CN104808582A - Embedded digital controller based on FPGA and control method of embedded digital controller - Google Patents

Embedded digital controller based on FPGA and control method of embedded digital controller Download PDF

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Publication number
CN104808582A
CN104808582A CN201510203939.2A CN201510203939A CN104808582A CN 104808582 A CN104808582 A CN 104808582A CN 201510203939 A CN201510203939 A CN 201510203939A CN 104808582 A CN104808582 A CN 104808582A
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China
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embedded
module
control
input
fpga
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CN201510203939.2A
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Chinese (zh)
Inventor
邓耀华
郑志航
吴黎明
钟健雄
唐露新
王桂棠
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广东工业大学
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Priority to CN201510203939.2A priority Critical patent/CN104808582A/en
Publication of CN104808582A publication Critical patent/CN104808582A/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia

Abstract

The invention relates to an embedded digital controller based on an FPGA and a control method of the embedded digital controller. The embedded digital controller comprises an embedded multi-core control system (1), a signal detection module (2), a visual tracking module (3), a pulse output photoelectrical isolation module (4) and an analog control module (5). The output end of the signal detection module (2) and the output end of the visual tracking module (3) are connected with the input end of the embedded multi-core control system (1). The output end of the embedded multi-core control system (1) is connected with eth input end of the pulse output photoelectrical isolation module (4) and the input end of the analog control module (5). The output end of the pulse output photoelectrical isolation module (4) is connected with a servo driver. The output end of the analog control module (5) is connected with a gas pump. The embedded multi-core control system is responsible for machine tool movement control, the visual tracking modules measures the machining track error and conducts online compensation control in the machining process, the numerical control machining accuracy is effectively improved, and the machining quality is ensured. The control method is simple and convenient to use.

Description

A kind of embedded digital controller based on FPGA and control method thereof

Technical field

The invention belongs to digital control system field, specifically a kind of embedded digital controller based on FPGA and control method thereof, belong to the innovative technology of embedded digital controller based on FPGA and control method thereof.

Background technology

Along with user is to the raising of numerical control requirement on machining accuracy, and the maturation that machine vision technique is applied at industrial circle, use machine vision to follow the tracks of processing, measure track mismachining tolerance, the mode of carrying out online error compensation control is just becoming and is improving a kind of new tool of numerical control (NC) Machining Accuracy.But take Industrial PC Computer as the digital control system of control core, its hardware, not for real-time control design case, can not meet preferably and control needs in real time, can not realize online error compensation control.

Summary of the invention

For solving the deficiencies in the prior art, the object of this invention is to provide a kind of embedded digital controller based on FPGA, this controller can realize carrying out online compensation control by machine vision tracking measurement machining locus error in process, effectively improve numerical control (NC) Machining Accuracy, ensure crudy.

Another object of the present invention is to provide a kind of control method of the embedded digital controller based on FPGA.The present invention controls simple and convenient.

Object of the present invention is by adopting following technical scheme to realize:

Embedded digital controller based on FPGA of the present invention, comprise embedded multi-core control system, signal detection module, vision tracking module, pulse output photoelectric isolation module, analogue enlargement module, the output terminal of signal detection module and the output terminal of vision tracking module are connected with the input end of embedded multi-core control system respectively, the output terminal of embedded multi-core control system is connected with the input end of pulse output photoelectric isolation module and the input end of analogue enlargement module respectively, the output terminal of pulse output photoelectric isolation module is connected with servo-driver, servo driver drives servomotor, the output terminal of analogue enlargement module is connected with air pump.

The present invention is based on the control method of the embedded digital controller of FPGA, comprise following process:

1) after system electrification, exported the X of interpolation Pulse Width Control lathe to servo-driver by pulse output photoelectric isolation module by embedded multi-core control system, Y-axis returns muscle-setting exercise, and by signal detection module input signals in situ to 32 RISC soft-core processors, until the X-axis of lathe, Y-axis move to origin position;

2) vision tracking module obtains processing on real-time track video by camera, video data is delivered to data transmission interface by I2C bus by Video Decoder after the separation completing machining locus vision signal analog to digital conversion and RGB, field signal, row signal, and then video data is delivered to the first IP kernel in embedded multi-core control system;

3) the first IP kernel in embedded multi-core control system obtains after vision tracking module transmits the data of coming in and carries out machining locus image procossing and machining locus error calculation, errors passes to 32 RISC soft-core processors, preprocessing track data is sent to the second IP kernel after 32 RISC soft-core processors compensate preprocessing track, second IP kernel is responsible for preprocessing track data interpolation pulse generate, and exports interpolation pulse through extra pulse output photoelectric isolation module 4;

4) 32 RISC soft-core processors in embedded multi-core control system produce simulation pwm signal, and amplifying circuit outputs to the ratio control that solenoid valve realizes solenoid valve after filtering;

5) in process, the limit signal of 32 RISC soft-core processor real time detection signal detection module inputs in embedded multi-core control system, when lathe X-axis, Y-axis motion exceed the stroke of regulation, limit signal exports high level, and now 32 RISC soft-core processors send the instruction stopping machining locus interpolation pulse to export to the second IP kernel.

Compared with prior art, the beneficial effect of technical scheme of the present invention is:

1) the present invention is furnished with vision tracking module, can carry out online compensation control to track mismachining tolerance, effectively improves the precision of processing, ensures crudy;

2) embedded multi-core control system of the present invention adopts fpga chip, and the high speed processing ability that the parallel mechanism of its inherence determines it is far superior to the serial that traditional industry control PC adopts and performs framework.Thus greatly can improve the response speed of digital control system, under the prerequisite ensureing crudy, improve working (machining) efficiency.

3) the present invention can cutting, the embedded technology required such as real-time combine meeting software and hardware with digital control system, produces built-in digital control system, effectively improves numerical control (NC) Machining Accuracy, guarantee crudy;

4) control method of the embedded digital controller based on FPGA of the present invention controls simple and convenient.

Accompanying drawing explanation

Fig. 1 is the system chart of the embedded digital controller that the present invention is based on FPGA.

Embodiment

Below in conjunction with drawings and Examples, technical scheme of the present invention is described further, accompanying drawing is used to provide a further understanding of the present invention, and forming a part for instructions, with embodiments of the invention jointly for explaining the present invention, not being construed as limiting the invention.

Embodiment 1

As shown in Figure 1, embedded digital controller based on FPGA of the present invention, comprise embedded multi-core control system 1, signal detection module 2, vision tracking module 3, pulse output photoelectric isolation module 4, analogue enlargement module 5, the output terminal of signal detection module 2 and the output terminal of vision tracking module 3 are connected with the input end of embedded multi-core control system 1 respectively, the output terminal of embedded multi-core control system 1 is connected with the input end of pulse output photoelectric isolation module 4 and the input end of analogue enlargement module 5 respectively, the output terminal of pulse output photoelectric isolation module 4 is connected with servo-driver, servo driver drives servomotor, the output terminal of analogue enlargement module 5 is connected with air pump.

In the present embodiment, embedded multi-core control system 1 adopts Xilinx FPGA XC4VFX12 chip, comprise 32 the RISC soft-core processors 11 be embedded in FPGA XC4VFX12 by the customization of Xilinx xps development platform, and design the first IP kernel 12 and the second IP kernel 13 by Verilog HDL.Wherein 32 RISC soft-core processors 11 are responsible for system task management scheduling, and the signal that inputs of detection signal detection module 2 and to analogue enlargement module 5 output pwm signal, first IP kernel 12 is responsible for machining locus image procossing that vision tracking module 3 inputs and machining locus error calculation, second IP kernel 13 is responsible for generating machining locus interpolation pulse, the output terminal of the first IP kernel 12 is connected with 32 RISC soft-core processor 11 input ends, and 32 RISC soft-core processor 11 output terminals are connected with the input end of the second IP kernel 13.Xilinx FPGA XC4VFX12 chip supports 6 road Transistor-Transistor Logic level signal inputs, and 10 tunnel 0 ~ 9000Hz square-wave signals export, and 1 road pwm signal exports and 1 tunnel vision signal input.

In the present embodiment, above-mentioned signal detection module 2 includes Hall switch 21 and photoelectric isolating circuit 22, Hall switch 21 output terminal is connected with the input end of photoelectric isolating circuit 22, and the output terminal of photoelectric isolating circuit 22 is connected with the input end of embedded multi-core control system 1.

In the present embodiment, above-mentioned Hall switch 21 is made up of 6 Hall elements, be respectively used to the detection of lathe X-axis, Y-axis 4 road limit signal and X-axis, Y-axis two-way signals in situ, photoelectric isolating circuit 22 exports 6 road Transistor-Transistor Logic level signals to 32 RISC soft-core processors 11, and photoelectric isolating circuit 22 is made up of 3 TLP521-2 chips.

In the present embodiment, above-mentioned vision is followed the tracks of 3 and is comprised camera 31, Video Decoder 32, data transmission interface 33, wherein the output terminal of camera 31 is connected with the input end of Video Decoder 32, the output terminal of Video Decoder 32 is connected with the input end of data transmission interface 33, and the output terminal of data transmission interface 33 is connected with the input end of embedded multi-core control system 1.

In the present embodiment, above-mentioned camera 31 is for generally to simulate camera, for obtaining processing on real-time track video, video decode 32 adopts ADV7181C chip, for completing the separation of machining locus vision signal analog to digital conversion and RGB, field signal, row signal, data transmission interface 33 adopts VK3366 chip, and the main interface of VK3366 chip is I2C interface.

In the present embodiment, above-mentioned pulse output photoelectric isolation module 4 is made up of 10 6N136 chips, and it is that the pulse signal of 0 ~ 9000Hz is to servo-driver that the output terminal of photoelectric isolation module 4 can export 10 tunnel frequencies simultaneously.

In the present embodiment, above-mentioned analogue enlargement module 5 comprises filter amplification circuit 51, solenoid valve 52, and wherein the output terminal of filter amplification circuit 51 is connected with the input end of solenoid valve 52, and the output terminal of solenoid valve 52 is connected with air pump.

In the present embodiment, above-mentioned filter amplification circuit 51 adopts operational amplifier.Above-mentioned filter amplification circuit 51 adopts LM2904 operational amplifier, and solenoid valve 52 input analog voltage scope is 0 ~ 12V.

The course of work that the present invention is based on the embedded digital controller of FPGA is as follows:

1, after system electrification, exported the X of interpolation Pulse Width Control lathe to servo-driver by pulse output photoelectric isolation module 4 by embedded multi-core control system 1, Y-axis returns muscle-setting exercise, and by signal detection module (2) input signals in situ to 32 RISC soft-core processors 11, until the X-axis of lathe, Y-axis move to origin position.

2, vision tracking module 3 obtains processing on real-time track video by camera 31, video data is delivered to data transmission interface 33 by I2C bus by Video Decoder 32 after the separation completing machining locus vision signal analog to digital conversion and RGB, field signal, row signal, and then video data is delivered to the first IP kernel 12 in embedded multi-core control system 1;

3, the first IP kernel 12 in embedded multi-core control system 1 obtains after vision tracking module transmits the data of coming in and carries out machining locus image procossing and machining locus error calculation, errors passes to 32 RISC soft-core processors 11, preprocessing track data is sent to the second IP kernel 13 after 32 RISC soft-core processors, 11 pairs of preprocessing tracks compensate, second IP kernel 13 is responsible for preprocessing track data interpolation pulse generate, and exports interpolation pulse through extra pulse output photoelectric isolation module 4;

4,32 RISC soft-core processors 11 in embedded multi-core control system 1 produce simulation pwm signal by algorithm, and amplifying circuit 51 outputs to the ratio control that solenoid valve 52 realizes solenoid valve after filtering;

5, in process, the limit signal of 32 RISC soft-core processor 11 real time detection signal detection module 2 inputs in embedded multi-core control system 1, when lathe X-axis, Y-axis motion exceed the stroke of regulation, limit signal exports high level, and now 32 RISC soft-core processors 11 send the instruction stopping machining locus interpolation pulse to export to the second IP kernel 13.

Claims (10)

1. the embedded digital controller based on FPGA, comprise embedded multi-core control system (1), signal detection module (2), vision tracking module (3), pulse output photoelectric isolation module (4), analogue enlargement module (5), the output terminal of signal detection module (2) and the output terminal of vision tracking module (3) are connected with the input end of embedded multi-core control system (1) respectively, the output terminal of embedded multi-core control system (1) is connected with the input end of pulse output photoelectric isolation module (4) and the input end of analogue enlargement module (5) respectively, the output terminal of pulse output photoelectric isolation module (4) is connected with servo-driver, servo driver drives servomotor, the output terminal of analogue enlargement module (5) is connected with air pump.
2. the embedded digital controller based on FPGA according to claim 1, it is characterized in that above-mentioned embedded multi-core control system (1) adopts Xilinx FPGA XC4VFX12 chip, comprise 32 the RISC soft-core processors be embedded in FPGA XC4VFX12 by the customization of Xilinx xps development platform, and the first IP kernel to be designed by Verilog HDL and the second IP kernel, wherein the output terminal of the first IP kernel is connected with 32 RISC soft-core processor input ends, and 32 RISC soft-core processor output terminals are connected with the input end of the second IP kernel.
3. the embedded digital controller based on FPGA according to claim 1, it is characterized in that above-mentioned signal detection module (2) includes Hall switch (21) and photoelectric isolating circuit (22), Hall switch (21) output terminal is connected with the input end of photoelectric isolating circuit (22), and the output terminal of photoelectric isolating circuit (22) is connected with the input end of embedded multi-core control system (1).
4. the embedded digital controller based on FPGA according to claim 3, it is characterized in that above-mentioned Hall switch (21) is made up of 6 Hall elements, be respectively used to the detection of lathe X-axis, Y-axis 4 road limit signal and X-axis, Y-axis two-way signals in situ, photoelectric isolating circuit (22) exports 6 road Transistor-Transistor Logic level signals to 32 RISC soft-core processors (11), and photoelectric isolating circuit (22) is made up of 3 TLP521-2 chips.
5. the embedded digital controller based on FPGA according to claim 1, it is characterized in that above-mentioned vision is followed the tracks of (3) and comprised camera (31), Video Decoder (32), data transmission interface (33), wherein the output terminal of camera (31) is connected with the input end of Video Decoder (32), the output terminal of Video Decoder (32) is connected with the input end of data transmission interface (33), and the output terminal of data transmission interface (33) is connected with the input end of embedded multi-core control system (1).
6. the embedded digital controller based on FPGA according to claim 5, it is characterized in that above-mentioned video decode (32) adopts ADV7181C chip, data transmission interface (33) adopts VK3366 chip, and the main interface of VK3366 chip is I2C interface.
7. the embedded digital controller based on FPGA according to claim 1, it is characterized in that above-mentioned pulse output photoelectric isolation module (4) is made up of 10 6N136 chips, it is that the pulse signal of 0 ~ 9000Hz is to servo-driver that the output terminal of photoelectric isolation module (4) exports 10 tunnel frequencies simultaneously.
8. the embedded digital controller based on FPGA according to any one of claim 1 to 7, it is characterized in that above-mentioned analogue enlargement module (5) comprises filter amplification circuit (51), solenoid valve (52), wherein the output terminal of filter amplification circuit (51) is connected with the input end of solenoid valve (52), and the output terminal of solenoid valve (52) is connected with air pump.
9. the embedded digital controller based on FPGA according to claim 8, it is characterized in that above-mentioned filter amplification circuit (51) adopts operational amplifier, solenoid valve (52) input analog voltage scope is 0 ~ 12V.
10., based on a control method for the embedded digital controller of FPGA, it is characterized in that comprising following process:
1) after system electrification, exported the X of interpolation Pulse Width Control lathe to servo-driver by pulse output photoelectric isolation module by embedded multi-core control system, Y-axis returns muscle-setting exercise, and by signal detection module input signals in situ to 32 RISC soft-core processors, until the X-axis of lathe, Y-axis move to origin position;
2) vision tracking module obtains processing on real-time track video by camera, video data is delivered to data transmission interface by I2C bus by Video Decoder after the separation completing machining locus vision signal analog to digital conversion and RGB, field signal, row signal, and then video data is delivered to the first IP kernel in embedded multi-core control system;
3) the first IP kernel in embedded multi-core control system obtains after vision tracking module transmits the data of coming in and carries out machining locus image procossing and machining locus error calculation, errors passes to 32 RISC soft-core processors, preprocessing track data is sent to the second IP kernel after 32 RISC soft-core processors compensate preprocessing track, second IP kernel is responsible for preprocessing track data interpolation pulse generate, and exports interpolation pulse through extra pulse output photoelectric isolation module 4;
4) 32 RISC soft-core processors in embedded multi-core control system produce simulation pwm signal, and amplifying circuit outputs to the ratio control that solenoid valve realizes solenoid valve after filtering;
5) in process, the limit signal of 32 RISC soft-core processor real time detection signal detection module inputs in embedded multi-core control system, when lathe X-axis, Y-axis motion exceed the stroke of regulation, limit signal exports high level, and now 32 RISC soft-core processors send the instruction stopping machining locus interpolation pulse to export to the second IP kernel.
CN201510203939.2A 2015-04-27 2015-04-27 Embedded digital controller based on FPGA and control method of embedded digital controller CN104808582A (en)

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Application publication date: 20150729