CN101969295A - Motor motion control method and device - Google Patents
Motor motion control method and device Download PDFInfo
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- CN101969295A CN101969295A CN2010102935439A CN201010293543A CN101969295A CN 101969295 A CN101969295 A CN 101969295A CN 2010102935439 A CN2010102935439 A CN 2010102935439A CN 201010293543 A CN201010293543 A CN 201010293543A CN 101969295 A CN101969295 A CN 101969295A
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- movement control
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Abstract
The invention provides a motor motion control method, relating to the technical field of motor control. The method is developed based on a control device provided with a microprocessing device and a timer/counter and comprises the following steps of: calculating pulses needed by motor motion in a preset time period according to motion types; acquiring timing/counting parameters required by a plurality of pulses and sent from the timer/counter in the preset time period; and processing the timer/counter so as to ensure that the timer/counter sends the pulses according to the acquired timing/counting parameters. The invention further provides a motor motion control device. The motor motion control method or device provided in the invention reduces motor motion control cost, has the advantages of low requirements on hardware circuits and relatively simple software algorithm, and can be used for realizing higher performance indexes.
Description
Technical field
The present invention relates to the electric machines control technology field, relate in particular to a kind of motor movement control method and device.
Background technology
As everyone knows, in the existing control system, the mode that adopts micro treatmenting device (for example single-chip microcomputer or dsp chip etc.) to combine with special-purpose motion control chip produces pulse mostly, thereby motor (for example stepping motor or servomotor) is controlled, for example micro treatmenting device can be realized program control, special-purpose motion chip can be realized pulse control, and both binding energy are realized motion control effect preferably, but the cost of special-purpose motion control chip is too high.
Summary of the invention
Main purpose of the present invention is to provide a kind of motor movement control method and device, is intended to reduce and controls cost.
The invention provides a kind of motor movement control method, the control device based on being provided with micro treatmenting device and timer/counter said method comprising the steps of:
Calculate the required pulse of motor movement in the Preset Time section according to type of sports;
Obtain in described Preset Time section, timer/counter sends the required timing parameter of some pulses;
Timer/counter is handled, made it send pulse by the timing parameter of obtaining.
Preferably, described timer/counter is handled, is made in its step that sends pulse by the timing parameter of obtaining to comprise:
Micro treatmenting device control timer/counter produces pulse signal, and produces direction signal.
Preferably, described micro treatmenting device comprises the control interface of single-chip microcomputer, DSP, ARM or computer.
8253,8254,82C54 chip or equivalent electric circuit preferably, described timer/counter comprises:.
Preferably, described timer/counter comprises: by software or the equivalent electric circuit identical with 8253,8254 or 82C54 chip functions of complex programmable logic device (CPLD), on-site programmable gate array FPGA realization.
The invention provides a kind of motor control assembly, comprise micro treatmenting device and timer/counter, wherein said micro treatmenting device is provided with:
Computing module is used for calculating the required pulse of motor movement in the Preset Time section according to type of sports;
Parameter acquisition module is used to obtain in described Preset Time section, and timer/counter sends the required timing parameter of some pulses;
Control module is used for timer/counter is handled, and makes it send pulse by the timing parameter of obtaining.
Preferably, described control module comprises: the timer control unit is used for control timer/counter and produces pulse signal, and produces direction signal.
Preferably, described micro treatmenting device comprises the control interface of single-chip microcomputer, DSP, ARM or computer.
8253,8254,82C54 chip or equivalent electric circuit preferably, described timer/counter comprises:.
Preferably, described timer/counter comprises: by software or the equivalent electric circuit identical with 8253,8254 or 82C54 chip functions of complex programmable logic device (CPLD), on-site programmable gate array FPGA realization.
Motor movement control method provided by the present invention or device, calculate the required pulse of motor movement in the Preset Time section by micro treatmenting device, obtain then in described Preset Time section, timer/counter sends the required timing parameter of some pulses, send the motion of pulse by timer/counter again, reduced motor movement and controlled cost with the control motor, and to hardware circuit require low, software algorithm is simple relatively, can realize than higher performance index.
Description of drawings
Fig. 1 is the flow chart of motor movement control method in an embodiment of the present invention;
Fig. 2 is the structural representation of motor movement control device in an embodiment of the present invention.
The object of the invention realization, functional characteristics and advantage will be in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Fig. 1 shows the flow process of motor movement control method in an embodiment of the invention, and this flow process may further comprise the steps:
Step S10 calculates the required pulse of motor movement in the Preset Time section according to type of sports; Type of sports comprises at the uniform velocity, acceleration, corner, location etc.; Preset Time can be set according to user's needs, for example can be set at 1 millisecond or 0.1 millisecond etc., can calculate the required pulse of motor movement by micro treatmenting device, in one embodiment, micro treatmenting device can be the control interface of single-chip microcomputer, DSP (Digital Signal Processing, Digital Signal Processing), ARM (Advanced RISC Machines) or computer.
Step S20 obtains in described Preset Time section, and timer/counter sends the required timing parameter of some pulses; For example, can obtain timer/counter by other algorithms such as look-up tables and send the required timing parameter of some same frequency pulses.
Step S30 handles timer/counter, makes it send pulse by the timing parameter of obtaining.For example, micro treatmenting device can be sent to timer/counter with the timing parameter of obtaining, and controls it by the timing parameter transmission pulse of obtaining, thereby realizes the motion control to motor.
The motor movement control method that embodiment of the present invention provided, calculate the required pulse of motor movement in the Preset Time section by micro treatmenting device, obtain then in described Preset Time section, timer/counter sends the required timing parameter of some pulses, send the motion of pulse by timer/counter again, reduced motor movement and controlled cost with the control motor, and to hardware circuit require low, software algorithm is simple relatively, can realize than higher performance index.
In one embodiment, can pass through micro treatmenting device control timer/counter and produce pulse signal, and produce direction signal, thus the control motor movement.
In the above-mentioned execution mode, micro treatmenting device can comprise the control interface of single-chip microcomputer, DSP, ARM or computer, and timer/counter can comprise 8253,8254 or the 82C54 chip; Also can comprise software or the equivalent electric circuit identical realized by complex programmable logic device (CPLD), on-site programmable gate array FPGA with 8253,8254 or 82C54 chip functions.
8253,8254 or the 82C54 family chip have multiple mode of operation, use comparatively general.For example a kind of mode of operation in the 82C54 chip (for example mode of operation 2) cooperates the micro treatmenting device in this programme, can realize the present invention.8253,8254 or the mode of operation of 82C54 chip known by those skilled in the art, be not described further at this.
CPLD (Complex Programmable Logic Device, CPLD), it is a kind of user according to needs separately and the digital integrated circuit of constitutive logic function voluntarily, its basic design method is by the integrated platform that develops software, with methods such as schematic diagram, hardware description languages, generate corresponding file destination and code is sent in the objective chip digital system of realization design.Have programming flexibly, integrated level is high, the cycle of designing and developing is short, the scope of application is wide, developing instrument is advanced, design and manufacture cost is low, require low, standardized product to need not characteristics such as test, strong security, price be popular to designer's hardware experience, can realize fairly large circuit design, therefore be widely used in the prototype and production of product.And FPGA (Field-Programmable Gate Array, field programmable gate array) is the product that further develops on the basis of programming devices such as CPLD, has greater flexibility, can realize greater functionality.
In one embodiment, micro treatmenting device is the 89C51 single-chip microcomputer, and timer/counter is M82C54 or MC1413, is used for the driving of signal; Micro treatmenting device 89C51 control M82C54 produces pulse signal; And directly produce direction signal or produce this direction signal, thereby the motion of motor is controlled by the interface expanded circuit at other pin.
Motor movement control method of the present invention is by 8253,8254 or the 82C54 chip, or CPLD, FPGA or equivalent electric circuit, realization is controlled motor movement, reduced the Electric Machine Control cost and low to the circuit requirement of hardware, software algorithm is simple relatively, can realize than higher performance.
The invention provides a kind of motor movement control device, with reference to Fig. 2, this device comprises micro treatmenting device 10 and timer/counter 20, and wherein said micro treatmenting device 10 is provided with:
The motor movement control device that embodiment of the present invention provided, calculate the required pulse of motor movement in the Preset Time section by micro treatmenting device 10, obtain then in described Preset Time section, timer/counter 20 sends the required timing parameter of some pulses, send the motion of pulse by timer/counter 20 again with the control motor, having reduced motor movement controls cost, and to hardware circuit require low, software algorithm is simple relatively, can realize than higher performance index.
In one embodiment, above-mentioned control module 13 comprises timer control unit 131, is used for control timer/counter 20 and produces pulse signal, and produce direction signal.
In the above-mentioned execution mode, micro treatmenting device 10 can comprise the control interface of single-chip microcomputer, DSP, ARM or computer, and timer/counter 20 can comprise 8253,8254 or the 82C54 chip; Also can comprise software or the equivalent electric circuit identical realized by complex programmable logic device (CPLD), on-site programmable gate array FPGA with 8253,8254 or 82C54 chip functions.
8253,8254 or the 82C54 family chip have multiple mode of operation, use comparatively general.For example a kind of mode of operation in the 82C54 chip (for example mode of operation 2) cooperates the micro treatmenting device in this programme, can realize the present invention.8253,8254 or the mode of operation of 82C54 chip known by those skilled in the art, be not described further at this.
The 26S Proteasome Structure and Function of CPLD and FPGA can not be described further at this with reference to previous embodiment.
In one embodiment, micro treatmenting device 10 can be the 89C51 single-chip microcomputer, and timer/counter 20 is M82C54; Micro treatmenting device 89C51 control M82C54 produces pulse signal; And directly produce direction signal or produce this direction signal, thereby the motion of motor is controlled by the interface expanded circuit at other pin.
Motor movement control device of the present invention is by 8253,8254 or the 82C54 chip, or CPLD, FPGA or equivalent electric circuit, realization is controlled motor movement, reduced the Electric Machine Control cost and low to the circuit requirement of hardware, software algorithm is simple relatively, can realize than higher performance.
Below only be the preferred embodiments of the present invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. a motor movement control method is characterized in that, the control device based on being provided with micro treatmenting device and timer/counter said method comprising the steps of:
Calculate the required pulse of motor movement in the Preset Time section according to type of sports;
Obtain in described Preset Time section, timer/counter sends the required timing parameter of some pulses;
Timer/counter is handled, made it send pulse by the timing parameter of obtaining.
2. motor movement control method as claimed in claim 1 is characterized in that, described timer/counter is handled, and makes in its step that sends pulse by the timing parameter of obtaining to comprise:
Micro treatmenting device control timer/counter produces pulse signal, and produces direction signal.
3. motor movement control method as claimed in claim 1 or 2 is characterized in that described micro treatmenting device comprises the control interface of single-chip microcomputer, DSP, ARM or computer.
4. motor movement control method as claimed in claim 3 is characterized in that, described timer/counter comprises: 8253,8254 or the 82C54 chip.
5. motor movement control method as claimed in claim 3, it is characterized in that described timer/counter comprises: by software or the equivalent electric circuit identical of complex programmable logic device (CPLD), on-site programmable gate array FPGA realization with 8253,8254 or 82C54 chip functions.
6. a motor movement control device is characterized in that, comprises micro treatmenting device and timer/counter, and wherein said micro treatmenting device is provided with:
Computing module is used for calculating the required pulse of motor movement in the Preset Time section according to type of sports;
Parameter acquisition module is used to obtain in described Preset Time section, and timer/counter sends the required timing parameter of some pulses;
Control module is used for timer/counter is handled, and makes it send pulse by the timing parameter of obtaining.
7. motor movement control device as claimed in claim 6 is characterized in that, described control module comprises:
The timer control unit is used for control timer/counter and produces pulse signal, and produces direction signal.
8. as claim 6 or 7 described motor movement control device, it is characterized in that described micro treatmenting device comprises the control interface of single-chip microcomputer, DSP, ARM or computer.
8253,8254,82C54 chip or equivalent electric circuit 9. motor movement control device as claimed in claim 8 is characterized in that, described timer/counter comprises:.
10. motor movement control device as claimed in claim 8, it is characterized in that described timer/counter comprises: by software or the equivalent electric circuit identical of complex programmable logic device (CPLD), on-site programmable gate array FPGA realization with 8253,8254 or 82C54 chip functions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102935439A CN101969295A (en) | 2010-09-27 | 2010-09-27 | Motor motion control method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102935439A CN101969295A (en) | 2010-09-27 | 2010-09-27 | Motor motion control method and device |
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| CN101969295A true CN101969295A (en) | 2011-02-09 |
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| CN2010102935439A Pending CN101969295A (en) | 2010-09-27 | 2010-09-27 | Motor motion control method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109274296A (en) * | 2018-09-26 | 2019-01-25 | 王怡科 | Motor control method and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1059626A (en) * | 1990-09-08 | 1992-03-18 | 翟佑华 | Scr ac speed regulator |
| CN2163478Y (en) * | 1993-02-19 | 1994-04-27 | 陈国呈 | Voltage type pulse duration modulating frequency converter |
| CN1879283A (en) * | 2002-10-15 | 2006-12-13 | 国际整流器公司 | Space vector PWM modulator for permanent magnet motor drive |
-
2010
- 2010-09-27 CN CN2010102935439A patent/CN101969295A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1059626A (en) * | 1990-09-08 | 1992-03-18 | 翟佑华 | Scr ac speed regulator |
| CN2163478Y (en) * | 1993-02-19 | 1994-04-27 | 陈国呈 | Voltage type pulse duration modulating frequency converter |
| CN1879283A (en) * | 2002-10-15 | 2006-12-13 | 国际整流器公司 | Space vector PWM modulator for permanent magnet motor drive |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109274296A (en) * | 2018-09-26 | 2019-01-25 | 王怡科 | Motor control method and system |
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Application publication date: 20110209 |