CN100401218C - Parallel connection equipment opening type motion control card based on two-stage DSP and control method thereof - Google Patents
Parallel connection equipment opening type motion control card based on two-stage DSP and control method thereof Download PDFInfo
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- CN100401218C CN100401218C CNB2005101223239A CN200510122323A CN100401218C CN 100401218 C CN100401218 C CN 100401218C CN B2005101223239 A CNB2005101223239 A CN B2005101223239A CN 200510122323 A CN200510122323 A CN 200510122323A CN 100401218 C CN100401218 C CN 100401218C
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Abstract
The present invention discloses a parallel connection device opening type motion control card based on two-stage DSP and a control method. The system of the present invention adopts a two-stage control structure of multiple-CPU parallel processing. A total control function of the system and a specific control function of a motor are separated. A control stage CPU is used as a core of the control card to control and reconcile the operation of the whole system. A programmable logic device FPGA is adopted to construct a communication interface. A central processing unit of the control stage and a motor control unit of an executing stage are connected with an FPGA chip. The FPGA controls an FIFO and a synchronizing state signal, which leads the high-speed transmission of data and the synchronizing control of the motor to be realized. The control method comprises the following steps: the central processing CPU controls a trajectory in a discrete mode; the executing stage CPU carries out the inversion of position and velocity; a variable element location PID then controls a servo motor. The control card of the present invention has the characteristics of good openness, high processing speed, strong control ability, high real time performance, etc. The control card of the present invention is suitable for controlling parallel conformation equipment which has the characteristics of non-linearity, strong coupling and real time performance.
Description
Technical field
The present invention relates to a kind of parallel connection equipment opening type motion control card and control method, belong to the digital control system in open type technology based on two-stage DSP.
Background technology
Parallel institution is one group of mechanism that has two or more branch officeses to be formed in parallel.Its feature is that all branch officeses can accept the driver input simultaneously, and finally provides output jointly, belongs to multichannel closed loop mechanical system on theory of mechanisms.Being referred to as configuration equipment in parallel with parallel institution as numerically-controlled machine, the robot manipulator of transmission feeding mechanism and the manufacturing cell that forms thus, is a kind of novel manufacturing equipment that broad prospect of application is arranged that development in recent years is got up.
The maximum characteristics of configuration equipment in parallel are that it is simple in structure and control is complicated, because the motion in cartesian space is the Nonlinear Mapping (claiming the actual situation mapping again) of each axis servomotor motion of joint space, even the linear uniform motion on the Cartesian coordinates single shaft is also synthetic jointly by several axis servomotors nonlinear motion simultaneously in the joint space, therefore when carrying out motion control, terminal pose of mechanism that must earlier will be in advance given and velocity information are separated the steering order that computing is converted to each axis servomotor of joint space by kinematics is contrary, could driven Parallel Kinematic Manipulator realize desired motion.
Present commercial control card all is based on the design of cartesian space coordinate system, it between the controlled quentity controlled variable of its motion control amount in the operating space and servomotor simple directly linear corresponding relation, can not directly apply to the control of parallel institution, therefore build the parallel institution control system and generally adopt the method for on the architecture basics of " PC+conventional motion control card ", carrying out secondary development: with industrial computer as basic platform, be responsible for the kinematics model computing, trajectory planning and man-machine interaction, real-times such as system management are less demanding but task that calculated amount is big, and motion control card is only finished the real-time control to servo unit.Though this type systematic is relatively simple for structure, realize easily, be difficult to satisfy movement locus high speed, High Accuracy Control in the practice to parallel institution.Main cause is as follows:
1. interpolation strategy and traditional serial mechanism that configuration equipment in parallel adopts have significant difference.What be that the parallel institution control system of hardware platform adopts with " PC+ conventional motion control card " is secondary interpolation strategy, i.e. rough interpolation and thin interpolation separately carried out by PC and control card respectively.Because motion control card itself in order to guarantee the control accuracy of parallel institution, just must limit its speed of feed, thereby be difficult to realize the requirement of parallel connection equipment high-speed, high precision the restriction of interpolation cycle;
2. owing to must finish by PC and common coordination of control card, between two CPU, frequently carry out the mass data exchange and very easily form the communication bottleneck, and then influence the high-speed cruising of total system the motion control of parallel institution;
3. that configuration in parallel equipment has is non-linear, strong coupling, the time dynamics that becomes, should adopt the intelligent control algorithm of changeable parameters to improve its dynamic property at isomorphism type characteristics not in principle.Yet because present motion control card only provides the opening of system interface, its core control strategy to be still sealing mostly, the user can't change its internal control algorithm, causes the serviceability of parallel connection equipment to be difficult to further raising.
This shows, owing on control principle, exist than big-difference, existing traditional motion control card also not exclusively is suitable for the control features of parallel institution, and the parallel connection equipment structure and the scale parameter of isomorphism type are not quite similar, the user should be able to make amendment to kinematics model and control strategy easily, this requires control system that high dirigibility and opening are arranged, therefore, characteristics at parallel institution are developed the novel motion control card with open architecture, and practicability, the industrialization process that promotes configuration equipment in parallel had crucial meaning.
Summary of the invention
The object of the present invention is to provide a kind of parallel connection equipment opening type motion control card and control method based on two-stage DSP.This system has stronger real-time and processing speed faster; Realize the direct interpolation of movement locus, satisfy the control needs of configuration equipment high-speed, high precision in parallel.
For achieving the above object, the present invention is realized by following technical proposals, a kind of parallel connection equipment opening type motion control card based on two-stage DSP, it is characterized in that: control card adopts the two-layer configuration of many CPU parallel processing, task scheduling, system monitoring and the servocontrol functional classification of control card are handled: controlled stage constitutes CPU (central processing unit) by a high-end digital signal processor (DSP), as the core of commander, the work of coordination total system; Execution level constitutes the motor control unit of parallel processing by two above DSP, and the DSP of each execution level is responsible for the direct control of 1～2 servo drive unit respectively, and servo unit is made up of AC servo driver and servomotor; The motor control unit of CPU (central processing unit) and execution level is connected by the communication interface logical circuit of field programmable gate array (FPGA) chip structure, in the high speed data transfer and the coordinate synchronization that realize under the control of first-in first-out register (FIFO) and synchronous logic control signal between each unit.
Adopt above-mentioned control card to realize that its process of control method is:
1. at first according to interpolation cycle, handle CPU by central authorities the orbit segment in the operating space is carried out refinement on time shaft, and, insert some speed transition sections according to system's acceleration requirement, disposablely finish interpolation work;
2. after central authorities' processing CPU finishes interpolation operation, the mass data that comprises position, speed, acceleration of the cartesian space discrete point that obtains is write FIFO with the form of motion control instruction sequence, and the synchro control logic by FPGA guarantees that different motor control units can read steering order synchronously.
3. controlled stage CPU calls kinematics and calculates the position of joint space spindle motor, speed control amount against separating model solution, compare with motor physical location feedback signal and to obtain the site error value, control algolithm processor and D/A (DAC) by default be converted to ± the aanalogvoltage speed control signal of 10V, output to AC servo driver, realize position, speed double closed-loop control the motor movement state.
Superiority of the present invention is: at the motion control characteristics of parallel institution, adopted the two-stage control structure of many CPU parallel processing, the advantage of this structure is by with the task reasonable distribution, with aggregate decision management with specifically execute the task separate, non real-time separates with the real-time task, can bring into play the operational efficiency of each subsystem to greatest extent, improve the computing velocity of total system, and PC no longer participates in real-time control, alleviated and PC between data communication pressure; Because calculated performance improves, when the track interpolation, realized thick smart interpolation unification direct interpolating method, the system interpolation cycle of making shortens greatly, thereby effectively improves the speed of feed and the bearing accuracy of parallel institution; Adopted complete open control structure, support the customization of motion control strategy, the intelligent control algorithm that allows the user to use various complexity according to the characteristics and the control needs of different institutions, can make system obtain better dynamic property, thereby satisfy the needs that configuration equipment in parallel is used for high-speed, high precision control.
Description of drawings
Fig. 1 is a motion control card one-piece construction theory diagram of the present invention
Communication control interface theory diagram between Fig. 2 motion control card DSP of the present invention
Fig. 3 is a method for controlling trajectory theory diagram of the present invention
Fig. 4 is a control card system software structure block diagram of the present invention
Fig. 5 is the structural representation of the 3-freedom parallel mechanism of control card control of the present invention
Among the figure: 1 is servomotor, and 2 is the frame linking slave arm, and 3 is master arm, and 4 is support, and 5 is slave arm, and 6 is moving platform, and 7 is paw, and 8 is feed mechanism.
Embodiment
Below in conjunction with accompanying drawing the present invention is illustrated.
By the theory diagram that Figure 1 shows that this control card, control card has adopted the two-stage control structure of many CPU parallel processing, and controlled stage selects for use the dsp chip TMS320VC5402 of TI company as CPU (central processing unit).TMS320C5402 can reach the instruction process speed of 100MIPS, has more peripheral circuit interface and data-handling capacity preferably.Central authorities handle the integral body control that CPU realizes system, comprise task scheduling, control decision, fault handling, error compensation, and the calculating of operating space movement locus, as the track interpolation and the speed control of curve movement.Because central authorities handle the concrete control that CPU does not participate in motor, only need finish computing and the result is sent to Electric Machine Control CPU, do not need to carry out peripheral interface control, so the minimum system circuit that has adopted TMS320VC5402 in the control card is as basic circuit structure.
Execution level selects for use dsp chip TMS320LF2407A more than two as the core processor of motor control unit, and its basic circuit is identical with the basic circuit structure of current general motion control card.For rapidity and the accuracy that guarantees multi-axle motor is handled, each Electric Machine Control CPU only is responsible for control 1～2 spindle motor, guarantees that each axis servomotor has following refresh time of 30 μ S and controlled, complicated motor acceleration and deceleration control ability.Peripheral circuit mainly comprises the external data memory SRAM (61LV6416) of external program memory SRAM (61LV6416), 64K*16Bit of 64K*16bit and artificial mouth (JTAG) etc.
Control card has adopted the two-stage control structure of many CPU parallel processing, and for solving data communication and the coordinate synchronization problem between each CPU, CPU (central processing unit) is connected with the communication interface logical circuit of motor control unit by the FPGA structure.Utilize the resource of FPGA, the identical two-way FIFO of structure multichannel structure, every Lu Yuyi Electric Machine Control CPU correspondence.After the processing CPU of central authorities finishes interpolation operation, mass data such as the position of the cartesian space discrete point that obtains, speed, acceleration are write FIFO with the form of motion control instruction sequence, guarantee that by the steering logic of FPGA different motor control units can read steering order synchronously.After Electric Machine Control CPU reads steering order among the FIFO, call kinematics and carry out inverting against separating model, generate position, the speed control amount of joint space spindle motor, compare with the physical location feedback signal and to obtain the site error value, control algolithm processor and D/A (DAC) by default with conversion of signals be ± the aanalogvoltage speed control signal of 10V, and output to AC servo driver and realize position, speed double closed-loop control the motor movement state.
Control card is gathered the increment type pulse encoder as position feed back signal, pulse code dish output+A ,-A ,+B ,-B ,+Z ,-square-wave pulse of three groups of difference form of Z, A, A-, B, B-, the Z signal of signal after obtaining shaping after the shaping of the DS26LS32 of control card chip difference that pulse encoder produces.Can differentiate the sense of rotation of motor by A and B phase relation mutually, utilize the part resource of FPGA in the system to realize function to the frequency multiplication/phase demodulation/counting of feedback signal, formation position signalling backfeed loop.The D/A switch interface of control card adopts D/A conversion chip DAC7724 that the input of four-way 12 bit parallels, voltage-type output are provided; Mould/number conversion interface is selected the A/D conversion chip ADS7864 of the output of four-way 12 bit parallels, the input of voltage difference for use, can be used for the feedback input of other simulating signals such as motor torque and rotating speed.
When forming system with PC, PC only need realize the less demanding tasks of real-time such as user interface and main track planning, so just significantly reduced between industrial computer and the motion control card the communication data amount and to the requirement of real-time ability, thereby effectively avoided forming between PC and control card the problem of data communication bottleneck.Consider that pci interface has higher data transmission speed and compatibility, use pci bus can make full use of the control function and the system resource of industrial computer, the PC communication interface of this control card has been selected pci interface for use, adopt the communication interface of the pci interface chip PXI9052 design control card of current comparative maturity, and by the data communication between two-port RAM (DPRAM) realization PC and the control card.DPRAM selects Integrated DeviceTechnology for use, the high speed 8Kx16DUAL-PORT STATIC RAM IDT7025 of Inc. company.
Because the end effector of parallel institution is the Nonlinear Mapping of each axis servomotor motion of joint space in the motion of cartesian space, the equivalent load of therefore converting joint space is coupled, and be the function of a shape, therefore in motion process, answer the pid parameter of each controller of dynamic adjustments.At this non-linear, strong coupling of parallel institution, the time dynamic characteristic that becomes, system adopts the pid control algorithm of variable element.In order to make system have good opening and extensibility,, allow the user that the logic function or the program of system are on-the-fly modified for the user has kept the online programming interface.The user can require to customize kinematics model and control algolithm voluntarily according to the design feature and the control under the different application occasion of parallel institution, comprises the intelligent control algorithm of various complexity.User program at first must generate the machine code that DSP can discern through compilation, connection, download in the flash memory (FLASH) by the online programming interface that keeps for the user again, when system reset by the boot-loader that solidifies among the mask ROM in the DSP sheet (Boot loader) program, adopt the loaded in parallel method with during user's algorithm routine is from the exterior guiding to the high-speed RAM, guarantee its high-speed cruising.Select suitable control algolithm can further improve the dynamic perfromance of total system.
Open fully for realizing the control card system kernel, in hardware design, adopted reconfigurable device FPGA constitutive logic interface and position feedback circuit.The major advantage of FPGA just is to have very strong dirigibility, and the concrete logic function of its inside is dynamic-configuration as required, and is very convenient to the modification and the maintenance of circuit structure.System adopts this make to realize the process of hardware capability software implementation, makes the motion control card inner structure open, has greatly strengthened the opening of system.
Fig. 5 shows the three-dimensional solid modeling of 3DOF parallel institution.This mechanism comprises that frame, moving platform and two side chains that structure is identical, each side chain contain two parallelogram.Rack-mounted servomotor drives master arm respectively and rotates, and then can realize the two-degree of freedom translation of moving platform.Being connected in series a feed mechanism,, constitute the 3DOF parallel institution with servomotor+ball-screw transmission with the vertical direction in mechanism kinematic plane.
Adopt control card of the present invention, realize control procedure following (as shown in Figure 3) said mechanism:
(1) handles the discrete control of CPU track by central authorities
According to speed and the interpolation cycle set, movement locus is gone up the discrete some preface that becomes in the operating space at " time shaft ", and determine the transition section that needs insert according to the acceleration of setting.Result of calculation is sent to corresponding execution level CPU with the form (discrete point position, speed, acceleration) of movement instruction sequence by FIFO;
(2) carry out the Position And Velocity inverting by execution level CPU
Execution level CPU calling station, attitude and speed acceleration respectively carries out inverting against separating model to the discrete point sequence after the interpolation, obtains the corresponding discrete point preface in the joint space, i.e. the position of each axis servomotor motor, speed control amount;
(3) carry out variable element position PID control by execution level CPU
The given position of servomotor and motor physical location feedback signal compare and obtain the site error value, be converted to ± the aanalogvoltage speed control signal of 10V by variable element position PID controller and D/A (DAC), output to AC servo driver, realize position, speed double closed-loop control the motor movement state.Synchro control by FPGA between each motor control unit realizes coordinate synchronization, drives servomotor and mechanism's end is walked out wish track.
Claims (2)
1. parallel connection equipment opening type motion control card based on two-stage DSP, it is characterized in that, this control card adopts the two-layer configuration of many CPU parallel processing, task scheduling, system monitoring and the servocontrol functional classification of control card are handled: controlled stage constitutes CPU (central processing unit) by a high-end digital signal processor, as the core of commander, the work of coordination total system; Execution level comprises the dsp chip more than two, and every DSP constitutes a motor control unit, is responsible for the direct control of 1～2 servo drive unit, and servo drive unit is made up of AC servo driver and servomotor; The motor control unit of CPU (central processing unit) and execution level is connected by the communication interface logical circuit of field programmable gate array chip structure, in the high speed data transfer and the coordinate synchronization that realize under the control of first-in first-out register and synchronous logic control signal between each unit.
2. an employing is characterized in that comprising following process by the method for the described motion control card of claim 1 based on the control parallel connection equipment of two-stage DSP:
1) at first according to interpolation cycle, by CPU (central processing unit) the orbit segment in the operating space is carried out refinement on time shaft, and, insert some speed transition sections according to system's acceleration requirement, disposablely finish interpolation work;
2) after CPU (central processing unit) is finished interpolation operation, the mass data that comprises position, speed, acceleration of the cartesian space discrete point that obtains is write first-in first-out register with the form of motion control instruction sequence, and the synchro control logic by field programmable gate array guarantees that different motor control units can read steering order synchronously;
3) each motor control unit of execution level calls the contrary model of separating of kinematics respectively, calculate each position, speed control amount of joint space, compare with motor physical location feedback signal and to obtain the position deviation value, control algolithm processor by default carries out computing regulate after, the formation speed command signal, by D/A be converted to ± 10 volts analog voltage signal outputs to the alternating current generator servo-driver, realizes position, speed double closed-loop control to the motor movement state.
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| CN102707670A (en) * | 2011-05-19 | 2012-10-03 | 深圳众为兴技术股份有限公司 | Method for controlling continuous interpolation motion realized by first in first out (FIFO) based on field programmable gate array (FPGA) |
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Assignee: SEW- transmission equipment (Tianjin) Co., Ltd. Assignor: Tianjin University Contract fulfillment period: 2008.1.1 to 2012.12.31 Contract record no.: 2008990001463 Denomination of invention: Parallel connection equipment opening type motion control card based on two-stage DSP and control method thereof Granted publication date: 20080709 License type: Exclusive license Record date: 20081215 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080709 Termination date: 20201213 |