CN102806683A - Special PCI (Peripheral Component Interconnect)-based hydraulic machine motion control method and controller - Google Patents

Special PCI (Peripheral Component Interconnect)-based hydraulic machine motion control method and controller Download PDF

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Publication number
CN102806683A
CN102806683A CN2012103005296A CN201210300529A CN102806683A CN 102806683 A CN102806683 A CN 102806683A CN 2012103005296 A CN2012103005296 A CN 2012103005296A CN 201210300529 A CN201210300529 A CN 201210300529A CN 102806683 A CN102806683 A CN 102806683A
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China
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module
data
eq2c8q208
control
pci
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CN2012103005296A
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Chinese (zh)
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吴爱国
张凯
吴国强
何熠
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天津大学
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Priority to CN2012103005296A priority Critical patent/CN102806683A/en
Publication of CN102806683A publication Critical patent/CN102806683A/en

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Abstract

The invention relates to hydraulic machine motion control, and provides a control board card and a controller. The control board card has low cost, high reliability and simplicity in use and maintenance, and is combined with an industrial personal computer to form a control system, and the controller is directly matched with an actuator through signals. The technical scheme is as follows: the special PCI (Peripheral Component Interconnect)-based hydraulic machine motion controller comprises an analog input module, an analog output module, a TMS320F2812 digital signal processing module, an EQ2C8Q208 logic circuit conversion module, a PCI9054 bus data communication module, a switch value input circuit module and a switch value output circuit module, wherein the Q2C8Q208 logic conversion circuit module is connected with the modules. The controller provided by the invention is mainly used in the motion control of a hydraulic machine.

Description

Based on special-purpose motion control method of the hydraulic press of PCI and controller
Technical field
The present invention relates to the hydraulic press motion control, specifically, relate to hydraulic press special motion controller based on PCI.
Background technology
At present the commercial production of China has got into the stage of a fast development, simultaneously, in production automation degree increasingly high today, the demand of each quasi-controller is increased greatly.In high frontiers such as Aero-Space, Large-Scale Equipment manufacturing, electronic information, indexs such as the stability of controller, anti-interference, precision, speed are had higher requirement.But existing nowadays domestic motion controller market is still external product and occupies most of share; And high-caliber controller market that is to say that almost by the monopolization of offshore company of a few family China lacks a kind of low cost and high reliability motion controller of independent intellectual property right now.
At the large hydraulic press production industry, be limited by the technical monopoly of the motion controller of external production on the one hand, the homemade hydraulic press of China can't possess complete independent intellectual property right always; On the other hand, large hydraulic press is as the control object, and its signal type, specification requirement all have its unique distinction; And the general motion controller of many employings in the practical application; Because not matching of signal characteristic, specification requirement brings a lot of inconvenience to the producer, also can cause the unnecessary wasting of resources simultaneously like this.
Thus, developing a independent intellectual property right that possesses, can be significant than the motion controller of limits matching fluid press control system.
The composition of hydraulic system and realization
The multicylinder hydraulic machine mainly comprises host computer, hydraulic cylinder group, slide block, frame, oil pump group, fuel tank, checkout gear and control system.When hydraulic press was worked, oil pump extracted in-line with high-pressure and hydraulic oil from fuel tank; Hydraulic oil gets into the hydraulic cylinder group through proportional servo valve, the driving sliding block operation.The speed of slide block and leveling control is the aperture through proportional servo valve in the continuous adjusting oil circuit, and the flow of the hydraulic oil of hydraulic cylinder realizes thereby change.
With 80MN multi-cylinder hydraulic forging press is example, describes hydraulic system and forms as shown in Figure 1.
Wherein the detailed description of each several part is as shown in the table:
The key of control multicylinder hydraulic machine is the multicylinder hydraulic servo-control system.The interior pressure information of through FPGA and A/D chip the positional information (SSI form) and the pressure sensor of the slide block of grating chi output being gathered at first, respectively (voltage signal) of hydraulic cylinder converts the parallel binary information that main control chip can be discerned into.Main control chip calculates the due aperture of proportional servo valve according to these information and control algolithm then, through D/A chip and driving amplifying circuit, exports to proportional servo valve, thereby reaches the control target then.Multicylinder hydraulic machine control systematic schematic diagram is as shown in Figure 2.
Summary of the invention
The present invention is intended to overcome the deficiency of prior art; Provide a kind of low cost, high reliability, operation and maintenance simple; And can with the control integrated circuit board of the common forming control system of industrial computer and can be directly and the controller of operator signals coupling; For achieving the above object; The technical scheme that the present invention takes is based on the hydraulic press special motion controller of PCI, to comprise analog quantity input module, analog output module, TMS320F2812 digital signal processing module, EQ2C8Q208 logic circuit modular converter, PCI9054 bus data communication module, switching value input circuit module, switching value output circuit module; Q2C8Q208 logical transition circuit module links to each other with aforementioned each module respectively;
EQ2C8Q208 logical transition circuit module is connected with the TMS320F2812 digital signal processing module, realizes exchanges data between the two through the interruption controls mode;
EQ2C8Q208 logical transition circuit module is connected through the corresponding PCI slot of PCI9054 bus data communication module and industrial computer, realizes the parallel data exchange between industrial computer and the EQ2C8Q208 logical transition circuit.
Analog quantity input module structure is: EQ2C8Q208 writes AD7928 through spi bus with control word, during carry out electrical isolation through chip TLP117; External terminal receives 0~10V voltage signal of transmitter input; Obtain 0~5V normal voltage signal through electric resistance partial pressure; Warp A/D conversion chip AD7928 again converts 12 high-accuracy digital signals into; Carry out the electrical isolation of data signal then through digital quantity isolating chip IOS721, the serial digital signal after the isolation transfers to EQ2C8Q208 through spi bus.
The analog output module structure is: data signal transfers to digital quantity isolating chip TLP117 by EQ2C8Q208 through spi bus; Carry out the electrical isolation of data signal at this; Serial digital signal converts 12 high-accuracy digital signals into analog signals through D/A conversion chip A/D5628, is converting the output of standard 0~10 voltage signal into through the overvoltage signal amplifying circuit.
EQ2C8Q208 logic circuit modular converter further comprises: high speed position (SSI) acquisition module, M method and T method speed calculation module, SPI serial data communication module, TMS320F2812 interruption controls and arbitration modules, PCI parallel bus data communication module, TMS320F2812 interruption controls and arbitration modules and PCI parallel bus data communication module are included in the dual port RAM.
The TMS320F2812 digital signal processing module further comprises: the interrupt data communication module of AD data acquisition and form modular converter, DA Data Format Transform and output module, control algolithm operation module and DSP and FPGA
AD data acquisition and form modular converter are used for: change the analog signals of input into 12 high-accuracy digital signals, import EQ2C8Q208 logic circuit modular converter with the mode of SPI universal serial bus, and then be transformed into parallel data signal; Obtain the data in the FPGA memory block through interrupt data communication subprogram, and it is transformed to the available data format of control algolithm operation by the conversion of regulation numeral system;
DA Data Format Transform and output module are used for: convert the numerical value of control signal through regulation 12 bit digital quantity of corresponding DA chip to, the SPI universal serial bus through FPGA transfers to the DA conversion chip, and then obtains desired analog quantity;
Control algolithm operation module is used for: the judgement of mode of operation, the switching of speed calculation method, the switching of the big or small valve of output, the calculating of deviation, the calculating of controlled quentity controlled variable;
(4) the interrupt data communication module of DSP and FPGA.
Technical characterstic of the present invention and effect:
Aspect controller hardware: but this control integrated circuit board straight cutting is to PC; Form the complete control system of a cover with PC; Realized the integration of control system, it is that the function of control system is more perfect that the user can require to expand different PCI integrated circuit board according to Different control.And the external conditioning plate among the present invention links to each other in field programmable gate array (FPGA), and can change different conditioning plates to realize different performance (like the precision that changes D/A etc.) according to different demands.The present invention can also break away from the PC main body, adopts independent powering mode, can be used as and independently controls its use.
Aspect controller software spare: write on the programmable gate array EQ2C8Q208 at the scene and solidified 8 tunnel high speed position (SSI) interface; With corresponding speed calculation algorithm (M method and T method); To realize that position at a high speed and speed detect, saved the cycle of operation that DSP goes up motion control arithmetic; On digital signal processor TMS320F2812, write the interrupt run subprogram with field programmable gate array EQ2C8Q208 communication, realize fast data exchange between the two.
Description of drawings
Fig. 1 multi-cylinder hydraulic forging press fundamental diagram (left side is oil circuit figure, and the right side is frame figure).
Fig. 2 multicylinder hydraulic machine control systematic schematic diagram.
Fig. 3 controller block diagram.
Fig. 4 FPGA pinout.
Fig. 5 FPGA internal logic functional diagram.
Fig. 6 one tunnel high speed SSI communication interface modules sketch map.
Fig. 7 DSP parameter reading and writing interruption subroutine flow chart.
Fig. 8 multicylinder hydraulic machine control systematic schematic diagram.
Fig. 9 DSP main program flow chart.
Figure 10 DSP control program flow chart.
The specific embodiment
The object of the invention is providing a kind of low cost, high reliability, operation and maintenance simple, and can with the control integrated circuit board of the common forming control system of industrial computer and can be directly and the conditioning plate of operator signals coupling.
Characteristics of the present invention are that the motion control integrated circuit board can be through the pci interface straight cutting to industrial computer; Form the complete control system of a cover with industrial computer, signal regulating panel, controlled device; Realized the integration of control system, the user can make the function of control system more perfect according to the PCI integrated circuit board that Different control requires to expand different performance.And the external conditioning plate among the present invention links to each other with FPGA, can change different conditioning plates to realize different performances according to different demands.On FGPA programming 8 tunnel high speed position (SSI) interface and corresponding speed calculation method (M method and T method), detect to realize position at a high speed and speed, reduction DSP is the cycle of operation of motion control arithmetic upward, thereby the Whole Response speed of raising control system.
The present invention solves the problems of the technologies described above the technical scheme that is adopted and is described below:
1. hardware is realized
Requirement according to multiaxial motion control index; This nonshared control unit, its functional circuit comprise digital quantity input/output module, analog output module, TMS320F2812 digital signal processing module, EQ2C8Q208 logic circuit modular converter, PCI9054 bus data communication module, SSI synchronous serial bus data acquisition module.The present invention gathers SSI, and digital quantity input and output and analog quantity output are all set and is made as 8 the tunnel, and analog quantity output becomes the output of 0~10V analog signal signal through amplifying circuit.
(1) JTAG debugging interface module: field programmable gate array EQ2C8Q208 is configured to the JTAG debugging interface with pin TCK, TDO, TMS, TDI, VCC, GND.Being defined as of JTAG pin: TCK is the test clock input.TMS is that test pattern is selected, and TMS is used for being provided with jtag interface and is in certain specific test pattern.TDI is the test data input, and data are through TDI pin input jtag interface; TDO is test data output, and data are exported from jtag interface through the TDO pin.
When using PC to carry out on-line debugging, on the one hand, the data in the controller are passed to the control integrated circuit board through the JTAG debugging interface, and integrated circuit board is passed to computer with data through the parallel port.On the other hand, debug command and data are passed to the control integrated circuit board through the parallel port.
(2) simulated measurement input circuit module: the analog quantity input signal is 0~10V voltage signal; Transfer 0~5V voltage signal to through electric resistance partial pressure; And the signal after will changing obtains 12 bit serial digital amount magnitudes of voltage to the A/D conversion chip A/D7928 in the A/D change-over circuit.This serial digital amount transfers to isolating chip IOS721, and IOS721 carries out electrical isolation with the data signal that receives, the SPI serial bus signal that output and EQ2C8Q208 level are complementary, and EQ2C8Q208 receives this spi bus signal and handles.In addition, the control word that A/D conversion chip mode of operation is transmitted by EQ2C8Q208 is controlled, and carries out electrical isolation by isolating chip TLP117 between the control word transmission period, and transmission means is all the transmission of SPI universal serial bus.
(3) analogue quantity output circuit module: EQ2C8Q208 with analog quantity output quantity variable corresponding to 0~4095; Be transferred to the isolating chip TLP117 of D/A buffer circuit through spi bus; Isolating chip carries out level conversion to the spi bus data that receive isolates, and the data signal after the conversion is sent to D/A conversion chip AD5628.
The analog quantity voltage change-over circuit comprises the voltage conversion circuit that the octuple structure is identical altogether.First of analog quantity voltage change-over circuit connects 0~5V voltage signal output channel of D/A conversion chip simultaneously to octuple input.The analog quantity voltage change-over circuit changes 0~10V voltage signal with 0~5V voltage signal of respective channel.Octuple 0~10V voltage signal of analog quantity voltage change-over circuit exports the respective channel of analog quantity lead-out terminal to, and analog quantity output signals is 0~10V.
(4) switching value input circuit module: come from outside 0V or 5V voltage signal and import from the switching value input port.The switching value modulate circuit comprises 8 tunnel function same circuits; The 0V of switching value input port first to octuple or 5V voltage signal carry out voltage transformation through chip ADuM1400ARW isolates; Transfer 0V or 5V voltage signal to 0V or the output of 3.3V voltage signal, first output to octuple switching value modulate circuit is connected to first pin to octuple switching value correspondence of EQ2C8Q208.If corresponding pin is a high level, then reading corresponding positions is 1; If corresponding pin is a low level, then reading corresponding positions is 0.
(5) eight general purpose I of switching value output circuit module: EQ2C8Q208/O interface pin is set to the switching value function, and with the value 0 or the corresponding function pin of 1 output first to octuple switching value of the corresponding register of first to the 8th passage.If register value is 1, then export 3.3V; If register value is 0, then export 0V.First the voltage signal to the corresponding pin of octuple switching value carries out voltage transformation through chip ADuM1400ARW isolates, and transfers 0V or 3.3V voltage signal to 0V or the output of 5V voltage signal.
(6) pci interface drives module: pci interface chip for driving PCI9054 is the PCI Communications Control Interface with BTERM, READY, ADS, BLAST, WAIT, LRESET, LINT, USERi/DACK0/LLOCKi, USERo/DACK0/LLOCKo pin configuration; With LA2~LA30 pin configuration is 29 bit address positions, is 32 bit data positions with LD0~LD31 pin configuration.After the control panel cartoon is crossed pci interface and is connected to industrial computer; Api function through industrial computer operating system; Can read and write the pairing data value of pci interface chip for driving PCI9054 appropriate address; Because the PCI9054 data bit is connected with general purpose I/O pin of EQ2C8Q208 with the address bit pin, data value can be reflected among the EQ2C8Q208 in real time, is used for follow-up processing simultaneously.
(7) DSP data processor module: data processing unit TMS320F2812 realizes the 16 figure place parallel communications of TMS320F2812 and EQ2C8Q208 through XREADY, XR/W, GPIIOE0_XINT1 pin; XA [0]~XA [13] pin configuration is 14 bit address positions, and XD [0]~XD [15] pin configuration is 16 bit data positions.For realizing the transfer of data of EQ2C8Q208 and TMS320F2812; On above hardware connection basis; Customized interruption read-write mode based on interrupt control word; EQ2C8Q208 produces external interrupt signal, realizes corresponding read-write control through read-write flag bit among the TMS320F2812 identification EQ2C8Q208.
Said EQ2C8Q208 logical transition circuit module is connected with the TMS320F2812 digital signal processing module; Realize exchanges data between the two through the interruption controls mode; Said TMS320F2812 digital signal processing module is connected with JTAG debug circuit interface module, realizes the algorithm routine of TMS320F2812 digital signal processing module is write and monitors.
Said EQ2C8Q208 logical transition circuit module is connected with 8 road SSI synchronous serial data acquisition modules; Adopt level transferring chip MAX3490 the differential signal of sensor input to be converted into the Transistor-Transistor Logic level signal of 0~3.3V; Said 8 road SSI synchronous serial data acquisition modules are connected with external terminal; And between two differential signals, add resistance, guarantee that voltage is stable.
Said EQ2C8Q208 logical transition circuit module is connected with the pci interface circuit module of PCI9054; Adopt the parallel data transmission means; The data bit maximum can reach 32, and the address bit maximum can reach 29, and the pci interface circuit module of said PCI9054 is connected with universal PC I bus plug; Be connected through the corresponding PCI slot of this plug and industrial computer, realize the parallel data exchange between industrial computer and the motion control integrated circuit board.
Said EQ2C8Q208 logical transition circuit module is connected with digital circuit isolating chip TLP117; Both carry out one-way data transmission by EQ2C8Q208 logical transition circuit module to TLP117 through the SPI universal serial bus; Realize between electric isolation and up to the serial data communication of 10M; Said digital circuit isolating chip TLP117 is connected with D/A conversion chip AD5628; Said D/A conversion chip AD5628 is connected with analog quantity output voltage amplifying circuit module LM224J, and said analog quantity output voltage amplifying circuit module LM224J is connected with external terminal, but its output actuate actuators.
Said EQ2C8Q208 logical transition circuit module is connected with digital circuit isolating chip TLP117; Both carry out one-way data transmission by EQ2C8Q208 logical transition circuit module to TLP117 through the SPI universal serial bus, realize between electric isolation and up to the serial data communication of 10M; Said A/D conversion chip AD7928 is connected with isolating chip IOS721, and said isolating chip IOS721 is connected with EQ2C8Q208, and serial digital signal to the EQ2C8Q208 one-way transmission, and is realized the isolation between electric by A/D convertor circuit; Said digital circuit isolating chip TLP117 is connected with A/D conversion chip AD7928, and said A/D conversion chip AD7928 is connected with external terminal, as the analog data interface.
Said EQ2C8Q208 logical transition circuit module is connected with JTAG program download interface module, can accomplish the program of EQ2C8Q208 logical transition circuit module is downloaded.
Said EQ2C8Q208 logical transition circuit module is connected with digital isolating chip ADuM1400ARW, realizes the isolation between the electrical equipment, and said digital isolating chip ADuM1400ARW is connected with external terminal, realizes the input and output of digital quantity.The signal of 2 motion control integrated circuit boards and conditioning plate moves towards explanation
A kind of hydraulic press special motion controller based on PCI comprises digital signal processor TMS320F2812; Field programmable gate array EQ2C8Q208, based on the pci interface circuit of PCI9054,8 tunnel high speed SSI bus level change-over circuits; 8 road D/A change-over circuits (on the conditioning plate); 8 road magnetic couplings are isolated digital input circuit (on the conditioning plate), 8 road A/D change-over circuits (on the conditioning plate), and 8 road magnetic couplings are isolated digital output circuit (on the conditioning plate); Many interfaces that field programmable gate array EQ2C8Q208 goes up establishment merge logic, independent current source circuit.
Analog quantity input signal trend: EQ2C8Q208 writes AD7928 through spi bus with control word, during carry out electrical isolation through chip TLP117.External terminal receives 0~10V voltage signal of transmitter input; Obtain 0~5V normal voltage signal through electric resistance partial pressure; Warp A/D conversion chip AD7928 again converts 12 high-accuracy digital signals into; Carry out the electrical isolation of data signal then through digital quantity isolating chip IOS721, the serial digital signal after the isolation transfers to EQ2C8Q208 through spi bus.
The analog quantity output signals trend: data signal transfers to digital quantity isolating chip TLP117 by EQ2C8Q208 through spi bus; Carry out the electrical isolation of data signal at this; Serial digital signal converts 12 high-accuracy digital signals into analog signals through D/A conversion chip A/D5628, is converting the output of standard 0~10 voltage signal into through the overvoltage signal amplifying circuit.
Switching value input signal trend: transfer to EQ2C8Q208 by external terminal through digital isolating chip ADuM1400ARW.
Switching value output signal trend: transfer to external terminal by EQ2C8Q208 through digital isolating chip ADuM1400ARW.
Parallel Digital amount and address signal trend: field programmable gate array EQ2C8Q208 is as the transit module of various digital quantity signals; Accomplish and the 32-bit number amount of pci bus interface chip PCI9054 and the bidirectional data exchange of 29 bit address amounts; Simultaneously, accomplish and 16 bit digital quantity of digital signal processor TMS320F2812 and the bidirectional data exchange of 14 bit address amounts.
3 logical designs and data communication
3.1FPGA inner control logic design
The present invention has been solidified high speed position (SSI) acquisition module, M method and T method speed calculation module, SPI serial data communication module, TMS320F2812 interruption controls and arbitration modules, PCI parallel bus data communication module (back two modules are included in the dual port RAM) to guarantee the smooth communication of system's various piece in EQ2C8Q208; And can effectively control, concrete logical design is as shown in Figure 5.
The SSI communications protocol is abbreviation, and its full name is a synchronous serial interface.SSI adopts main frame initiatively to read mode, and promptly main controller is to sending a clock pulses from equipment, and from equipment output one digit number certificate, data begin transmission from highest significant position (MSB).Sequential requirement according to input SSI signal is divided into clock generating module, data reception module and data conversion module with the SSI acquisition module.Its structure chart is as shown in Figure 6.This module can be according to the difference (binary system and Gray code) of selected hydraulic press institute grating belt chi form initiatively to the peripheral hardware clock signal, and is 32 parallel-by-bit data with the serial position data transaction that the grating chi imports into.What adopt for the design is continuous sampling, and the sampling period is T, but T is a setting value (from 1M to 10K).Utilize the characteristic of FPGA, realize 8 tunnel parallel SSI samplings within it, and adopt the same system clock, so just guaranteed that the real-time of position sampling is with synchronously.
Speed measuring module then is according to parallel data and sampling clock after the conversion of SSI communication module, carries out speed calculation by T method and M method respectively, calculates fast with realization speed, reduces subsequent control algorithm resource requirement.Because what the design adopted is continuous sampling, and sample frequency is higher, so can use the unit interval of sampling period T as system timing.
In the design, the last dual port RAM of realizing a 68*16 position of FPGA, this dual port RAM is the carrier of spi bus module and data relay module.Read-write control is mainly write according to the local bus protocol of PCI9054 and 16 bus protocols of peripheral hardware of DSP respectively in the two ends of dual port RAM; What it communicated by letter use with DSP is 16 external bus of DSP, and physical address is corresponding to 0 district (both initial address was 0X2000) of DSP.Pci bus is all passed through in data interaction between host computer and the main control chip DSP, is transformed into local bus through PCI9054 again, be transferred among the DSP through the dual port RAM of realizing among the FPGA again, otherwise still.PCI9054 and DSP are designed to main equipment, and dual port RAM all is from equipment.
Different memory areas with dual port RAM is divided into the different functions district according to the actual requirements, has done different qualifications according to the demand of same district not.Wherein the size in fast shared district is the 16*16 position, and it is all read-write to be set at PCI9054 and DSP, and this part memory block is that PCI9054 and DSP share, and data transmission efficiency is the fastest, is used to deposit between host computer and the DSP shared, and needs the data of transmission fast.
Because the data volume between host computer and the DSP can surpass the size in fast shared district, but required transfer rate is unhappy, and all is that host computer is is initiatively read and write.So the reading and writing data district is set.It is set at PCI9054 and DSP is read-write, and size is the 16*16 position.Preceding 32 of the reading and writing data district are the read-write control word, and define as follows: the 31-16 position: the offset address amount is used for distinguishing the address area of having no progeny and reading and writing.The 15-8 position: the read/write interrupt identification, when being FF for these eight, having no progeny to carry out during expression gets into and write a program, when being 00 for these eight, expression gets into reads to interrupt the execution reader of having no progeny in the entering.7-0 position: the number of this eight bit representations, one less important read/write.Last 32 of the reading and writing data district is to interrupt opening control word, and when it was 1 entirely, INT signal step-down got into DSP and interrupts.When it was 0 entirely, the INT signal uprised.Write corresponding interrupt routine in the DSP, to realize the conversion of data.
The Position And Velocity district, size is used to deposit position signalling and the rate signal that is produced by SSI acquisition module and speed measuring module for the 32*16 position, and it all is read-only to PCI9054 and DSP.
It all is the 2*16 position that SPI divides into two each sizes of SPI, wherein preceding 32 be used for to the control of D/A, data storage and data register are posted in the control of latter two 16 bank bit A/D.The in addition parallel serial function of changeing in this district is exported to the DA on the conditioning plate when SPI_CS_DA converts preceding 32 parallel datas to the SPI data during for low level.When SPI_CS_AD is low level, data storage parallel data is posted in control and convert the SPI data to export to the data transaction that AD and receiver on the conditioning plate transmit be parallel data, exist in the data register.This district is only open to DSP, and last 16 is read-only [10-11].
Because to dual port RAM read-write might be to be the storage element operation to same 16, thus need shielding mutually, and setting priority.For overcoming the above problems, in the design, use the time-delay read-write capability of DSP and PCI9054, when having a port that dual port RAM is operated, will be made as disarmed state except that the READY signal of the port this port, the expression dual port RAM is in ' doing ' state.And speed measuring module and SSI detection module only just can deposit data in the dual port RAM in when dual port RAM ' free time ' state.
3.2DSP programming
TMS320F2812 is the core processor of operation control algolithm; Various control algolithms can realize with the C language; The main run user monitoring interface of industrial computer; Realize that the user rewrites the real-time monitoring and the parameter of current system mode, so the DSP programming is to embody the core place that the present invention controls scheme.The present invention is used for the modular Data Transport Protocol on the TMS320F2812, D/A output function, general purpose I/O function for the user has write.The present invention has been for the user has write the driver of communicating by letter between industrial computer and the motion control integrated circuit board, makes things convenient for the user to write control program and the monitoring programme of industrial computer in the TMS320F2812.
The DSP main program is as shown in Figure 9.
Shown in Figure 9 is this program flow diagram of DSP, comprises each functional module initialization and major cycle two parts.In major cycle, comprise four main functional modules again, be respectively: the interrupt data communication module of AD data acquisition and form modular converter, DA Data Format Transform and output module, control algolithm operation module and DSP and FPGA.Below each functional module is described:
(1) AD data acquisition and form modular converter
The AD data acquisition circuit changes the analog signals of input system into 12 high-accuracy digital signals; Mode with the SPI universal serial bus is imported FPGA; And then be transformed into parallel data signal; DSP obtains the data in the FPGA memory block through interrupt data communication subprogram, and by the conversion of regulation numeral system it is transformed to the available data format of control algolithm operation.
(2) DA Data Format Transform and output module
The required analog quantity output signals size of control system comes from the computing output of control algolithm; The control algolithm of moving among the DSP requires to export control signal corresponding according to the control of real system; As shown in Figure 9, the result that common computing draws is a floating number, converts thereof into 12 bit digital quantity of corresponding DA chip through the numerical value conversion of regulation; SPI universal serial bus through FPGA transfers to the DA conversion chip, and then obtains desired analog quantity.
(3) control algolithm operation module
In the native system; Control algolithm operation module is the core place of programming, and generally the master control program task of will accomplishing has: the judgement of mode of operation, the switching of speed calculation method, the switching of the big or small valve of output, the calculating of deviation, the calculating of controlled quentity controlled variable.Idiographic flow is shown in figure 10.
When hydraulic forging press operates in speed lower following time of state, the required fluid flow of single-rod piston cylinder is very little.At this moment, excessive if the bore of proportion directional valve is got, it is very little that the opening during its actual motion will close, and hydraulic forging press can produce strong and ear-piercing noise, and the temperature of hydraulic oil also can rise very fast.It is too small that the through-flow bore of opposite proportion directional valve selects, the requirement of big flow in the time of can not satisfying the hydraulic forging press high speed operation again; Simultaneously in order to mate two fluid oil supply loops, Control System Design two cover proportion directional valve systems: heavy caliber valve system and small-bore valve system.
Among Figure 10, big or small valve switching part need be controlled big valve and little valve simultaneously, and one the tunnel is that the controlled quentity controlled variable of big valve is calculated, and the controlled quentity controlled variable of another Lu Weixiao valve is calculated, and following of other situation only need be calculated the control corresponding amount during with big valve or only with little valve and get final product.
(4) the interrupt data communication module of DSP and FPGA.When industrial computer sends instruction, in the time of reading or writing the parameter of a certain axle, at first write interrupt control word, FPGA produces interrupt signal according to control word, and DSP gets into the external interrupt program.Interrupt routine identification interrupt control word in DSP inside and outside is realized the exchanges data of FPGA and exterior storage simultaneously, and then is read and write related data, just read-write a certain particular parameter value.Interrupt control word is set as follows:
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Define as follows:
1. 31-16 position: the offset address amount is used for distinguishing the address area of read-write of having no progeny.
2. 15-8 position: the read/write interrupt identification, when being FF for these eight, having no progeny in the entering to carry out and write a program, when being 00 for these eight, getting into and read to interrupt the execution reader of having no progeny in the entering.
3. 7-0 position: these eight is the number of a less important read/write.
4 control algolithms for example
The two synchronous PID of closed loop of control algolithm employing are controlled on the DSP and realize in aforementioned 80MN hydraulic control system design instance.For the independently two closed loop control algorithms of each cylinder design, outer shroud PID controller go into be ram speed with adjust after the difference of given speed, calculate given pressure reduction through the PID control law, as the given input of interior ring; In the input of ring PID controller be the difference of setting pressure and actual pressure, calculate the aperture of valve through the PID control law, import as the control of controlled device.Since hydraulic press when reruning suffered resistance moment be asymmetric, so can produce bigger synchronous error during the operation of multi-cylinder, system can't realize high-precision processing with cisco unity malfunction.For overcoming the above problems; Adopt the method for synchroballistic to control, promptly before the computational speed deviation earlier according to the positional information of the slide block given speed of adjusting, and be the reference position with a pairing position of specific hydraulic cylinder; For the position greater than this reference position; Given speed is suitably reduced, less than this reference position, given speed is suitably strengthened for the position.The synchronous pid control algorithm block diagram of two closed loops is as shown in Figure 8.Wherein the weights of reference in-cylinder are 0, and remaining is decided according to the position of cylinder.It must be real-time, synchronous that the synchronous pid control algorithm of two closed loops requires the sampling to each slide position.
5 sum up
Based on the special-purpose motion control method of the hydraulic press of PCI, realize by means of aforementioned hydraulic press special motion controller, and comprise following function based on PCI:
On the TMS320F2812 digital signal processing module; The function of carrying out is: mainly be used for sending instruction, accept data and accomplish some complicated algorithm controls and link to each other with FPGA through its 16 parallel-by-bit bus, this chip is the chip that aims at the Industry Control design, has multiple external interface; Its internal clocking is up to 150MHZ; Computational speed is fast, can reduce the running time of control program, to improve the control effect;
On EQ2C8Q208 logical transition circuit module; The function of carrying out is: mainly accomplish the collection and the SECO of 8 road SSI signals; M method and T method have tested the speed, have realized that two spi bus are used for the data interaction of mainboard and conditioning plate; And realize that within it dual port RAM is the data relay and the control of core, has accomplished the integration of each several part data.
The invention solves existing large hydraulic press control system controller and be too dependent on deficiencies such as external several kinds of general purpose controllers, special-purpose poor performance, hardware resource waste.A kind of low cost, high reliability, the simple large hydraulic press motion of operation and maintenance nonshared control unit are provided.The present invention both can use a leveling speed regulating control of independently controlling the integrated circuit board realization to the separate unit hydraulic press; Also can overlap complete control system with the common composition one of industrial computer collocation; The basic Properties Control of single realization; Also can build the friendly interface that satisfies user's needs,, have good economic benefit and social benefit for the user provides an environment simple and easy to operate.

Claims (5)

1. hydraulic press special motion controller based on PCI; It is characterized in that, comprise analog quantity input module, analog output module, TMS320F2812 digital signal processing module, EQ2C8Q208 logic circuit modular converter, PCI9054 bus data communication module, switching value input circuit module, switching value output circuit module; Q2C8Q208 logical transition circuit module links to each other with aforementioned each module respectively;
EQ2C8Q208 logical transition circuit module is connected with the TMS320F2812 digital signal processing module, realizes exchanges data between the two through the interruption controls mode;
EQ2C8Q208 logical transition circuit module is connected through the corresponding PCI slot of PCI9054 bus data communication module and industrial computer, realizes the parallel data exchange between industrial computer and the EQ2C8Q208 logical transition circuit.
2. the hydraulic press special motion controller based on PCI as claimed in claim 1 is characterized in that analog quantity input module structure is: EQ2C8Q208 writes AD7928 through spi bus with control word, during carry out electrical isolation through chip TLP117; External terminal receives 0~10V voltage signal of transmitter input; Obtain 0~5V normal voltage signal through electric resistance partial pressure; Warp A/D conversion chip AD7928 again converts 12 high-accuracy digital signals into; Carry out the electrical isolation of data signal then through digital quantity isolating chip IOS721, the serial digital signal after the isolation transfers to EQ2C8Q208 through spi bus.
3. the hydraulic press special motion controller based on PCI as claimed in claim 1; It is characterized in that; The analog output module structure is: data signal transfers to digital quantity isolating chip TLP117 by EQ2C8Q208 through spi bus; Carry out the electrical isolation of data signal at this, serial digital signal converts 12 high-accuracy digital signals into analog signals through D/A conversion chip A/D5628, is converting the output of standard 0~10 voltage signal into through the overvoltage signal amplifying circuit.
4. the hydraulic press special motion controller based on PCI as claimed in claim 1; It is characterized in that; Realize by means of said each module and interconnected relationship thereof; Wherein EQ2C8Q208 logic circuit modular converter further comprises: high speed position (SSI) acquisition module, M method and T method speed calculation module, SPI serial data communication module, TMS320F2812 interruption controls and arbitration modules, PCI parallel bus data communication module, TMS320F2812 interruption controls and arbitration modules and PCI parallel bus data communication module are included in the dual port RAM.
5. the hydraulic press special motion controller based on PCI as claimed in claim 4; It is characterized in that the TMS320F2812 digital signal processing module further comprises: the interrupt data communication module of AD data acquisition and form modular converter, DA Data Format Transform and output module, control algolithm operation module and DSP and FPGA:
AD data acquisition and form modular converter are used for: change the analog signals of input into 12 high-accuracy digital signals, import EQ2C8Q208 logic circuit modular converter with the mode of SPI universal serial bus, and then be transformed into parallel data signal; Obtain the data in the FPGA memory block through interrupt data communication subprogram, and it is transformed to the available data format of control algolithm operation by the conversion of regulation numeral system;
DA Data Format Transform and output module are used for: convert the numerical value of control signal through regulation 12 bit digital quantity of corresponding DA chip to, the SPI universal serial bus through FPGA transfers to the DA conversion chip, and then obtains desired analog quantity;
Control algolithm operation module is used for: the judgement of mode of operation, the switching of speed calculation method, the switching of the big or small valve of output, the calculating of deviation, the calculating of controlled quentity controlled variable;
The interrupt data communication module of DSP and FPGA.
CN2012103005296A 2012-08-22 2012-08-22 Special PCI (Peripheral Component Interconnect)-based hydraulic machine motion control method and controller CN102806683A (en)

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