CN102354124A - Dynamic simulation test method of multi-shaft multichannel linkage movement control system - Google Patents
Dynamic simulation test method of multi-shaft multichannel linkage movement control system Download PDFInfo
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- CN102354124A CN102354124A CN2011102574558A CN201110257455A CN102354124A CN 102354124 A CN102354124 A CN 102354124A CN 2011102574558 A CN2011102574558 A CN 2011102574558A CN 201110257455 A CN201110257455 A CN 201110257455A CN 102354124 A CN102354124 A CN 102354124A
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Abstract
The invention discloses a dynamic simulation test method of a multi-shaft multichannel linkage movement control system, relating to the field of industrial automation. The invention realizes that a designer can be automatically assisted to analyze working state of each axial control system of each channel and coordination relationship and performance indexes of the axial control systems of the channels, and gives complete and accurate simulation analysis data of a complex movement control system and a test result. In the method, a high-speed computer system, an electronic load circuit, a multi-path real-time signal acquisition circuit, a high-speed transmission circuit, an FPGA (Field Programmable Gate Array) control analysis circuit, a serial communication circuit and a high-speed computer form a simulation test system. A movement control signal enters the FPGA control analysis circuit through the electronic load circuit and the multi-path real-time signal acquisition circuit to form control information and then the control information is sent to the high-speed computer through the high-speed transmission circuit, and the high-speed computer analyzes the control information to obtain a working sequence, speed matching and working state among movement shafts. The invention provides an efficient and accurate test means for the multi-shaft movement control system.
Description
Technical field
The present invention relates to the industrial automation field, be specifically related to dynamic simulation detection technique multiaxis or hyperchannel kinetic control system.
Background technology
Movement control technology has become the main body of manufacturing industry digitizing, the modernization of industry and Automation of Manufacturing Process industry, is the gordian technique that promotes new technological revolution.Emulation to motion control detects mathematical simulation, physical simulation, several modes such as hardware-in-the-loop simulation of adopting more.Mathematical simulation is that it is to represent by the object of emulation with mathematical expression with the similar emulation mode that is the basis of mathematical equation.The technology that the mathematical model of system is made an experiment is claimed Computer Simulation again on computers.Physical simulation builds promptly with actual dynamics criterion is similar that the simulator of reduced scale is loaded onto real motion controller, under near real condition, carries out the motion control test.Hardware-in-the-loop simulation be with the realistic model (seeing mathematical simulation) of controller (material object) and the controlling object that realizes on computers be linked together the technology that makes an experiment.In this test, the dynamic perfromance of controller, static characteristics and non-linear factor etc. can both reflect truly, so it is a kind of more near actual l-G simulation test technology.This emulation technology can be used for revising design of Controller (promptly before controller is not installed in the real system as yet; Come the design performance of access control device through hardware-in-the-loop simulation; If system performance index does not meet design requirement; Then can adjust the parameter of controller; Or the design of modification controller), also be widely used in the aspects such as modification typing, product remodeling and factory inspection of product simultaneously.The present invention promptly belongs to a kind of hardware-in-the-loop simulation.At present; The hardware-in-the-loop simulation of domestic motion controller mainly concentrates on fields such as shipbuilding and aircraft manufacturing; Like ship motion control hardware-in-loop simulation system and method for work thereof, comprise ship motion control device, Simulation of ship motion system and Long-distance Control and monitoring system.Each item patent of invention is all to the product or the specific area of concrete a certain model, and the general motion control emulation to multiaxis (passage) interlock also belongs to first.
Summary of the invention
The present invention provides a kind of multiaxis hyperchannel interlock motion control dynamic simulation method of testing; The dynamic simulation test is carried out in the motion control that the present invention is directed to the interlock of multiaxis hyperchannel; Realization can assist the designer to analyze duty and the mutual rapport and the performance index of each each axial control system of passage automatically, provides comprehensive and accurate simulation analysis data of compound movement control system and test result.
A kind of dynamic simulation method of testing of multiaxis hyperchannel interlock kinetic control system, this method is realized by following steps:
Principle of work of the present invention: the method for the invention is at first accomplished the design of multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System, the emulation test system that this system is made up of high speed computer system, electronic load circuit, multichannel live signal Acquisition Circuit, high-speed transfer circuit, field programmable gate array (FPGA) control analysis circuit, serial communication circuit and high-speed computer.Motion control signal gets into FPGA control analysis circuit and forms control information through electronic load circuit and multichannel live signal Acquisition Circuit, and control information mainly comprises the information such as umber of pulse, amplitude, frequency and phase place of control signal; Send to high-speed computer through the high-speed transfer circuit, high-speed computer obtains work schedule, speeds match and duty between each kinematic axis through the analysis to control information.
Beneficial effect of the present invention:
One, the present invention adopts the dynamic simulation means of testing; Analyze quantitatively multiaxis hyperchannel, each between centers kinetic control systems such as co-ordination sequential, speeds match and duty error and depart from, the means of testing of efficiently and accurately is provided for multi-shaft motion control system.
Two, when operation irregularity appears in multiaxis hyperchannel interlock kinetic control system, through method of the present invention, can locate or get rid of the problem that occurs in the multiaxis hyperchannel interlock kinetic control system quickly and accurately, reduce the time of investigation fault effectively.
Description of drawings
Fig. 1 is the link annexation synoptic diagram of kinetic control system of multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System and multiaxis hyperchannel in the dynamic simulation method of testing of multiaxis hyperchannel of the present invention interlock kinetic control system;
Fig. 2 is the structure drawing of device of multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System in the dynamic simulation method of testing of multiaxis hyperchannel of the present invention interlock kinetic control system;
Fig. 3 is the circuit diagram of multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System in the dynamic simulation method of testing of multiaxis hyperchannel of the present invention interlock kinetic control system;
Fig. 4 is the block diagram for software modules of the dynamic simulation method of testing of multiaxis hyperchannel interlock kinetic control system of the present invention.
Among the figure: 1; Multiaxis passage interlock kinetic control system; 2; Multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System; 3; Output terminal; 4; The electronic load interface; 5; Signal feedback end, 6; Emulation testing closed loop serial communication circuit interface, 7; First control box; 8; First switch; 9; First Switching Power Supply, 10; First radiator fan, 11; Collection plate; 12; Interface board; 13; Second control box, 14; Second switch, 15; The second switch power supply; 16; Second radiator fan; 17; Load board, 18; High-speed computer, 19; The PCI integrated circuit board; 20; The electric machine load simulate circuit; 21; Bleeder circuit, 22; Acquisition Circuit, 23; FPGA control analysis circuit; 24; The encoder feedback circuit; 25; The high-speed transfer circuit, 26; Motor drive signal, 27; The digitizing drive signal; 28; Motor-driven information; 29; Encoder feedback information, 30; The feedback communication agreement, 31; The user; 32; Control Software; 33; The RS422 driver, 34; The electronic load program, 35; The database driver; 36; PCI integrated circuit board transmission procedure, 37; The control analysis program.
Embodiment
Embodiment one, combination Fig. 1 to Fig. 4 illustrate this embodiment, the dynamic simulation method of testing of multiaxis hyperchannel interlock kinetic control system, and this method is realized by following steps:
A, the electronic load interface 4 of multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System 2 is connected with signal feedback end 5 with the output terminal 3 of multiaxis hyperchannel interlock kinetic control system 1 respectively with emulation testing closed loop serial communication circuit interface 6;
B, said multiaxis passage interlock kinetic control system 1 and multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System 2 are powered up work; Send to FPGA control analysis circuit 23 through information such as high-speed computer 18 pre-value that this dynamic simulation test assignment is required, running parameter and task qualifications, and to disposing the parameter of motor load; Multiaxis hyperchannel interlock kinetic control system 1 output movement control signal is sent to the electronic load circuit through the electronic load interface 4 of multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System 2; Multichannel live signal Acquisition Circuit obtains digitized motion control signal to gathering through the motion control signal of electronic load circuit;
C, under the control of FPGA control analysis circuit 23; Through the multichannel live signal Acquisition Circuit in the multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System 2; Simultaneously to carrying out collection analysis through electronic load circuit control signal; Obtain the control informations such as umber of pulse, amplitude, frequency, phase place of multiaxis hyperchannel interlock kinetic control system 1; Said multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System 2 can detect the control ability of drive signal through the adjustment to the electronic load circuit.
D, FPGA control analysis circuit 23 through high-speed transfer circuit 25, send the control information packing of obtaining in the high-speed computer data communication card through the differential signal high-speed link, send in the high-speed computer 18 through pci bus.
E, 18 pairs of control signals of obtaining of high-speed computer are carried out logic analysis; Confirm multiaxis hyperchannel interlock kinetic control system 1 work schedule, speeds match and the duty etc. between each; And to all information and data are resolved, calculating, analysis-by-synthesis, and the control information of multiaxis hyperchannel interlock kinetic control system 1 shown, writes down and store.
F, high-speed computer 18 show each between centers motion state and information data in real time; On computer screen, go out the 3-D cartoon of each each channel simulation test process, simultaneously, monitor the duty of all passages in real time with the mode real-time rendering of three-dimensional stereo model figure.
If because of test needs; Reconfigure the electronic load circuit or reset multiaxis hyperchannel interlock motion control dynamic test parameter; Change step B over to through the mode of the high-speed computer 18 in the multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System 2 with interface alternation; Reset the dynamic simulation test parameter, continue emulation testing work next time.
This embodiment also comprises step G, when multiaxis hyperchannel interlock kinetic control system 1 need carry out the closed-loop dynamic emulation testing; Under the control of high-speed computer 18; Information package such as the encoder information that FPGA control analysis circuit 23 will calculate, the co-ordination sequential of each between centers and duty become feedback data packet, feed back to multiaxis hyperchannel interlock kinetic control system 1 through serial port circuit and emulation testing closed loop serial communication circuit interface and carry out the closed-loop simulation monitoring.
Embodiment two, combination Fig. 1 to Fig. 4 illustrate this embodiment, and this embodiment is the embodiment of embodiment one:
This implements described multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System 2 is that certain two-axle interlocking kinetic control system has been carried out real-time collection and analysis, has verified relevant system model and practicality; The two axle movement control system that this embodiment adopts is drive stepping motor, and the RS422 feedback system is adopted in closed-loop control.
In conjunction with Fig. 1 this embodiment is described, the annexation of system is in this embodiment: the output terminal 3 of multiaxis hyperchannel interlock kinetic control system 1 is connected with emulation testing closed loop serial communication circuit interface 6 with the electronic load interface 4 of multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System 2 respectively with signal feedback end 5;
In conjunction with Fig. 2 this embodiment is described, multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System mainly is made up of two control boxs, a high-speed computer 18 and an integrated circuit board 19 that is inserted in the PCI slot;
In conjunction with Fig. 3; Multiaxis hyperchannel interlock kinetic control system 1 sends motor drive signal 26 to electric machine load simulate circuit 20; Through bleeder circuit 21; The drive signal that Acquisition Circuit 22 is gathered after the dividing potential drop forms digitizing drive signal 27; 24 pairs of digitizing drive signals 27 of FPGA control analysis circuit are analyzed; Type according to current emulation motor and scrambler; Select corresponding routine analyzer in the motor-driven information 28 drainage pattern storehouses, thereby confirm encoder feedback information 29 and motor-driven information 28.FPGA control analysis circuit 23 is sent to encoder feedback circuit 24 with encoder feedback information 29; Encoder feedback circuit 24 according to feedback communication agreement 30 to multiaxis hyperchannel interlock kinetic control system 1 feedback data; FPGA control analysis circuit 23 is delivered to high-speed transfer circuit 25 with 28 packings of motor-driven information simultaneously; High-speed transfer circuit 25 is sent in the PCI integrated circuit board 19 through the LVDS bus, and said PCI integrated circuit board 19 is formed pci data with the data received and wrapped and reach high-speed computer 18 and analyze.High-speed computer 18 can be through the parameter of serial line interface configuration electronic load circuit.
The described Acquisition Circuit 22 of this embodiment is accomplished the conversion of simulating signal to digital signal, selects the MAX1308 chip for use.MAX1308 is a 20MHz input bandwidth, the synchronized sampling that 8 passages are 12 and the AD conversion chip of line output, and input voltage range is ± 5V.FPGA control analysis circuit 23 adopts the chip XC4VFX20-10FFG672C of the VIRTEX-4 series of XILINX company, and XC4VFX20 is a high-performance global function embedded platform application solution, and the maximum available IO pin of XC4VFX20 is 320; Reach 4 digital dock managers (DCM) piece; 32 global clock networks; Area I/0 and regional clock; Speed improves 40% than previous generation device; 19224 logical blocks; 8544 SLICE; Logical extension multiplexer and I/O register; But the variable shift register of cascade or distributed memory function; 134Kb maximum distribution formula RAM; The maximum Block RAM of 1224Kb satisfies the requirement of gathering and controlling in real time.Storage chip is selected the asynchronous FIFO chip id T72V06 of IDT company for use, and this chip storage capacity is 16384 * 9, has " expiring ", " half-full " and Status Flags such as " skies ", is convenient to control.The lvds driver that high-speed transfer circuit 25 is selected for use is selected the SN55LVDS31 high-speed-differential line drive and the SN55LVDS32 high-speed-differential line receiver of TI company for use; Can handle the differential signal of the highest 400Mbps; Propagation delay time 1.7～2.1ns, when 400MHz transmitted, power consumption only was 60mW.Encoder feedback circuit 24 selects for use DS26LV31T transmitter and DS26LV32AT receiver as the RS422 interface chip, the compatible TIA/EIA-422 communication standards of these two kinds of chips, and every pair can be accomplished 4 road RS-422 communications.Electronic load circuit control device selects for use 8 single chip computer AT 89S52 of atmel corp can satisfy design requirement.The RS422 communication chip selects for use DS26LV31T transmitter and DS26LV32AT receiver as the RS422 interface chip, selects for use MAX813 as house dog.4 8D latch 74LS573 are selected in the IO expansion for use.The fixed inductance of motor is bigger, has bought being difficult on the market, selects for use magnet ring to twine the method self-control of lead.
In conjunction with Fig. 4; After each module of system of the present invention powers on; User 31 is configured through the 32 pairs of electronic load circuit of Control Software that operate on the high-speed computer; Configuration order sends to electronic load configurator 34 through RS422 driver 33; After load configuration program 34 receives the command configuration completion, the state after server returns configuration; Operation control software; Inject startup command and parameter through database driver 35 and the control analysis program 37 of PCI integrated circuit board transmission procedure 36 in collection plate 11; Mainly comprise motor type, working method (number of phases), port number; Information such as each scrambler initial value, speed ratio, scrambler range of movement, and receive collection plate 11, PCI integrated circuit board 19 up data and status information.Wherein up data owner will comprise motor operation information and encoder feedback information 29; Status information mainly comprises the duty and the parameter information of PCI integrated circuit board 19, collection plate 11.Control Software 32 when receiving the storage data on computer screen real-time rendering go out each axle (passage) 3-D cartoon dynamic duty realistic model figure.
Claims (4)
1. the dynamic simulation method of testing of multiaxis hyperchannel interlock kinetic control system is characterized in that, this method realizes by following steps,
Step 1, the electronic load interface (4) of multiaxis hyperchannel interlock kinetic control system Dynamic Simulation and Testing System (2) and emulation testing closed loop serial communication circuit interface (6) are connected with signal feedback end (5) with the link output terminal (3) of kinetic control system (1) of multiaxis hyperchannel respectively;
Step 2, moving kinetic control system (1) the output movement control signal of the many communications and liaison of multiaxis are sent to the electronic load circuit through the electronic load interface (4) of multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System (2); Multichannel live signal Acquisition Circuit obtains digitized motion control signal to gathering through the motion control signal of electronic load circuit;
Step 3, multichannel live signal Acquisition Circuit are sent to FPGA control analysis circuit (23) with the digital moving control signal that step 2 obtains; Said FPGA control analysis circuit (23) obtains the control information of multiaxis hyperchannel interlock kinetic control system (1), and said control information packing back is sent to high-speed computer (18) through high-speed transfer circuit (25);
Step 4, high-speed computer (18) carry out logic analysis to the control information that step 3 obtains packing; Confirm the encoder information of multiaxis hyperchannel interlock kinetic control system (1), co-ordination sequential, speeds match and the work state information of each between centers, then control information is shown, writes down and stores; And monitor the duty of each passage of multiaxis hyperchannel interlock kinetic control system (1) in real time.
2. the dynamic simulation method of testing of a kind of multiaxis hyperchannel interlock kinetic control system according to claim 1; It is characterized in that; After step 4, also comprise step 5; When multiaxis hyperchannel interlock kinetic control system (1) need carry out the closed-loop dynamic emulation testing; Under the control of high-speed computer (18), FPGA control analysis circuit (23) is with the encoder information that calculates; The co-ordination sequential of each between centers; Speeds match and work state information are packaged into and are sent to multiaxis hyperchannel interlock kinetic control system (1) after the feedback data packet and carry out the closed-loop simulation monitoring.
3. the dynamic simulation method of testing of a kind of multiaxis hyperchannel interlock kinetic control system according to claim 1 and 2; It is characterized in that; The control information of the described acquisition multiaxis of step 3 hyperchannel interlock kinetic control system (1), said control information comprise umber of pulse, amplitude, frequency or the phase information of multiaxis hyperchannel interlock kinetic control system.
4. the dynamic simulation method of testing of a kind of multiaxis hyperchannel interlock kinetic control system according to claim 1 and 2; It is characterized in that; Also comprise before the step 2 through the high-speed computer (18) in the multiaxis hyperchannel interlock motion control Dynamic Simulation and Testing System (2) with the dynamic simulation test process in the information that limits of pre-value, running parameter and the task of the moving kinetic control system (1) of the many communications and liaison of multiaxis of needs send to FPGA control analysis circuit (23), and dispose the parameter information of electronic load circuit.
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Cited By (3)
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| CN107807880A (en) * | 2017-09-28 | 2018-03-16 | 中国科学院长春光学精密机械与物理研究所 | Multifreedom motion control system adjustment method |
| CN109541994A (en) * | 2018-10-29 | 2019-03-29 | 浙江求是科教设备有限公司 | A kind of real-time acquisition system and its acquisition method of high anti-interference ability |
| CN115638700A (en) * | 2022-12-21 | 2023-01-24 | 北京星途探索科技有限公司 | A chronogenesis recording equipment for multichannel initiating explosive device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107807880A (en) * | 2017-09-28 | 2018-03-16 | 中国科学院长春光学精密机械与物理研究所 | Multifreedom motion control system adjustment method |
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| CN115638700A (en) * | 2022-12-21 | 2023-01-24 | 北京星途探索科技有限公司 | A chronogenesis recording equipment for multichannel initiating explosive device |
| CN115638700B (en) * | 2022-12-21 | 2023-02-28 | 北京星途探索科技有限公司 | A chronogenesis recording equipment for multichannel initiating explosive device |
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