CN103488126B - The method of multi-shaft motion control system development platform and exploitation platform courses machine operation - Google Patents

The method of multi-shaft motion control system development platform and exploitation platform courses machine operation Download PDF

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CN103488126B
CN103488126B CN201310457241.4A CN201310457241A CN103488126B CN 103488126 B CN103488126 B CN 103488126B CN 201310457241 A CN201310457241 A CN 201310457241A CN 103488126 B CN103488126 B CN 103488126B
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module
motor
circuit
instruction
output
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CN201310457241.4A
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CN103488126A (en
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史屹君
孙成文
张萌
刘洋
陈广永
毛雪冬
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天津市中环电子计算机有限公司
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Abstract

The present invention relates to the method for multi-shaft motion control system development platform and exploitation platform courses machine operation, comprise main control module, core algorithm module, feedback collection module, special digital I/O module, general digital I/O module, communication module, motor control signal output module, power supply processing module; Main control module is connected with general digital I/O module, communication module, core algorithm module respectively, core algorithm module and special digital I/O model calling, core algorithm module is connected with motor control signal output module, and feedback collection module is connected with core algorithm module; General digital I/O module is connected with control panel, handwheel, display respectively by I/O interface, feedback collection module is connected with incremental encoder by incremental encoder grating interface, and motor control signal output module is connected with motor driver by motor driver interface; Advantage of the present invention is: system makes full use of existing equipment and realizes Multi-axis motion control function, considerably reduces development platform cost, particularly suitable college teaching, low-end product development requirement.

Description

The method of multi-shaft motion control system development platform and exploitation platform courses machine operation
Technical field
The present invention relates to Platform for Motion Control, particularly a kind of method of multi-shaft motion control system development platform and exploitation platform courses machine operation, for college teaching and product development.
Background technology
At present, the Platform for Motion Control many employings embedded computer on market or DSP core, although powerful, excellent performance, cost is higher, and most low cost product cannot use, and the demands such as college teaching also cannot large area be popularized.
And the low-cost chip based on single-chip microcomputer is not generally by the high-end applications such as motion control are accepted, be only used for being engaged in some logic controls.But, for the system of complexity, as space shuttle, still carry out related development work by Single Chip Microcomputer (SCM) system, to ensure stability, and make it give play to maximum efficiency, illustrate that low-cost chip still can be applied in the system of complexity.Therefore, the exploitation of application low-cost chip is used for the Platform for Motion Control not only at the bottom of cost of college teaching, low-end product development field, and can the needs of sufficient user.And there is no this series products at present and commercially occur, also have no relevant report in document.
Summary of the invention
Object of the present invention is exactly for overcoming the deficiencies in the prior art, a kind of method of multi-shaft motion control system development platform and exploitation platform courses machine operation is provided, single-chip microcomputer is utilized to form main control module, by other circuit module of master control module controls, design and produce multi-shaft motion control system, system is provided with and control panel, feedback signal, computing machine, limit switch, optoelectronic switch, the interface of scrambler and motor driver, make full use of existing equipment and realize Multi-axis motion control function, in the hope of significantly reducing development platform cost, be suitable for college teaching, low-end product development requirement.
The present invention is realized by such technical scheme: multi-shaft motion control system development platform, is characterized in that: development platform circuit comprises main control module, core algorithm module, feedback collection module, special digital I/O module, general digital I/O module, communication module, motor control signal output module and power supply processing module;
Described power supply processing module is connected with main control module, main control module is connected with general digital I/O module, communication module, core algorithm module respectively, core algorithm module and special digital I/O model calling, core algorithm module is connected with motor control signal output module, and feedback collection module is connected with core algorithm module; General digital I/O module is connected with control panel, handwheel, sensor respectively by I/O interface, feedback collection module is connected with incremental encoder by incremental encoder grating interface, and motor control signal output module is connected with motor driver by motor driver interface;
Described main control module is made up of ATmega128 single-chip microcomputer, for completing Comprehensive Control, logic control, communication function;
Described core algorithm module is made up of one piece of ATmega128 single-chip microcomputer, is mainly used in the special I/O information to feedback information, special digital I/O module and computing;
Described feedback collection module is made up of high speed optoelectronic isolating chip and difference channel, then carries out difference by difference channel to the information after isolation, then sends into main control module, reduces the environmental interference suffered by feedback information;
Described general digital I/O module adopts 74HC595 chip, and 74HC595 chip is connected with the ATmega128 single-chip microcomputer forming main control module by TLP521-4 photoelectric isolated chip, realizes I/O and expands, increase I/O quantity; Adopt the Information Monitoring of TLP521-4 photoelectric isolated chip, thus the steady operation of protection main control module;
Described special digital I/O module is connected to form by ATmega128, scrambler, travel limiting element, back to zero status signal circuit, amplifier enable circuits, more equal output circuit, direction output circuit, motor driver and amplifier circuit of makeing mistakes;
Travel limiting element is used for spacing, the back to zero status signal circuit of motor for triggering motor, the circuit that makes that it turns to zero point, amplifier is made mistakes is for gathering motor driver operating voltage, when current of electric is excessive, trigger amplifier circuit of makeing mistakes transmits error signal to system, and main control module sends instruction and makes motor stalls;
Amplifier enable circuits input end is connected with an I/O port of ATmega128, when the I/O port level of ATmega128 is effective, triggers then amplifier circuit enable;
More equal output circuit is connected with the I/O port of ATmega128, amplifier enable circuits output terminal, direction output circuit respectively, the level of the circuit collection that makes mistakes from amplifier and default level are compared, level as gathered is equal with default level, then trigger this function;
Direction output circuit is controlled by more equal output circuit, its output terminal connects motor driver, the direction of motion of motor carries out logical operation by two I/O ports of ATmega128 with the output level of the circuit of more equal output, when output level as more equal output circuit is low level, then direction output circuit does not work, output level as more equal output circuit is high level, then the outbound course that motor is concrete is by two I/O port controlling of ATmega128;
Amplifier circuit of makeing mistakes comprises AD voltage acquisition chip, AD voltage acquisition chip gathers the operating voltage of motor driver, the operating voltage of motor driver is monitored, if motor driver operating voltage is abnormal, then amplifier is made mistakes circuit output low level, as normal in motor driver operating voltage, then amplifier circuit of makeing mistakes exports high level;
The I/O information priorities of special digital I/O module is the highest, as forward stroke restriction I/O be triggered time, this information of System Priority process, make motor stop motion, even if host computer assigns positive movement instruction again, system is still disregarded, and when host computer assigns negative movement instruction, system will unlock and be processed;
Described communication module comprises RS232 module, CAN module, ethernet module, these three modular concurrent communications, and user can adopt any one communication modes in these three kinds that host computer and control system are set up and contact; Adopt RS232, CAN, Ethernet three kinds of communication modes and host computer to carry out communication, communication module makes main control module and host computer carry out exchanges data, and can arrange at the enterprising line parameter of host computer according to the information exchanged, wave form analysis, image shows;
Described motor control signal output module is made up of HCPL2630 high speed optoelectronic isolating chip and its correlation filtering circuit;
Described power supply processing module is made up of, for system provides 5V and ± 12V system power supply 7805 chips and 7812 chips and correlation filtering circuit thereof.
Utilize multi-shaft motion control system development platform to control the method for machine operation, it is characterized in that step is as follows:
(1) first according to mission requirements, by PC, industrial computer, control panel, handwheel or sensor to multi-shaft motion control system development platform issuing command, project implementation is selected;
(2) multi-shaft motion control system is analyzed the instruction that host computer is assigned and is stored, and assigns movement instruction to corresponding motor;
(3) corresponding during electric machine rotation feedback information, feedback information is the size of encoder information and electric current, send multi-shaft motion control system to, system carries out analytic operation to institute's feedack, and according to stored host computer instruction, secondary motion instruction is assigned to motor, instruction exports with pulse or analog voltage mode, this secondary motion instruction of assigning servo period set by system and feedback information can carry out ceaselessly computing and amendment, when primary movement instruction is not enough to make the actual motion of motor level and smooth, or the actual speed of motor can not be run according to the speed envisioned in instruction, then secondary motion instruction can carry out ratio to output pulse or analog voltage, integration, three kinds of mode computings of differential, thus make motor according to the movement effects envisioned in instruction, and inform the track that host computer motor moves and waveform,
(4) trigger the special digital I/O module in system when external signal, now system stops computing, the I/O information of priority processing special digital I/O module, makes motor stop or carrying out back to zero motion.
Technique effect of the present invention is the motion control development platform framework with standard, has multiaxis development ability, can develop most of kinetic control system, verify and improve on the basis of low cost.System makes full use of existing equipment and realizes Multi-axis motion control function, considerably reduces development platform cost, particularly suitable college teaching, low-end product development requirement.
Accompanying drawing explanation
Fig. 1, be the block diagram of system of the present invention;
Fig. 2, be core algorithm module control principle drawing of the present invention;
Fig. 3, be present system application schematic diagram;
Fig. 4, Electric Machine Control schematic diagram;
Fig. 5, special digital I/O module composition frame chart.
Embodiment
For a more clear understanding of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments:
Specific embodiment: " the servo-actuated throttle platform " of simulator flight
In this project, adopt the present invention to carry out high precision control to two motors, in this project, driven by motor two throttle forks carry out circular motion, throttle fork total kilometres are 120 degree, require that control accuracy reaches 0.05 degree, when throttle fork reaches 0 degree and 120 degree of these two ends, motor no longer travels forward.Adopt the differential encoder of 6000 lines as feedback device in the present invention, the present invention can carry out 4 frequency divisions to the differential signal of 6000 lines, thus makes precision improve four times.At 0 degree, to adopt optoelectronic switch to carry out spacing with 120 degree two ends, and when throttle fork moves to these two ends, shake-up " special I/O " then stop motion, there will not be the motion surpassing and go beyond the scope.The present invention carries out high precision to motor and controls, and control accuracy reaches 0.015 degree, and motor movement track is fed back to host computer, simultaneously feedback speed information, positional information.
Multi-shaft motion control system development platform, development platform circuit comprises main control module, core algorithm module, feedback collection module, special digital I/O module, general digital I/O module, communication module, motor control signal output module, power supply processing module;
Power supply processing module is connected with main control module, main control module is connected with general digital I/O module, communication module, core algorithm module respectively, core algorithm module and special digital I/O model calling, core algorithm module is connected with motor control signal output module, and feedback collection module is connected with core algorithm module; General digital I/O module is connected with control panel, handwheel, display respectively by I/O interface, feedback collection module is connected with incremental encoder by incremental encoder grating interface, and motor control signal output module is connected with motor driver by motor driver interface;
Main control module is made up of ATmega128 single-chip microcomputer, and its function has been used for Comprehensive Control, logic control, communication;
Described core algorithm module is made up of one piece of ATmega128 single-chip microcomputer, is mainly used in feedback information, special I/O information and computing; As controlled two motors simultaneously, and make these two motors on plane space, carry out circular motion (as at a blank sheet of paper upper drawing circle), at this moment core algorithm module must carry out interpolation operation to the feedback of two motors, and pulse is carried out to motor driver export motion control function.The feedback information of motor is made up of electric current, position, speed three kinds of modes, therefore core algorithm module is controlled by current loop control, position ring, speed ring controls three kinds of close-loop control modes and forms;
Feedback collection module by high-speed light every and difference channel form, first carrying out Phototube Coupling to collected feedback information makes it damage circuit, because feedback information frequency is higher, so place should adopt high speed optoelectronic isolating chip, again difference is carried out to the information after isolation and enter main control module, reduce the environmental interference suffered by feedback information;
General digital I/O module adopts 74HC595 chip, and 74HC595 chip is connected with the ATmega128 single-chip microcomputer forming main control module by TLP521-4 photoelectric isolated chip, realizes I/O and expands, increase I/O quantity; The Information Monitoring of TLP521-4 photoelectric isolated chip is adopted to keep apart, thus the steady operation of protection main control module.
Special digital I/O module is made up of make mistakes circuit, amplifier enable circuits, direction output circuit, more equal output circuit of travel limiting element, back to zero status signal circuit, amplifier;
Travel limiting element (motor spacing), back to zero status signal circuit (will move to zero point as triggered this function motor), amplifier make mistakes circuit (as current of electric is excessive, then trigger this function stop motor movement), amplifier enable circuits (when triggering this I/O, then amplifier circuit is enable), direction output circuit (direction of motion of motor thus I/O signal controls), more equal output circuit (compare the operating voltage voltage of the motor driver gathered, supply voltage as gathered is equal with default voltage, then trigger this function) composition.
The I/O information priorities of special digital I/O module is the highest, as forward stroke restriction I/O be triggered time, this information of System Priority process, make motor stop motion, even if host computer assigns positive movement instruction again, this circuit part is still disregarded, and when host computer assigns negative movement instruction, this circuit part will unlock and be processed.
Special digital I/O module is connected to form by make mistakes circuit, amplifier enable circuits, direction output circuit, more equal output circuit of travel limiting element, back to zero status signal circuit, amplifier.
Light is adopted every chip, main control module and I/O Information Monitoring to be kept apart, thus the steady operation of protection main control module;
Communication module comprises RS232 module, CAN module, ethernet module, RS232, CAN, Ethernet three kinds of communication modes and host computer is adopted to carry out communication, communication module makes main control module and host computer carry out exchanges data, can arrange at the enterprising line parameter of host computer according to the information exchanged, wave form analysis, image display etc.;
Described motor control signal output module is made up of HCPL2630 high speed optoelectronic isolating chip and its correlation filtering circuit, because control signal output frequency is higher, turns round and look at this module and adopts light at a high speed every chip.
Power supply processing module is made up of, for system provides 5V and ± 12V system power supply 7805 chips and 7812 chips and correlation filtering circuit thereof.
According to the above description, the solution of the present invention can be realized in conjunction with art technology.

Claims (2)

1. multi-shaft motion control system development platform, is characterized in that: development platform circuit comprises main control module, core algorithm module, feedback collection module, special digital I/O module, general digital I/O module, communication module, motor control signal output module and power supply processing module;
Described power supply processing module is connected with main control module, main control module is connected with general digital I/O module, communication module, core algorithm module respectively, core algorithm module and special digital I/O model calling, core algorithm module is connected with motor control signal output module, and feedback collection module is connected with core algorithm module; General digital I/O module is connected with control panel, handwheel, sensor respectively by I/O interface, feedback collection module is connected with incremental encoder by incremental encoder grating interface, and motor control signal output module is connected with motor driver by motor driver interface;
Described main control module is made up of ATmega128 single-chip microcomputer, for completing Comprehensive Control, logic control, communication function;
Described core algorithm module is made up of one piece of ATmega128 single-chip microcomputer, is mainly used in the special I/O information to feedback information, special digital I/O module and computing;
Described feedback collection module is made up of high speed optoelectronic isolating chip and difference channel, then carries out difference by difference channel to the information after isolation, then sends into main control module, reduces the environmental interference suffered by feedback information;
Described general digital I/O module adopts 74HC595 chip, and 74HC595 chip is connected with the ATmega128 single-chip microcomputer forming main control module by TLP521-4 photoelectric isolated chip, realizes I/O and expands, increase I/O quantity; Adopt the Information Monitoring of TLP521-4 photoelectric isolated chip, thus the steady operation of protection main control module;
Described special digital I/O module is connected to form by ATmega128, scrambler, travel limiting element, back to zero status signal circuit, amplifier enable circuits, more equal output circuit, direction output circuit, motor driver and amplifier circuit of makeing mistakes;
Travel limiting element is used for spacing, the back to zero status signal circuit of motor for triggering motor, the circuit that makes that it turns to zero point, amplifier is made mistakes is for gathering motor driver operating voltage, when current of electric is excessive, trigger amplifier circuit of makeing mistakes transmits error signal to system, and main control module sends instruction and makes motor stalls;
Amplifier enable circuits input end is connected with an I/O port of ATmega128, when the I/O port level of ATmega128 is effective, triggers then amplifier circuit enable;
More equal output circuit is connected with the I/O port of ATmega128, amplifier enable circuits output terminal, direction output circuit respectively, the level of the circuit collection that makes mistakes from amplifier and default level are compared, level as gathered is equal with default level, then trigger this function;
Direction output circuit is controlled by more equal output circuit, its output terminal connects motor driver, the direction of motion of motor carries out logical operation by two I/O ports of ATmega128 with the output level of the circuit of more equal output, when output level as more equal output circuit is low level, then direction output circuit does not work, output level as more equal output circuit is high level, then the outbound course that motor is concrete is by two I/O port controlling of ATmega128;
Amplifier circuit of makeing mistakes comprises AD voltage acquisition chip, AD voltage acquisition chip gathers the operating voltage of motor driver, the operating voltage of motor driver is monitored, if motor driver operating voltage is abnormal, then amplifier is made mistakes circuit output low level, as normal in motor driver operating voltage, then amplifier circuit of makeing mistakes exports high level;
The I/O information priorities of special digital I/O module is the highest, as forward stroke restriction I/O be triggered time, this information of System Priority process, make motor stop motion, even if host computer assigns positive movement instruction again, system is still disregarded, and when host computer assigns negative movement instruction, system will unlock and be processed;
Described communication module comprises RS232 module, CAN module, ethernet module, these three modular concurrent communications, and user can adopt any one communication modes in these three kinds that host computer and control system are set up and contact; Adopt RS232, CAN, Ethernet three kinds of communication modes and host computer to carry out communication, communication module makes main control module and host computer carry out exchanges data, and can arrange at the enterprising line parameter of host computer according to the information exchanged, wave form analysis, image shows;
Described motor control signal output module is made up of HCPL2630 high speed optoelectronic isolating chip and its correlation filtering circuit;
Described power supply processing module is made up of, for system provides 5V and ± 12V system power supply 7805 chips and 7812 chips and correlation filtering circuit thereof.
2. utilize multi-shaft motion control system development platform to control a method for machine operation, it is characterized in that step is as follows:
(1) first according to mission requirements, by PC, industrial computer, control panel, handwheel or sensor to multi-shaft motion control system development platform issuing command, project implementation is selected;
(2) multi-shaft motion control system is analyzed the instruction that host computer is assigned and is stored, and assigns movement instruction to corresponding motor;
(3) corresponding during electric machine rotation feedback information, feedback information is the size of encoder information and electric current, send multi-shaft motion control system to, system carries out analytic operation to institute's feedack, and according to stored host computer instruction, secondary motion instruction is assigned to motor, instruction exports with pulse or analog voltage mode, this secondary motion instruction of assigning servo period set by system and feedback information can carry out ceaselessly computing and amendment, when primary movement instruction is not enough to make the actual motion of motor level and smooth, or the actual speed of motor can not be run according to the speed envisioned in instruction, then secondary motion instruction can carry out ratio to output pulse or analog voltage, integration, three kinds of mode computings of differential, thus make motor according to the movement effects envisioned in instruction, and inform the track that host computer motor moves and waveform,
(4) trigger the special digital I/O module in system when external signal, now system stops computing, the I/O information of priority processing special digital I/O module, makes motor stop or carrying out back to zero motion.
CN201310457241.4A 2013-09-30 2013-09-30 The method of multi-shaft motion control system development platform and exploitation platform courses machine operation CN103488126B (en)

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