CN101820203B - Hybrid drive semi-closed loop precision positioning system - Google Patents
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Abstract
Description
技术领域: Technical field:
本发明涉及一种半闭环精密定位系统,具体的说,是涉及一种混合驱动装置及一种新型位移检测装置的半闭环精密定位系统。The invention relates to a semi-closed-loop precision positioning system, in particular to a semi-closed-loop precision positioning system of a hybrid driving device and a novel displacement detection device.
背景技术: Background technique:
精密定位系统是精密加工和超精密加工的关键技术之一。为满足应用需求,精密定位系统必须具备高频响、大行程、高精度的性能。在工业生产中,要实现直线精密移动常使用步进电机通过丝杆驱动。但步进电机细分驱动精度取决于细分电流控制精度等因素,细分数越大,精度越难控制,且驱动器成本高;在恶劣的工况下如焊接工况下的高频起弧和稳弧对细分驱动电路存在很严重的高频电磁干扰。Precision positioning system is one of the key technologies for precision machining and ultra-precision machining. In order to meet the application requirements, the precision positioning system must have the performance of high frequency response, large stroke and high precision. In industrial production, to achieve linear precision movement, stepper motors are often used to drive through screw rods. However, the subdivision driving accuracy of the stepping motor depends on factors such as the subdivision current control accuracy. The larger the subdivision number, the more difficult it is to control the accuracy, and the cost of the driver is high; There is very serious high-frequency electromagnetic interference to the subdivision drive circuit due to arc stabilization and arc stabilization.
超声波电机(ultrasonic motor,简称USM)原理和结构完全不同于传统电磁式电机,没有绕阻和磁场部件,它不是通过电磁相互作用来传递能量,而是直接由压电陶瓷材料实现机电能量转换的新型电机,其结构简单,具有单位体积出力大、响应性能优良等特点,并能达到传统电磁电机无法匹敌的高定位精度。但USM是通过定子与转子的直接摩擦耦合传递驱动力,在交变应力和摩擦力作用下,电机产生疲劳损伤,容易使定子与压电陶瓷间的凝结层局部脱落、温升快造成热失配等,影响电机输出转矩及定位精度。且由于压电陶瓷裂纹萌生、扩展和失稳引起突然性破坏,使USM的寿命大大降低。近年来采用超声波电机作为精密定位驱动元件的系统越来越多,但采用单一的超声波电机无法克服系统寿命短的缺点。Ultrasonic motor (USM for short) is completely different in principle and structure from traditional electromagnetic motors. It has no winding and magnetic field components. It does not transfer energy through electromagnetic interaction, but directly converts electromechanical energy from piezoelectric ceramic materials. The new motor has simple structure, large output per unit volume, excellent response performance, etc., and can achieve high positioning accuracy that cannot be matched by traditional electromagnetic motors. However, the USM transmits the driving force through the direct friction coupling between the stator and the rotor. Under the action of alternating stress and friction, the motor will suffer from fatigue damage, which will easily cause the condensation layer between the stator and the piezoelectric ceramic to fall off locally, and the temperature rises rapidly, resulting in heat loss. Matching, affect the motor output torque and positioning accuracy. Moreover, the life of the USM is greatly reduced due to the sudden destruction caused by the crack initiation, expansion and instability of piezoelectric ceramics. In recent years, there are more and more systems using ultrasonic motors as precision positioning drive components, but the shortcoming of the system's short life cannot be overcome by using a single ultrasonic motor.
近年来国内外学者采用电磁伺服电机作为定位系统粗定位驱动元件,采用超声波电机或压电致动器作为定位系统精密定位驱动元件,充分结合了超声波电机与电磁电机各自的优点,取得了较好的效果。但现有混合驱动系统结构复杂,连接件加工困难,无法实现无扰动切换。且闭环系统中的精密定位位移检测装置常使用高精度光栅尺、编码器、激光传感器等,成本高、设备复杂、抗干扰能力差。本发明提出一种基于双电机无扰动切换混合驱动机构及一种新型位移检测装置的精密定位系统,该系统结构简单、易于加工,可实现电磁电机与超声波电机间的无扰动切换,并可实现半闭环系统高精度位移检测。In recent years, scholars at home and abroad have used electromagnetic servo motors as the coarse positioning drive components of the positioning system, and ultrasonic motors or piezoelectric actuators as the precise positioning drive components of the positioning system, fully combining the respective advantages of ultrasonic motors and electromagnetic motors, and achieved good results. Effect. However, the structure of the existing hybrid drive system is complex, and the processing of the connecting parts is difficult, so it is impossible to realize the non-disturbance switching. Moreover, the precision positioning displacement detection device in the closed-loop system often uses high-precision grating scales, encoders, laser sensors, etc., which are high in cost, complex in equipment, and poor in anti-interference ability. The present invention proposes a precision positioning system based on a double-motor non-disturbance switching hybrid drive mechanism and a new type of displacement detection device. Semi-closed-loop system for high-precision displacement detection.
发明内容: Invention content:
本发明的目的在于提供一种结构合理,克服超声波电机使用寿命短的缺点的半闭环精密定位系统。The purpose of the present invention is to provide a semi-closed-loop precision positioning system with a reasonable structure and overcome the shortcoming of the short service life of the ultrasonic motor.
本发明的技术解决方案是:Technical solution of the present invention is:
一种混合驱动半闭环精密定位系统,其特征是:包括滑台底座,滑台底座上装直线滑动导轨,直线滑动导轨上装滑台,在直线滑动导轨的左右两侧分别设置驱动滑台在滑动导轨上运动的超声波电机和步进电机,超声波电机与角位测量装置连接。A hybrid drive semi-closed-loop precision positioning system is characterized in that it includes a slide base, a linear sliding guide rail is mounted on the slide base, a slide table is installed on the linear slide guide rail, and driving slide tables are respectively arranged on the left and right sides of the linear slide guide rail. An ultrasonic motor and a stepping motor move upward, and the ultrasonic motor is connected with an angle measuring device.
超声波电机经第一弹性膜片联轴器与和滑台连接的滚珠丝杆连接,滚珠丝杆上装滚珠螺母;步进电机经第二弹性膜片联轴器与依靠轴承支撑的联轴连接,联轴与滚珠螺母连接,滚珠螺母通过角接触轴承与螺帽座固定连接,螺母座与滑台固定连接。The ultrasonic motor is connected to the ball screw connected to the sliding table through the first elastic diaphragm coupling, and the ball nut is installed on the ball screw; the stepper motor is connected to the coupling supported by the bearing through the second elastic diaphragm coupling. The coupling shaft is connected with the ball nut, the ball nut is fixedly connected with the nut seat through the angular contact bearing, and the nut seat is fixedly connected with the slide table.
超声波电机与第一电机支架由螺钉紧固连接,第一电机支架与丝杆支撑轴承的轴承座固定连接,丝杆支撑轴承的轴承座与滑台底座固定连接;步进电机与第二电机支架固定连接,第二电机支架与滑台固定连接。The ultrasonic motor and the first motor bracket are fastened and connected by screws, the first motor bracket is fixedly connected with the bearing seat of the screw support bearing, and the bearing seat of the screw support bearing is fixedly connected with the base of the slide table; the stepper motor is connected with the second motor support Fixedly connected, the second motor bracket is fixedly connected with the slide table.
角位测量装置包括第一转盘、第二转盘,第一转盘与超声波电机输出轴同心连接,第二转盘与微型同步电机同心连接,第二转盘随微型同步电机一起转动,微型同步电机与超声波电机的轴心线在同一条水平线上,第一转盘、第二转盘呈同心形式,红外发射管固定安装在第一转盘上,红外发射管红外光束中轴线在第一转盘上的投影经过第一转盘的圆心,红外接收管固定安装在第二转盘上,红外接收管中轴线在第二转盘上的投影经过第二转盘的圆心,红外接收管与第二转盘圆心的距离大于红外发射管与第一转盘圆心的距离,红外发射管的中轴线与第一转盘的夹角等于红外接收管中轴线与第二转盘的夹角。The angular position measuring device includes a first turntable and a second turntable, the first turntable is concentrically connected with the output shaft of the ultrasonic motor, the second turntable is concentrically connected with the micro synchronous motor, the second turntable rotates with the micro synchronous motor, the micro synchronous motor and the ultrasonic motor The axis line of the infrared emission tube is on the same horizontal line, the first turntable and the second turntable are concentric, the infrared emitting tube is fixedly installed on the first turntable, and the projection of the central axis of the infrared beam of the infrared emitting tube on the first turntable passes through the first turntable The center of the circle, the infrared receiving tube is fixedly installed on the second turntable, the projection of the central axis of the infrared receiving tube on the second turntable passes through the center of the second turntable, the distance between the infrared receiving tube and the center of the second turntable is greater than that between the infrared emitting tube and the first The distance between the center of the turntable and the included angle between the central axis of the infrared emitting tube and the first turntable are equal to the included angle between the central axis of the infrared receiving tube and the second turntable.
电机控制系统采用FPGA辅助单片机的形式,通过FPGA发出的PWM波控制超声波电机和步进电机驱动器,PWM波的周期由比较控制模块控制,PWM占空比由比较控制模块、计数控制模块和置数控制模块共同确定。The motor control system adopts the form of FPGA-assisted single-chip microcomputer, and controls the ultrasonic motor and the stepper motor driver through the PWM wave sent by the FPGA. The control modules are jointly determined.
角位移检测装置接口电路采用FPGA辅助单片机的形式,由比较器将红外接收管的输出信号转换为脉冲,由奇偶校验模块完成相邻输出脉冲的区分,由计数器和锁存器完成相邻脉冲时间间隔的计算和锁存,由减法器完成两个相邻脉冲的时间间隔之差的计算,计算结果送单片机处理得到角位移大小。The interface circuit of the angular displacement detection device adopts the form of FPGA-assisted single-chip microcomputer. The output signal of the infrared receiving tube is converted into a pulse by the comparator, and the adjacent output pulse is distinguished by the parity module, and the adjacent pulse is completed by the counter and the latch. For the calculation and latching of the time interval, the subtractor completes the calculation of the difference between the time intervals of two adjacent pulses, and the calculation results are sent to the single-chip microcomputer for processing to obtain the angular displacement.
本发明结构合理,克服超声波电机使用寿命短的缺点,有益效果主要表现在:The invention has reasonable structure, overcomes the shortcoming of short service life of the ultrasonic motor, and the beneficial effects are mainly manifested in:
1.充分利用电磁电机和超声波电机各自的优点,克服超声波电机寿命短的缺点,实现系统长寿命、大行程精密定位。1. Make full use of the respective advantages of the electromagnetic motor and the ultrasonic motor, overcome the shortcomings of the short life of the ultrasonic motor, and realize the long life of the system and the precise positioning of the large stroke.
2.提供的新型混合驱动机构可实现双电机无扰动切换,双电机可同时或单独工作,当双电机同时运动时,可实现滑台的快速运动和慢速调整,可控精度高。2. The new hybrid drive mechanism provided can realize the non-disturbance switching of the two motors. The two motors can work simultaneously or independently. When the two motors move at the same time, the fast movement and slow adjustment of the sliding table can be realized, and the controllable precision is high.
3.由于传动铰链短,结构简单,故滑台定位精度和重复定位精度高。3. Due to the short transmission hinge and simple structure, the positioning accuracy and repeat positioning accuracy of the slide table are high.
4.提供的混合驱动机构结构简单,加工方便。4. The provided hybrid driving mechanism has a simple structure and is easy to process.
5.提供了一种新型角位移检测装置,将微小角位移检测转换为线位移检测,该装置精度高、分辨率高、成本低、安装方便,并具有测量前无须调零的优点。可实现定位系统微进给时的超声波电机闭环控制。5. A new type of angular displacement detection device is provided, which converts small angular displacement detection into linear displacement detection. The device has high precision, high resolution, low cost, easy installation, and has the advantages of no need for zero adjustment before measurement. It can realize the closed-loop control of the ultrasonic motor during the micro-feed of the positioning system.
附图说明: Description of drawings:
下面结合附图和实施例对本发明作进一步说明。The present invention will be further described below in conjunction with drawings and embodiments.
图1是本发明一个实施例的结构示图。Fig. 1 is a structural diagram of an embodiment of the present invention.
图2是图1的俯视图。FIG. 2 is a top view of FIG. 1 .
图3是本发明的角位移测量装置结构示图。Fig. 3 is a structural diagram of the angular displacement measuring device of the present invention.
图4是本发明的角位移装置测量原理图。Fig. 4 is a measurement principle diagram of the angular displacement device of the present invention.
图5是本发明的角位移检测时序图。Fig. 5 is a timing diagram of angular displacement detection in the present invention.
图6是本发明精密定位系统驱动控制电路图。Fig. 6 is a drive control circuit diagram of the precision positioning system of the present invention.
具体实施方式: Detailed ways:
一种混合驱动半闭环精密定位系统,包括滑台底座1,滑台底座上装直线滑动导轨2,直线滑动导轨上装滑台3,在直线滑动导轨的左右两侧分别设置驱动滑台在滑动导轨上运动的超声波电机4和步进电机5,超声波电机与角位测量装置6连接。A mixed-drive semi-closed-loop precision positioning system, comprising a
超声波电机经第一弹性膜片联轴器7与和滑台连接的滚珠丝杆8连接,滚珠丝杆上装滚珠螺母11;步进电机经第二弹性膜片联轴器与依靠轴承9支撑的联轴10连接,联轴与滚珠螺母11连接,滚珠螺母通过两只内外圈等高的角接触轴承12与螺帽座固定连接,螺母座与滑台3固定连接,并由定位销定位。The ultrasonic motor is connected to the
超声波电机4与第一电机支架13由螺钉紧固连接,第一电机支架与丝杆支撑轴承(角接触轴承)14的轴承座15固定连接,丝杆支撑轴承的轴承座与滑台底座1固定连接;步进电机5与第二电机支架16固定连接,第二电机支架与滑台3固定连接。The ultrasonic motor 4 and the first motor bracket 13 are fastened and connected by screws, the first motor bracket is fixedly connected with the
角位测量装置6包括第一转盘17、第二转盘18,第一转盘与超声波电机输出轴同心连接,第二转盘与微型同步电机19同心连接,第二转盘随微型同步电机一起转动,微型同步电机与超声波电机的轴心线在同一条水平线上,第一转盘、第二转盘呈同心形式,红外发射管20固定安装在第一转盘上,红外发射管红外光束中轴线在第一转盘上的投影经过第一转盘的圆心,红外接收管21固定安装在第二转盘上,红外接收管中轴线在第二转盘上的投影经过第二转盘的圆心,红外接收管与第二转盘圆心的距离大于红外发射管与第一转盘圆心的距离,红外发射管的中轴线与第一转盘的夹角(锐角)等于红外接收管中轴线与第二转盘的夹角(锐角)。The angular position measuring device 6 comprises a first turntable 17 and a second turntable 18, the first turntable is concentrically connected with the output shaft of the ultrasonic motor, the second turntable is concentrically connected with the micro synchronous motor 19, the second turntable rotates with the micro synchronous motor, and the micro synchronous The axes of the motor and the ultrasonic motor are on the same horizontal line, the first turntable and the second turntable are concentric, the infrared emission tube 20 is fixedly installed on the first turntable, and the central axis of the infrared beam of the infrared emission tube is on the first turntable The projection passes through the center of the first turntable, and the infrared receiving tube 21 is fixedly installed on the second turntable. The projection of the central axis of the infrared receiving tube on the second turntable passes through the center of the second turntable. The distance between the infrared receiving tube and the center of the second turntable is greater than The distance between the infrared emitting tube and the center of the first turntable, the included angle (acute angle) between the central axis of the infrared emitting tube and the first turntable is equal to the included angle (acute angle) between the central axis of the infrared receiving tube and the second turntable.
电机控制系统采用FPGA辅助单片机的形式,通过FPGA发出的PWM波控制超声波电机和步进电机驱动器,PWM波的周期由比较控制模块控制,PWM占空比由比较控制模块、计数控制模块和置数控制模块共同确定。The motor control system adopts the form of FPGA-assisted single-chip microcomputer, and controls the ultrasonic motor and the stepper motor driver through the PWM wave sent by the FPGA. The control modules are jointly determined.
角位移检测装置接口电路采用FPGA辅助单片机的形式,由比较器将红外接收管的输出信号转换为脉冲,由奇偶校验模块完成相邻输出脉冲的区分,由计数器和锁存器完成相邻脉冲时间间隔的计算和锁存,由减法器完成两个相邻脉冲的时间间隔之差的计算,计算结果送单片机处理得到角位移大小。The interface circuit of the angular displacement detection device adopts the form of FPGA-assisted single-chip microcomputer. The output signal of the infrared receiving tube is converted into a pulse by the comparator, and the adjacent output pulse is distinguished by the parity module, and the adjacent pulse is completed by the counter and the latch. For the calculation and latching of the time interval, the subtractor completes the calculation of the difference between the time intervals of two adjacent pulses, and the calculation results are sent to the single-chip microcomputer for processing to obtain the angular displacement.
滑台可实现超声波电机单电机驱动和步进电机单独驱动,也可实现双电机同时驱动。当双电机同时运动时,可实现滑台的快速运动和慢速调整,快速运动和慢速调整仅靠改变电机的旋转方向即可。The sliding table can be driven by a single ultrasonic motor and a single stepper motor, or it can be driven by two motors at the same time. When the two motors move at the same time, the fast movement and slow adjustment of the sliding table can be realized, and the fast movement and slow adjustment can only be done by changing the rotation direction of the motor.
提出的精密定位机构可进一步拓展为十字滑台,实现平面两自由精密定位。在具体实施时,另一自由度的机构与本发明提出的机构可完全一致。The proposed precision positioning mechanism can be further expanded into a cross slide to realize two-free precision positioning on a plane. During specific implementation, the mechanism with another degree of freedom can be completely consistent with the mechanism proposed by the present invention.
角位移测量原理分析及性能分析Principle Analysis and Performance Analysis of Angular Displacement Measurement
原理分析Principle analysis
实施例中采用行波超声波电机作为平台精密定位驱动电机,超声波电机输出轴一端连至弹性联轴器,另一端与第一转盘同心连接(见图3)。红外光束中轴线在第一转盘上的投影经过第一转盘的圆心。第二转盘与微型同步电机同心联接,随同步电机一起转动。保持同步电机与超声波电机的轴心线在一条水平线上,保持两转盘同心。红外接收管固定安装在第二转盘上,随同步电机同步运动,红外接收管中轴线在跌转盘上的投影经过第二转盘的圆心。红外接收管与圆心的距离大于红外发射管与圆心的距离,红外发射管的中轴线与第一转盘的夹角(锐角)等于红外接收管中轴线与第二转盘的夹角(锐角)。In the embodiment, a traveling-wave ultrasonic motor is used as the driving motor for precise positioning of the platform. One end of the output shaft of the ultrasonic motor is connected to the elastic coupling, and the other end is concentrically connected to the first turntable (see FIG. 3 ). The projection of the central axis of the infrared beam on the first turntable passes through the center of the first turntable. The second turntable is concentrically connected with the miniature synchronous motor and rotates together with the synchronous motor. Keep the axes of the synchronous motor and the ultrasonic motor on a horizontal line, and keep the two turntables concentric. The infrared receiving tube is fixedly installed on the second turntable and moves synchronously with the synchronous motor. The projection of the central axis of the infrared receiving tube on the falling turntable passes through the center of the second turntable. The distance between the infrared receiving tube and the center of the circle is greater than the distance between the infrared emitting tube and the center of the circle, and the included angle (acute angle) between the central axis of the infrared emitting tube and the first turntable is equal to the included angle (acute angle) between the central axis of the infrared receiving tube and the second turntable.
测量时,保持微型同步电机恒转速旋转(设转速为Nr/min),保持微型同步电机转向与超声波电机转向相同。当红外接收管接收到发射管发出的红外光时,接口电路输出一高电平脉冲信号,同步电机相对于超声波电机每旋转一周,输出一个脉冲信号。当超声波电机静止不动时,假设红外发射管在位置A处,接收管经过接口电路与输出的脉冲信号如图5中的A所示,脉冲间隔时间即为同步电机转一周所用时间t1。如接口电路控制器判断每次出现的两相邻脉冲间隔始终为t1,则可认为超声波电机静止不动。When measuring, keep the micro synchronous motor rotating at a constant speed (set the speed as Nr/min), and keep the micro synchronous motor turning the same as the ultrasonic motor turning. When the infrared receiving tube receives the infrared light emitted by the transmitting tube, the interface circuit outputs a high-level pulse signal, and the synchronous motor outputs a pulse signal for each rotation of the ultrasonic motor. When the ultrasonic motor is stationary, assuming that the infrared emitting tube is at position A, the receiving tube passes through the interface circuit and outputs the pulse signal as shown in Figure 5. A, the pulse interval time is the time t1 required for the synchronous motor to make one revolution. If the interface circuit controller judges that the interval between two adjacent pulses is always t1, it can be considered that the ultrasonic motor is stationary.
如超声波电机产生微位移,设位移方向与同步电机转动方向同相(均为顺时针),为图示方便将此位移放大后如图4所示,此时光电发射管跟随旋转由初始位置A转至位置B处。接收电路输出信号如图5中的B所示。如接口电路控制器判断每次出现的两相邻脉冲间隔由t1变为t2,则认为超声波电机顺时针转动了一定角度θ1,θ1大小与(t2-t1)成正比。可得:If the ultrasonic motor produces a slight displacement, set the direction of the displacement to be in phase with the rotation direction of the synchronous motor (both are clockwise). For the convenience of illustration, the displacement is amplified as shown in Figure 4. At this time, the photoelectric emission tube follows the rotation from the initial position A to to position B. The output signal of the receiving circuit is shown in B in Figure 5 . If the interface circuit controller judges that the interval between two adjacent pulses appears from t1 to t2 each time, it is considered that the ultrasonic motor has rotated a certain angle θ 1 clockwise, and the size of θ 1 is proportional to (t 2 -t 1 ). Available:
如光电发射管静止于位置B处时,接收电路输出信号如图5中的C所示。同理,当超声波电机继续旋转,由位置B转至位置C处时,接收电路输出信号如图5中的D所示。如接口电路控制器判断每次出现的两相邻脉冲间隔由t1变为t3,则认为超声波电机顺时针转动了一定角度θ2,θ2大小与(t3-t1)成正比。可得:For example, when the photoelectric emission tube is still at position B, the output signal of the receiving circuit is shown as C in Fig. 5 . Similarly, when the ultrasonic motor continues to rotate and turns from position B to position C, the output signal of the receiving circuit is shown as D in Figure 5 . If the interface circuit controller judges that the interval between two adjacent pulses is changed from t1 to t3 each time, it is considered that the ultrasonic motor has rotated a certain angle θ 2 clockwise, and the size of θ 2 is proportional to (t 3 -t 1 ). Available:
则超声波电机累积旋转角度为θ1+θ2。Then the cumulative rotation angle of the ultrasonic motor is θ 1 +θ 2 .
2.2性能分析2.2 Performance analysis
具体实施时,可使超声波电机工作于连续运行状态或步进状态。当超声波电机工作于连续运行状态时,角位移产生后,检测装置并不能立即响应,而是要等红外接收管转至和红外发射管相对位置时才能响应,如超声波电机速度较快则存在较大的定位误差。当超声波电机工作于步进状态时,可使电机每运行一微步停止,带角位移检测完成后再运行下一微步。由于行波超声波电机步进运行时的微步距角很小,因此可达很高的定位精度。During specific implementation, the ultrasonic motor can be operated in a continuous running state or a stepping state. When the ultrasonic motor works in a continuous running state, the detection device cannot respond immediately after the angular displacement occurs, but can only respond when the infrared receiving tube is turned to the position opposite to the infrared emitting tube. Large positioning errors. When the ultrasonic motor is working in the stepping state, it can stop the motor every time it runs a microstep, and then run the next microstep after the angular displacement detection is completed. Since the micro-stepping angle of the traveling wave ultrasonic motor is very small during stepping operation, it can achieve high positioning accuracy.
该新型角位移检测装置优点如下:The advantages of the new angular displacement detection device are as follows:
(1)将微小的角位移放大为可观可测的线(弧长)位移,采用控制器计时的方法完成检测。(1) The small angular displacement is amplified into an observable and measurable line (arc length) displacement, and the detection is completed by the method of controller timing.
(2)结构简单,安装方便,成本低。(2) Simple structure, convenient installation and low cost.
(3)测量精度和分辨率高。(3) The measurement accuracy and resolution are high.
(4)测量前无须调零。(4) There is no need for zero adjustment before measurement.
该传感器也存在一定的误差:The sensor also has certain errors:
(1)数字控制器采用计数的方法来实现计时,计数的分辨率影响结果精度。(1) The digital controller adopts the method of counting to realize timing, and the resolution of counting affects the accuracy of the result.
(2)同步电机转速的脉动引起转速的不均匀,从而引起随机误差。(2) The pulsation of the speed of the synchronous motor causes the uneven speed, which causes random errors.
(3)加工及安装时时两转盘不同心、电机轴与转盘不同心,红外接收及发射器安装角度的不精确均会引起随机误差及系统误差。(3) During processing and installation, the two turntables are not concentric, the motor shaft and the turntable are not concentric, and the inaccurate installation angle of the infrared receiver and transmitter will cause random errors and system errors.
精密定位系统双电机驱动控制电路设计Design of dual-motor drive control circuit for precision positioning system
实施例中,以Shinsei公司的行波超声波电机USR60和TAMAGAWASEIKI CO,.LTD公司的TSS103N173四相步进电机为系统驱动电机。精密定位系统驱动控制电路如图6所示。In the embodiment, the traveling wave ultrasonic motor USR60 of Shinsei Company and the TSS103N173 four-phase stepper motor of TAMAGAWASEIKI CO.LTD Company are the system drive motors. The drive control circuit of the precision positioning system is shown in Figure 6.
本发明采用FPGA辅助单片机的形式,在双电机半闭环精密定位控制过程中,单片机干预较少,大大减少了主控器负担。而且FPGA具有功能易修改、可在线编程,具有很强的通用性;接口简单、响应速度快,适于全数字化控制,可大大提高系统性能。The invention adopts the form of FPGA-assisted single-chip microcomputer, and in the semi-closed-loop precision positioning control process of double motors, the single-chip microcomputer intervenes less, greatly reducing the burden of the main controller. Moreover, FPGA has functions that are easy to modify, can be programmed online, and has strong versatility; the interface is simple, the response speed is fast, and it is suitable for full digital control, which can greatly improve system performance.
在图6中,行波超声波电机工作于步进状态,通过FPGA发出的PWM波控制电机驱动器D6060从而实现超声波电机的微步进给。预分频模块用于电机启停控制及FPGA全局时钟信号的产生;置数控制模块用于调整电机微步导通时间;计数控制模块根据置数控制模块的输出值来确定PWM周期;比较控制模块确定了微步导通时间及步间停止时间;互锁电路用于防止D6060接口的触发竞争并用于电机正反转控制选择。比较控制模块2用于提供给步进电机PWM脉冲并控制步进电机的正反转,环形脉冲发生器用于将比较控制模块2的输出脉冲变成具有一定时序的脉冲列,并经过功率放大后驱动步进电机。In Figure 6, the traveling wave ultrasonic motor works in a stepping state, and the PWM wave sent by the FPGA controls the motor driver D6060 to realize the micro-stepping of the ultrasonic motor. The prescaler module is used to control the start and stop of the motor and generate the global clock signal of FPGA; the digital setting control module is used to adjust the micro-step conduction time of the motor; the counting control module determines the PWM cycle according to the output value of the digital setting control module; the comparison control The module determines the conduction time of the micro-step and the stop time between steps; the interlock circuit is used to prevent the trigger competition of the D6060 interface and is used for the selection of the forward and reverse control of the motor. The
预分频模块Prescaler module
该模块将外部时钟(本实施例中采用25M有源晶振)作为全局时钟脉冲并作为比较控制模块的触发信号及计数器的时钟信号。This module uses the external clock (25M active crystal oscillator is adopted in this embodiment) as the global clock pulse and as the trigger signal of the comparison control module and the clock signal of the counter.
置数控制模块digital control module
置数控制模块的输出作为后续计数控制模块的计数初值,用于调整步进导通时间。其中clk1和updown信号与单片机的I/O口相连,updown为加减控制端,当updown为低电平时,单片机从clk1每发出一个脉冲,输出口INIOUT的值减一;当updown为高电平时,单片机从clk1每发出一个脉冲,INIOUT的值加一。采用单片机通过改变模块的输出值来改变超声波电机微步导通时间,从而可方便的调节电机定位精度并进行调速。CLK1可由单片机的PCA模块产生。The output of the counting control module is used as the counting initial value of the subsequent counting control module to adjust the step conduction time. Among them, the clk1 and updown signals are connected to the I/O port of the single-chip microcomputer, and updown is the addition and subtraction control terminal. When the updown is low, the value of the output port INIOUT is reduced by one every time the single-chip microcomputer sends a pulse from clk1; when the updown is high , the value of INIOUT is increased by one every time the microcontroller sends a pulse from clk1. The single-chip microcomputer is used to change the micro-step conduction time of the ultrasonic motor by changing the output value of the module, so that the positioning accuracy of the motor can be adjusted conveniently and the speed can be adjusted. CLK1 can be generated by the PCA module of the microcontroller.
计数控制模块Counting Control Module
计数控制模块根据置数控制模块的输出来调整微步导通时间,并产生固定的步间停止时间。INIOUT为置置数控制模块输出数据,模块以INIOUT为基数,在此基础上以预分频模块提供的时钟脉冲进行加计数,计满溢出后自动清零。The counting control module adjusts the conduction time of the micro-step according to the output of the counting control module, and generates a fixed stop time between steps. INIOUT is the output data of the set number control module. The module takes INIOUT as the base, and on this basis, counts up with the clock pulse provided by the prescaler module. It is automatically cleared after overflow.
比较控制模块1Compare
比较控制模块1出具有可变微步导通时间及固定步间停止时间的PWM脉冲。在clk3脉冲上升沿触发比较计算。DATAA为计数控制器模块的输入数据,该数据与Compare模块中内置脉冲翻转比较值countq_temp相比较,以决定输出电平的翻转。CWC为电机转向控制信号,CWC为高电平时CW信号有效,电机正转,反之反转。The
正反转互锁模块Forward and reverse interlock module
该模块用于解决驱动器D6060正反转控制端同时出现高电平而导致电机转向不定的问题。This module is used to solve the problem that the motor turns indefinitely due to the simultaneous high level at the forward and reverse control terminals of the driver D6060.
比较控制模块2Compare
比较控制模块2出占空比可调的PWM脉冲,该脉冲用于控制步进电机。比较控制模块1与比较控制模块2的ON/OFF端由单片机控制,使两台电机分时工作。CW/CCW端用于控制环形脉冲发生器输出不同相序的脉冲列以控制步进电机方向。由于在实施例中采用了四相步进电机,因此通过L298H桥集成驱动模块实现步进电机的驱动。The
角位移传感器接口电路设计Interface Circuit Design of Angle Displacement Sensor
当光电发射管与光电接收管相对时,光电流由电阻转换为电压量并通过比较器后,输出高电平脉。脉冲送入奇偶校验模块,如模块累计的脉冲个数为奇数个,则ODD端输出一高电平脉冲。反之,如果模块累积的脉冲个数为偶数,则EVEN端输出一高电平脉冲。ODD端口输出的脉冲的上升沿使计数器1模块开始计数,使数器2模块停止计数。保证了计数器计数时的初值为零,通过延时模块的延迟作用,使CLR信号到来的时间早于开始计数端的ON信号到来的时间。When the phototransmitter is opposite to the photoreceiver, the photocurrent is converted into a voltage by the resistance and passes through the comparator to output a high-level pulse. The pulse is sent to the parity check module. If the number of pulses accumulated by the module is an odd number, the ODD terminal outputs a high-level pulse. Conversely, if the number of pulses accumulated by the module is an even number, the EVEN terminal outputs a high level pulse. The rising edge of the pulse output by the ODD port makes the
EVEN端口输出的脉冲的上升沿同时使计数器2模块开始计数,使数器2模块停止计数。通过延时模块的延迟作用,使CLR信号先于开始计数端ON信号到来,保证了计数器计数时的初值为零。The rising edge of the pulse output by the EVEN port makes the
计数器1和计数器2的输出信号由锁存器锁存,锁存信号由奇偶脉冲判别模块模块提供,ODD端口输出的脉冲给计数器2对应的锁存器提供锁存信号,EVEN端口给计数器1对应的锁存器提供锁存信号。由减法器完成两锁存器输出信号的减法运算,运算启动信号由单片机提供,启动运算的时间间隔由单片机控制,时间间隔大小可由单片节根据传感器响应速度调节。也可将ODD端发出的脉冲信号直接送入单片IO接口,单片机判别到相邻时间间隔所代表的脉冲数已经锁存至双锁存器后,发出减法运算启动指令。由于该传感器响应速度较慢,要等红外接收管转至和红外发射管相对位置时才能响应,为避免出现传感器尚未响应而计数器溢出的情况,必须给计数器以足够的容量。实施例中采用25M由源晶振作为外部时钟,采用32位计数器,则计满所用时间为:该时间间隔可以保证同步电机带动光电接收管完成响应。当减法运算完成后由FPGA通知单片机取数,单片机通过口线读入32位二进制结果。单片机将读入的减法器输出量乘以计数器1(计数器2)的CLK脉冲周期,得到相邻脉冲间隔时间的差值,并由公式1计算出角位移。The output signals of
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