CN103955163B - A kind of multiaxis towards microassembly system mixes quick control unit design method - Google Patents
A kind of multiaxis towards microassembly system mixes quick control unit design method Download PDFInfo
- Publication number
- CN103955163B CN103955163B CN201310512049.0A CN201310512049A CN103955163B CN 103955163 B CN103955163 B CN 103955163B CN 201310512049 A CN201310512049 A CN 201310512049A CN 103955163 B CN103955163 B CN 103955163B
- Authority
- CN
- China
- Prior art keywords
- motor
- pulse number
- circuit
- signal
- motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Stepping Motors (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present invention relates to a kind of multiaxis towards microassembly system and mix quick control unit design method, including TMS320F2812 chip, 12 motor drivers, 2 grating scales, 2 photoelectric encoders, 2 optical coupling isolation circuits, 2 signal conditioning circuits, 2 quadruple logic circuits, 12 motors；Wherein TMS320F2812 chip includes PWM output circuit, capturing unit CAP, orthogonal coding circuit QEP and GPIO pin；The method produces multi-channel PWM output waveform by TMS320F2812 chip simultaneously, it is achieved multijoint control；And require that the mixing realizing closed loop, semiclosed loop and open loop controls according to assembly precision.
Description
Technical field
The present invention relates to a kind of multiaxis towards microassembly system and mix quick control unit design method, belong to
Field of electromechanical integration.
Background technology
Multi-shaft interlocked be widely used in digital control system, i.e. according to previously given route process required outside
Shape.In microassembly system, using multi-shaft interlocked control method is to save installation time, improves dress
Join efficiency.Motor, can be the most accurate as one of critical component that executive component is electromechanical integration
Location, and the error of step pitch will not infinitely accumulate, only can exist in the range of one turn one maximum
Cumulative errors, its control method directly affects the performance indications such as the control accuracy of microassembly system, output torque.
Motor may make up open-loop control system and also may make up closed loop or semi-closed loop control system.Opened loop control
Driving system of stepping motor, the pulse of input is independent of the position with rotor, but in advance by certain fortune
Dynamic rule gives, and the torque acceleration of its output depends on driving power supply and control mode to a large extent.
Closed loop and half-closed loop control are indirect detection and the position directly detecting rotor respectively, and position-detection sensor will
The actual position signal of the workbench recorded or the position signalling of rotor compared with target position signal,
Then being controlled both differences, therefore closed loop or half-closed loop control are obtained in that more accurate position
Control.In accessory size micro assemby field between 0.01mm～1mm, for improving assembly precision in control
Unit processed uses closed loop or half-closed loop control method, for improving efficiency of assembling in the highest motion of required precision
Middle employing opened loop control.
The micromotion platform used in existing microassembly system is external import mostly, and internal control system is not
Open, it is achieved secondary development is the most difficult, and maintenance cost is high.
Summary of the invention
It is an object of the invention to provide a kind of multiaxis towards microassembly system and mix the design of quick control unit
Method, for domestic existing micromotion platform, it is possible to realize high accuracy, high efficiency assembling.
The present invention is to solve the problems referred to above by the following technical programs: microassembly system includes
TMS320F2812 chip, 12 motor drivers, 2 grating scales, 2 photoelectric encoders, 2 optocouplers
Isolation circuit, 2 signal conditioning circuits, 2 quadruple logic circuits, 12 motors；Wherein
TMS320F2812 chip includes PWM output circuit, capturing unit CAP, orthogonal coding circuit QEP and GPIO
Pin；Also include micromotion platform and conveying robot；It is characterized in that: each motor is all by 1
Motor driver is connected with PWM output circuit, each motor respectively by 1 optical coupling isolation circuit with
GPIO pin is connected, and the 1st motor is connected with micromotion platform respectively to the 4th motor, the 5th stepping
Motor is connected with conveying robot respectively to the 12nd motor, and 2 grating scales are adjusted by 1 signal respectively
Reason circuit is connected with orthogonal coding circuit QEP, 2 photoelectric encoders be separately mounted to the 3rd motor, the
It is connected with capturing unit CAP on the main shaft of 4 motors and respectively by 1 quadruple logic circuit；
Multiaxis towards microassembly system mixes quick control unit and includes closed loop, semiclosed loop and open loop three kinds control
Method processed:
In closed loop system, first set the target range of micromotion platform X, Y-direction, TMS320F2812
Chip produces PWM output waveform by PWM output circuit, and output duty cycle pulse signal is accessed motor
Driver controls the 1st motor and the motion of the 2nd motor, the 1st motor and the 2nd stepping
Motor drives micromotion platform in X, the movement of Y-direction；Two grating scales gather micromotion platform respectively at X, Y
The displacement in direction, is converted into the number of pulse signal, by corresponding signal conditioning circuit by pulse
The amplitude stability of signal is linked in the orthogonal coding circuit QEP of TMS320F2812 chip after 3V, constantly
The relatively signal of grating scale collection realizes closed loop control with the signal of target range；The extreme position of micromotion platform
Switching signal accesses the GPIO pin of TMS320F2812 chip by corresponding optical coupling isolation circuit, controls micro-
Moving platform moves in the stroke set；
In semi-closed loop control system, first set the anglec of rotation of micromotion platform X, Z-direction,
TMS320F2812 chip produces PWM output waveform, the pulse that output duty cycle is certain by PWM output circuit
Signal is accessed controls the 3rd motor and the motion of the 4th motor, the 3rd step in motor driver
Enter motor and the 4th step motor drive micromotion platform in the movement of Z-direction and rotation；Two photoelectric encoders
Gather the position of rotor respectively, be converted into the number of pulse signal, patrolled by corresponding quadruple
The quadruple collecting circuit realiration pulse signal accesses in capturing unit CAP, by constantly comparing photoelectric encoder
The signal gathered realizes half-closed loop control with the signal of target location；The extreme position switching signal of micromotion platform
Accessed the GPIO pin of TMS320F2812 chip by corresponding optical coupling isolation circuit, control micromotion platform and exist
Motion in the stroke set；
In open cycle system, first setting the target range of conveying robot, TMS320F2812 chip passes through
PWM output circuit produces PWM output waveform, and output duty cycle certain pulse signal is accessed motor driving
Device controls the motion of the 5th motor to the 12nd motor；The extreme position of conveying robot is switched
Signal accesses the GPIO pin of TMS320F2812 chip by corresponding optical coupling isolation circuit, controls carrying implement
Tool hands moves in the stroke set.
Beneficial effect:
1, the control method of the present invention is capable of motor single shaft or multiaxis mixing controls；Pass through
TMS320F2812 chip produces multi-channel PWM output waveform simultaneously, it is achieved multijoint control；And according to assembly precision
Require that the mixing realizing closed loop, semiclosed loop and open loop controls.
2, by the orthogonal coding circuit QEP of TMS320F2812 chip, it is achieved the quadruple of grating scale, carry
The high certainty of measurement of grating scale；By the resolution of photoelectric encoder being improved by quadruple logic circuit
To original four times；And then improve the positioning precision of micro-displacement platform.
3, the motion of multiple electric motors during can simultaneously controlling to assemble due to this control method, this is effectively increased
The efficiency of assembling of microassembly system.
Accompanying drawing explanation
Fig. 1 mixes quick control cellular system block diagram towards the multiaxis of microassembly system
Fig. 2 mixes quick control unit main program flow chart towards the multiaxis of microassembly system
Fig. 3 mixes quick control unit closed loop flow chart 1 towards the multiaxis of microassembly system
Fig. 4 mixes quick control unit semiclosed loop flow chart 2 towards the multiaxis of microassembly system
Fig. 5 mixes quick control unit open loop flow chart 3 towards the multiaxis of microassembly system
Detailed description of the invention
The present invention is further detailed explanation below in conjunction with the accompanying drawings:
Fig. 1 is the multiaxis mixing quick control cellular system block diagram towards microassembly system, towards micro assemby system
The multiaxis mixing quick control unit of system includes: TMS320F2812 chip, motor driver 1 to 12, light
Grid chi 1,2, photoelectric encoder 1,2, optical coupling isolation circuit 1 to 12, signal conditioning circuit 1,2, four
Frequency multiplication logic circuit 1,2, motor 1 to 12；Wherein TMS320F2812 chip includes PWM output electricity
Road, capturing unit CAP, orthogonal coding circuit QEP and serial port；
Motor 1 to 12 is connected with PWM output circuit by motor driver 1 to 12 respectively, stepping
Motor 1 to 12 is connected with serial port by optical coupling isolation circuit 1 to 12 respectively, motor 1 to 12
Being connected with micromotion platform respectively, grating scale 1,2 is respectively by signal conditioning circuit 1,2 and orthogonal coding electricity
Road QEP is connected, and photoelectric encoder 1,2 is separately mounted on the main shaft of motor 3,4 and passes through respectively
Quadruple logic circuit 1,2 is connected with capturing unit CAP；
First quick control unit is carried out system initialization and PIE initializes；Configuration EVA mould
Block and EVB module register, produce PWM output waveform, changes the rotating speed of dutycycle scalable motor；Join
Put QEP circuit and CAP capturing unit depositor；QEP circuit is made to capture pulse number, timer interruption
Number of times and the number initial value of CAP elements capture pulse be 0；Enable PIE cycle interruption and CPU interrupts.
Fig. 2 is the multiaxis mixing quick control unit main program flow chart towards microassembly system.At DSP collection
Become programming step under environment CCS4 as follows:
Step S201, carries out system initialization and initializes PIE vector table, and system initialization includes that disabling is seen
Door Canis familiaris L., initialization PLL circuit, initialization Peripheral clock；
Step S202, initializes EVA module register, produces pwm pulse signal, enables intervalometer 1 He
The cycle interruption position of 2；
Step S203, initializes EVB module register, produces pwm pulse signal, enables intervalometer 3
Cycle interruption position；
Step S204, the QEP circuit register of configuration EVA module and CAP3 capturing unit；
Step S205, the QEP circuit register of configuration EVB module and CAP6 capturing unit；
Step S206, QEP circuit capture pulse number, the number of times of timer interruption and CAP elements capture arteries and veins
The number of punching all composes initial value 0 as global variable, and the timer period enabling PIE interrupts and CPU interruption；
Step S207, waiting timer 1,2,3 cycle interruption, the CPU priority of intervalometer 1 is the highest,
The CPU priority of intervalometer 3 is minimum, i.e. when intervalometer 1 and intervalometer 3 generating period simultaneously is had no progeny,
First CPU responds the cycle interruption of intervalometer 1；The priority of closed loop control is the highest, the priority of opened loop control
Minimum.
After initialization, towards microassembly system multiaxis mix quick control unit include closed loop, semiclosed loop and
Three kinds of control methods of open loop, closed loop realizes micromotion platform moving horizontally between same plane, and semiclosed loop realizes
The rotation of micromotion platform, open loop realizes the quick mobile of conveying robot.In closed loop system, TMS320F2812
Chip produces PWM output waveform, and output duty cycle certain pulse signal is accessed control in motor driver
The motion of motor processed；Grating scale is utilized to constitute feedback circuit, after grating scale collects the displacement of micromotion platform
Be converted into the number of pulse signal, by signal conditioning circuit by the amplitude stability of pulse signal after 3V
It is linked in the orthogonal coding circuit QEP of TMS320F2812 chip, constantly compares the signal that grating scale gathers
Closed loop control is realized with the signal of target range；The extreme position switching signal of displacement platform is passed through light-coupled isolation
Circuit accesses the GPIO pin of TMS320F2812 chip, and control bit moving stage is expert at, and journey is interior moves.At semiclosed loop
In control system, TMS320F2812 chip produces PWM output waveform, the pulse signal that output duty cycle is certain
Accessed the motion controlling motor in motor driver；Incremental optical-electricity encoder is utilized to constitute feedback circuit,
The number of pulse signal it is converted into after incremental optical-electricity encoder is collected the position of rotor, logical
Cross in the quadruple access CAP capturing unit that quadruple logic circuit realizes pulse signal, by constantly comparing
The signal of photoelectric encoder collection and the signal of target location realize half-closed loop control；By the limit position of displacement platform
Put switching signal and accessed the GPIO pin of TMS320F2812 chip, control bit moving stage by optical coupling isolation circuit
Move in stroke.In open cycle system, produce PWM output waveform by TMS320F2812 chip, defeated
Go out the certain pulse signal of dutycycle and accessed the motion controlling motor in motor driver；By handling machinery
The extreme position switching signal of hands accesses the GPIO pin of TMS320F2812 chip by optical coupling isolation circuit,
Control conveying robot to move in stroke.
Fig. 3 is the multiaxis mixing quick control unit closed loop flow chart 1 towards microassembly system, in figure 3,
With the difference of motor 2, motor 1 is that timer count pattern is different, because using QEP circuit
In must set the count mode of intervalometer as direction add drop count mode, the depositor resulting in PWM is defeated
The rotating speed going out the pulse signal i.e. motor of dutycycle difference is different, but control flow is identical, with motor 1 is
Example, describes work in detail as follows:
Step S302, according to the micromotion platform X set, the target range of Y-direction, the direction of motion of motor
Be divided into and rotating and reverse, when target range is identical with motor forward direction be on the occasion of, with motor reversal direction
It it is negative value time identical；
Step S303, is scaled electric pulse number by target range, and computing formula is: electric pulse number=target
Distance (mm)/pitch (mm), pitch is the numerical value after quadruple；Described electric pulse number just contains
Negative sign；
Step S304, the pulse number of statistics QEP capture, it is assumed that the counted number of pulses that motor rotates forward just is,
The counted number of pulses of reversion is negative；
Step S305, when motor rotates forward, the pulse number of QEP capture adds 1, when motor reversal, QEP
The pulse number of capture subtracts 1；
Step S306, electric pulse number step S303 calculated is poor with the pulse number of QEP capture,
When the absolute value of difference is less than the absolute value of electric pulse number, motor moves by former rotation direction, performs step
Rapid 308, otherwise electricity performs step S307；
Step S307, by reverse with the former direction of motion for the direction of rotation of motor；
Step S308, the electric pulse number that waiting step S303 calculates is poor with the pulse number of QEP capture
The absolute value of value less than or equal to 0, motor stop motion when condition meets, otherwise, continue waiting for until meeting bar
Part motor stop motion；
Step S309, process ends.
Fig. 4 is the multiaxis mixing quick control unit semiclosed loop flow chart 2 towards microassembly system, with Fig. 3 stream
Journey compares, and difference is that CAP capturing unit instead of QEP unit, but control principle is consistent.Details are as follows:
Step S402, first sets the anglec of rotation of micromotion platform X, Z-direction, and the direction of motion of motor is divided
For rotating and reverse, when the anglec of rotation is identical with motor forward direction be on the occasion of, with motor reversal direction phase
It it is negative value simultaneously；
Step S403, uses photoelectric encoder to measure angular displacement, and coding disk resolution is n pulse every turn,
Computing formula: the electric pulse number=anglec of rotation/δ, δ is the resolution after quadruple, and its value is equal to
1/4n；In the present embodiment, photoelectric encoder selects incremental optical-electricity encoder；N is 1000 pulses every turn, δ
It is 4000 pulses every turn.
Step S404, the pulse number of statistics capturing unit CAP capture, it is assumed that the step-by-step counting that motor rotates forward
Value is for just, and the counted number of pulses of reversion is negative；
Step S405, when motor rotates forward, the pulse number of CAP capture adds 1, when motor reversal, CAP
The pulse number of capturing unit capture subtracts 1；
Step S406, electric pulse number step S403 calculated is poor with the pulse number of CAP capture, when
When the absolute value of difference is less than the absolute value of electric pulse number, motor moves by former rotation direction, performs step
408, otherwise perform step 407；
Step S407 is contrary with the former direction of motion by the rotation direction of motor；
Step S408, the electric pulse number that waiting step S403 calculates is individual with the pulse of CAP capturing unit capture
The absolute value of number differences less than or equal to 0, motor stop motion when condition meets, otherwise, continue waiting for until full
Foot condition motor stop motion；
Step S409, process ends.
Fig. 5 is the multiaxis mixing quick control unit open loop flow chart 3 towards microassembly system, and details are as follows:
Step S502, according to the target range of the conveying robot set, the direction of motion of motor is divided into rotating forward
And reversion, when target range is identical with motor forward direction be on the occasion of, be otherwise negative value；
Step S503, computing formula: electric pulse number=target range/step angle, the value of step angle is equal to warp
Crossing the value after motor driver segmentation, electric pulse number has positive and negative dividing；
Step S504, it is assumed that the counted number of pulses that motor rotates forward just is, the counted number of pulses of reversion is negative；
Step S505, when motor rotates forward, timer timing pulse number adds 1, when motor reversal, fixed
Timer timing pulse number subtracts 1；
Step S506, electric pulse number step S503 calculated is poor with target location pulse number, is on duty
When the absolute value of value is less than the absolute value of electric pulse number, motor moves by former rotation direction, performs step 507,
Otherwise perform step 506；
Step S507 is contrary with the former direction of motion by the rotation direction of motor；
Step S508, the electric pulse number that waiting step S503 calculates is exhausted with target location pulse number difference
To value less than or equal to 0, motor stop motion when condition meets, otherwise, continue waiting for；
Step S509, process ends.
Respectively install a limit switch at the two ends of micromotion platform, the output pin of limit switch passes through TLP521
Optical coupling isolation circuit is connected to the I/O input port of TMS320F2812 chip, and the output pin of I/O accesses step
Enter the direction port of motor driver, when micromotion platform arrives the extreme position of one end, I/O output pin electricity
Flat meeting be become low level from high level, and for rotating forward when definition I/O output valve is high level, output valve is low electricity
At ordinary times for reversion, changed the direction of motion of motor by the state controlling I/O output pin；
The PWM waveform of described PWM output circuit output is joined by event manager module EV
Put；: the event manager module EV of TMS320F2812 chip has four general purpose timers, fixed by configuring
Time device depositor 12 road PWM output waveform, the square-wave signal control that every road PWM output duty cycle is fixing is set
Make 1 motor, and then it is many to realize 2 motor closed loops, 2 motor semiclosed loops and 8 motor open loops
Axle mixing controls；In FIG, motor 1 and motor 2 depositing by general purpose timer 1 and 2
Device controls, and motor 3 and motor 4 are by the register controlled of general purpose timer 3 and 4.With stepping
As a example by motor 1, the depositor of configuration intervalometer 1, the square-wave signal that output duty cycle is certain, draws output
Foot accesses the pulse terminal in motor driver 1；
The control method of motor 2 is with motor 1, it is achieved micromotion platform movement in the same plane.
Being arranged on micro displacement workbench of grating scale, any pair orthogonal output pin of grating scale passes through signal condition
Output voltage stabilization is accessed the orthogonal coding circuit QEP of TMS320F2812 chip after 3V by circuit, configuration
The depositor of quadrature coding pulse circuit realizes grating scale quadruple, the certainty of measurement of grating scale is carried by 2um
High to 0.5um；Owing to the magnitude of voltage of any pair orthogonal pulses signal of grating scale is transported higher than TMS320F2812
Maximum input voltage 3.3V of dynamic panel, needs pulse signals in modulate circuit to realize dividing potential drop and voltage stabilizing
After be re-fed into orthogonal coding circuit.Motor 3 and motor 4 realize the rotation of micromotion platform, and PWM is defeated
Go out waveform identical with motor 1 with the control method of limit switch, due to a TMS320F2812 chip
Only two QEP circuit, therefore motor 3 and motor 4 use capturing unit to carry out position detection.
As a example by motor 3, photoelectric encoder is arranged on the main shaft of motor the position detecting rotor,
During any pair orthogonal output pin of photoelectric encoder accesses, the count signal of logic circuit is exported termination
Entering on the CAP3 pin of capturing unit, capturing unit carries out position by the method for the rising edge counting of capture signal
Put detection.Motor 4 is identical with the method for detecting position of motor 3, is simply exported by count signal
Terminate on the CAP6 pin of capturing unit.By quadruple dedicated logic circuit by incremental optical-electricity encoder
Resolution bring up to original four times；
For making motor arrive the shortest time of target location, the motor control of motor is at timer interruption
Program realizes.When definition rotates forward, I/O output pin is high level, and during reversion, I/O output pin is low electricity
Flat, the output pin of I/O accesses the direction port of stepper motor driver, reasonable disposition I/O pin, it is achieved
The rotating of 12 motors controls；Motor is divided into three groups by the difference according to fittage, high in required precision
Motion in realize closed loop and half-closed loop control, the motion that required precision is relatively low realizes the open loop of motor
Controlling, its control flow realizes respectively in three timer interruption.This process can realize quick assembling, carries
High efficiency of assembling.
Claims (6)
1. the multiaxis towards microassembly system mixes a quick control unit design method, including
TMS320F2812 chip, the first motor driver to twelve-motor driver, the first grating scale, the second light
Grid chi, the first photoelectric encoder, the second photoelectric encoder, the first optical coupling isolation circuit to the 12nd optocoupler every
From circuit, the first signal conditioning circuit, secondary signal modulate circuit, the first quadruple logic circuit, second
Quadruple logic circuit, the first motor is to the tenth two stepping motor；Wherein TMS320F2812 chip bag
Include PWM output circuit, capturing unit CAP, orthogonal coding circuit QEP and GPIO pin；Microassembly system
Including micromotion platform and conveying robot；It is characterized in that: the first motor divides to the tenth two stepping motor
Tong Guo not be connected to twelve-motor driver with PWM output circuit by the first motor driver, the first stepping electricity
Machine passes through the first optical coupling isolation circuit to the 12nd optical coupling isolation circuit and GPIO respectively to the tenth two stepping motor
Pin is connected, and the first motor is connected with micromotion platform respectively to the 4th motor, the 5th motor
Being connected to the 12nd with conveying robot, the first grating scale, the second grating scale are respectively by the first signal condition
Circuit, secondary signal modulate circuit are connected with orthogonal coding circuit QEP, the first photoelectric encoder, the second light
Photoelectric coder is separately mounted on the main shaft of the 3rd motor, the 4th motor and respectively by the one or four
Frequency multiplication logic circuit, the second quadruple logic circuit are connected with capturing unit CAP；
Multiaxis towards microassembly system mixes quick control unit and includes closed loop, semiclosed loop and open loop three kinds control
Method processed:
In closed loop system, first set the target range of micromotion platform X, Y-direction, TMS320F2812
Chip produces PWM output waveform by PWM output circuit, and output duty cycle pulse signal is accessed motor
Driver controls the first motor and the motion of the second motor, the first motor and the second stepping
Motor drives micromotion platform in X, the movement of Y-direction；Two grating scales gather micromotion platform respectively at X, Y
The displacement in direction, is converted into the number of pulse signal, by corresponding signal conditioning circuit by pulse
The amplitude stability of signal is linked in the orthogonal coding circuit QEP of TMS320F2812 chip after 3V, constantly
The relatively signal of grating scale collection realizes closed loop control with the signal of target range；The extreme position of micromotion platform
Switching signal accesses TMS320F2812 by the first corresponding optical coupling isolation circuit and the second optical coupling isolation circuit
The GPIO pin of chip, controls micromotion platform and moves in the stroke set；
In semi-closed loop control system, first set the anglec of rotation of micromotion platform X, Z-direction,
TMS320F2812 chip produces PWM output waveform, the pulse that output duty cycle is certain by PWM output circuit
Signal is accessed controls the 3rd motor and the motion of the 4th motor, the 3rd step in motor driver
Enter motor and the 4th step motor drive micromotion platform in the movement of Z-direction and rotation；Two photoelectric encoders
Gather the position of rotor respectively, be converted into the number of pulse signal, by corresponding quadruple logic
The quadruple of circuit realiration pulse signal accesses in capturing unit CAP, adopts by constantly comparing photoelectric encoder
The signal of collection realizes half-closed loop control with the signal of target location；The extreme position switching signal of micromotion platform is led to
Cross the 3rd optical coupling isolation circuit and the GPIO of the 4th optical coupling isolation circuit access TMS320F2812 chip of correspondence
Pin, controls micromotion platform and moves in the stroke set；
In open cycle system, first setting the target range of conveying robot, TMS320F2812 chip passes through
PWM output circuit produces PWM output waveform, and output duty cycle certain pulse signal is accessed motor driving
Device controls the motion of the 5th motor to the tenth two stepping motor；The extreme position of conveying robot is opened
OFF signal accesses TMS320F2812 by the 5th corresponding optical coupling isolation circuit to the 12nd optical coupling isolation circuit
The GPIO pin of chip, controls conveying robot and moves in the stroke set.
A kind of multiaxis towards microassembly system mixes the design of quick control unit
Method, it is characterised in that: described encoder is incremental optical-electricity encoder.
A kind of multiaxis towards microassembly system mixes quick control unit
Method for designing, it is characterised in that: the idiographic flow of described closed loop control is:
Step S302, according to the micromotion platform X set, the target range of Y-direction, the direction of motion of motor
Be divided into and rotating and reverse, when target range is identical with motor forward direction be on the occasion of, with motor reversal direction
It it is negative value time identical；
Step S303, is scaled electric pulse number by target range；
Step S304, the pulse number of statistics QEP capture, it is assumed that the counted number of pulses that motor rotates forward just is,
The counted number of pulses of reversion is negative；
Step S305, when motor rotates forward, the pulse number of QEP capture adds 1, when motor reversal, QEP
The pulse number of capture subtracts 1；
Step S306, electric pulse number step S303 calculated is poor with the pulse number of QEP capture,
When the absolute value of difference is less than the absolute value of electric pulse number, motor moves by former rotation direction, performs step
Rapid 308, otherwise electricity performs step S307；
Step S307, by reverse with the former direction of motion for the direction of rotation of motor；
Step S308, the electric pulse number that waiting step S303 calculates is poor with the pulse number of QEP capture
The absolute value of value equal to 0, motor stop motion when condition meets, otherwise, continue waiting for until meeting condition electricity
Machine stop motion；
Step S309, completes closed loop control, process ends.
A kind of multiaxis towards microassembly system mixes the design of quick control unit
Method, it is characterised in that: described step S303 computing formula is: electric pulse number=target range (mm)/
Pitch (mm), pitch is the numerical value after quadruple；Described electric pulse number contains sign.
A kind of multiaxis towards microassembly system mixes quick control unit
Method for designing, it is characterised in that: the idiographic flow of described half-closed loop control is:
Step S402, first sets the anglec of rotation of micromotion platform X, Z-direction, and the direction of motion of motor is divided
For rotating and reverse, when the anglec of rotation is identical with motor forward direction be on the occasion of, with motor reversal direction phase
It it is negative value simultaneously；
Step S403, uses photoelectric encoder to measure angular displacement, computing formula: electric pulse number=anglec of rotation
/ δ, δ are the resolution after quadruple, and its value is divided equal to the coding disk that 1/4n, n are photoelectric encoder
Resolution；
Step S404, the pulse number of statistics capturing unit CAP capture, it is assumed that the step-by-step counting that motor rotates forward
Value is for just, and the counted number of pulses of reversion is negative；
Step S405, when motor rotates forward, the pulse number of CAP capture adds 1, when motor reversal, CAP
The pulse number of capturing unit capture subtracts 1；
Step S406, electric pulse number step S403 calculated is poor with the pulse number of CAP capture, when
When the absolute value of difference is less than the absolute value of electric pulse number, motor moves by former rotation direction, performs step
408, otherwise perform step 407；
Step S407 is contrary with the former direction of motion by the rotation direction of motor；
Step S408, the electric pulse number that waiting step S403 calculates is individual with the pulse of CAP capturing unit capture
The absolute value of number differences equal to 0, motor stop motion when condition meets, otherwise, continue waiting for until meeting bar
Part motor stop motion；
Step S409, completes half-closed loop control, process ends.
A kind of multiaxis towards microassembly system mixes quick control unit
Method for designing, it is characterised in that: the idiographic flow of described opened loop control is:
Step S502, according to the target range of the conveying robot set, the direction of motion of motor is divided into rotating forward
And reversion, when target range is identical with motor forward direction be on the occasion of, be otherwise negative value；
Step S503, computing formula: electric pulse number=target range/step angle, the value of step angle is equal to warp
Cross the value after motor driver segmentation；
Step S504, it is assumed that the counted number of pulses that motor rotates forward just is, the counted number of pulses of reversion is negative；
Step S505, when motor rotates forward, timer timing pulse number adds 1, when motor reversal, fixed
Timer timing pulse number subtracts 1；
Step S506, electric pulse number step S503 calculated is poor with the pulse number of timer count,
When the absolute value of difference is less than the absolute value of electric pulse number, motor moves by former rotation direction, performs step
Rapid 507, otherwise perform step 506；
Step S507 is contrary with the former direction of motion by the rotation direction of motor；
Step S508, the electric pulse number of waiting step S503 calculating and the pulse number difference of timer count
Absolute value equal to 0, motor stop motion when condition meets, otherwise, continue waiting for；
Step S509, completes opened loop control, process ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310512049.0A CN103955163B (en) | 2013-10-25 | 2013-10-25 | A kind of multiaxis towards microassembly system mixes quick control unit design method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310512049.0A CN103955163B (en) | 2013-10-25 | 2013-10-25 | A kind of multiaxis towards microassembly system mixes quick control unit design method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103955163A CN103955163A (en) | 2014-07-30 |
| CN103955163B true CN103955163B (en) | 2016-08-17 |
Family
ID=51332448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310512049.0A Active CN103955163B (en) | 2013-10-25 | 2013-10-25 | A kind of multiaxis towards microassembly system mixes quick control unit design method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103955163B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108681286B (en) * | 2018-06-13 | 2023-08-15 | 哈尔滨工业大学（威海） | Wire cutting equipment control device and method based on FPGA |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1923466A (en) * | 2006-10-13 | 2007-03-07 | 北京理工大学 | Macrography/microcosmic association 12 freedom degree micro assembly system |
| CN101537622A (en) * | 2009-04-24 | 2009-09-23 | 东莞艾尔发自动化机械有限公司 | Control method and full-servo control system for operating multi-axis mechanical arm |
| CN101598939A (en) * | 2008-06-04 | 2009-12-09 | 中国科学院自动化研究所 | Multiaxial motion servocontrol and protection system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010054506A1 (en) * | 2008-11-11 | 2010-05-20 | 深圳航天科技创新研究院 | Control system of multi- shaft servo motor |
-
2013
- 2013-10-25 CN CN201310512049.0A patent/CN103955163B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1923466A (en) * | 2006-10-13 | 2007-03-07 | 北京理工大学 | Macrography/microcosmic association 12 freedom degree micro assembly system |
| CN101598939A (en) * | 2008-06-04 | 2009-12-09 | 中国科学院自动化研究所 | Multiaxial motion servocontrol and protection system |
| CN101537622A (en) * | 2009-04-24 | 2009-09-23 | 东莞艾尔发自动化机械有限公司 | Control method and full-servo control system for operating multi-axis mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| 《基于不同伺服系统的数控实训装置的研发》;王建立等;《机械设计与制造》;20080731(第7期);126-128 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103955163A (en) | 2014-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105242640B (en) | A kind of novel high-speed, high precision multiple-axis servo motion controller circuit | |
| CN102291073B (en) | Multi-axis stepper motor interpolation controller and multi-axis stepper motor motion control card | |
| CN107124125A (en) | A kind of multiaxis controllor for step-by-step motor system based on fpga chip | |
| US20180229368A1 (en) | Automatic trajectory generation for controlling a drive system | |
| CN102291062A (en) | High-accuracy multi-motor control method based on FPGA (Field Programmable Gate Array) | |
| CN105159227A (en) | Biaxial motion platform positioning and dynamic locus tracking control device and method | |
| CN104950690B (en) | A kind of inertial-stabilized platform controlling system semi-physical simulation method | |
| CN104898530A (en) | Embedded controller synchronous printing and dyeing control system based on DSP (Digital Signal Processor) and FPGA (Field Programmable Gate Array) | |
| CN101729002A (en) | SOPC-based remote monitoring system of no-position sensor brushless DC motor | |
| CN101645685A (en) | Alternating current synchronous motor controller based on FPGA and control method thereof | |
| CN201426109Y (en) | PCI bus bar type multi-shaft impulse type movement control card | |
| CN101799337B (en) | Automatic detection method of torque of tooth sockets of permanent magnet synchronous motor | |
| CN103488126A (en) | Multi-axis motion control system development platform | |
| CN109617479A (en) | A kind of low-voltage, high-current servo-driver | |
| CN103955163B (en) | A kind of multiaxis towards microassembly system mixes quick control unit design method | |
| CN206224181U (en) | A kind of multiple-axis servo drive system position feedback data interface card based on FPGA | |
| CN202940701U (en) | Rotation speed and displacement measurement system for rotation motor | |
| CN1452312A (en) | Full-digital subdivision high-accuracy stepper motor controller | |
| CN212433614U (en) | Multi-axis motor pipeline control system based on FPGA | |
| CN202004710U (en) | Alternating-current servo controller using electronic transmission ratio | |
| CN108015776B (en) | Robot control system based on compactRIO | |
| CN203911823U (en) | Ethernet-based electromotor controller and control system | |
| CN106712610A (en) | Control system of 3D (Three Dimensional) printing stepping motor | |
| CN111172661B (en) | Dynamic stitch control method of full-automatic computerized flat knitting machine | |
| CN202172382U (en) | Multi-axis stepping motor interpolation controller and motion control card thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |