CN103389685A - Embedded motion control system - Google Patents
Embedded motion control system Download PDFInfo
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- CN103389685A CN103389685A CN2012101456864A CN201210145686A CN103389685A CN 103389685 A CN103389685 A CN 103389685A CN 2012101456864 A CN2012101456864 A CN 2012101456864A CN 201210145686 A CN201210145686 A CN 201210145686A CN 103389685 A CN103389685 A CN 103389685A
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- 238000007493 shaping process Methods 0.000 claims abstract description 7
- 238000013461 design Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 7
- 238000012545 processing Methods 0.000 abstract description 7
- 238000002955 isolation Methods 0.000 abstract 2
- 230000005693 optoelectronics Effects 0.000 abstract 2
- 230000002093 peripheral effect Effects 0.000 description 6
- 238000011217 control strategy Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
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Abstract
The invention discloses an embedded motion control system which is mainly composed of a DSP chip and a FPGA chip connected with the DSP chip. The DSP chip is connected with a CAN interface, a JTAG interface, a RS232/485interface and eight digital quantity input/output circuits, and the FPGA chip is connected with a optoelectronic isolation circuit B, a optoelectronic isolation circuit A and a difference shaping circuit. The structural design of the embedded motion control system can be modularized and easy to extend, and therefore various requirements of users can be met. In the software part, the interpolation method of a finite-state machine is adopted for optimizing the link of interpolation speed processing, and therefore impulse output is more stable.
Description
Technical field
The present invention relates to motion control, specifically refer to a kind of Embedded Motion Control System.
Background technology
Motion controller, control exactly the method for operation of motor: operation downwards after realizing the motor run object such as motor by travel switch, controlling A.C. contactor upwards operation reaching assigned address, perhaps with time Control motor forward/backward rotation or turn and stop to turn for a moment and stop again more for a moment for a moment.Motion control (MC) is a branch of robotization, and it uses some equipment such as the hydraulic pump that is commonly referred to as servo control mechanism, and linear execution machine or motor are controlled position and/or the speed of machine.The application of motion control in the field of robot and numerically-controlled machine is more complicated than the application in custom-built machine,, because latter's forms of motion is simpler, is commonly called general motion control (GMC).Motion control is widely used in packing, printing, weaving and assembly industry.
Summary of the invention
The object of the present invention is to provide a kind of can modularization the expansion with being easy to, can meet like this user's various demands, the interpolation rate processing links can be optimized, and can make the more stable a kind of Embedded Motion Control System of pulse output.
Implementation of the present invention is as follows: a kind of Embedded Motion Control System, mainly by dsp chip and the fpga chip that is connected with dsp chip, formed, described dsp chip is connected with CAN interface, jtag interface, RS232/485 interface and 8 railway digital amount input/output circuitries, and described fpga chip is connected with photoelectric isolating circuit B, photoelectric isolating circuit A, difference shaping circuit.
Described dsp chip also is connected with expansion RAM, reset circuit.
Described photoelectric isolating circuit B is connected with 4 road driver reset signal circuit, 4 road driver enable signal circuit, 4 road driver circuits, 8 road limit signal circuit, 8 tunnel back to zero signal circuits, 8 railway digital amount input/output circuitry A.
Described photoelectric isolating circuit A is connected with 4 road impulse output circuits.
Described difference shaping circuit is connected with 4 road code-disc signal circuits.
The model of described dsp chip is: the TMS320F2812 chip.
The model of described fpga chip is: the EP1C6TC44C8 chip.
The indicators of overall performance of Embedded Motion Control System is: use as an independent motion controller, control signal adopts the digital quantity mode to export, and can control the servomotor of four axles; High impulse output frequency is 4MP/s, and treatable encoder feedback signal highest frequency is 4MP/s; Can receive and process 4 tunnel encoder feedback signals; Can process initial point signal, positive and negative direction signal, the digital quantity input signals such as signal and emergent stop signal put in place; 16 railway digital amount output signals and 16 railway digital amount input signal interfaces are provided.Embedded Motion Control System adopts dsp chip and fpga chip as main control chip, mainly comprises DSP module, FPGA module, FPGA peripheral circuit module and digital quantity input/output interface module.
Embedded Motion Control System can be completed complicated track computing in real time, and utilizes the high-speed digital signal processing capacity of dsp chip and the advantage that fpga chip is low in energy consumption, dominant frequency is high, can fully show the advantage of this motion controller.The Embedded Motion Control System that adopts dsp chip to combine with fpga chip can be modified to the control strategy of system easily, revises controlling parameter, and can make equipment have good reliability, maintenanceability, but also reduced cost.System can also adopt more Intelligent Control Strategy, and flexible structure has stronger versatility, is suitable for modular design, can improve efficiency of algorithm, and is easy to maintenance and expansion.
It is main control chip that dsp chip adopts the TMS320F2812 chip of TI company, it is the control special DSP of 32, includes FLASH, and dominant frequency is up to 150MHz, have digital signal processing, incident management and embedded Control function, be applicable to the occasion that data in enormous quantities are processed.
The TPS767D318 chip of selecting TI company to produce is realized the Power Management Design of TMS320-F2812, and the 5V power supply is converted to respectively 3.3V and 1.8V.
RAM is dsp chip peripheral storage commonly used, and it has the advantages such as interface is simple, read or write speed is fast, so select size, is that the random access memory CY7C1021 of 64KB is as the memory expansion chip.
The TPS382x series voltage supervisory circuit of TI company is adopted in the reset circuit design, and this serial circuit does not need peripheral circuit can form supervisory circuit.The SCI module is used for expansion RS-232 and RS-485 serial communication interface; The CAN interface is connected with outside CAN industrial field bus; External interface is used for being connected with FPGA and the expansion variable input and output.
Fpga chip is selected the Cyclone series EP1C6TC44C8 of altera corp, and this is the FPGA of a high-performance, low-power consumption.EP1C6TC44C8 has 2 phaselocked loops, comprises 5980 logical blocks, is equivalent to the scale of 120,000, has also comprised simultaneously the internal RAM of highest frequency 200MHz, 92160bit.The resources such as the logic gate quantity that this chip has, frequency and pin I/O can meet the designing requirement of motion controller well.Because the control object of native system is servomotor, so mainly utilize the input and output of the I/O mouth design motor control signal of EP1C6TC44C8, input and the input and output of part digital quantity of code device signal in design.In addition, this chip can also be reshuffled hardware by jtag interface after whole Hardware Design is complete, can increase the dirigibility of system.
The invention has the advantages that: structural design of the present invention can modularization be expanded with being easy to, and can meet like this user's various demands.In software section, adopt the interpolating method of finite state machine, optimize in the interpolation rate processing links, make pulse output more stable.
Description of drawings
Fig. 1 is one-piece construction schematic diagram of the present invention.
Embodiment
Embodiment one
As shown in Figure 1.
A kind of Embedded Motion Control System, mainly by dsp chip and the fpga chip that is connected with dsp chip, formed, described dsp chip is connected with CAN interface, jtag interface, RS232/485 interface and 8 railway digital amount input/output circuitries, and described fpga chip is connected with photoelectric isolating circuit B, photoelectric isolating circuit A, difference shaping circuit.
Described dsp chip also is connected with expansion RAM, reset circuit.
Described photoelectric isolating circuit B is connected with 4 road driver reset signal circuit, 4 road driver enable signal circuit, 4 road driver circuits, 8 road limit signal circuit, 8 tunnel back to zero signal circuits, 8 railway digital amount input/output circuitry A.
Described photoelectric isolating circuit A is connected with 4 road impulse output circuits.
Described difference shaping circuit is connected with 4 road code-disc signal circuits.
The model of described dsp chip is: the TMS320F2812 chip.
The model of described fpga chip is: the EP1C6TC44C8 chip.
The indicators of overall performance of Embedded Motion Control System is: use as an independent motion controller, control signal adopts the digital quantity mode to export, and can control the servomotor of four axles; High impulse output frequency is 4MP/s, and treatable encoder feedback signal highest frequency is 4MP/s; Can receive and process 4 tunnel encoder feedback signals; Can process initial point signal, positive and negative direction signal, the digital quantity input signals such as signal and emergent stop signal put in place; 16 railway digital amount output signals and 16 railway digital amount input signal interfaces are provided.Embedded Motion Control System adopts dsp chip and fpga chip as main control chip, mainly comprises DSP module, FPGA module, FPGA peripheral circuit module and digital quantity input/output interface module.
Embedded Motion Control System can be completed complicated track computing in real time, and utilizes the high-speed digital signal processing capacity of dsp chip and the advantage that fpga chip is low in energy consumption, dominant frequency is high, can fully show the advantage of this motion controller.The Embedded Motion Control System that adopts dsp chip to combine with fpga chip can be modified to the control strategy of system easily, revises controlling parameter, and can make equipment have good reliability, maintenanceability, but also reduced cost.System can also adopt more Intelligent Control Strategy, and flexible structure has stronger versatility, is suitable for modular design, can improve efficiency of algorithm, and is easy to maintenance and expansion.
It is main control chip that dsp chip adopts the TMS320F2812 chip of TI company, it is the control special DSP of 32, includes FLASH, and dominant frequency is up to 150MHz, have digital signal processing, incident management and embedded Control function, be applicable to the occasion that data in enormous quantities are processed.
The TPS767D318 chip of selecting TI company to produce is realized the Power Management Design of TMS320-F2812, and the 5V power supply is converted to respectively 3.3V and 1.8V.
RAM is dsp chip peripheral storage commonly used, and it has the advantages such as interface is simple, read or write speed is fast, so select size, is that the random access memory CY7C1021 of 64KB is as the memory expansion chip.
The TPS382x series voltage supervisory circuit of TI company is adopted in the reset circuit design, and this serial circuit does not need peripheral circuit can form supervisory circuit.The SCI module is used for expansion RS-232 and RS-485 serial communication interface; The CAN interface is connected with outside CAN industrial field bus; External interface is used for being connected with FPGA and the expansion variable input and output.
Fpga chip is selected the Cyclone series EP1C6TC44C8 of altera corp, and this is the FPGA of a high-performance, low-power consumption.EP1C6TC44C8 has 2 phaselocked loops, comprises 5980 logical blocks, is equivalent to the scale of 120,000, has also comprised simultaneously the internal RAM of highest frequency 200MHz, 92160bit.The resources such as the logic gate quantity that this chip has, frequency and pin I/O can meet the designing requirement of motion controller well.Because the control object of native system is servomotor, so mainly utilize the input and output of the I/O mouth design motor control signal of EP1C6TC44C8, input and the input and output of part digital quantity of code device signal in design.In addition, this chip can also be reshuffled hardware by jtag interface after whole Hardware Design is complete, can increase the dirigibility of system.
As mentioned above, can well realize the present invention.
Claims (7)
1. Embedded Motion Control System, it is characterized in that: mainly by dsp chip and the fpga chip that is connected with dsp chip, formed, described dsp chip is connected with CAN interface, jtag interface, RS232/485 interface and 8 railway digital amount input/output circuitries, and described fpga chip is connected with photoelectric isolating circuit B, photoelectric isolating circuit A, difference shaping circuit.
2. a kind of Embedded Motion Control System according to claim 1, it is characterized in that: described dsp chip also is connected with expansion RAM, reset circuit.
3. a kind of Embedded Motion Control System according to claim 1, it is characterized in that: described photoelectric isolating circuit B is connected with 4 road driver reset signal circuit, 4 road driver enable signal circuit, 4 road driver circuits, 8 road limit signal circuit, 8 tunnel back to zero signal circuits, 8 railway digital amount input/output circuitry A.
4. a kind of Embedded Motion Control System according to claim 1, it is characterized in that: described photoelectric isolating circuit A is connected with 4 road impulse output circuits.
5. a kind of Embedded Motion Control System according to claim 1, it is characterized in that: described difference shaping circuit is connected with 4 road code-disc signal circuits.
6. the described a kind of Embedded Motion Control System of any one in claim 1-5, it is characterized in that: the model of described dsp chip is: the TMS320F2812 chip.
7. the described a kind of Embedded Motion Control System of any one in claim 1-5, it is characterized in that: the model of described fpga chip is: the EP1C6TC44C8 chip.
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| CN2012101456864A CN103389685A (en) | 2012-05-11 | 2012-05-11 | Embedded motion control system |
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| CN2012101456864A CN103389685A (en) | 2012-05-11 | 2012-05-11 | Embedded motion control system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823412A (en) * | 2014-03-13 | 2014-05-28 | 湖州交达数控科技有限公司 | Digital control system of intersecting line cutting machine |
| CN103901804A (en) * | 2014-04-23 | 2014-07-02 | 哈尔滨工业大学 | Servo system real-time motion controller based on DSP and FPGA and control method |
| CN106292543A (en) * | 2015-05-14 | 2017-01-04 | 宁波舜宇光电信息有限公司 | Multi-axis motion controller based on FPGA and application thereof |
| CN104483859B (en) * | 2014-11-21 | 2017-02-01 | 杭州电子科技大学 | Multi-CPU (central processing unit) balance correcting machine controller |
| CN108037701A (en) * | 2017-12-13 | 2018-05-15 | 太仓鼎诚电子科技有限公司 | A kind of kinetic control system based on GSP and F2812 |
| CN112505420A (en) * | 2020-11-13 | 2021-03-16 | 武汉瑞莱保科技有限公司 | Intelligent test analysis system for distribution board |
-
2012
- 2012-05-11 CN CN2012101456864A patent/CN103389685A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823412A (en) * | 2014-03-13 | 2014-05-28 | 湖州交达数控科技有限公司 | Digital control system of intersecting line cutting machine |
| CN103901804A (en) * | 2014-04-23 | 2014-07-02 | 哈尔滨工业大学 | Servo system real-time motion controller based on DSP and FPGA and control method |
| CN104483859B (en) * | 2014-11-21 | 2017-02-01 | 杭州电子科技大学 | Multi-CPU (central processing unit) balance correcting machine controller |
| CN106292543A (en) * | 2015-05-14 | 2017-01-04 | 宁波舜宇光电信息有限公司 | Multi-axis motion controller based on FPGA and application thereof |
| CN108037701A (en) * | 2017-12-13 | 2018-05-15 | 太仓鼎诚电子科技有限公司 | A kind of kinetic control system based on GSP and F2812 |
| CN112505420A (en) * | 2020-11-13 | 2021-03-16 | 武汉瑞莱保科技有限公司 | Intelligent test analysis system for distribution board |
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Application publication date: 20131113 |