CN101425772A - Dynamic data collection system and accurately positioning method for collection position - Google Patents
Dynamic data collection system and accurately positioning method for collection position Download PDFInfo
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- CN101425772A CN101425772A CNA2007101243373A CN200710124337A CN101425772A CN 101425772 A CN101425772 A CN 101425772A CN A2007101243373 A CNA2007101243373 A CN A2007101243373A CN 200710124337 A CN200710124337 A CN 200710124337A CN 101425772 A CN101425772 A CN 101425772A
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Abstract
The invention discloses a dynamic data acquiring system and a method for precisely positioning an acquiring position thereof. The dynamic data acquiring system comprises an FPGA controller, a step motor, a driving circuit of the step motor, and a position sensor. An FPGA controlling circuit sends direction and pulse signals to the driving circuit of the step motor and maintains a position counter. The driving circuit of the step motor receives driving pulses and direction signals and drives the step motor to move. In the moving process of the step motor, when the FPGA detects that the position sensor has the effective jump, the FPGA resets the position counter, and the position counter counts the sent pulses; after a sent pulse number reaches the set position pulse number of acquiring points and the effective condition of the pulses is detected, the data acquiring operation is carried out. The invention has the advantages of accurate positioning of the acquiring points, high real-time performance, automatic control, simplicity, reliability and lower cost.
Description
[technical field]
The present invention relates to the positioning control in the data acquisition, particularly localization method wherein.
[background technology]
In the location of stepping motor, for example adopting optical filter wheel to realize in the photometer of colorimetric measurement, the motion of step motor drive optical filter wheel need be gathered to obtain measurement data at assigned address in motion process.The accuracy of location, collection point is directly determining the accuracy and the repeatability of measurement data.The application scenario of in the stepping motor motion process, carrying out data acquisition at present, following mode is mainly taked in the location, collection point: 1, directly by stepping motor umber of pulse location: adopt a controller in the system, send pulse signal to drive circuit, the drive stepping motor motion, and, be used to the position of indicating checkout gear current at counter of controller internal maintenance.When checkout gear arrived assigned address, controller sent acquisition, image data.2, locate by shaft-position encoder: adopt a controller in the system, send pulse signal to drive circuit, the drive stepping motor motion, detect the output signal of shaft-position encoder simultaneously and judge the position of checkout gear, when checkout gear arrives ad-hoc location, controller sends acquisition, image data.
Above-mentioned method of directly locating by the stepping motor pulse is controlled by software, because the uncertainty of software time of implementation can cause the motor-driven pulse period inhomogeneous, motor movement is sometimes fast and sometimes slow.Simultaneously the collection point also can the change with software time of implementation difference, thereby causes beating of image data.Method by the shaft-position encoder location has improved the collection point locating accuracy, but still has all shortcomings of software control; And need the extra encoder that increases, and make complex degree of system design increase, cost significantly improves.
[summary of the invention]
Main purpose of the present invention is: a kind of precise and stable navigation system and accurate positioning method thereof of locating is provided, guarantees accuracy, the validity of data in the Dynamic Data Acquiring.
For achieving the above object, the present invention proposes a kind of dynamic data collection system, comprise FPGA controller, stepping motor, stepper motor driving circuit and position transducer; The FPGA controller is given stepper motor driving circuit sending direction and pulse signal, and the maintenance position counter; Stepper motor driving circuit receives the pulse and the direction signal of transmission, the drive stepping motor motion; In the stepping motor motion process, when the FPGA controller detects position transducer and the saltus step on effective edge occurs, to the position counter O reset, location counter calculates the umber of pulse that the FPGA controller sends, when behind the collection point P-pulse number of arrive setting and detect pulse effectively along the time, the FPGA controller carries out the data acquisition operation.
Above-mentioned dynamic data collection system, described FPGA control circuit comprises stepping motor motion-control module, collection point locating module and data acquisition module, location counter; Described stepping motor motion-control module is used for to stepper motor driving circuit sending direction and pulse signal; Described collection point locating module is used for the detection and the location of collection position; Described data acquisition module is used to carry out the data acquisition operation.Above-mentioned dynamic data collection system, the acquisition operations of described data acquisition module are set at the effective edge of step motor drive pulse.
Whether above-mentioned dynamic data collection system, described data acquisition module detect this collection position times of collection enough, if enough then stop to gather.Described data acquisition module detects whether next collection position is arranged, if having then wait for that stepping motor moves to next collection position, carries out the next round data acquisition.
Simultaneously, the present invention proposes and comprise the steps: A) the FPGA controller is given stepper motor driving circuit sending direction and pulse signal, and the maintenance position counter; B) stepper motor driving circuit receives pulse and the direction signal that the FPGA controller sends, the drive stepping motor motion; C) in the stepping motor motion process, when the FPGA controller detects position transducer and the saltus step on effective edge occurs, to the position counter O reset; D) location counter calculates the umber of pulse that the FPGA controller sends, after arriving the collection point P-pulse number of setting, with detected pulse effectively along as the data acquisition position.
Above-mentioned Dynamic Data Acquiring position accurate positioning method, described FPGA controller comprises stepping motor motion-control module, collection point locating module and data acquisition module; Described steps A) gives stepper motor driving circuit sending direction and pulse signal by the stepping motor motion-control module in; Described step C), detect collection position and location by the collection point locating module D); Described data acquisition module is used to carry out the data acquisition operation.
Above-mentioned Dynamic Data Acquiring position accurate positioning method, the acquisition operations of described data acquisition module is set at the effective edge of step motor drive pulse.
Because adopted above scheme, the present invention possesses following beneficial effect:
1, the location, collection point is accurately: FPGA operating frequency height, regularly accurately; The step motor drive pulse period, regularly accurately, stepping motor was stable, and the location of collection point is also very accurate thus; Because the collection point is positioned at effective edge of stepping motor pulse, rather than in the middle of two stepping motor pulses, makes that the location is more accurate, amount of jitter is littler; 2, real-time: because controlled function realizes by FPGA fully, stepping motor pulsing and acquisition operations can executed in parallel, and no software execution is delayed time, and is real-time; 3, control is finished automatically: finish driving pulse transmission, position probing and data acquisition operation automatically by FPGA, whole process need not software intervention; 4, simple and reliable: with respect to grating shaft encoder location, this method is more simple and reliable, and cost is lower.
The present invention verifies by experiment and performance test, and has fully been verified on product.The location of collection point is very accurate, thereby the data that collect are beated very little.
The present invention can be used to utilize stepping motor to position, carry out the occasion that data acquisition realizes measurement at assigned address.
[description of drawings]
Fig. 1 is the theory diagram of dynamic data collection system of the present invention;
Fig. 2 be the step motor drive signal effectively along schematic diagram;
Fig. 3 is the flow chart of location, stepping motor collection point in the embodiment of the invention;
Fig. 4 is position signalling in the embodiment of the invention, pulse signal and acquired signal time chart.
[embodiment]
Also the present invention is described in further detail in conjunction with the accompanying drawings below by specific embodiment.
This routine collection point navigation system theory diagram comprises FPGA control circuit, stepping motor, stepper motor driving circuit and position transducer as shown in Figure 1.Wherein the FPGA control circuit comprises logic module and location counters such as stepping motor motion-control module, collection point locating module and data acquisition module; This stepping motor motion-control module is given stepper motor driving circuit sending direction and pulse signal, and the maintenance position counter.After stepper motor driving circuit receives the pulse and direction signal of FPGA control circuit transmission, the drive stepping motor motion.In the stepping motor motion process, locating module detection position, the collection point sensor signal of FPGA control circuit; When the saltus step on effective edge appears in position transducer, the location counter zero clearing of FPGA control circuit internal maintenance.Whenever pulse of stepping motor motion-control module transmission, the interior location counter adds 1.When the position of the collection point that location counter arrive to be set, data acquisition module detect pulse effectively along the time, carry out acquisition operations.
Effective edge of pulse signal is relevant with stepper motor driving circuit.Please refer to shown in Figure 2, if stepper motor driving circuit pulse signals rising edge sensitivity, effectively along being set at rising edge 21; If stepper motor driving circuit pulse signals trailing edge sensitivity is then effectively along being set at trailing edge 22.
Detailed control flow as shown in Figure 3, FPGA control circuit drive stepping motor motion, and the signal of detection position transducer always; Find effective edge of position sensor signal as FPGA after, with the location counter zero clearing, otherwise on effective edge of driving pulse, location counter adds 1; Whether FPGA control logic detection position counter arrives is specified collection position, and checks whether need image data; Specify collection position and need image data if arrived, the FPGA control logic detects whether arrive effective edge of pulse, if detect effective edge of pulse, then sends acquisition, carries out the data acquisition operations; The relation of position sensor signal, pulse signal and acquired signal as shown in Figure 4; Whether the FPGA control logic detects times of collection enough, if deficiency then check whether stepping motor moves to next collection position, otherwise would jump to beginning.Like this, each collection point accurately is set in effective edge of pulse, and the interval of twice collection simultaneously also is configured to the integral multiple in the time interval of pulse.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (8)
1. a dynamic data collection system comprises FPGA controller, stepping motor, stepper motor driving circuit and position transducer; The FPGA controller is given stepper motor driving circuit sending direction and pulse signal, and the maintenance position counter; After stepper motor driving circuit receives the pulse and direction signal of transmission, the drive stepping motor motion; In the stepping motor motion process, when the FPGA controller detects position transducer and the saltus step on effective edge occurs, to the position counter O reset, location counter calculates the umber of pulse that the FPGA controller sends, when behind the collection point P-pulse number of arrive setting and detect pulse effectively along the time, the FPGA controller carries out the data acquisition operation.
2. dynamic data collection system as claimed in claim 1 is characterized in that: described FPGA control circuit comprises stepping motor motion-control module, collection point locating module and data acquisition module, location counter; Described stepping motor motion-control module is used for to stepper motor driving circuit sending direction and pulse signal; Described collection point locating module is used for the detection and the location of collection position; Described data acquisition module is used to carry out the data acquisition operation.
3. dynamic data collection system as claimed in claim 2 is characterized in that: the acquisition operations of described data acquisition module is set at the effective edge of step motor drive pulse.
4. as claim 1 or 2 or 3 described dynamic data collection systems, it is characterized in that: whether described data acquisition module detects this collection position times of collection enough, if enough then stop to gather.
5. as claim 1 or 2 or 3 described dynamic data collection systems, it is characterized in that: described data acquisition module detects whether next collection position is arranged, if having then wait for that stepping motor moves to next collection position, carries out the next round data acquisition.
6. a Dynamic Data Acquiring position accurate positioning method comprises the steps: A) the FPGA controller is given stepper motor driving circuit sending direction and pulse signal, and the maintenance position counter; B) stepper motor driving circuit receives pulse and the direction signal that the FPGA controller sends, the drive stepping motor motion; C) in the stepping motor motion process, when the FPGA controller detects position transducer and the saltus step on effective edge occurs, to the position counter O reset; D) location counter calculates the umber of pulse that the FPGA controller sends, after arriving the collection point P-pulse number of setting, with detected pulse effectively along as the data acquisition position.
7. Dynamic Data Acquiring as claimed in claim 6 position accurate positioning method is characterized in that: described FPGA controller comprises stepping motor motion-control module, collection point locating module and data acquisition module, location counter; Described steps A) gives stepper motor driving circuit sending direction and pulse signal by the stepping motor motion-control module in; Described step C), detect collection position and location by the collection point locating module D); Described data acquisition module is used to carry out the data acquisition operation.
8. Dynamic Data Acquiring as claimed in claim 7 position accurate positioning method is characterized in that: the acquisition operations of described data acquisition module is set at the effective edge of step motor drive pulse.
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| CN2007101243373A CN101425772B (en) | 2007-11-02 | 2007-11-02 | Dynamic data collection system and accurately positioning method for collection position |
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| CN2007101243373A CN101425772B (en) | 2007-11-02 | 2007-11-02 | Dynamic data collection system and accurately positioning method for collection position |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101424946B (en) * | 2007-11-02 | 2011-01-12 | 深圳迈瑞生物医疗电子股份有限公司 | Pulse positioning system and method for compensating pulse positioning error thereof |
| CN101969291A (en) * | 2010-10-28 | 2011-02-09 | 哈尔滨工业大学 | System-on-chip driver of high-subdivision multi-path stepping motor |
| CN102122177A (en) * | 2010-12-28 | 2011-07-13 | 天津市亚安科技电子有限公司 | Method for realizing angular rotation of tripod head |
| CN103330573A (en) * | 2013-06-28 | 2013-10-02 | 上海博恩登特科技有限公司 | Synchronizing impulse perspective oral cavity CT (Computed Tomography) and synchronizing method thereof |
| CN104536340A (en) * | 2014-11-27 | 2015-04-22 | 中国航空工业空气动力研究院 | FPGA-based dynamic motion decoding trigger |
| CN105577052A (en) * | 2015-12-31 | 2016-05-11 | 哈尔滨工业大学 | FPGA-based shakeless drive control system of stepping motor and control method based on same |
| CN109194200A (en) * | 2018-09-20 | 2019-01-11 | 珠海格力智能装备有限公司 | A kind of control method of servo motor and device |
| CN109687782A (en) * | 2019-01-08 | 2019-04-26 | 蓝怡科技集团股份有限公司 | A kind of control device and control system of stepper motor |
| CN111562798A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Device capable of generating fixed-angle pulse at specified position and working method thereof |
| CN112398399A (en) * | 2020-12-09 | 2021-02-23 | 中国船舶工业系统工程研究院 | Active suppression method for vibration noise of permanent magnet synchronous motor |
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2007
- 2007-11-02 CN CN2007101243373A patent/CN101425772B/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101424946B (en) * | 2007-11-02 | 2011-01-12 | 深圳迈瑞生物医疗电子股份有限公司 | Pulse positioning system and method for compensating pulse positioning error thereof |
| CN101969291A (en) * | 2010-10-28 | 2011-02-09 | 哈尔滨工业大学 | System-on-chip driver of high-subdivision multi-path stepping motor |
| CN102122177B (en) * | 2010-12-28 | 2015-07-29 | 天津市亚安科技股份有限公司 | A kind of device realizing the passback of The Cloud Terrace angle |
| CN102122177A (en) * | 2010-12-28 | 2011-07-13 | 天津市亚安科技电子有限公司 | Method for realizing angular rotation of tripod head |
| CN103330573A (en) * | 2013-06-28 | 2013-10-02 | 上海博恩登特科技有限公司 | Synchronizing impulse perspective oral cavity CT (Computed Tomography) and synchronizing method thereof |
| CN103330573B (en) * | 2013-06-28 | 2015-05-20 | 上海博恩登特科技有限公司 | Synchronizing impulse perspective oral cavity CT (Computed Tomography) and synchronizing method thereof |
| CN104536340A (en) * | 2014-11-27 | 2015-04-22 | 中国航空工业空气动力研究院 | FPGA-based dynamic motion decoding trigger |
| CN105577052A (en) * | 2015-12-31 | 2016-05-11 | 哈尔滨工业大学 | FPGA-based shakeless drive control system of stepping motor and control method based on same |
| CN105577052B (en) * | 2015-12-31 | 2019-01-04 | 哈尔滨工业大学 | A kind of stepper motor non-jitter driving control system based on FPGA and the control method based on the system |
| CN109194200A (en) * | 2018-09-20 | 2019-01-11 | 珠海格力智能装备有限公司 | A kind of control method of servo motor and device |
| CN109687782A (en) * | 2019-01-08 | 2019-04-26 | 蓝怡科技集团股份有限公司 | A kind of control device and control system of stepper motor |
| CN109687782B (en) * | 2019-01-08 | 2021-06-04 | 蓝怡科技集团股份有限公司 | Control device and control system of stepping motor |
| CN111562798A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Device capable of generating fixed-angle pulse at specified position and working method thereof |
| CN112398399A (en) * | 2020-12-09 | 2021-02-23 | 中国船舶工业系统工程研究院 | Active suppression method for vibration noise of permanent magnet synchronous motor |
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| CN101425772B (en) | 2011-05-25 |
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Application publication date: 20090506 Assignee: Shenzhen Mindray Animal Medical Technology Co.,Ltd. Assignor: SHENZHEN MINDRAY BIO-MEDICAL ELECTRONICS Co.,Ltd. Contract record no.: X2022440020009 Denomination of invention: Dynamic data acquisition system and accurate positioning method of acquisition position Granted publication date: 20110525 License type: Common License Record date: 20220804 |
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