CN102368157A - Servo controller - Google Patents
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- CN102368157A CN102368157A CN2011103937629A CN201110393762A CN102368157A CN 102368157 A CN102368157 A CN 102368157A CN 2011103937629 A CN2011103937629 A CN 2011103937629A CN 201110393762 A CN201110393762 A CN 201110393762A CN 102368157 A CN102368157 A CN 102368157A
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Abstract
The invention provides a servo controller comprising a servo actuator driving module, a D/A (Digital-to-Analog) conversion module, a real-time control module DSP (Digital Signal Processor), an A/D (Analog-to-Digital) converting module, a signal acquiring and conditioning amplifying circuit module for acquiring signals of a displacement sensor, a force sensor, a speed sensor and a limit switch, a two-port RAM (Random Access Memory) module, a PC(Personal Computer)/104 interference module, a level translator driving circuit module, a voltage-stabilizing source circuit module and a logic circuit module. The servo controller solves the problems of large size, complexity, inconvenience in operation and single function of the traditional hydraulic servo control system. The electric-hydraulic servo controller integrates data acquiring, processing and amplifying, meanwhile, a pulse excitation source link is additionally provided, and an electric-hydraulic servo actuating system can be directly controlled without addition of external equipment, so that the hydraulic servo control system has the advantages of small size, simplicity in operation and capability of realizing multichannel and multi-parameter simultaneous control.
Description
Technical field
The invention belongs to the electro-hydraulic servo control technical field, be specifically related to a kind of pressure servo controller.
Background technology
The electro-hydraulic servo control device is the indispensable control module of hydraulic servo control system, and the quality of controller directly has influence on the precision of whole hydraulic control system.Controller is that the action parameter of executive component (as: displacement, power, speed, acceleration) is passed to servo-valve with steering order after gathering, nurse one's health, amplifying, and servo-valve control servo actuator drives executive component and accomplishes specified action.Therefore, servo controller has very important effect in system.Electro-hydraulic servo control device principle of work: be with amplifying from the error signal of the exciting ripple signal of industrial computer and executive component displacement signal and driving electrohydraulic servo valve; Accomplish hydraulic power through electrohydraulic servo valve and amplify also driving execution element action; (parameters such as displacement, power, speed, acceleration) of executive component feed back to servo controller after amplifying by sensor measurement and through modulation, realize displacement, power, the speed to executive component, the control of acceleration.
Present hydraulic servo control system is as shown in Figure 1, and computer data acquiring control system wherein comprises data acquisition and control system, signal condition unit, power supply voltage regulation unit and sensor, and this kind formation has determined it control of completion system need add servo controller (servo-driver); Cause the volume ratio of total system huger, heaviness, and inside does not have driving source; Need peripheral hardware equally; Further increase its volume, make total system complicated, operation inconvenience; The more important thing is its function singleness, can only realize the control of single channel, single parameter.
Summary of the invention
The objective of the invention is to solve the problem that the existing volume of existing hydraulic servo control system is big, complicated, operate inconvenience and function singleness.
For reaching above-mentioned purpose; The invention provides a kind of servo controller; Its special character is, comprises servo actuator driver module, D/A modular converter, real-time control module DSP, A/D modular converter, is used to gather signal collection modulation amplifying circuit module, dual port RAM memory module, PC/104 interface module, level conversion drive circuit module, the application of logic circuit module of displacement transducer, force transducer, speed pickup and limit switch signal and is used for the voltage-stabilized power supply circuit module to said servo actuator driver module, D/A modular converter, real-time control module DSP, A/D modular converter, the signal collection modulation amplifying circuit module that is used to gather displacement transducer, force transducer, speed pickup and limit switch signal, dual port RAM memory module, PC/104 interface module, level conversion drive circuit module and application of logic circuit module power supply; Said real-time control module DSP electrically connects through D/A modular converter and said servo actuator driver module; Said dual port RAM memory module and said real-time control module DSP electrically connect; Said dual port RAM memory module electrically connects through said level conversion drive circuit module and said PC/104 interface module; Said application of logic circuit module electrically connects with said real-time control module DSP, said dual port RAM memory module and said level conversion drive circuit module respectively; Said signal collection modulation amplifying circuit module electrically connects through said A/D modular converter and said real-time control module DSP; Said application of logic circuit module electrically connects through said level conversion drive circuit module and said PC/104 interface module; Said real-time control module DSP is provided with the limit switch signal interface.
Above-mentioned real-time control module DSP is that model is the real-time control module DSP of TMS320F2812.
Above-mentioned real-time control module DSP is provided with the RS232 serial communication interface.
Above-mentioned servo actuator driver module, D/A modular converter, A/D modular converter, the signal collection modulation amplifying circuit module, dual port RAM memory module, PC/104 interface module, level conversion drive circuit module, voltage-stabilized power supply circuit module and the application of logic circuit module that are used to gather each displacement transducer, force transducer and limit switch signal all are integrated in a circuit board, and said real-time control module DSP is an independent standard size circuit board.
Above-mentioned real-time control module DSP is 1KHZ to the SF of said displacement transducer, force transducer, speed pickup and limit switch signal; The message transmission rate of said dual port RAM memory module and PC/104 interface module upper end is 200Hz.
Through lithium battery is that servo controller provides 24VDC; Said displacement transducer, force transducer, speed pickup provide power supply by signal collection modulation amplifying circuit module; The power supply Wiring port of said displacement transducer, force transducer, speed pickup provides separately.
The sensor power supply has two kinds: 24V direct supply and 5V direct supply digital electrical.
Advantage of the present invention is: this servo controller integrates data acquisition, processing, amplifies; Also increased simultaneously pulse excitation source link; Can directly realize that to the electro-hydraulic servo actuating system control need not to increase peripheral hardware, make The whole control system body (being hydraulic servo control system) long-pending small and exquisite, also simplify system's formation simultaneously; Make simple to operately, can directly be connected realization system control with computing machine; The more important thing is and to realize that hyperchannel, many reference amounts control simultaneously, optimized system design and control.
Description of drawings
Below will combine accompanying drawing that the present invention is explained further details:
Fig. 1 is the structural representation block diagram of existing hydraulic servo control system;
Fig. 2 is the control principle synoptic diagram of the servo controller in the hydraulic servo control system provided by the invention;
Fig. 3 is the structural representation block diagram of hydraulic servo control system provided by the invention.
Embodiment
The existing volume of existing hydraulic servo control system is big, complicated in order to solve for present embodiment, the problem of operation inconvenience and function singleness, provide servo controller as shown in Figure 2 integrated the function of data acquisition, conditioning, amplification in one, also increased pulse excitation source link simultaneously; Compare with existing hydraulic servo control system shown in Figure 1; Will the completion system control need not to add servo controller (servo-driver), and inside is provided with driving source, need not peripheral hardware equally; Make total system simplify; Volume reduces, and has made things convenient for operation, can directly be connected the control of realization system with computing machine.And this servo controller (servo-driver) has at least four physical interfaces; Can realize that hyperchannel, many reference amounts (like power, position, speed, acceleration etc.) control simultaneously; Specifically can be referring to the control principle synoptic diagram of above-mentioned servo controller shown in Figure 2; Figure is not difficult to find out thus; This servo controller comprises the servo actuator driver module (servo-driven module shown in promptly scheming; It drives electrohydraulic servo valve servo actuator, and at least four physical interfaces are arranged), the D/A modular converter, in real time control module DSP, A/D modular converter, be used to gather signal collection modulation amplifying circuit module, dual port RAM memory module, PC/104 interface module, level conversion drive circuit module, the application of logic circuit module of displacement transducer, force transducer, speed pickup and limit switch signal and be used for to servo actuator driver module, D/A modular converter, the voltage-stabilized power supply circuit module of control module DSP, A/D modular converter, the signal collection modulation amplifying circuit module that is used to gather displacement transducer, force transducer, speed pickup and limit switch signal, dual port RAM memory module, PC/104 interface module, level conversion drive circuit module and application of logic circuit module power supply in real time; Said real-time control module DSP electrically connects through D/A modular converter and said servo actuator driver module; Dual port RAM memory module and said real-time control module DSP electrically connect; The dual port RAM memory module electrically connects through level conversion drive circuit module and PC/104 interface module; Application of logic circuit module electrically connects with real-time control module DSP, dual port RAM memory module and level conversion drive circuit module respectively; Signal collection modulation amplifying circuit module electrically connects with real-time control module DSP through the A/D modular converter; Application of logic circuit module electrically connects through said level conversion drive circuit module and PC/104 interface module; Control module DSP is provided with the limit switch signal interface in real time.
Control module DSP is provided with the RS232 serial communication interface in real time.The real-time control module DSP that present embodiment is selected for use is that model is the real-time control module DSP of TMS320F2812.
Based on above-mentioned electro-hydraulic servo control device; With existing hydraulic servo control system improvement becoming electrohydraulic servo-controlling system shown in Figure 3 shown in Figure 1; Comprise electro-hydraulic servo actuating system and computer data acquiring control system; Wherein, this computer data acquiring control system comprises servo controller that carries out data acquisition, processing, amplifies and have the pulse excitation source and the upper operational computations machine of communicating by letter with this servo controller; The electro-hydraulic servo actuating system comprises electrical control cubicles, hydraulic pump, electrohydraulic servo valve, servo actuator, executive component and the sensor that electrically connects successively, and electrical control cubicles, electrohydraulic servo valve and sensor and servo controller electrically connect.The hardware arrangement of total system is: servo actuator driver module, D/A modular converter, A/D modular converter, the signal collection modulation amplifying circuit module, dual port RAM memory module, PC/104 interface module, level conversion drive circuit module, voltage-stabilized power supply circuit module and the application of logic circuit module that are used to gather each displacement transducer (like the LVTD displacement transducer), force transducer (drawing/pressure transducer), speed pickup (speed pickup and acceleration transducer) and limit switch signal all are integrated in a circuit board; Control module DSP is an independent standard size circuit board in real time; Can connect through the range upon range of stack of contact pin type bus extended mode, have that volume is little, reliability is high, quick for installation, the characteristics being convenient to expand.
In sum, be not difficult to find out, because the electro-hydraulic servo control device shown in Figure 2 that present embodiment provides integrates data acquisition, processing, amplifies; Also increased simultaneously pulse excitation source link; Can directly realize that to the electro-hydraulic servo actuating system control need not to increase peripheral hardware, make The whole control system body (being hydraulic servo control system shown in Figure 3) long-pending small and exquisite, also simplify system's formation simultaneously; Make simple to operately, can directly be connected realization system control with computing machine; The more important thing is and to realize that hyperchannel, many reference amounts control simultaneously, optimized system design and control.
Be not difficult to find out that by Fig. 2 the transmission signals between each module has state of a control, data, address, sheet choosing, control, address 1, address 2, control signal, look-at-me, serial bus, serial communication, feedback signal, valve control signal 1, valve control signal 2, valve control signal 3 and valve control signal 4 etc.
Existing that the principle analysis of hydraulic servo control system is following:
The whole control system comprises servo actuator driver module, real-time control module DSP, analog quantity input/output module, digital quantity input/output module, dual port RAM memory module, PC/104 interface module, power module etc.Each sensor output parameter through getting into DSP behind signal conditioning circuit, the A/D modular converter, is accomplished signals collecting such as displacement, pressure, speed, acceleration respectively successively in the experimentation; The PC control command signal is then handled the back through PC/104 interface, dual port RAM storer, DSP, D/A modular converter, servo-driver etc. successively and is arrived servo actuator, forms complete close loop control circuit, realizes the control function of total system.
Next the total system various piece is described in detail, so that those of ordinary skill in the art can make much of and reproduce the hydraulic servo control system that present embodiment provides, servo controller especially wherein.
, the power circuit part:
In real time control module DSP carry 220VAC change 24VDC, ± 12VDC and 5VDC circuit part, can adopt the linear power supply chip that is similar to TPS767D318 to provide+the 1.8V power supply, for peripheral circuit provides+3.3 V power supplys for the DSP kernel.And there is corresponding level shifting circuit to make DSP, dual port RAM and PC/104 interface section circuit realize level match.The magnetic bead of connecting between external power source input end and the linear power supply chip to isolate the high frequency noise of input end, strengthens the stability of power supply.At the output terminal parallel connection filter capacitor of power supply chip, to reduce power supply ripple.
, DSP treatment circuit part:
This example can be used the dsp chip of model as TMS320F2812 etc.; Adopt the high-speed dsp Digital Signal Processing; Develop the scheduling algorithm of signal processing algorithm and software PID control efficiently, through being that host computer command signal and sensor feedback signal compare and processing in real time such as computing to the hyperchannel servo-control signal, obtaining exporting signal is the servo-valve control signal; Form complete software PID control loop, servo actuator is controlled in real time and detected.
, A/D and D/A change-over circuit part:
This example can be used the ADC and the DAC chip of TI company; Like ADS1158 and DAC7564 etc.; The output simulating signal of displacement transducer and each force transducer is carried out the digital signal of conversion of 2 to 16 road high-precision adcs and output after DSP carries out computing and handles and carry out 1 to 8 tunnel high precision DAC conversion; Export to the driving circuit of servo valve part, to reach the purpose that servo actuator is controlled in real time and detected.And A/D and D/A circuit all have relevant signal condition and amplifying circuit and signal is cushioned and mate.
, the serial communication circuit part:
Is that example is explained at this with synchronous peripheral serial (SPI) communication, also has other several kinds of serial communication modes to select certainly.SPI communication is a kind of master-slave mode serial communication; TMS320F2812 is provided with from output/primary input (SPISOMI) pin, from input/master's output (SPISIMO) pin, enables (SPISTE) pin, serial clock (SPICLK) pin from transmission, is the SPI communicate configuration of standard.Considering the level compatibility issue, between the SPI of DSP controller and external interface, add impact damper, is the external unit compatibility of 5V with assurance system and voltage.The data of serial communication transmission can be handled in DSP, through dual port RAM and host exchanging data, trigger DSP by main frame and interrupt, and control DSP work also can be sent to main frame by DSP and interrupted the processing that application is relevant.
, dual port RAM interface circuit part:
The dual port RAM device has two covers fully independently data line, address wire and read-write control line on a SRAM storer, and allow two independently system simultaneously this storer is carried out the visit of randomness, promptly share the formula multiport memory.This example can be selected the serial dual port RAM device of IDT company or CYPRESS company, model such as CY7C028V-20AXI etc. for use.As shown in Figure 1; The left-half data line of dual port RAM directly links to each other with address wire with the external data line of DSP with address wire; Right half part data line and address wire connect with PC/104 bus data line and address wire respectively behind bus driver. consider that upper strata main frame and DSP possibly visit dual port RAM simultaneously; Therefore adopt " ready " signal of BUSY signal controlling main frame or DSP in the design, realization etc. are to be controlled.
Dual port RAM left-half chip selection signal links to each other with the DSP relevant pins and accomplishes the sheet choosing, and the outside 15 bit address lines of DSP link to each other with dual port RAM left-half address wire, realize 32K space addressing; 16 position datawires of DSP link to each other with dual port RAM left-half data line, realize the parallel access of 16 bit data; The read-write of the read-write state signal DLR/W control dual port RAM left-half of DSP; Dual port RAM left-half output DLBUSY signal links to each other with DSP through logical circuit output FRDY signal.
The dual port RAM right half part is used for host access, because address, the data-signal of PC/104 bus are the 5V level, therefore adopt corresponding bus driver chip to accomplish and drives and level conversion.Can adopt high some bit address of chip for driving to select as dual port RAM right-hand part burst through decoding; The read-write of DRR/W control dual port RAM right half part. dual port RAM right half part output DRBUSY signal links to each other with the RADAY signal of PC/104 bus through logical circuit output-pcr DY signal.
, the logical circuit part:
Adopt the MAX V series CPLD device 5M240Z of ALTERA company The whole control system to be carried out the control of sequential and logic aspect in this example; Make each functional circuit part carry out accurate in real time running, realize the function of The whole control system according to the mode of anticipation.Adopt the CPLD device to make sequential logical circuit and do with the general logic chip of use, advantages such as more steering logic element number and high control precision are arranged, and circuit structure is simple, cost is lower.
, software design and realization:
The dsp software exploitation can be used C language, assembly language or MATLAB language etc., also can several kinds of development languages be used in combination according to demand.
Dual port RAM, triggers main frame then and interrupts when DSP receives data and when main frame sends, data and identifier write the dual port RAM appointed area as DSP and the shared storer of main frame.The main frame interrupt service routine at first takes out identifier, and takes out data according to identifier; When main frame sent data, main frame also write the dual port RAM appointed area with data and identifier, triggered DSP and interrupted, and the DSP interrupt service routine also copies the main frame interrupt service routine to handle.During practical application, can be according to the needs that transmit data volume by start address and size with upper type definition different pieces of information district.No matter be in DSP or in the PC/104 main frame, identical with common memory interrupted all in the operation of dual port RAM and transmitting-receiving.
, the servo-driver part:
The electro-hydraulic servo control device can realize that a plurality of servo actuators control simultaneously; And handle as an integrated unit; The feedback signal of the corresponding sensor in the importation of each control module, output signal are the valve control signal that comes out through D/A converter of DSP (4-20mA current signal or ± 5V voltage signal); Control the parameter such as power, displacement, speed, acceleration of servo actuator, to reach required control requirement.
Mainly comprise sensor feedback signal and associated processing circuit, command signal and associated processing circuit thereof in the control module of every road; All comprise sampling in every road, follow, interlock circuit such as amplification, include also that zero-bit is regulated and full journey is regulated two kinds of signal trimming circuits; Can adopt hardware PID control or software PID control according to the actual requirement of client.Final valve control signal drives servo-valve through a degree of depth negative feedback amplifier circuit of being made up of accurate amplifier and related power pipe, forms a complete closed loop control system.
The technical indicator of the hydraulic servo control system that present embodiment provides when practical application is following:
1, power supply mode:Through lithium battery is that control system provides 24VDC; Each displacement transducer and force transducer provide power supply by the response control circuit, and probe power has two kinds: the 24VDC analog electrical, and the 5VDC digital electrical, each sensor power supply Wiring port provides separately.
, input signal:The feedback signal of various kinds of sensors and relevant limit switch signal are simulated ground and are digitally separated.
, output signal:The control signal of servo-valve; 104 buses, the dual port RAM data-signals such as layer control unit transmission displacement, power, speed, acceleration that make progress.
, the control program development interface:The DSP program is write inbound port; Dual port RAM hardware physical address, the next hardware physical address of many capture cards of hyperchannel situation staggers.
, final structure:Have 3 road input ports (input of 1 tunnel simulating signal, the input of 2 path switching signals) under the single, 1 road analog signal output mouth, hyperchannel is by that analogy; One 104 bus port; A power input mouth; A ground; A plurality of output port of power source.DSP is 1KHz to the SF of each sensor and switching signal, and the message transmission rate of PC/104 interface and dual port RAM upper end is 200Hz.
The whole control system comprises servo-drive circuit part, data acquisition, processing, output circuit part, and PC control, monitoring part can reach the work coordination unanimity, response characteristic is good, and working stability is reliable, the advantage of long service life.
The control system function:
Through gathering a plurality of output parameters of servo actuating system: displacement, pressure, speed, acceleration form close loop control circuit.Be divided into control modes such as displacement, pressure, speed, acceleration, can choose one of which wantonly, and multiple control modes can take over seamlessly.Ability combined sensor feedback signal is monitored controlled device in real time simultaneously.
The data acquisition system (DAS) correlation parameter:
A) input signal: simulating signal, switching signal;
B) output signal: the make progress data-signals such as displacement, power, speed, acceleration of layer control unit transmission of valve control signal, dual port RAM, PC/104 bus;
C) A/D, D/A sampling precision: 12
D) frequency range:
1) sensor sample speed: 1000Hz
2) message transmission rate: 200Hz
E) can select respectively according to the actual requirements by displacement, pressure, speed, the running of acceleration dispatch control system;
F) reliable safety protection function is arranged,, can realize simultaneously other parameter is monitored in real time and responded promptly by a certain selected parameter (like displacement, pressure) when control, as: above system protection or warning after a certain setting ultimate value;
G) system's control accuracy:
1) static control accuracy: 1%
2) dynamic control accuracy: 2%
Total system has good operability, except that normal use operation, also can be provided with functions such as suddenly stopping protection.
More than giving an example only is to illustrate of the present invention, does not constitute the restriction to protection scope of the present invention, and the every and same or analogous design of the present invention all belongs within protection scope of the present invention.
Claims (7)
1. servo controller; It is characterized in that, comprise servo actuator driver module, D/A modular converter, real-time control module DSP, A/D modular converter, be used to gather signal collection modulation amplifying circuit module, dual port RAM memory module, PC/104 interface module, level conversion drive circuit module, the application of logic circuit module of displacement transducer, force transducer, speed pickup and limit switch signal and be used for voltage-stabilized power supply circuit module to said servo actuator driver module, D/A modular converter, real-time control module DSP, A/D modular converter, the signal collection modulation amplifying circuit module that is used to gather displacement transducer, force transducer, speed pickup and limit switch signal, dual port RAM memory module, PC/104 interface module, level conversion drive circuit module and application of logic circuit module power supply;
Said real-time control module DSP electrically connects through D/A modular converter and said servo actuator driver module;
Said dual port RAM memory module and said real-time control module DSP electrically connect;
Said dual port RAM memory module electrically connects through said level conversion drive circuit module and said PC/104 interface module;
Said application of logic circuit module electrically connects with said real-time control module DSP, said dual port RAM memory module and said level conversion drive circuit module respectively;
Said signal collection modulation amplifying circuit module electrically connects through said A/D modular converter and said real-time control module DSP;
Said application of logic circuit module electrically connects through said level conversion drive circuit module and said PC/104 interface module;
Said real-time control module DSP is provided with the limit switch signal interface.
2. servo controller as claimed in claim 1 is characterized in that, said real-time control module DSP is that model is the real-time control module DSP of TMS320F2812.
3. servo controller as claimed in claim 1 is characterized in that, said real-time control module DSP is provided with the RS232 serial communication interface.
4. servo controller as claimed in claim 1; It is characterized in that; Said servo actuator driver module, D/A modular converter, A/D modular converter, the signal collection modulation amplifying circuit module, dual port RAM memory module, PC/104 interface module, level conversion drive circuit module, voltage-stabilized power supply circuit module and the application of logic circuit module that are used to gather each displacement transducer, force transducer and limit switch signal all are integrated in a circuit board, and said real-time control module DSP is an independent standard size circuit board.
5. servo controller as claimed in claim 1 is characterized in that, said real-time control module DSP is 1KHZ to the SF of said displacement transducer, force transducer, speed pickup and limit switch signal; The message transmission rate of said dual port RAM memory module and PC/104 interface module upper end is 200Hz.
6. servo controller as claimed in claim 1 is characterized in that, is that servo controller provides 24VDC through lithium battery; Said displacement transducer, force transducer, speed pickup provide power supply by signal collection modulation amplifying circuit module; The power supply Wiring port of said displacement transducer, force transducer, speed pickup provides separately.
7. servo controller as claimed in claim 6 is characterized in that, probe power has two kinds: 24V direct supply and 5V direct supply.
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| CN103362902A (en) * | 2013-06-27 | 2013-10-23 | 山东大学 | Single-leg hydraulic servo controller for legged robot |
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| CN112511395A (en) * | 2020-11-06 | 2021-03-16 | 云浮中科石材创新科技有限公司 | Driving and controlling integrated control system |
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| CN103231373A (en) * | 2013-03-26 | 2013-08-07 | 东南大学 | Exoskeleton hardware control platform |
| CN103362902A (en) * | 2013-06-27 | 2013-10-23 | 山东大学 | Single-leg hydraulic servo controller for legged robot |
| CN103362902B (en) * | 2013-06-27 | 2016-01-20 | 山东大学 | Leg legged type robot list leg hydraulic servo controller |
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