CN103926882A - Numerical control interpolation system with PC+DSP timing and interruption - Google Patents
Numerical control interpolation system with PC+DSP timing and interruption Download PDFInfo
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- CN103926882A CN103926882A CN201410150331.3A CN201410150331A CN103926882A CN 103926882 A CN103926882 A CN 103926882A CN 201410150331 A CN201410150331 A CN 201410150331A CN 103926882 A CN103926882 A CN 103926882A
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Abstract
The invention discloses a numerical control interpolation system with PC+DSP timing and interruption. The numerical control interpolation system comprises a 32-bit ARM insertion type microcontroller module, a PC machine, a 32-bit DSP control module and an interpolation module. The PC machine is connected through a USB and used for displaying interpolation of timing/interruption of all shafts and information of data collection. An interpolation device of the interpolation system is a carver-structure timer of a TI company for a DSP chip and a TMS2812 chip. The interpolation module is a TMS320C543 chip. The 32-bit DSP module is the main module for interpolation control, interpolation control is finished, the timer is controlled to send a pulse, the interpolation track is adjusted through interruption of the timer to guarantee that the three driving shafts can arrive at the previous position at the same time, and the space interpolation of the three shafts is achieved. Numerical control interpolation is achieved based on the timing and interruption method, the real-time performance and reliability of the system are improved, the cost of the system is reduced, and the purposes of high-speed, high-precision and accurate interpolation are achieved.
Description
Technical field
The present invention relates to a kind of digital control system of electromechanical integration, be specifically related to a kind of DSP motion control card as the main body module of master chip and controller, PC shows the numerical control interpolation system of the Interruption of each coherent signal in real time.
Background technology
Current in order to realize digital control system at the opening aspect hardware and software, transplantability, the general Hw and Sw pintform that concentrates on Industrial PC Computer for the systematic research of open portable formula.Industrial PC Computer has very large limitation as numerical control interpolation system:
1. the digital control system in open type of universal industrial PC can not utilize Interruption to realize interpolation well
General purpose PC utilizes interpolator to realize hard interpolation and soft interpolation when digital control processing, Interruption does not develop specially in digital control system, also by timer, do not realize the interpolating device of pulse (CP)+direction (DIR), the effect of Interruption in NC Interpolation is little.
2. the digital control system in open type of universal industrial PC real-time and reliability well
General purpose PC in when operation because some and digital control processing irrelevant operating system and user program have taken very large system resource, the speed of system service program is slowed down, disturbed the timely response of system to scene processing, reduce the processing speed of system to the important processing time, caused system unstable.
3. opened industrial PC is not well built the platform of digital control processing
Open PC has open characteristic, rather than define for the feature of digital control processing, open PC does not all take in digital control processing singularity on hardware design and operating system environment, therefore can not fundamentally build numerically controlled machining platform.
4. the digital control system high cost of universal industrial PC
A universal industrial PC is on hardware and software, the special software that the specialized hardware that use lathe producer provides and software developer provide is also equipped with special-purpose motion board, so just make the cost of digital control system increase, user's financial burden increases, and is unfavorable for that user reduces production costs.
Summary of the invention
The present invention is in order to overcome above-mentioned deficiency, has provided a kind of numerical control interpolation system of PC+DSP Interruption.
Technical scheme of the present invention is as follows:
A numerical control interpolation system for PC+DSP Interruption, comprises that ARM embedded microcontroller module, the PC of 32, the DSP of 32 control and interpolation module, wherein:
Described interpolation system is connected with signal DIR/ pulse CP module, and signal DIR/ pulse CP module is connected and is connected with drive system, and drive system is connected with electric system, and electric system is connected with lathe, completes Interruption interpolation;
Described interpolation system comprises dsp chip TMS2812 chip and Interruption system, and Interruption system comprises timer T1, T2, T3;
Described signal DIR/ pulse CP module comprises X-axis, Y-axis, Z axis signal DIR/ pulse CP;
Described electric system comprises X-axis, Y-axis, Z axis servomotor;
Described drive system comprises X-axis, Y-axis, Z axis driver;
Described electric system comprises X-axis, Y-axis, Z axis servomotor;
The micro-processing of ARM that this described interpolation system adopts 32 von Neumann structures, realizes system management, network interface and G code compilation facility.
Described interpolation system adopts USB to connect PC, and PC is mainly used to display control interface, regulates each axle to control parameter, shows in real time each coherent signal.Meanwhile, the signal that PC send to gather comes, and accept PC startup, the instruction such as stop and respectively controlling parameter.
Described interpolation system interpolator adopts the timer of the dsp chip TMS2812 chip with card Buddhist structure of TI company, interpolation while realizing Interruption high speed.
If described interpolation system be take TMS320C543 as core control, DSP is the main body module of INTERPOLATION CONTROL OF PULSE, complete INTERPOLATION CONTROL OF PULSE, control timer (T1, T2, T3) transmitted, by timer, interrupt adjusting interpolation track, guarantee that three driving shafts (X-axis, Y-axis, Z axis) can arrive position in advance simultaneously, realize the space interpolation of three axles, reach high-speed, high precision and interpolation requirement fast and accurately.
Described this interpolation system adopts USB to connect PC, and PC is mainly used to display control interface, by communication, to PC, send and gather the signal of coming, and accept PC startup, the instruction such as stop and respectively controlling parameter.DSP is the main body module of INTERPOLATION CONTROL OF PULSE, completes INTERPOLATION CONTROL OF PULSE.The I/O interface of DSP motion control card is as the output channel of control signal, and the transmission of gating pulse is completed pulse and controlled by timer T1, T2, T3.
Interpolator adopts two-stage interpolation scheme, and the first step is divided into some sections by processor by the data acquisition of processing object, to carry out rough interpolation, by hardware, completes interpolation; Second step adopts DSP motion control card to carry out smart interpolation to small section of amount of rough interpolation output, and output pulse and direction signal are controlled, and with software, complete interpolation.
Timer moves the displacement Δ k of generation by interpolation timer register value D
pkdetermine, in this register, will produce certain pulsed frequency f
o, this pulsed frequency determines the operation of servomotor, and in an interpolation cycle, the displacement of coordinate coordinate axis just in time equals Δ k, and the umber of pulse of three axles of interrupt inquiry makes the pulse coordinate of x-axis, y-axis and z-axis equate that inquiry realizes interpolation.
The present invention compared with prior art, have the following advantages and high-lighting effect: adopt modular structure ARM, PC, interpolation system, signal DIR/ pulse CP module, drive system and electric system, complete three coordinate axis space curves, curved surface Interruption high speed, high-precision interpolation.
Except above these, the present invention has adopted the method for Interruption to realize NC Interpolation, has improved real-time and the reliability of system, has reduced the cost of system, has realized the object of high speed, high precision, accuracy interpolation.
Accompanying drawing explanation
Fig. 1 is the hardware block diagram of numerical control interpolation system of the present invention;
Fig. 2 is thick, the smart interpolation frame figure of Interruption of the present invention;
Fig. 3 is the control flow chart of the numerical control interpolation system of Interruption of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention and embodiment thereof are described in further detail.
As shown in Figure 1, a kind of numerical control interpolation system of PC+DSP Interruption, comprises that ARM embedded microcontroller module, the PC of 32, the DSP of 32 control and interpolation module, wherein:
Described interpolation system is connected with signal DIR/ pulse CP module, and signal DIR/ pulse CP module is connected and is connected with drive system, and drive system is connected with electric system, and electric system is connected with lathe, completes Interruption interpolation;
Described interpolation system comprises dsp chip TMS2812 chip and Interruption system, and Interruption system comprises timer T1, T2, T3;
Described signal DIR/ pulse CP module comprises X-axis, Y-axis, Z axis signal DIR/ pulse CP;
Described electric system comprises X-axis, Y-axis, Z axis servomotor;
Described drive system comprises X-axis, Y-axis, Z axis driver;
Described electric system comprises X-axis, Y-axis, Z axis servomotor;
The micro-processing of ARM that this described interpolation system adopts 32 von Neumann structures, realizes system management, network interface and G code compilation facility.
Described interpolation system adopts USB to connect PC, and PC is mainly used to display control interface, regulates each axle to control parameter, shows in real time each coherent signal.Simultaneously by communication, the signal send to gather coming to PC, and accept PC startup, the instruction such as stop and respectively controlling parameter.
As shown in Figure 2, while carrying out working control on TMS320C543DSP motion control card, each motor shaft driver need to be controlled 2 signals, and pulse CP signal and another one direction DIR signal guarantee to control the actual motion position of each axle.
This interpolation algorithm, by interpolation algorithm program, is converted into movement locus 2 groups of control signals such as signal DIR (X-axis, Y-axis, Z axis) and pulse (X-axis, Y-axis, Z axis), completes the interrupt inquiry of timer (T1, T2, T3).
Interpolator adopts two-stage interpolation scheme, and the first step is divided into some sections by processor by the data acquisition of processing object, to carry out rough interpolation, by hardware, completes interpolation; Second step adopts DSP motion control card to carry out smart interpolation to small section of amount of rough interpolation output, and output pulse and direction signal are controlled, and with software, complete interpolation.
The numerical control interpolation system control flow chart of the numerical control interpolation system of a kind of PC+DSP Interruption of design, as shown in Figure 3.Timer moves the displacement Δ k of generation by interpolation timer register value D
pkdetermine, in this register, will produce certain pulsed frequency f
o, this pulsed frequency determines the operation of servomotor, and in an interpolation cycle, the displacement of coordinate axis just in time equals Δ k, and the umber of pulse of three axles of interrupt inquiry makes the pulse coordinate of x-axis, y-axis and z-axis equate that inquiry realizes interpolation.
In addition to the implementation, the present invention can also have other embodiments.All technical schemes that is equal to replacement or equivalent transformation distortion, all in the claimed scope of the present invention.
Claims (5)
1. the present invention relates to a kind of numerical control interpolation system of PC+DSP Interruption, comprise that ARM embedded microcontroller module, the PC of 32, the DSP of 32 control and interpolation module, is characterized in that:
(1) described interpolation system is connected with signal DIR/ pulse CP module, and signal DIR/ pulse CP module is connected and is connected with drive system, and drive system is connected with electric system, and electric system is connected with lathe, completes Interruption interpolation;
(2) this described interpolation system adopts the micro-processing of ARM of 32 von Neumann structures, realizes system management, network interface and G code compilation facility;
(3) described interpolation system adopts USB to connect PC, and PC is mainly used to display control interface, regulates each axle to control parameter, shows in real time each coherent signal.Meanwhile, the signal send to gather coming to PC by communication, and accept PC startup, the instruction such as stop and respectively controlling parameter;
(4) described interpolation system interpolator adopts the timer of the dsp chip TMS2812 chip with card Buddhist structure of TI company, interpolation while realizing Interruption high speed;
(5) if described interpolation system be take TMS320C543 as core control, DSP is the main body module of INTERPOLATION CONTROL OF PULSE, complete INTERPOLATION CONTROL OF PULSE, control timer (T1, T2, T3) transmitted, by timer, interrupt adjusting interpolation track, guarantee that three driving shafts (X-axis, Y-axis, Z axis) can arrive position in advance simultaneously, realize the space interpolation of three axles, reach high-speed, high precision and interpolation requirement fast and accurately.
2. the numerical control interpolation system of a kind of PC+DSP Interruption as claimed in claim 1, is characterized in that:
(1) described interpolation system comprises dsp chip TMS2812 chip and Interruption system, and Interruption system comprises timer T1, T2, T3;
(2) described signal DIR/ pulse CP module comprises X-axis, Y-axis, Z axis signal DIR/ pulse CP;
(3) described electric system comprises X-axis, Y-axis, Z axis servomotor;
(4) described drive system comprises X-axis, Y-axis, Z axis driver;
(5) described electric system comprises X-axis, Y-axis, Z axis servomotor.
3. the numerical control interpolation system of a kind of PC+DSP Interruption as claimed in claim 1, it is characterized in that: this described interpolation system adopts USB to connect PC, PC is mainly used to display control interface, the signal send to gather coming to PC by communication, and accept PC startup, the instruction such as stop and respectively controlling parameter.DSP is the main body module of INTERPOLATION CONTROL OF PULSE, completes INTERPOLATION CONTROL OF PULSE.The I/O interface of DSP motion control card is as the output channel of control signal, and the transmission of gating pulse is completed pulse and controlled by timer T1, T2, T3.
4. the numerical control interpolation system of a kind of PC+DSP Interruption as claimed in claim 1, it is characterized in that: interpolator adopts two-stage interpolation scheme, the first step is divided into some sections by processor by the data acquisition of processing object, to carry out rough interpolation, by hardware, completes interpolation; Second step adopts DSP motion control card to carry out smart interpolation to small section of amount of rough interpolation output, and output pulse and direction signal are controlled, and with software, complete interpolation.
5. the numerical control interpolation system of a kind of PC+DSP Interruption as claimed in claim 1, is characterized in that: timer moves the displacement Δ k of generation by interpolation timer register value D
pkdetermine, in this register, will produce certain pulsed frequency f
o, this pulsed frequency determines the operation of servomotor, and in an interpolation cycle, the displacement of coordinate coordinate axis just in time equals Δ k, and the umber of pulse of three axles of interrupt inquiry makes the pulse coordinate of x-axis, y-axis and z-axis equate that inquiry realizes interpolation.
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| CN201410150331.3A CN103926882A (en) | 2014-04-04 | 2014-04-04 | Numerical control interpolation system with PC+DSP timing and interruption |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104865900A (en) * | 2015-05-12 | 2015-08-26 | 中国地质大学（武汉） | NURBS interpolator pulse uniform output device and equipment thereof |
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| CN103235557A (en) * | 2013-03-20 | 2013-08-07 | 宁波虎兴数控科技有限公司 | Controller for wire-cut electrical discharge machining tools |
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2014
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Patent Citations (4)
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| US4903213A (en) * | 1986-12-01 | 1990-02-20 | Ag Fur Industrielle Elektronik Agie | Numerical control system for highly dynamic processes |
| CN2650189Y (en) * | 2003-10-28 | 2004-10-20 | 华北电力大学 | Numerically controlled three-coordinate arc interpolating device |
| CN202372834U (en) * | 2011-12-08 | 2012-08-08 | 宁波海迈克数控技术有限公司 | Embedded numerical control system with dual-core central processing unit (CPU) |
| CN103235557A (en) * | 2013-03-20 | 2013-08-07 | 宁波虎兴数控科技有限公司 | Controller for wire-cut electrical discharge machining tools |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104865900A (en) * | 2015-05-12 | 2015-08-26 | 中国地质大学（武汉） | NURBS interpolator pulse uniform output device and equipment thereof |
| CN104865900B (en) * | 2015-05-12 | 2018-01-23 | 中国地质大学（武汉） | A kind of NURBS interpolators pulse uniform output device and equipment |
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Application publication date: 20140716 |