CN108614470A - A kind of three-axle table control system based on PMAC - Google Patents
A kind of three-axle table control system based on PMAC Download PDFInfo
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- CN108614470A CN108614470A CN201611133787.4A CN201611133787A CN108614470A CN 108614470 A CN108614470 A CN 108614470A CN 201611133787 A CN201611133787 A CN 201611133787A CN 108614470 A CN108614470 A CN 108614470A
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- pmac
- control
- system based
- control system
- motion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The three-axle table control system based on PMAC that the present invention provides a kind of, including PMAC motion control cards, driver, servo motor and host computer, the host computer controls the PMAC motion control cards by running driver, the movement that the PMAC motion control cards pass through control driver control servo motor.The present invention realizes the motion control to turntable using PMAC motion control cards, simultaneously the simulating sports of turntable are realized by adding replicating machine, and this control system is easy to operate, it is powerful, equipment performance is excellent, by control instruction and transmitting emulation data separation, it can be achieved that the data simulation period of up to 1ms, data transmission accuracy, real-time are good.
Description
Technical field
The present invention relates to rotating platform control system technical fields, and system is controlled more particularly to a kind of three-axle table based on PMAC
System.
Background technology
High-performance Inertial Navigation Testing Device is one of the key technology for realizing half inertial navigation testing experiment in kind, is mainly used for inertia
The performance test of measurement assembly (IMU) and inertial navigation system (INS) and the attitude motion l-G simulation test for executing carrier are flight
Device and indispensable ground checkout equipment during Weapon System Development, production and working service.It starts to walk from the sixties country
Carry out the research and development of inertial navigation test and motion simulation turntable, special project control and actuation techniques have obtained considerable in the eighties
Progress also has breakthrough in terms of trying to explore and putting into practice the key technology of large complicated turntable in recent years.Currently, the prior art lacks
The weary function of communicating real-time that high-precision control and emulation are carried out to turntable.
Invention content
The purpose of the present invention is to propose to which turntable movement can be controlled, and it is effectively improved turntable high-precision control and flight simulation
Real-time communication function a kind of three-axle table control system based on PMAC.
The three-axle table control system based on PMAC that the present invention provides a kind of, including PMAC motion control cards, driver,
Servo motor and host computer, the host computer controls the PMAC motion control cards by running driver, described
The movement that PMAC motion control cards pass through control driver control servo motor.
Further, the servo motor includes three, and specific bit is realized under the control of the PMAC motion control cards
Set the movement of rate, the Angle Position movement of different wave and director data simulating sports.
Further, the three-axle table control system based on PMAC further includes angular encoder, the angular encoder with
The PMAC motion controls card signal connection, the movement state information for feeding back turntable to PMAC motion control cards.
Further, the host computer includes display screen, the movement state information for showing turntable, when failure and
Alarm.
Further, the display screen is additionally operable to display control panel, in response to manual operation operation driver control
The motion state of turntable.
Further, the driver and the angular encoder pass through ACC-8A and the PMAC motion controls card signal
Connection.
Further, the three-axle table control system based on PMAC further includes replicating machine, the replicating machine with it is described
PMAC motion control card signals connect, and control information for the motion simulation of turntable for being sent to PMAC motion control cards, make
PMAC motion control card control turntables realize simulating sports.
The present invention realizes the motion control to turntable using PMAC motion control cards, while being realized by adding replicating machine
Simulating sports of turntable, and this control system is easy to operate, powerful, equipment performance is excellent, by control instruction and
Transmitting emulation data detaches the data simulation period, it can be achieved that up to 1ms, and data transmission accuracy, real-time is good.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of three-axle table control system based on PMAC of the embodiment of the present invention.
Specific implementation mode
In order to make the present invention be easier to be understood, below in conjunction with attached drawing and embodiment to technical scheme of the present invention
It is described in detail.
The three-axle table control system based on PMAC that the present invention provides a kind of, as shown in Figure 1, including PMAC motion controls
Card 1, driver 2, servo motor 3 and host computer 5, the host computer 5 is by running driver to the PMAC motion controls
Card 1 is controlled, the movement that the PMAC motion control cards 1 pass through control 2 control servomotor 3 of driver.Wherein, described to watch
It includes three to take motor 3, and the movement of designated position rate, different wave are realized under the control of the PMAC motion control cards 1
Angle Position movement and director data simulating sports.
In the one side of the embodiment of the present invention, the three-axle table control system based on PMAC further includes angular encoder
4, the angular encoder 4 is connect with 1 signal of PMAC motion control cards, for feeding back turntable to PMAC motion control cards 1
Movement state information.
In the one side of the embodiment of the present invention, the host computer 5 includes display screen, the motion state for showing turntable
Information, when failure and alarm, the display screen are additionally operable to display control panel, and driving journey is run in response to manual operation
Sequence controls the motion state of turntable.
In the one side of the embodiment of the present invention, the driver 2 and the angular encoder 4 by ACC-8A with it is described
1 signal of PMAC motion control cards connects.
In the one side of the embodiment of the present invention, the three-axle table control system based on PMAC further includes replicating machine 6,
The replicating machine 6 is connect with 1 signal of PMAC motion control cards, for being sent to PMAC motion control cards 1 for turntable
Motion simulation controls information, and PMAC motion control card control turntables is made to realize simulating sports.
For PMAC2 Lite PCI type cards, inside uses the PMAC motion control cards 1 that this control system uses
40MHzDSP56303 digital signal processing chips, speed, resolution ratio, band merit are superior to normal controller, servo control
System includes PID and low pass, notch filter, the links such as Velocity-acceleration forward feedback correction.
Three-axle table control system based on this PMAC is opened host computer 5 and is run as shown in Figure 1, equipment is powered after starting
The status information of automatic each section for reading PMAC motion control cards 1 is such as encountered mistake by driver, system, can be automatically fixed
Position and report barrier.System reads instruction input by user, the Hardware I that driver is closed/O letters by the interfaces MFC that host computer 5 is shown
Number, it is responded by one piece of Advantech I/O signal interface board.System reads position input by user and rate information, with
Serial port is sent to PMAC motion control cards 1, is adjusted by 1 accurate PID of PMAC motion control cards, ensures its positioning accurate
True property and operation stability, reach the order of magnitude requirement of inertial navigation measuring accuracy.Copying passes through in PMAC motion control cards 1
The reading of two-port RAM is realized, under RTX real time environments, replicating machine 6 sends high speed real time rate, position data motion control
The two-port RAM of card 1 may be implemented in the reading and response to data in servo period, and with instruction type, turntable be made to realize
Rate simulating or position simulating sports.
The present invention realizes the motion control to turntable using PMAC motion control cards, while being realized by adding replicating machine
Simulating sports of turntable, and this control system is easy to operate, powerful, equipment performance is excellent, by control instruction and
Transmitting emulation data detaches the data simulation period, it can be achieved that up to 1ms, and data transmission accuracy, real-time is good.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of three-axle table control system based on PMAC, it is characterised in that：Including PMAC motion control cards, driver, watch
Motor and host computer are taken, the host computer controls the PMAC motion control cards by running driver, described
The movement that PMAC motion control cards pass through control driver control servo motor.
2. the three-axle table control system based on PMAC as described in claim 1, it is characterised in that：The servo motor includes
Three, the movement of designated position, rate, the Angle Position movement of different wave are realized under the control of the PMAC motion control cards
And director data simulating sports.
3. the three-axle table control system based on PMAC as claimed in claim 2, it is characterised in that：Further include angular encoder,
The angular encoder is connect with the PMAC motion controls card signal, the movement shape for feeding back turntable to PMAC motion control cards
State information.
4. the three-axle table control system based on PMAC as claimed in claim 3, it is characterised in that：The host computer includes aobvious
Display screen, the movement state information for showing turntable, when failure and alarm.
5. the three-axle table control system based on PMAC as claimed in claim 4, it is characterised in that：The display screen is additionally operable to
Display control panel controls the motion state of turntable in response to manual operation operation driver.
6. the three-axle table control system based on PMAC as claimed in claim 5, it is characterised in that：The driver and described
Angular encoder is connect by ACC-8A with the PMAC motion controls card signal.
7. the three-axle table control system based on PMAC as described in any one of claim 1-6, it is characterised in that：Further include
Replicating machine, the replicating machine are connect with the PMAC motion controls card signal, for being sent to PMAC motion control cards for turning
The motion simulation of platform controls information, and PMAC motion control card control turntables is made to realize simulating sports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611133787.4A CN108614470A (en) | 2016-12-10 | 2016-12-10 | A kind of three-axle table control system based on PMAC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611133787.4A CN108614470A (en) | 2016-12-10 | 2016-12-10 | A kind of three-axle table control system based on PMAC |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108614470A true CN108614470A (en) | 2018-10-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611133787.4A Pending CN108614470A (en) | 2016-12-10 | 2016-12-10 | A kind of three-axle table control system based on PMAC |
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| CN (1) | CN108614470A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109459064A (en) * | 2018-12-17 | 2019-03-12 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of three-axle table control method and system based on PMAC |
| CN111857042A (en) * | 2020-08-19 | 2020-10-30 | 大连海事大学 | PMAC-based five-axis high-precision positioning control system and working method |
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| CN101509834A (en) * | 2008-03-31 | 2009-08-19 | 北京航空航天大学 | Hydraulic ABS test stand based on wheel speed closed-loop simulation |
| US20130234639A1 (en) * | 2009-09-22 | 2013-09-12 | Emerson Electric Co. | Sensorless lost/found rotor detection for permanent magnet motors |
| CN205750406U (en) * | 2016-05-31 | 2016-11-30 | 南京全控航空科技有限公司 | A kind of 3-degree-of-freedom electrical platform motion control board of high reliability |
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2016
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| CN101509834A (en) * | 2008-03-31 | 2009-08-19 | 北京航空航天大学 | Hydraulic ABS test stand based on wheel speed closed-loop simulation |
| US20130234639A1 (en) * | 2009-09-22 | 2013-09-12 | Emerson Electric Co. | Sensorless lost/found rotor detection for permanent magnet motors |
| CN205750406U (en) * | 2016-05-31 | 2016-11-30 | 南京全控航空科技有限公司 | A kind of 3-degree-of-freedom electrical platform motion control board of high reliability |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109459064A (en) * | 2018-12-17 | 2019-03-12 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of three-axle table control method and system based on PMAC |
| CN111857042A (en) * | 2020-08-19 | 2020-10-30 | 大连海事大学 | PMAC-based five-axis high-precision positioning control system and working method |
| CN111857042B (en) * | 2020-08-19 | 2024-04-26 | 大连海事大学 | Five-axis high-precision positioning control system based on PMAC and working method |
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Application publication date: 20181002 |