CN101369137A - On-chip motor servo-controlled system - Google Patents

On-chip motor servo-controlled system Download PDF

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Publication number
CN101369137A
CN101369137A CNA200810151187XA CN200810151187A CN101369137A CN 101369137 A CN101369137 A CN 101369137A CN A200810151187X A CNA200810151187X A CN A200810151187XA CN 200810151187 A CN200810151187 A CN 200810151187A CN 101369137 A CN101369137 A CN 101369137A
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CN
China
Prior art keywords
motor
chip
circuit
disposal
interface circuit
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Pending
Application number
CNA200810151187XA
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Chinese (zh)
Inventor
于晓洲
周军
周凤歧
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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Publication date
Application filed by Northwestern Polytechnical University filed Critical Northwestern Polytechnical University
Priority to CNA200810151187XA priority Critical patent/CN101369137A/en
Publication of CN101369137A publication Critical patent/CN101369137A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a servocontrol system for an on-chip motor, which comprises a processing system, a system interface circuit and a motor driving system. The processing system is connected with the motor driving circuit through a system interface circuit, the motor driving system is connected with the motor, and the motor control instruction can be generated by the processing system and then can be sent to the motor driving system so as to drive and control the motor, the system interface circuit can achieve communication function with other peripheral devices simultaneously, and can transmit the status message of the motor which is collected by the motor driving system to the processing system. The control system can achieve the data control of various motor systems only through replacing the power MOS tube, and also achieve multi-channel control signal output.

Description

On-chip motor servo-controlled system
Technical field
The present invention relates to a kind of motor servo control system, especially a kind of motor servo control system based on Programmable Technology on the sheet (SOPC).
Background technology
In industrial control field, have various types of motor servo systems coming into operation at present, these dissimilar servo-drive systems adopt different controllers.In a single day when therefore adopting the motor servo system of another kind of type, just need to adopt corresponding controller, this will cause the prolongation of system development cycle, the significantly lifting of cost.
Summary of the invention
In order to overcome the deficiency that prior art can not adopt same controller, the invention provides a kind of on-chip motor servo-controlled system, only need to select corresponding power amplifier metal-oxide-semiconductor according to the real power of motor, just can realize multidiameter delay control to the polytype motor.
The technical solution adopted for the present invention to solve the technical problems is: comprise disposal system, system interface circuit and motor driven systems, disposal system connects motor-drive circuit by the system interface circuit, motor driven systems connects motor, produce the Electric Machine Control instruction by disposal system, be sent to driving and the control of motor driven systems realization to motor, the system interface circuit is realized the communication function with other external unit simultaneously, and the status information of the motor that motor driven systems is collected is delivered to disposal system.
Disposal system adopts programmable logic device (PLD) (FPGA), comprises embedded soft-core processor, at sheet ROM, in sheet RAM, communication port, timer and I/O (IO) mouthful, and above-mentioned each device is all by an embedded type bus connection.By the IO mouth motor status is imported, utilize embedded type bus to transfer to embedded soft-core processor, the instruction of generation Electric Machine Control, by the IO mouth steering order is sent, the program of processor is installed in sheet ROM, be invoked at sheet RAM during working procedure, communication port connects display or other peripheral hardware by the system interface circuit, and timer is used for cycle of operation program.
The system interface circuit comprises independently level shifting circuit and serial communication circuit, the IO mouth of level shifting circuit one end connection processing system, the other end connects motor driven systems, and motor status information and Electric Machine Control instruction need to be sent to disposal system and motor driven systems respectively through after the level translation.The communication port of serial communication circuit one end connection processing system, the other end connect peripheral hardware, utilize serial communication circuit to realize and the communicating by letter of other external unit (display, PC).
Motor driven systems comprises operational amplifier, photoelectric isolated chip, change-over switch, several push-pull amplifiers, pot and A/D conversion chip.At first utilize operational amplifier to realize the amplification and the conversion of signal, then signal is sent to photoelectric isolated chip.Between the output terminal and each push-pull amplifier driving circuit of photoelectric isolated chip, installed change-over switch additional, be used to realize that the type of drive at different motors switches to different push-pull amplifiers.Push-pull amplifier adopts power MOS pipe, and the model of power MOS pipe is selected to be as the criterion according to the power demand of electric system actual motion and chosen.Be based on pot for obtaining of motor status information and record the voltage signal that is proportional to the motor rotational angle, utilize the A/D conversion chip to convert magnitude of voltage to digital quantity, level shifting circuit by motor status output terminal connected system interface circuit finally is sent to disposal system.
The invention has the beneficial effects as follows: because employing programmable logic chip (FPGA) has designed the motor servo control system based on Programmable Technology on the sheet (SOPC), the present invention only needs power MOS pipe is changed, and do not need other hardware circuit is made amendment, just can realize digital control to multiple electric system, and realize the output of multi-way control signals simultaneously.In addition,, can realize that the sheet inner height of external device is integrated, improve the reliability of system, further reduce cost simultaneously owing to adopted the SOC (system on a chip) technology.
The present invention is further described below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is a composition structured flowchart of the present invention.
Fig. 2 is a disposal system block diagram of the present invention.
Fig. 3 is a system interface circuit diagram of the present invention.
Fig. 4 is a motor driven systems block diagram of the present invention.
Embodiment
Device embodiment: with reference to Fig. 1, comprise disposal system, system interface circuit and motor driven systems, disposal system connects motor-drive circuit by the system interface circuit, motor driven systems connects motor, handle by disposal system, thereby produce the Electric Machine Control instruction, be sent to driving and the control of motor driven systems realization to motor, the system interface circuit utilize simultaneously the system interface circuit based on the RS232 agreement can with other external system communications, and the status information of the motor that motor driven systems is collected is delivered to disposal system.
Of the present inventionly utilize on the sheet that fpga chip constitutes disposal system as shown in Figure 2, processor adopting embedded soft nuclear 32 bit processors of NiosII.Inner also integrated at sheet ROM at fpga chip, at sheet RAM, the RXD (reception) that is used for serial communication communicates by letter with TXD (transmission), and IO, timer, serial peripheral SPI port, sdram controller, above-mentioned each device are all by an embedded type bus connection.By the IO mouth motor status is imported, utilize embedded type bus to transfer to embedded soft-core processor, the instruction of generation Electric Machine Control, by the IO mouth steering order is sent, the program of processor is installed in sheet ROM, be invoked at sheet RAM during working procedure, communication port connects display or other peripheral hardware by the system interface circuit, and timer is used for cycle of operation program.
System interface circuit of the present invention comprises serial communication circuit and level shifting circuit, as shown in Figure 3, the IO mouth of level shifting circuit one end connection processing system, the other end connects motor driven systems, and wherein the instruction of motor status information and Electric Machine Control needs to be sent to disposal system and motor driven systems respectively through after the level translation.In service in system, when the status information voltage level that provides when motor was higher than 3.3V, 74LCX16245 played the function of level conversion.The communication port of serial communication circuit one end connection processing system, the other end connects peripheral hardware, utilize serial communication circuit to realize and the communicating by letter of other external unit (display, PC) that communicating by letter with control terminal is to utilize serial RS232 agreement, specific implementation employing MAX232 chip.
Motor driven systems comprises operational amplifier, photoelectric isolated chip, change-over switch, several push-pull amplifiers, pot and A/D conversion chip, as shown in Figure 4, utilize operational amplifier OP07 that the drive signal (driving the pwm signal of direct current generator, the drive signal of hysteresis synchronous motor etc.) from disposal system is carried out voltage transitions and amplification, after finishing amplification, thereby signal is sent to the isolation that photoelectricity coupling chip TLP250 realizes signal.By this chip to reduce driving circuit to the interference of disposal system circuit (big electric current or the big voltage introduced of driving circuit can be got back to disposal system in addition, and former device is caused damage).Because the dissimilar motor-driven way of outputs are had any different, between the output terminal and driving stage of photoelectricity coupling chip, installed change-over switch additional, signal ingoing power metal-oxide-semiconductor from importing when being used for direct current generator driving and hysteresis synchronous motor driving, drive the break-make of H bridge circuit, the output motor drive signal when being used for step motor control, is then exported counting pulse signal.It should be noted that especially because dissimilar powers of motor differs greatly, therefore need select for use different power tubes to realize the output of drive current according to real power.Adopt pot that angle information is become information of voltage for obtaining of motor rotation position information, and realize the A/D conversion, and be sent to disposal system by the ADC0820 chip.The model of power MOS pipe is selected to be as the criterion according to the power demand of electric system actual motion and is chosen.Be based on pot for obtaining of motor status information and record the voltage signal that is proportional to the motor rotational angle, utilize the A/D conversion chip to convert magnitude of voltage to digital quantity, finally be sent to disposal system.

Claims (4)

1. on-chip motor servo-controlled system, comprise disposal system, system interface circuit and motor driven systems, it is characterized in that: disposal system connects motor-drive circuit by the system interface circuit, motor driven systems connects motor, produce the Electric Machine Control instruction by disposal system, be sent to driving and the control of motor driven systems realization to motor, the system interface circuit is realized the communication function with other external unit simultaneously, and the status information of the motor that motor driven systems is collected is delivered to disposal system.
2. on-chip motor servo-controlled system according to claim 1, it is characterized in that: described disposal system adopts programmable logic device (PLD), comprise embedded soft-core processor, at sheet ROM, at sheet RAM, communication port, timer and I/O port, above-mentioned each device all connects by embedded type bus; By the IO mouth motor status is imported, utilize embedded type bus to transfer to embedded soft-core processor, the instruction of generation Electric Machine Control, by the IO mouth steering order is sent, the program of processor is installed in sheet ROM, be invoked at sheet RAM during working procedure, communication port connects display or other peripheral hardware by the system interface circuit, and timer is used for cycle of operation program.
3. on-chip motor servo-controlled system according to claim 1, it is characterized in that: described system interface circuit comprises independently level shifting circuit and serial communication circuit, the IO mouth of level shifting circuit one end connection processing system, the other end connects motor driven systems, and motor status information and Electric Machine Control instruction need to be sent to disposal system and motor driven systems respectively through after the level translation; The communication port of serial communication circuit one end connection processing system, the other end connect peripheral hardware, utilize serial communication circuit to realize and the communicating by letter of other external unit.
4. on-chip motor servo-controlled system according to claim 1 is characterized in that: described motor driven systems comprises operational amplifier, photoelectric isolated chip, change-over switch, several push-pull amplifiers, pot and A/D conversion chip; Operational amplifier is realized the amplification and the conversion of signal, then signal is sent to photoelectric isolated chip; Between the output terminal and each push-pull amplifier driving circuit of photoelectric isolated chip, installed change-over switch additional, switch to different push-pull amplifiers at the type of drive of different motors; Push-pull amplifier adopts power MOS pipe, and the model of power MOS pipe is selected to be as the criterion according to the power demand of electric system actual motion and chosen; Be based on pot for obtaining of motor status information and record the voltage signal that is proportional to the motor rotational angle, utilize the A/D conversion chip to convert magnitude of voltage to digital quantity, level shifting circuit by motor status output terminal connected system interface circuit finally is sent to disposal system.
CNA200810151187XA 2008-09-28 2008-09-28 On-chip motor servo-controlled system Pending CN101369137A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNA200810151187XA CN101369137A (en) 2008-09-28 2008-09-28 On-chip motor servo-controlled system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNA200810151187XA CN101369137A (en) 2008-09-28 2008-09-28 On-chip motor servo-controlled system

Publications (1)

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CN101369137A true CN101369137A (en) 2009-02-18

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101860296A (en) * 2010-04-29 2010-10-13 北京航天控制仪器研究所 Servo motion control device based on floating-point DSP
CN102934351A (en) * 2011-04-20 2013-02-13 中山大洋电机制造有限公司 Converting sub-circuit board of interface signals of electronically commutated motor
CN103684175A (en) * 2013-12-23 2014-03-26 广西大学 Reconfigurable AC servo drive control system
CN104898521A (en) * 2015-05-22 2015-09-09 上海晟矽微电子股份有限公司 Microcontroller for controlling motor
CN104483859B (en) * 2014-11-21 2017-02-01 杭州电子科技大学 Multi-CPU (central processing unit) balance correcting machine controller
CN108227524A (en) * 2017-11-27 2018-06-29 魔玛智能科技(上海)有限公司 Hybrid driving control system

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101860296A (en) * 2010-04-29 2010-10-13 北京航天控制仪器研究所 Servo motion control device based on floating-point DSP
CN102934351A (en) * 2011-04-20 2013-02-13 中山大洋电机制造有限公司 Converting sub-circuit board of interface signals of electronically commutated motor
CN103684175A (en) * 2013-12-23 2014-03-26 广西大学 Reconfigurable AC servo drive control system
CN103684175B (en) * 2013-12-23 2017-01-11 广西大学 Reconfigurable AC servo drive control system
CN104483859B (en) * 2014-11-21 2017-02-01 杭州电子科技大学 Multi-CPU (central processing unit) balance correcting machine controller
CN104898521A (en) * 2015-05-22 2015-09-09 上海晟矽微电子股份有限公司 Microcontroller for controlling motor
CN108227524A (en) * 2017-11-27 2018-06-29 魔玛智能科技(上海)有限公司 Hybrid driving control system
CN108227524B (en) * 2017-11-27 2019-12-06 魔玛智能科技(上海)有限公司 Hybrid drive control system

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