CN104181467A - Portable linear motor multi-axis linkage measuring and controlling system - Google Patents
Portable linear motor multi-axis linkage measuring and controlling system Download PDFInfo
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- CN104181467A CN104181467A CN201410441292.2A CN201410441292A CN104181467A CN 104181467 A CN104181467 A CN 104181467A CN 201410441292 A CN201410441292 A CN 201410441292A CN 104181467 A CN104181467 A CN 104181467A
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Abstract
The invention discloses a portable linear motor multi-axis linkage measuring and controlling system. The portable linear motor multi-axis linkage measuring and controlling system comprises a computer, a multi-axis motion control card, a grating, a current sensor, a voltage sensor, a signal processing circuit and a wireless transmitting and receiving module. Positions, speeds, voltage, currents and other performance parameters of all axis linear motors are collected dynamically, the grating, the current sensor and the voltage sensor send collected signals to the motion control card through the wireless transmitting and receiving unit, the multi-axis motion control card communicates with the computer through the wireless transmitting and receiving module, data are displayed through an own liquid crystal display screen of the control card, or the multi-axis motion control card is connected with the computer in a wireless mode, and the collected data are displayed, analyzed and stored through a virtual instrument development platform LABVIEW. The portable linear motor multi-axis linkage measuring and controlling system has the advantages of being simple, portable and high in sampling speed, testing accuracy and processing efficiency and avoiding complex wiring.
Description
Technical field
The present invention relates to a kind of motor field of automatic testing, relate in particular to the multi-shaft interlocked TT&C system of a kind of portable straight line motor.
Background technology
Be accompanied by the multi-shaft processing machine beds such as XY worktable, five axle machining centers, complex milling machine tool that linear electric motors drive and apply more and more widely, the multiaxial motion control technology that is applicable to complicated surface high speed and high precision processing is more and more subject to people's attention.In the test or control procedure of linear electric motors, some positions, the isoparametric control of electric weight and monitoring are vital, are directly connected to the precision property of motor.
The multi-shaft interlocked TT&C system of existing linear electric motors, all need the online signal measured value that each sensor is provided to transfer to computing machine by corresponding wire cable, the a large amount of outgoing cable of multiple sensors that motor is installed not only causes the wasting of resources of wire cable, also can cause difficult wiring.Patent No. CN200910200943.8 has proposed a kind of linear electric motors method of testing, Apparatus and system design based on virtual instrument, but this design is for the multiaxial motion platform in practice, and needs, the measuring accuracy aspect that can not meet its main performance of test need to improve.In industry spot, the measure and control device of linear electric motors is more loaded down with trivial details, to difficult wiring, require simple situation, adopts traditional TT&C system to increase labour and working time, floor area is large, can not ensure again precision.
Therefore, designing the multi-shaft interlocked TT&C system of a kind of portable straight line motor very necessary, is one of linear electric motors field tests problem demanding prompt solution.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides the multi-shaft interlocked TT&C system of a kind of portable straight line motor, combining wireless technology, sensor technology carry out Real-Time Monitoring and control to motor, solve the problem of difficult wiring, time saving and energy saving, can accomplish mobile monitoring, can utilize independently portable TT&C system to carry out monitoring and the control to motor, also can be by this TT&C system be connected to observing and controlling with computing machine; Location, speed, acceleration, electric current and other performance parameters of each axle linear electric motors can be controlled and gather to this system, can realize at the uniform velocity property test of linear electric motors simultaneously, and improve measuring accuracy and test speed.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
The multi-shaft interlocked TT&C system of a kind of portable straight line motor, comprises multi-axis motion control card, grating/laser interferometer, current sensor, voltage sensor, signal conditioning circuit and radio receiving transmitting module; Multi-axis motion control card completes observing and controlling action by the tested linear electric motors of radio receiving transmitting module control; Grating/laser interferometer detects the location/velocity signal of tested linear electric motors, current sensor detects the current signal of tested linear electric motors, voltage sensor detects the voltage signal of tested linear electric motors, location/velocity signal, current signal and voltage signal that detection obtains send to signal conditioning circuit by radio receiving transmitting module, signal conditioning circuit carries out pre-service to the received signal, and sends to multi-axis motion control card analyze and show pretreated signal.
When work, multi-axis motion control card moves by completing observing and controlling by the tested linear electric motors of radio receiving transmitting module control, at tested linear electric motors by completing corresponding observing and controlling action, grating laser interferometer, current sensor and voltage sensor complete the inspection to the various signals of tested linear electric motors, after signal conditioning circuit, send to multi-axis motion control card, multi-axis motion control card, in conjunction with all information, carries out observing and controlling analysis to tested linear electric motors, stores and shows observing and controlling result.
TT&C system provided by the invention, owing to adopting radio receiving transmitting module to communicate, has Simple portable, avoids that wiring is complicated, sample rate is fast, measuring accuracy is high, treatment effeciency advantages of higher.Multi-axis motion control card comprises LCDs and keyboard, can input the control information of tested linear electric motors by keyboard, make tested linear electric motors complete observing and controlling action, can show by liquid crystal display the relevant information of tested linear electric motors and the control information of input that sensor detects, such as keyboard input control parameter (as speed, displacement, sensor parameters setting, log-on message etc.), also can form independently TT&C system without connecting computing machine.
Preferably, also comprise the computing machine at LABVIEW interface, computing machine is connected with multi-axis motion control card, by LABVIEW interface input observing and controlling action message and demonstration detection information.Realize the processing to image data by LABVIEW instruction, show with chart, figure line form the data that gather in real time, data are stored in computing machine simultaneously, and can inquire about historical data with offline mode and graphical demonstration; Meanwhile, also can complete the input of various command by LABVIEW interface.
Signal processing module had both comprised that multi-axis motion control card carried signal processing module, mainly completed the Display And Keyboard input of liquid crystal display; Also comprise the signal processing module of being realized by LABVIEW Software for Design by computing machine, realize the processing to image data by LABVIEW instruction, show with chart, figure line form the data that gather in real time, data are stored in computing machine simultaneously, and can inquire about historical data with offline mode and graphical demonstration.Taking computing machine as core, there is larger advantage in conjunction with the virtual instrument of corresponding software function module and instrument hardware compared with traditional instrument, such as software makes that development and maintenance expense is low, price is low, Reconfigurability is strong etc.
Preferably, between computing machine and multi-axis motion control card, be connected by radio receiving transmitting module.
Preferably, multi-axis motion control card is taking DSP as main control chip, and utilizes the programmability of CPLD (CPLD), completes the expansion to axis motion control card.CPLD output motor command pulse also completes the phase demodulation frequency division of motor encoder, not only can expand the number of axle of multi-axis motion control card, can also, by reducing the output delay of the each interpolation shaft position of multi-axis motion control card command pulse, on hardware, improve the control accuracy of motion control card.
Preferably, the testing process of described grating/laser interferometer is as follows: the object information that laser interferometer is identical with grating pair gathers, and gathers data every 10mm, and n object data of recording laser interferometer collection is S
1(n), n object data of grating collection is S
2(n), n object error is designated as S
1(n)-S
2(n) n the object data S, grating being gathered
2(n) proofread and correct, the data that obtain after proofreading and correct are S
1(n)=S
1(n)+e (n)+[e (n+1)-e (n)] × (k/10), wherein k=S
1(n) %10 (remainder); With the data S after proofreading and correct
1(n) as the positional information of tested linear electric motors.
Preferably, described radio receiving transmitting module bluetooth, UWB or ZigBee.
Preferably, the liquid crystal display of multi-axis motion control card shows, keyboard input is carried out with demonstration, the input of computing machine simultaneously, utilizes interrupt scanning to have no signal, and break period, interval was identical.
Preferably, can realize the control of multi-axis motion control card output waveform signals to IGBT in inverter circuit by bluetooth, UWB or ZigBee.
System of the present invention is especially applicable to tested linear electric motors to carry out at the uniform velocity property test, can use computing machine to draw the relation curve of time and speed by LABVIEW, and calculates at the uniform velocity average velocity and the velocity perturbation error of section of demonstration.
Beneficial effect: the multi-shaft interlocked TT&C system of portable straight line motor provided by the invention, has following advantage: 1, combining wireless technology, sensor technology can carry out Real-Time Monitoring and control to motor, solves wiring, difficulty is installed, and can accomplish mobile monitoring; 2, can utilize independently portable TT&C system to carry out monitoring and the control to motor, also can be by this TT&C system be connected with computing machine; 3, adopt the virtual instrument technique based on LABVIEW to control and test, can partly replace the actual instrumentation of current techniques, can show in real time the current running status of motor and to data statistics, analysis, simplify hand labor intensity; 4, the main control chip of multi-axis motion control card using DSP as multi-axis motion control card, and utilize the programmable features of CPLD, complete the expansion to motion control card, and on hardware, improve the control accuracy of motion control card; 5, by with can realize at the uniform velocity property test of linear electric motors being connected of computing machine.
Brief description of the drawings
Fig. 1 is structural principle block diagram of the present invention;
Fig. 2 is method of testing process flow diagram of the present invention;
Fig. 3 is Software for Design frame diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
The multi-shaft interlocked TT&C system of a kind of portable straight line motor, comprises computing machine, multi-axis motion control card, grating/laser interferometer, current sensor, voltage sensor, signal conditioning circuit and radio receiving transmitting module with LABVIEW interface; Multi-axis motion control card completes observing and controlling action by the tested linear electric motors of radio receiving transmitting module control; Grating/laser interferometer detects the location/velocity signal of tested linear electric motors, current sensor detects the current signal of tested linear electric motors, voltage sensor detects the voltage signal of tested linear electric motors, location/velocity signal, current signal and voltage signal that detection obtains send to signal conditioning circuit by radio receiving transmitting module, signal conditioning circuit carries out pre-service to the received signal, and sends to multi-axis motion control card analyze and show pretreated signal; Multi-axis motion control card carries keyboard and liquid crystal display, for inputting tested linear electric motors control information, display control information and detection information, makes whole system in the situation that there is no computing machine, also can become a complete TT&C system.
Computing machine is connected with multi-axis motion control card, by LABVIEW interface input observing and controlling action message and demonstration detection information, between computing machine and multi-axis motion control card, is also connected by radio receiving transmitting module.The liquid crystal display of multi-axis motion control card shows, keyboard input is carried out with demonstration, the input of computing machine simultaneously, utilizes interrupt scanning to have no signal, and break period, interval was identical.Realize the processing to image data by LABVIEW instruction, show with chart, figure line form the data that gather in real time, data are stored in computing machine simultaneously, and can inquire about historical data with offline mode and graphical demonstration.
Described radio receiving transmitting module bluetooth, UWB or ZigBee.
Described multi-axis motion control card is taking DSP as main control chip, and utilizes the programmability of CPLD, completes the expansion to axis motion control card.CPLD output motor command pulse also completes the phase demodulation frequency division of motor encoder, not only can expand the number of axle of multi-axis motion control card, can also, by reducing the output delay of the each interpolation shaft position of multi-axis motion control card command pulse, on hardware, improve the control accuracy of motion control card.
The testing process of described grating/laser interferometer is as follows: the object information that laser interferometer is identical with grating pair gathers, and gathers data every 10mm, and n object data of recording laser interferometer collection is S
1(n), n object data of grating collection is S
2(n), n object error is designated as S
1(n)-S
2(n) n the object data S, grating being gathered
2(n) proofread and correct, the data that obtain after proofreading and correct are S
1(n)=S
1(n)+e (n)+[e (n+1)-e (n)] × (k/10), wherein k=S
1(n) %10; With the data S after proofreading and correct
1(n) as the positional information of tested linear electric motors.
The workflow of native system is as follows:
Build test platform, by fixing each ingredient and exact connect ion, as shown in Figure 2, concrete steps are as follows for program circuit.
S01: system initialization, set the parameter in test process, comprise the setting parameter to current sensor, voltage sensor and grating; Comprise that setting parameter that software system completes multi-axis motion control card, signal conditioning circuit is to realize initialization and the motion control of motor; Also comprise the setting of the input of the logon informations such as tester and the storage file catalogue of test data.Above-mentioned parameter will be saved and give tacit consent in upper once test and use, and therefore, follow-up test only needs the parameter setting of modifying to changing.
Above-mentioned software system design framework figure as shown in Figure 3.While being connected with calculating meter, the VISA storehouse in LABVIEW software, provides communicatory assembly, can realize the functions such as serial port setting, serial ports read-write, the detection of serial ports buffer memory.The two-way communication of multi-axis motion control card and computing machine realizes by VISA.Adopt VISA Write instruction can control the motion state parameters of motor.
S02: start test." start and test " button in " starting test " button in click LABVIEW program on VI front panel or selection LCDs.
S03: by control card extended keyboard or computer interface input target control parameter.
S04: time delay.Wait for that motor enters steady operational status.
S05: image data.Read each transducing signal by radio receiving transmitting module, through having converted the collection to tested electric moter voltage, electric current, location, speed data.
S06: to analysis and the processing of the signal gathering.Signal conditioning circuit to the signal from sensor amplify, the conditioning such as the isolation of filtering, signal and conversion, signal after treatment passes through signal processing module and also carries out wireless transmission.
S07: the data after analyzing and processing are shown and storage.In the process of sampling, above-mentioned data constantly occur with the form of stream, these data are saved in specified file, and they are presented on computing machine friendly interface in the mode of figure, chart, can also inquire about historical data with offline mode and graphical demonstration.
S08: whole observing and controlling flow process finishes.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. the multi-shaft interlocked TT&C system of portable straight line motor, is characterized in that: comprise multi-axis motion control card, grating/laser interferometer, current sensor, voltage sensor, signal conditioning circuit and radio receiving transmitting module; Multi-axis motion control card completes observing and controlling action by the tested linear electric motors of radio receiving transmitting module control; Grating/laser interferometer detects the location/velocity signal of tested linear electric motors, current sensor detects the current signal of tested linear electric motors, voltage sensor detects the voltage signal of tested linear electric motors, location/velocity signal, current signal and voltage signal that detection obtains send to signal conditioning circuit by radio receiving transmitting module, signal conditioning circuit carries out pre-service to the received signal, and sends to multi-axis motion control card analyze and show pretreated signal.
2. the multi-shaft interlocked TT&C system of portable straight line motor according to claim 1, it is characterized in that: the computing machine that also comprises LABVIEW interface, computing machine is connected with multi-axis motion control card, by LABVIEW interface input observing and controlling action message and demonstration detection information.
3. the multi-shaft interlocked TT&C system of portable straight line motor according to claim 2, is characterized in that: between computing machine and multi-axis motion control card, be connected by radio receiving transmitting module.
4. according to the multi-shaft interlocked TT&C system of portable straight line motor described in claim 1,2 or 3, it is characterized in that: multi-axis motion control card is taking DSP as main control chip, and utilize the programmability of CPLD, complete the expansion to axis motion control card.
5. according to the multi-shaft interlocked TT&C system of portable straight line motor described in claim 1,2 or 3, it is characterized in that: the testing process of described grating/laser interferometer is as follows: the object information that laser interferometer is identical with grating pair gathers, gather data every 10mm, n object data of recording laser interferometer collection is S
1(n), n object data of grating collection is S
2(n), n object error is designated as S
1(n)-S
2(n) n the object data S, grating being gathered
2(n) proofread and correct, the data that obtain after proofreading and correct are S
1(n)=S
1(n)+e (n)+[e (n+1)-e (n)] × (k/10), wherein k=S
1(n) %10; With the data S after proofreading and correct
1(n) as the positional information of tested linear electric motors.
6. according to the multi-shaft interlocked TT&C system of portable straight line motor described in claim 1,2 or 3, it is characterized in that: described radio receiving transmitting module bluetooth, UWB or ZigBee.
7. according to the multi-shaft interlocked TT&C system of portable straight line motor described in claim 2 or 3, it is characterized in that: the liquid crystal display of multi-axis motion control card shows, keyboard input is carried out with demonstration, the input of computing machine simultaneously, utilize interrupt scanning to have no signal, break period, interval was identical.
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| CN201410441292.2A CN104181467B (en) | 2014-08-29 | 2014-08-29 | Portable linear motor multi-axis linkage measuring and controlling system |
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|---|---|---|---|
| CN201410441292.2A CN104181467B (en) | 2014-08-29 | 2014-08-29 | Portable linear motor multi-axis linkage measuring and controlling system |
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Cited By (6)
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| CN105459133A (en) * | 2015-11-26 | 2016-04-06 | 张碧陶 | Wireless communication method of multi-axis servo drive system for mechanical arm |
| CN106843163A (en) * | 2017-03-24 | 2017-06-13 | 无锡微茗智能科技有限公司 | A kind of digital control system, control method and control device |
| CN107247431A (en) * | 2017-08-14 | 2017-10-13 | 新誉轨道交通科技有限公司 | A kind of data monitoring system of passenger train inverter |
| CN108375733A (en) * | 2018-03-05 | 2018-08-07 | 北京航空航天大学 | A kind of numerical control servo motor multi-parameter Performance Test System and method |
| CN110014329A (en) * | 2019-03-21 | 2019-07-16 | 湖北江山华科数字设备科技有限公司 | Intelligent tool set test platform in a kind of cutting process |
| CN111123895A (en) * | 2019-12-30 | 2020-05-08 | 江苏大学 | Linear ultrasonic motor performance measurement and control system and measurement and control method based on LabVIEW |
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| CN104181467B (en) | 2017-02-15 |
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