numerical control machine |
| CN101114174A (en) * | 2007-08-30 | 2008-01-30 | 广东工业大学 | Built-in type 4 axis sport controller |
| CN101369148B (en) * | 2008-09-28 | 2010-09-29 | 西北工业大学 | Multi-axis AC motor synchronous servo control apparatus and method based on DSP |
| CN203849590U (en) * | 2014-03-11 | 2014-09-24 | 中国矿业大学 | Multi-shaft motion numerical control system |
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