CN103123468A - Servo controller for three-shaft antenna test robot - Google Patents
Servo controller for three-shaft antenna test robot Download PDFInfo
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- CN103123468A CN103123468A CN2011103669220A CN201110366922A CN103123468A CN 103123468 A CN103123468 A CN 103123468A CN 2011103669220 A CN2011103669220 A CN 2011103669220A CN 201110366922 A CN201110366922 A CN 201110366922A CN 103123468 A CN103123468 A CN 103123468A
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Abstract
本发明设计一种三轴天线测试机器人伺服控制器，属于机电控制领域。其特征在于：包括一块三轴运动控制板，控制板外围有触摸屏人机接口、上位机接口、三轴反馈通道、三轴限位模块和三轴驱动模块。触摸屏人机接口实现控制器的人机交互功能；上位机接口连接控制器与用户上位机，实现天线测试机器人的远程控制；三轴反馈通道分别采集天线测试机器人各个轴的实时角位数据；三轴限位模块用于天线测试机器人各个轴的电气限位；三轴驱动模块驱动天线测试机器人的各个电机运动。本发明为基于永磁式直流力矩电机的三轴控制系统提供了一种有效且低成本的解决方案。本发明可以控制三个轴分时独立运动，也可以控制三个轴同时关联运动。本发明主要用于三轴天线测试机器人的控制，也可以应用在其它类似的三轴伺服控制系统中。
The invention designs a three-axis antenna testing robot servo controller, which belongs to the field of electromechanical control. It is characterized in that it includes a three-axis motion control board, and the periphery of the control board has a touch screen man-machine interface, a host computer interface, a three-axis feedback channel, a three-axis limit module and a three-axis drive module. The touch screen human-machine interface realizes the human-computer interaction function of the controller; the host computer interface connects the controller and the user's host computer to realize the remote control of the antenna test robot; the three-axis feedback channel collects the real-time angle data of each axis of the antenna test robot; three The axis limit module is used for the electrical limit of each axis of the antenna test robot; the three-axis drive module drives the movement of each motor of the antenna test robot. The invention provides an effective and low-cost solution for a three-axis control system based on a permanent magnet DC torque motor. The present invention can control the time-sharing independent movement of the three axes, and can also control the simultaneous associated movement of the three axes. The invention is mainly used for the control of a three-axis antenna testing robot, and can also be applied in other similar three-axis servo control systems.
Description
Technical field
The present invention designs a kind of triaxial antennas test machine people servo controller, belongs to the Electromechanical Control field.
Background technology
Triaxial antennas test machine people is a kind of equipment for the test antenna performance.Triaxial antennas test machine people has three kinematic axiss: orientation kinematic axis, luffing axle and compensating motion axle, and wherein the orientation kinematic axis is regulated the position angle of tested antenna, and range of movement is 0 °～360 °, and is separate with the motion of two other axle.The luffing axle is regulated the angle of pitch of tested antenna, the movement warp of compensating motion axle compensation pitch axis, constant with the phase center that guarantees tested antenna, so the essential coordinate synchronization motion of luffing axle and compensating motion axle, the range of movement of the angle of pitch and offset angle is 0 °～90 °.
In the Electromechanical Control field, the element that builds servo-control system has a lot, with regard to choosing of executive component, some employing AC servo motor, some employing stepper motors, some employing brshless DC motors, some employings have brushless motor etc., the different motors different driver of need to arranging in pairs or groups; Just feed back choosing of measuring sensor, some employing photoelectric encoders, some employing grating scales, some employing rotary transformers, some employing Hall elements etc. according to different control needs, are selected different sensors.
Triaxial antennas test machine people is typical three axle servo-drive systems, this humanoid robot adopts permanent magnetic DC torque motor as the executive component of each kinematic axis, require each kinematic axis position control accuracy greater than 0.1 °, adopt 14 absolute optical encoders as each kinematic axis position measurement element, adopt the infrared type optoelectronic switch as the spacing detecting element of each kinematic axis, adopt touch display screen as human-computer interaction interface.
Summary of the invention
The object of the invention is to for triaxial antennas test machine people provides effectively and control program cheaply, this scheme can also be applied in other three axles servo-control system based on permanent magnetic DC torque motor.
The present invention discloses a kind of triaxial antennas test machine people controller, it is characterized in that: comprise a three-axis moving control panel, control panel is with touch-screen man-machine interface, host computer interface, three axle feedback channels, the three spacing module of axle and Three-axis drive modules outward.
The three-axis moving control panel is take the PIC24HJ128GP506 single-chip microcomputer as control core, and expansion a slice EEPROM is used for store operational parameters, and expansion three road RS485 interfaces are used for connecting feedback channel, and expansion one road CAN field-bus interface is used for remote networking and controls.
The touch-screen man-machine interface is the RS232 interface, connects one 7 cun 64K true color serial touch-screens, and the man-machine interface auxiliary development software that adopts the touch-screen manufacturer to provide is realized human-computer interaction function in conjunction with the programming of C lingware.
The host computer interface is the RS232 interface, can directly connect computing machine with RS232 interface and the antenna measurement robot is implemented remote auto control.
Three axle feedback channels are all the RS485 interface, but the various angular position pick ups of connecting band RS485 interface, sensor accuracy is determined according to actual needs, as adopt 14 absolute optical encoders, can guarantee the angular position measurement precision of each axle greater than 0.03 °, the angular velocity measurement precision is greater than 0.1 °/S.
The three spacing modules of axle all adopt the photoelectricity Isolation input, input current is 100mA to the maximum, can connect the various switching value sensors of supporting open collector output, as: optoelectronic switch, approach switch or travel switch etc., after control panel detects spacing brake signal, can make the motor emergency brake.
The Three-axis drive module adopts PWM ripple H bridge-type power amplifier, can drive permanent magnetic DC torque motor, driver module carries the emergency brake signaling interface and high speed PWM ripple drives signal photoelectricity isolating interface, the driver module maximum operation frequency is 20KHz, maximum drive voltage is 28V, and maximum operating currenbt is 48A.
The advantage of equipment disclosed by the invention is described below:
(1) economy.Because the present invention has adopted homemade PWM ripple H bridge-type power amplifier module, not only can well complete triaxial antennas test machine people's property indices, and make the holistic cost of controller save 20% left and right than employing conventional linear power amplifier module.
(2) accuracy.Working control precision of the present invention depends on the effective accuracy of sensor, because having adopted the RS485 bus, controller directly communicates by letter with absolute optical encoder, so the collection to feedback signal does not almost have loss of significance, this makes the position control accuracy of controller to remain on the effective accuracy of sensor on same magnitude.
(3) simplicity.Because the present invention adopts 7 cun 6K true color touch display screens as Man Machine Interface, show the method hommization more that adds key-press input than traditional LED, make user's manual operation more simple and convenient.In addition, also with the host computer interface, be used for connecting computer-implemented remote auto and control on controller.The user can select any one mode to control triaxial antennas test machine people as required.
(4) reliability.The present invention has adopted the reliability of many kinds of measures raising control system, as adopting RS485 bus transfer feedback signal to strengthen the antijamming capability of system; Control panel can wide power voltage supply, has the functions such as the overvoltage of preventing, under-voltage, reverse power connection and short circuit; Controller adopts multiple protection functions, and software protection can prevent that user's invalid data from inputting and feedback data is abnormal; Control panel and motor drive module all have the electric limiting protection, and dual electric limiting has further strengthened the reliability of control system.
Description of drawings
Fig. 1 is triaxial antennas test machine people servo-control system overall construction drawing
Part in the dotted line frame is triaxial antennas test machine people servo controller.
Fig. 2 is triaxial antennas test machine people servo controller control panel structural drawing
Control panel is take the PIC24HJ128GP506 single-chip microcomputer as control core, have special-purpose reset circuit and supply module, expansion a slice EEPROM is used for store operational parameters, expand three road RS485 interfaces and be used for connecting feedback channel, expand one road CAN field-bus interface and be used for remote networking control, provide one road touch screen interface, position machine interface on the way, the three spacing modules of axle and three road driver modules etc.
Fig. 3 is triaxial antennas test machine people servo controller driver module circuit theory diagrams
Triaxial antennas test machine people servo controller driver module is used for driving direct current torque motor (B1), and it forms a H type full bridge driving circuit by two half-bridge driven chip BTN7970 (U2 and U3).External input signal mainly contains PWM ripple signal (PWMH and PWML) and one tunnel emergency brake signal (Break) of two-way waveform complementation.The two-way pwm signal is inputted after brake signal process low speed optocoupler (U1) isolation through the rear input of high speed photo coupling (U4) isolation.
Fig. 4 is triaxial antennas test machine people servo controller man-machine interaction master interfacial effect figure
Man-machine interaction master interface is divided into three parts, and the part in dotted line frame 1 is three shaft angle degree set-points and value of feedback viewing area, and the parts in dotted line frame 2 are system state and mode of operation viewing area, and dotted line frame 3 interior parts are that touch key-press is regional.
Embodiment
The present invention is intended to should be appreciated that for triaxial antennas test machine people provides effectively and control program cheaply the present invention can also be applied in other similar three axle servo-control systems.
Fig. 1 shows the general structure of triaxial antennas test machine people servo-control system, part in the dotted line frame is triaxial antennas test machine people servo controller, comprise a three-axis moving control panel, be with touch-screen man-machine interface, host computer interface, three axle feedback channels, the three spacing modules of axle and Three-axis drive module etc. outward, details are as follows:
The three-axis moving control panel is take the PIC24HJ128GP506 single-chip microcomputer as control core, and this type single-chip microcomputer is produced by Microchip company, is the high-grade single-chip microcomputer of a 16, and dominant frequency is up to 40M, and sheet carries the ram space of 8K, can move small-sized embedded OS.The present invention is based on μ C/OS-II embedded OS and developed all control software.
Due to control panel power source numerous types, the multiple power supplies such as 5V, 3.3V, 28V are arranged, therefore on control panel specialized designs power-supply system, adopt the 28V Switching Power Supply as the controller primary power, through after the voltage stabilizing of LM2576-5V chip as the 5V power supply, then after the voltage stabilizing of ASM1117-3.3V chip as the 3.3V power supply.In addition, also adopting the MAX811-2.4V chip is that control panel builds special-purpose reset circuit module.
Because PIC24HJ128GP506 single-chip microcomputer self is not with EEPROM, so utilize I2C bus expansion a slice EEPROM of this single-chip microcomputer to be used for store operational parameters, the chip model is 24LC64, can store at most the 8K byte data.
In order to realize that triaxial antennas test machine people controls the extensibility of function, as: may increase some new functional modules future for control system, or triaxial antennas test machine people is brought in a larger network system control, institute thinks controller expansion one road CAN field-bus interface, and CAN transceiver model is PCA82C250.
One 7 cun 64K true color serial touch-screens are adopted in the touch-screen man-machine interface, model is DMT80480C070_01W, this type touch panel communication mode is the RS232 bus interface, has exploitation convenient, use characteristics flexibly, utilize the auxiliary development software that the touch-screen manufacturer provides easily to design beautiful man-machine interface.Fig. 4 is triaxial antennas test machine people servo controller man-machine interaction master interfacial effect figure.
In order to alleviate staff's operation burden, triaxial antennas test machine people servo controller has been expanded position machine serial communication interface on the way, can directly connect computing machine with RS232 interface and the antenna measurement robot is implemented remote auto control.Controller inside has write communication protocol, and the user is self-developing PC control software as required.
In order to simplify system and to strengthen the system rejection to disturbance ability, the present invention utilizes the RS485 bus to build the feedback data transmission channel, the PIC24HJ128GP506 single-chip microcomputer only has the dual serial mouth, and control system needs three road feedback channels altogether, so utilize parallel-serial conversion chip SC16C554 expansion three road RS485 bus interface, control panel can directly connect all position transducer with RS485 interface or transmitters.Triaxial antennas test machine people adopts 14 absolute optical encoder E1042Ad6-14, and this type scrambler angular position measurement error is less than 0.03 °, and the angular velocity measurement error is less than 0.1 °/S.
The three spacing modules of axle of controller all adopt the photoelectricity Isolation input, maximum input current is 100mA, can connect the various switching value sensors of supporting open collector output, as: optoelectronic switch, approach switch or travel switch etc., after control panel detects spacing brake signal, can realize the motor emergency brake.
The present invention has developed motor drive module voluntarily to save cost of development, and Fig. 3 is the driver module circuit theory diagrams.This module adopts two half-bridge driven chip BTN7970 to form a H type full bridge driving circuit.Input after the PWM ripple signal of two-way waveform complementation is isolated through high speed photo coupling is inputted after one tunnel emergency brake signal process low speed light-coupled isolation.This module can drive permanent magnetic DC torque motor, and maximum operation frequency is 20KHz, and maximum drive voltage is 28V, and maximum operating currenbt is 48A.
The specific works principle
Triaxial antennas test machine people servo controller is typical position closed loop feedback control system, by touch screen human-computer interface input three shaft position set-points, consist of backfeed loop by the absolute optical encoder with the RS485 interface, after single-chip microcomputer collection position set-point and value of feedback, call the pid control algorithm of having finished three shaft positions are implemented closed-loop control, wherein luffing axle and compensating motion axle synchro control.Three axis Position Control errors are all less than 0.1 °.
Claims (7)
1. triaxial antennas test machine people servo controller, it is characterized in that: comprise a three-axis moving control panel, control panel is with touch-screen man-machine interface, host computer interface, three axle feedback channels, the three spacing module of axle and Three-axis drive modules outward.
2. triaxial antennas test machine people servo controller according to claim 1, it is characterized in that: described three-axis moving control panel is take the PIC24HJ128GP506 single-chip microcomputer as control core, expansion a slice EEPROM is used for store operational parameters, expand three road RS485 interfaces and be used for connecting feedback channel, expansion one road CAN field-bus interface is used for remote networking and controls.
3. triaxial antennas test machine people servo controller according to claim 1, it is characterized in that: described touch-screen man-machine interface is the RS232 interface, be connected with one 7 cun 64K true color serial touch-screens, the Interface Development software that adopts the touch-screen manufacturer to provide is realized human-computer interaction function in conjunction with the programming of C lingware.
4. triaxial antennas test machine people servo controller according to claim 1, it is characterized in that: described host computer interface is the RS232 interface, can directly connect computing machine with RS232 serial ports the antenna measurement robot is implemented Long-distance Control.
5. triaxial antennas test machine people servo controller according to claim 1, it is characterized in that: described three axle feedback channels are all the RS485 interface, but the various angular position pick ups of connecting band RS485 interface, sensor accuracy is determined according to actual needs.
6. triaxial antennas test machine people servo controller according to claim 1, it is characterized in that: the described three spacing modules of axle all adopt the photoelectricity Isolation input, input current is 100mA to the maximum, can connect the various switching value sensors of supporting open collector output, after control panel detects spacing brake signal, can make the motor emergency brake.
7. triaxial antennas test machine people servo controller according to claim 1, it is characterized in that: described Three-axis drive module adopts PWM ripple H bridge-type power amplifier, can drive permanent magnetic DC torque motor, driver module carries the emergency brake signaling interface and high speed PWM ripple drives signal photoelectricity isolating interface, the driver module maximum operation frequency is 20KHz, maximum drive voltage is 28V, and maximum operating currenbt is 48A.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011103669220A CN103123468A (en) | 2011-11-18 | 2011-11-18 | Servo controller for three-shaft antenna test robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011103669220A CN103123468A (en) | 2011-11-18 | 2011-11-18 | Servo controller for three-shaft antenna test robot |
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| CN103123468A true CN103123468A (en) | 2013-05-29 |
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| CN2011103669220A Pending CN103123468A (en) | 2011-11-18 | 2011-11-18 | Servo controller for three-shaft antenna test robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103869773A (en) * | 2014-03-04 | 2014-06-18 | 南昌大学 | Master end machine-based method for correcting feedback force by force feedback controller |
| CN104175029A (en) * | 2014-08-13 | 2014-12-03 | 单文博 | Programming-free welding robot and control method |
| CN109129493A (en) * | 2018-11-09 | 2019-01-04 | 梁浩睿 | A kind of three axle robert arm control system |
| CN109676633A (en) * | 2019-02-22 | 2019-04-26 | 哈尔滨工程大学 | Three shaft mechanical arm position control system and methods |
| CN110879065A (en) * | 2019-12-03 | 2020-03-13 | 重庆华渝电气集团有限公司 | Method for correcting errors of coordinate system and azimuth angle of double-shaft platform orientation system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103869773A (en) * | 2014-03-04 | 2014-06-18 | 南昌大学 | Master end machine-based method for correcting feedback force by force feedback controller |
| CN104175029A (en) * | 2014-08-13 | 2014-12-03 | 单文博 | Programming-free welding robot and control method |
| CN104175029B (en) * | 2014-08-13 | 2015-11-11 | 单文博 | One exempts from programming welding robot and control method |
| CN109129493A (en) * | 2018-11-09 | 2019-01-04 | 梁浩睿 | A kind of three axle robert arm control system |
| CN109676633A (en) * | 2019-02-22 | 2019-04-26 | 哈尔滨工程大学 | Three shaft mechanical arm position control system and methods |
| CN109676633B (en) * | 2019-02-22 | 2022-05-20 | 哈尔滨工程大学 | Fixed-point control system and method for three-axis mechanical arm |
| CN110879065A (en) * | 2019-12-03 | 2020-03-13 | 重庆华渝电气集团有限公司 | Method for correcting errors of coordinate system and azimuth angle of double-shaft platform orientation system |
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Application publication date: 20130529 |