CN103901814A - Multi-shaft motion numerical control system - Google Patents
Multi-shaft motion numerical control system Download PDFInfo
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- CN103901814A CN103901814A CN201410087093.6A CN201410087093A CN103901814A CN 103901814 A CN103901814 A CN 103901814A CN 201410087093 A CN201410087093 A CN 201410087093A CN 103901814 A CN103901814 A CN 103901814A
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Abstract
The invention discloses a multi-shaft motion numerical control system. The multi-shaft motion numerical control system comprises a CAN bus, a DSP communicated with an upper computer through a PCI on the CAN bus, a plurality of DSPs which are arranged on the CAN bus and used for driving motors, a PCI communication interface module, a CAN communication module, a universal I/O interface and an optoelectronic isolation module. The DSP communicated with the upper computer through the PCI on the CAN bus is mainly responsible for interpolation operation of motion control. The PCI communication interface module is mainly responsible for communication between the DSPs and the upper computer. Compared with the prior art, the multi-shaft motion numerical control system has the advantages that real-time communication is ensured in combination with the characteristics of the CAN bus, the reliability of the system is improved, the development cycle is shortened, the high-speed computing capacity of the DSPs is fully developed so that real-tine interpolation, speed planning and open-loop and closed-loop control can be completed, and consequently the adaptability and expandability of the control system are improved.
Description
Technical field
The present invention relates to a kind of digital control system, specifically a kind of multiaxial motion digital control system.
Background technology
Multiaxial motion digital control system is widely used in automation equipment, particularly in numerically controlled processing equipment, textile machine, package packing machine and printing machinery.Be characterized in controlling that number of motors is many, device distribution scope is wide, synchronism requires high, particularly high to requirement of real-time.For this class multiaxial motion control, adopt Fieldbus Based distributed control technology to realize multi-shaft interlocked more.
CAN is the abbreviation of controller local area network (Controller Area Network), belongs to the category of fieldbus, is the distributed control of a kind of effective support or the real-time serial communication network of controlling.Its feature has: (1) data communication does not have master-slave, and any one node can be initiated data communication to other (one or more) nodes; (2) adopt non-destructive arbitration technique, make the low node of priority to dodge priority high, effectively avoided bus collision and communication line to stop up; (3) communication distance can reach farthest 10KM (speed is lower than 5Kbps) speed and can reach 1Mbps (communication distance is less than 40M).The perfect communication protocol that CAN has can be realized by CAN controller chip and interface chip thereof, thereby greatly reduces system development difficulty, has shortened the construction cycle.Compared with general communication bus, the data communication of CAN bus has outstanding reliability, real-time and dirigibility.
Through the retrieval of existing patent documentation is found, China's application number is 200410017112.4, publication number is CN1564095A, and name is called the patent of " based on the multi-axis motion control card of RS-232 universal serial bus ", has provided a kind of motion control card that has single-chip microcomputer and RS-232 bus.But in this invention, single-chip microcomputer Resources on Chip is limited, particularly computing and deal with data ability a little less than, can not finely meet high performance servo control algorithm, system real time and the requirement to higher interpolation rate; RS-232 can only form primary and secondary structure system, and communication mode also can only carry out in the mode of main website training in rotation, and system real time, reliability are poor, and the construction cycle is long.
Summary of the invention
The problem existing for above-mentioned prior art, the invention provides a kind of multiaxial motion digital control system, characteristic in conjunction with CAN bus ensures real-time Communication for Power, improve reliability, shorten the construction cycle, give full play to DSP (Digital Signal Processing, digital signal processing) high-speed computation ability and complete real-time interpolation, speed planning and the control of open and close ring, and the introducing of CAN network has increased adaptability and the extensibility of control system.
To achieve these goals, this multiaxial motion digital control system comprises a CAN bus, comprises the DSP communicating by letter by PCI with host computer in CAN bus, the DSP of drive motor in multiple CAN buses, PCI communication interface module, CAN communication module, general purpose I/O interface and photoelectric isolation module;
The DSP communicating by letter by PCI with host computer in described CAN bus is mainly responsible for the interpolation operation of motion control;
Described PCI communication interface module is mainly responsible for the communication of DSP and host computer, and it mainly comprises pci bus interface chip, dual port RAM, CPLD chip and level transferring chip;
The DSP of described each drive motor exports four road PWM ripples, and through photoelectricity, signal is transferred to servo-driver by isolation, drives two motors; Motor encoder returns to servo-driver by motor position rate signal and forms system half-closed loop control; Topworks's end grating scale signal is isolated to the DSP that returns to drive motor through photoelectricity, this DSP has two quadrature coding pulse circuit, can form the control of system closed-loop.
Further, described pci bus interface chip is CH365, and dual port RAM is high speed static two-port RAM chip id T7025, is mainly responsible for data buffering and exchange at a high speed between pci bus and DSP.
Further, the built-in CAN2.0 controller of dsp chip in described CAN bus, supports CAN2.0 agreement, by twisted pair line connection, has at most 110 nodes, and transmission speed is 1Mbit/s to the maximum; Described CAN bus transceiver adopts model SN65HVD230 chip, and transceiver is by CANTX and CANRX signal is converted into CANH and CANL signal transmits in bus.
Further, described SRAM be connect host computer DSP extend out memory headroom.
Further, the described DSP being connected with host computer also connects keyboard, pilot lamp and liquid crystal display.
Further, the dsp chip of described each node is provided with jtag interface.
Compared with prior art, this multiaxial motion digital control system has ensured real-time Communication for Power in conjunction with the characteristic of CAN bus, improve system reliability, shorten the construction cycle, the ability of giving full play to DSP high-speed computation completes real-time interpolation, speed planning and the control of open and close ring, increased adaptability and the extensibility of control system.
Brief description of the drawings
Fig. 1 is multiaxial motion digital control system general structure schematic diagram;
Fig. 2 is DSP and communication interface with pc schematic diagram;
Fig. 3 is CAN bus communication schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1, Figure 2 and Figure 3, this multiaxial motion digital control system comprises a CAN bus, in CAN bus, connect DSP (Digital Signal Processing, the digital signal processing) chip of communicating by letter by PCI with host computer, as the TMS320F2812 of TI company, the dsp chip of drive motor in multiple CAN buses, PCI communication interface module, CAN communication module, general purpose I/O interface, photoelectric isolation module, keyboard and display screen.
The DSP communicating by letter by PCI with host computer in described CAN bus is mainly responsible for the interpolation operation of motion control, by in the temporary local buffer of interpolation result composition message, wait for that CAN sends interruption and produces, when central stopping pregnancy is raw, before sending, message to determine whether normally operation of bus, carry out fault handling as broken down, as normally sent message.
Described PCI communication interface module is mainly responsible for the communication of DSP and host computer.It mainly comprises pci bus interface chip, dual port RAM, CPLD chip and level transferring chip.Due to the use of pci bus Special Interface Chip, only need to be by the address data signal line about pci bus one side in Special Interface Chip on hardware connects, control signal wire and the status signal lines golden finger corresponding with PCI slot on PC couples together.
Described pci bus interface chip is the Nanjing CH365 that permanent electronics produces that oozes.32 high-speed PCI buses are converted to easy easy-to-use 8 active parallel interfaces that are similar to isa bus by CH365, can be for making the computer card based on pci bus cheaply.By 13 bit address line A[0...12 of dual port RAM] with the address wire XA[0...12 of DSP] with the address wire A[0...12 of CH365] be connected, and the enable signal of the expansion using the address wire A0 of CH365 as data bus.Because the data width of CH365 is 8, and dual port RAM is 16, therefore utilize a slice serial CPLD chip (as EPM7064) to expand CH365 data bus, by CH365 address wire A0 enable 16 bit data are carried out to timesharing read-write, thereby solved the scaling problem of data bus.
Described dual port RAM is the high speed static two-port RAM chip id T7025 that Integrated Device Technology, Inc. produces, and is mainly responsible for data buffering and exchange at a high speed between pci bus and DSP.IDT7025 is as the shared data space between DSP and PC, and right output port and CH365, be mapped to its storage space; Left port is connected with DSP, is mapped to XINTF area 0.Because IDT7025 supply voltage is 5V, dsp chip supply voltage is 3.3V, therefore in the middle of them, adds a slice voltage transitions chip SN74LVTH16245.
The built-in CAN2.0 controller of described dsp chip, has simplified the design of CAN controller and peripheral circuit thereof greatly.Described CAN bus transceiver adopts model SN65HVD230 chip, and this chip is 3.3V power supply chip, and this has just saved the voltage transitions between DSP and transceiver.Transceiver is by CANTX and CANRX signal is converted into CANH and CANL signal transmits in bus.
Described CAN bus, supports CAN2.0 agreement.Twisted pair line connection, has at most 110 nodes (controlling at most 218 motors), and transmission speed is 1Mbit/s to the maximum.
Described each node DSP all carries data clock, and frequency setting is identical, when system operation starts, host computer is broadcasted a clock synchronous instruction by connected DSP in bus, each node receives after instruction, by local clock counter O reset, and completion system clock synchronous.
The DSP of described each drive motor exports four road PWM ripples, and through photoelectricity, signal is transferred to servo-driver by isolation, drives two motors.Motor encoder returns to servo-driver by motor position rate signal and forms system half-closed loop control.Topworks's end grating scale signal is isolated to the DSP that returns to drive motor through photoelectricity, this DSP has two quadrature coding pulse circuit, can form the control of system closed-loop.
Described SRAM be connect host computer DSP extend out memory headroom.Because DSP memory headroom is limited, because carrying out interpolation operation, DSP for this reason need to process mass data again, therefore need to extend out memory headroom.
Described general purpose I/O, a part is used for receiving exterior I/O device control message, and a part is idle, user friendly exploitation.
The multiaxial motion digital control system of telling, in order to further facilitate operation, the described DSP being connected with host computer also connects keyboard, pilot lamp, the liquid crystal display of being convenient to man-machine interaction.
The multiaxial motion digital control system of telling, in order to improve systemic openness, the dsp chip of described each node has been opened jtag interface, user friendly secondary development.
This multiaxial motion digital control system has ensured real-time Communication for Power in conjunction with the characteristic of CAN bus, improved system reliability, shortened the construction cycle, the ability of giving full play to DSP high-speed computation completes real-time interpolation, speed planning and the control of open and close ring, increased adaptability and the extensibility of control system.
Claims (6)
1. a multiaxial motion digital control system, is characterized in that, comprises a CAN bus, in CAN bus, comprise the DSP communicating by letter by PCI with host computer, the DSP of drive motor in multiple CAN buses, PCI communication interface module, CAN communication module, general purpose I/O interface and photoelectric isolation module;
The DSP communicating by letter by PCI with host computer in described CAN bus is mainly responsible for the interpolation operation of motion control;
Described PCI communication interface module is mainly responsible for the communication of DSP and host computer, and it mainly comprises pci bus interface chip, dual port RAM, CPLD chip and level transferring chip;
The DSP of described each drive motor exports four road PWM ripples, and through photoelectricity, signal is transferred to servo-driver by isolation, drives two motors; Motor encoder returns to servo-driver by motor position rate signal and forms system half-closed loop control; Topworks's end grating scale signal is isolated to the DSP that returns to drive motor through photoelectricity, this DSP has two quadrature coding pulse circuit, can form the control of system closed-loop.
2. a kind of multiaxial motion digital control system according to claim 1, it is characterized in that, described pci bus interface chip is CH365, and dual port RAM is high speed static two-port RAM chip id T7025, is mainly responsible for data buffering and exchange at a high speed between pci bus and DSP.
3. a kind of multiaxial motion digital control system according to claim 1, is characterized in that, the built-in CAN2.0 controller of dsp chip in described CAN bus, support CAN2.0 agreement, by twisted pair line connection, there are at most 110 nodes, transmission speed is 1Mbit/s to the maximum; Described CAN bus transceiver adopts model SN65HVD230 chip, and transceiver is by CANTX and CANRX signal is converted into CANH and CANL signal transmits in bus.
4. a kind of multiaxial motion digital control system according to claim 1, is characterized in that, described SRAM be connect host computer DSP extend out memory headroom.
5. a kind of multiaxial motion digital control system according to claim 1, is characterized in that, the described DSP being connected with host computer also connects keyboard, pilot lamp and liquid crystal display.
6. a kind of multiaxial motion digital control system according to claim 1, is characterized in that, the dsp chip of described each node is provided with jtag interface.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104181866A (en) * | 2014-08-27 | 2014-12-03 | 上海理工大学 | Servo driver interpolation control method |
| CN105281619A (en) * | 2015-04-20 | 2016-01-27 | 重庆有法数控设备有限责任公司 | Servo driver |
| CN105892413A (en) * | 2014-12-15 | 2016-08-24 | 广西大学 | Modularized simple multi-axis motion controlling device |
| CN105892412A (en) * | 2014-12-15 | 2016-08-24 | 广西大学 | Multi-axis motion control hardware configuration based on custom bus |
| CN104181866B (en) * | 2014-08-27 | 2017-01-04 | 上海理工大学 | A kind of servo-driver interpolation control method |
| CN109581973A (en) * | 2019-01-09 | 2019-04-05 | 南通西塔自动化科技有限公司 | A kind of distributing moves synchronously programmable controller |
| CN111338274A (en) * | 2020-04-27 | 2020-06-26 | 核工业理化工程研究院 | Digital closed-loop control device based on CAN bus |
| CN113093723A (en) * | 2021-02-20 | 2021-07-09 | 中科龙人高新技术有限公司 | Multi-axis motion linkage controller for intelligent mobile robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104181866A (en) * | 2014-08-27 | 2014-12-03 | 上海理工大学 | Servo driver interpolation control method |
| CN104181866B (en) * | 2014-08-27 | 2017-01-04 | 上海理工大学 | A kind of servo-driver interpolation control method |
| CN105892413A (en) * | 2014-12-15 | 2016-08-24 | 广西大学 | Modularized simple multi-axis motion controlling device |
| CN105892412A (en) * | 2014-12-15 | 2016-08-24 | 广西大学 | Multi-axis motion control hardware configuration based on custom bus |
| CN105892412B (en) * | 2014-12-15 | 2019-02-19 | 广西大学 | Multi-shaft motion control system hardware structure based on self-defined bus |
| CN105281619A (en) * | 2015-04-20 | 2016-01-27 | 重庆有法数控设备有限责任公司 | Servo driver |
| CN109581973A (en) * | 2019-01-09 | 2019-04-05 | 南通西塔自动化科技有限公司 | A kind of distributing moves synchronously programmable controller |
| CN111338274A (en) * | 2020-04-27 | 2020-06-26 | 核工业理化工程研究院 | Digital closed-loop control device based on CAN bus |
| CN113093723A (en) * | 2021-02-20 | 2021-07-09 | 中科龙人高新技术有限公司 | Multi-axis motion linkage controller for intelligent mobile robot |
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