CN1655080A

CN1655080A - Arm rack motion controller of concrete pump truck

Info

Publication number: CN1655080A
Application number: CN 200510031170
Authority: CN
Inventors: 龙刚强; 周华平
Original assignee: Sany Heavy Industry Co Ltd
Current assignee: Sany Heavy Industry Co Ltd
Priority date: 2005-01-19
Filing date: 2005-01-19
Publication date: 2005-08-17

Abstract

This invention discloses a motion control for concrete car pump arm frame including a DSP master processor, a CPLD decode and level converter, a digital input module, a digital output module, the DSP master processor is connected with the converter and the output module, the converter is connected with the input module, the converter is also connected with PC104 bus interface module and CAN bus interface module, the PC104 module includes a double-port memory, PC 104 bus diver and PC104 bus interface connected with its driver connected with the double-port memory. The CAN interface module includes a CAN driver and a photoelectric isolator.

Description

Arm rack motion controller of concrete pump truck

Technical field

The present invention is mainly concerned with a kind of motion control device, refers in particular to a kind of arm rack motion controller of concrete pump truck.

Background technology

In the control system of concrete pump truck arm control, robot control, numerically-controlled machine control or other multiple shafting, motion controller is most crucial ingredient, more and more in recent years strength are put in the research of multi-axis motion controller, have also occurred the like product that interface differs, performance is different on market.Along with the intelligentized development of electromechanical equipment, airborneization of its control system, miniaturization become a kind of inevitable development trend.The PC104 industrial computer series is with its small and exquisite structure, superior performance and be connected reliably, is suitable as very much the main control computer of the airborne chemical control system of electromechanical equipment system, and has obtained in this respect using very widely.But existing multi-axis motion controller generally all is based on ISA or pci bus, they all can not directly be connected with bus mode with the PC104 industrial computer series, when integrated electromechanical integration multi-shaft motion control system, usually do not have to abandon with the scheme of PC104 industrial computer series, can not satisfy the needs of present practical operation as main control computer because there being supporting multi-axis motion controller.In addition, present motion controller generally adopts serial ports and outside to carry out message exchange or does not have information exchange functions, and the quantity of information in the modern control is more and more, also more and more higher to communicating requirement, rely on serial ports merely or do not have communication interface all seriously to restrict further developing of motion controller.

Summary of the invention

Technical matters to be solved by this invention just is: at the technical matters of technology existence, overcome the defective of prior art, provide a kind of based on PC104 bus and CAN bus interface and can with solve that original multi-axis motion controller can not carry out directly that bus is connected with the PC104 industrial computer series and with the PERCOM peripheral communication arm rack motion controller of concrete pump truck of the variety of issue that brings of toilet not.

In order to solve the problems of the technologies described above, the solution that the present invention proposes is: a kind of arm rack motion controller of concrete pump truck, it comprises DSP primary processor, the decoding of CPLD bus and level translator, digital input module, digital output module, it is characterized in that: described DSP primary processor links to each other with digital output module with CPLD decoding and level translator, CPLD decoding and level translator link to each other with digital input module, and CPLD deciphers and level translator also links to each other with PC104 bus interface module and CAN bus interface module.

Described PC104 bus interface module comprises dual-ported memory, PC104 bus driver and PC104 bus interface; The PC104 bus interface links to each other with the PC104 bus driver, and the PC104 bus driver links to each other with dual-ported memory again;

Described CAN bus interface module comprises CAN driver and photoisolator.

Described digital input module comprises digital input interface and photoisolator, and digital output module then comprises digital output interface and photoisolator.

This controller also includes two voltage monitors, and this watch-dog links to each other with the DSP primary processor.

Compared with prior art, the invention has the advantages that:

1, arm rack motion controller of concrete pump truck of the present invention is a core with DSP primary processor and CPLD decoding scheme, integrated level height, fast operation, consuming little energy;

2, arm rack motion controller of concrete pump truck of the present invention has the PC104 bus interface, can be directly and the PC104 industrial computer series form multi-shaft motion control system;

3, arm rack motion controller of concrete pump truck of the present invention has 11 passage digital input interfaces, can gather the digital controlled signal of outside input in real time; And have the digital output interface of 11 passages, and comprise 5 road PWM output channels and 6 way word signal output channels, can export various control signals.Therefore, the present invention can carry out interlock control and independent control, control accuracy height to concrete mixer turntable and 4 joint jibs simultaneously;

4, arm rack motion controller of concrete pump truck of the present invention has the common memory of 4K, both can be used as the digital signal processor buffer memory and has used, and also can be used as both-way communication data buffering pond and uses, and controlled variable can online neatly setting, modification and storage;

5, arm rack motion controller of concrete pump truck of the present invention has CAN bus communication function, can directly carry out message exchange by CAN bus and outside, is convenient to remote information transmission.

Description of drawings

Fig. 1 is a structural principle block diagram of the present invention;

Fig. 2 is the circuit diagram of the specific embodiment of the invention.

Marginal data

1, DSP primary processor 2, CPLD decoding and level translator

3, digital input module 4, digital output module

5, PC104 bus interface module 6, CAN bus interface module

Embodiment

Below with reference to accompanying drawing the present invention is described in further detail.

Basic structure of the present invention as shown in Figure 1, it adopts high-speed dsp primary processor 1, extensive CPLD and CAN bus communication technology, provides-kind of the multiaxial motion control device based on PC104 bus and CAN bus.As shown in Figure 1, it comprises DSP primary processor 1, the decoding of CPLD bus and level translator 2, digital input module 3, digital output module 4 the present invention, DSP primary processor 1 links to each other with digital output module 4 with CPLD decoding and level translator 2, CPLD decoding and level translator 2 link to each other with digital input module 3, and CPLD deciphers and level translator 2 also links to each other with PC104 bus interface module 5 and CAN bus interface module 6.PC104 bus interface module 5 comprises dual-ported memory, PC104 bus driver and PC104 bus interface; The PC104 bus interface links to each other with the PC104 bus driver, and the PC104 bus driver links to each other with dual-ported memory again; CAN bus interface module 6 comprises CAN driver and photoisolator, is connected in decoding of CPLD bus and level translator 2 by the luminous point isolator.Described digital input module 3 comprises digital input interface and photoisolator, and links to each other with decoding of CPLD bus and level translator 2 by photoisolator; Digital output module 4 then comprises digital output interface and photoisolator, and links to each other with decoding of CPLD bus and level translator 2 by photoisolator.This controller also includes two voltage monitors, and this watch-dog links to each other with DSP primary processor 1, can right simultaneously+5V carries out on-line monitoring with+3.3V voltage, and DSP primary processor 1 resets when going wrong.

Wherein, DSP primary processor 1 and CPLD decoding and level translator 2 constitute core of the present invention, are responsible for the functions such as circuit control, information processing, control output and bus communication of entire controller; PC104 bus interface, PC104 bus driver and dual-ported memory constitute PC104 bus interface module 5, can realize the exchanges data with the PC104 industrial computer; CAN driver and photoelectricity are isolated formation CAN bus interface module 6, can realize controller and outside communicating by letter; Digital input interface and photoelectricity are isolated the digital input module 3 that constitutes, and accept the digital signal of outside input; Digital output interface and photoelectricity are isolated the digital output module 4 that constitutes, and are used for exporting the various control signals (comprising pwm signal and digital signal) that DSP primary processor 1 produces.

Principle of work: (1) parameter setting and memory: when being connected use with the PC104 industrial computer with the PC104 bus, the PC104 industrial computer is stored in parameter, parameter classification, communication secret key in the storage unit of public storage agreement, send look-at-me then, motion controller makes an immediate response and interrupts and enter interrupt service routine, verifies secret key in break in service, judge classification, reads parameter and store in the nonvolatile memory.(2) the online adjustment of parameter: when motion controller powers on, initialize routine can read the parameter in the nonvolatile memory and store in the unit of common memory agreement, when entering motion control, to directly from the common memory corresponding units, read in the time of will using these parameters in each cycle, when being connected use with the PC104 industrial computer with the PC104 bus, the PC104 industrial computer can constantly onlinely directly store parameter in the common memory corresponding units, to upgrade the purpose that original parameter reaches adjustment.(3) digital signal acquiring: motion controller can be gathered the digital controlled signal of outside input in real time by 11 road isolated form digital signal acquiring passages, DSP primary processor 1 is after carrying out necessary processing to these input signals, can use for the control of primary processor self on the one hand, primary processor can store these digital input signals in the dual-ported memory on the other hand, read for the PC104 industrial computer, simultaneously, primary processor can also be passed to the extraneous equipment that needs to these information by the CAN bus.(4) motion control output: DSP primary processor 1 can store control model word in the dual-ported memory into according to the PC104 industrial computer, judges the control output mode, and exports control accordingly.If promptly stop control model, then stop control to jib, call the output of jib stop motion function stop control signal; If manual control model then stops the Based Intelligent Control to jib, and the notification mode switch controller carries out the switching output of manual control signal; If multi-arm frame while control model is then called each jib control function successively, once finish control to all jibs; If single armed frame control model is then called single armed frame control function, finish control to single jib; If above several modes is not, then belong to the warm start pattern, call the warm start function system is controlled again.Output signal in the controller is carried out computing according to the data of PC104 industrial computer planning by specific algorithm by DSP primary processor 1 and is obtained, the current location of jib and target location are stored in the dual-ported memory by the PC104 industrial computer and are constantly upgraded, 1 of DSP primary processor in needs from dual-ported memory sense data, calculate the PWM control wave that needs and the direction control signal line output of going forward side by side in real time by special control algolithm (based on pid algorithm), various parameters of using in the algorithm and pattern control word provide and are stored in the dual-ported memory by the PC104 industrial computer, read for DSP primary processor 1.(5) digital signal output: the digital controlled signal that DSP primary processor 1 produces is exported by isolating digital output module 4, the digital signal signal of output comprises 5 road pwm pulse signals, be used for controlling the motion of turntable and 4 jibs, 5 way word level signals, be used for controlling the direction of motion of turntable and each jib, 1 tunnel mode switch control signal, being used for controlling performer output manual control signal still is the Based Intelligent Control signal.(6) CAN bus communication: controller of the present invention can pass through CAN bus and outside exchange message, because DSP primary processor 1 inside carries CAN bus interface module 6, so do not need the outside to connect the CAN controller separately, only need process photoelectricity isolation back to be connected and get final product with the CAN driver.In order to guarantee the compatibility of level, the CAN signal of primary processor is earlier through linking to each other with photoisolator after the CPLD level conversion again.Since adopt the CAN bus as means of communication, fast and flexible, and stability is strong, can adapt to on-the-spot complex operating environment well, is convenient to remote data transmission.

Physical circuit synoptic diagram of the present invention as shown in Figure 2.Wherein, TMS320LF2407A is a DSP primary processor 1, is responsible for the control of entire circuit and finishes various information processings and the control output function; EPM7128A is CPLD decoding and level translator 2, realizes the level conversion function of various decodings and primary processor and external circuit by the programming of its inside; JTAG and JTAG2 are respectively the emulation interface of DSP and CPLD, are used for DSP and CPLD are carried out in-circuit emulation and program download; 10M3.3V be the external crystal-controlled oscillation of DSP, for DSP provides external timing signal; DS1834A is the external voltage watch-dog, can right simultaneously+5V and+3.3V voltage carries out on-line monitoring, primary processor resets when going wrong; IDT7134 is a dual-ported memory, carries out information stores and exchange for DSP primary processor 1 and PC104 industrial computer; 74HC245 is the PC104 bus driver, can provide the driving function for the PC104 bus; PC104AB is the PC104 bus interface, is used for connecting the PC104 industrial computer; PC847 is an optocoupler, isolates for digital input/output signal provides photoelectricity; 6N137 is a high speed photo coupling, isolates for the CAN bus communication provides photoelectricity; PCA82C250 is the CAN driver, for the CAN bus communication provides the driving function; TPS76833QPWP is+the 3.3V supply convertor, for DSP and CPLD provide low-tension supply; B0505S is+5V insulating power supply transducer, for CAN bus communication and digital signal output provide insulating power supply; CON8 is an IO interface, is used for being connected with external circuit; All the other are resistance capacitance and diode display circuit, finish corresponding subsidiary function.

Claims

1, a kind of arm rack motion controller of concrete pump truck, it comprises DSP primary processor (1), the decoding of CPLD bus and level translator (2), digital input module (3), digital output module (4), it is characterized in that: described DSP primary processor (1) links to each other with digital output module (4) with CPLD decoding and level translator (2), CPLD decoding and level translator (2) link to each other with digital input module (3), and CPLD deciphers and level translator (2) also links to each other with PC104 bus interface module (5) and CAN bus interface module (6).

2, arm rack motion controller of concrete pump truck according to claim 1 is characterized in that: described PC104 bus interface module (5) comprises dual-ported memory, PC104 bus driver and PC104 bus interface; The PC104 bus interface links to each other with the PC104 bus driver, and the PC104 bus driver links to each other with dual-ported memory again;

3, arm rack motion controller of concrete pump truck according to claim 1 is characterized in that: described CAN bus interface module (6) comprises CAN driver and photoisolator.

4, arm rack motion controller of concrete pump truck according to claim 1, it is characterized in that: described digital input module (3) comprises digital input interface and photoisolator, and digital output module (4) then comprises digital output interface and photoisolator.

5, according to any one described arm rack motion controller of concrete pump truck of claim 1-4, it is characterized in that: this controller also includes two voltage monitors, and this watch-dog links to each other with DSP primary processor (1).