CN105141204A - Multi-motor control system based on LabVIEW - Google Patents
Multi-motor control system based on LabVIEW Download PDFInfo
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- CN105141204A CN105141204A CN201510615460.XA CN201510615460A CN105141204A CN 105141204 A CN105141204 A CN 105141204A CN 201510615460 A CN201510615460 A CN 201510615460A CN 105141204 A CN105141204 A CN 105141204A
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Abstract
The invention provides a multi-motor control system based on LabVIEW, belongs to the field of vision measurement, and relates to a multi-stepping motor cooperative control system based on LabVIEW. The control system comprises a hardware part and a software part. The hardware part comprises a power supply, a work station, a communication plate card, a PXI Express case, a counter card, a driver, a stepping motor and an auxiliary power supply. The software part is developed based on the LabVIEW platform. Cooperative control for multiple stepping motors is achieved via the hardware part. The software part comprises a normal functional module, a distance adjusting module, a parameter setting module and a sudden stop module. The control system has simple programs and is convenient to operate; compared with a single-chip microcomputer and a PLC, the control system is more stable and convenient, and capable of performing cooperative control on multiple stepping motors highly efficiently and conveniently; rapid switching to a light bard projection mode, and cooperative and independent adjustment of distance and positions among optical bars in the vision measurement can be achieved; and efficiency of vision measurement is increased.
Description
Technical field
The invention belongs to vision measurement field, particularly a kind of plurality of stepping motors cooperative control system based on LabVIEW.
Background technology
In vision measurement technology, in order to improve precision and the efficiency of measurement, in data splicing, dimensional measurement, usually need auxiliary target.It is high that auxiliary target based on line laser has precision, implements the advantages such as convenient, extensive use in vision measurement.But in vision measurement, different phase is different to pitch requirements between the combining form of auxiliary laser striation and striation, needs to adjust in real time according to the process of actual measurement.
Many based on singlechip chip design con-trol circuit for the cooperation control of multiple stepping motor at present, cost is lower, and flexibility is good, but due to this body structure of single-chip microcomputer simple, in industrial environment, especially bad working environments stability inferior is poor, cannot meet reliable and stable demand.Congratulate in June, 2008 such as Hongjiang etc. on periodical " industrial and mineral automation ", deliver " multi-motor control system based on DSP " one literary composition, 1 dsp chip is adopted to control 2 asynchronous motors, and utilizing SVPWM method to carry out frequency control to motor, the method has higher cost performance.But circuit own is more complicated, the stability of a system is not high, controls motor number less.At patent announcement number for CN103116318 name is called in the patent of " a kind of robot multi-axis synchronized control method ", utilize interpolation software and small PLC hardware platform forming control system, send pulse by interpolation software control PLC to each motor, thus multiple motor is controlled.The method cost is lower, but due to the pulse delivery outlet of PLC own little, need multiple PLC co-operation when controlling more motor, cost is higher, and can cause system redundancy, affects property easy to use.Therefore, a kind of new method is needed to realize controlling the fast and stable of multiple stage stepping motor.
Summary of the invention
Technical problem to be solved by this invention is the defect overcoming prior art, invents a kind of multi-motor control system based on LabVIEW.Control system is made up of hardware components and software section, software section writes control program and system interface based on LabVIEW programming platform, utilize this Systematical control relevant hardware devices, realize the Collaborative Control of multiple stage stepping motor, coupled associated machines is enable to project the striation combination of Three models, and fast and stable ground switches, and can realize the independent regulation of combine regulation and single striation position to the spacing between each striation simultaneously.This system can facilitate stably control multiple stage stepping motor synchronous co-ordination, effectively improves the efficiency of vision measurement.
The technical scheme that the present invention takes is a kind of multi-motor control system based on LabVIEW, it is characterized in that, control system is made up of hardware components and software section; Hardware components comprises power supply 7, work station 1, communication card 2, PXIExpress cabinet 3, counter card 4, driver 5, stepping motor 6, accessory power supply 8; Power supply 7 is connected with PXIExpress cabinet 3 with work station 1, work station 1 carries out communication by communication card 2 and PXIExpress cabinet 3, counter card 4 is connected with PXIExpress cabinet 3 output, and control signal is transferred to driver 5, pulse signal and direction signal are sent to stepping motor 6 by driver 5 again, realize controlling; Accessory power supply 8 is connected with driver 5, for it provides 24V direct voltage;
Software section, based on LabVIEW platform exploitation, realizes the Collaborative Control to multiple stepping motor by hardware components; Software section comprises common function module I, spacing adjustment module II, parameter setting module III and suddenly stops module IV;
The array pattern c that the array spacing that common function module I is undertaken regulating by the inner multiple stage stepping motor of pair array frame regulates a and array translational adjustment b and pair array frame entirety to carry out regulating is formed, and realizes combine regulation function; Array spacing regulate a be used for the spacing adjusted between left and right array laser striation increase or reduce, array translational adjustment b is used for realizing the movement of laser striation integral pitch or horizontal direction; Array pattern c is the rotation controlling left and right array, thus realizes the switching of horizontal striation, vertically striation and intersection grid Three models;
Spacing adjustment module II carries out independent regulation to each stepping motor, comprises left array space fine-adjusting d, right array space fine-adjusting e and array mode of operation f; The position of every root striation and two array anglecs of rotation are finely tuned;
Parameter setting module III is used for arranging in common function module I and spacing adjustment module II the single step pulse number and pulse frequency of clicking controlled various model stepping motor at every turn, to regulate the stepping motor single step anglec of rotation and rotary speed;
Suddenly stop module IV to be embedded in every other module, be used for cutting off all signals rapidly, before something unexpected happened, stop the running of all motors immediately, make equipment be stabilized in current location, prevent the generation of fortuitous event;
The control flow of software is: whether first detection urgency is stopped program and triggered, if triggered, then cuts off all signals immediately, program stopped, otherwise then control system is in ready state, arbitrary button is clicked at control system interface, namely correspondingly a clustered file can be generated, this file includes event, direction, the signal of umber of pulse and pulse frequency, all issuable control signals are preset in systems in which, these preset signals are similarly clustered file, comprise event, direction, the relevant information of umber of pulse and pulse frequency, after receiving the signal that control panel sends, first system is searched the event information in all preset signals according to the event information comprised in received signal and is matched, then the event will comprised in the preset signals that the match is successful, direction, the information of umber of pulse and pulse frequency transfers to next judgement system as a new clustered file, use the same method, the event information utilizing signal inside to comprise extracts the signal matched from systemic presupposition control signal, after success by comprising direction, the signal of umber of pulse and pulse frequency is sent to counter card 4, counter card 4 launches corresponding pulses by the control information comprised in signal to driver 5, realizes the control to motor, in program process, whether meeting detection all the time suddenly stops program and triggers, if triggering can cut off all signals immediately, makes system out of service.
The invention has the beneficial effects as follows the cooperative control system developing motor more than based on LabVIEW, program is simple, easy to operate, compared with utilizing the equipment such as single-chip microcomputer, PLC to control, there is better stability and convenience, Collaborative Control can be carried out efficiently and easily to multiple stepping motor, realize the collaborative and independent regulation of spacing and position between the quick switching of striation projecting pattern in vision measurement and each striation, improve the efficiency of vision measurement.
Accompanying drawing explanation
Fig. 1 is control system signal wiring figure, wherein, and 1-work station, 2-communication card, 3-PXIExpress cabinet, 4-counter/timer board, 5-driver, 6-stepping motor, 7-power supply, 8-accessory power supply.
Fig. 2 is the software control interface of common function module I, wherein, I-common function module, II-spacing adjustment module, III-parameter setting module, IV-suddenly stop module, a-array spacing regulates, b-array translational adjustment, c-array pattern.
Fig. 3 is the software control interface of spacing adjustment module II, wherein, and II-spacing adjustment module, the left array space fine-adjusting of d-, the right array space fine-adjusting of e-, f-array mode of operation.
Fig. 4 is the software control interface of parameter setting module III, wherein, and III-parameter setting module, g-42 stepping motor, h-57 stepping motor.
Fig. 5 is the control flow chart of software.
Embodiment
The specific embodiment of the present invention is described in detail below in conjunction with technical scheme and accompanying drawing.
In embodiment, adopt ten laser line generators, require that it can project vertical parallel striation, horizontal parallel striation and grid three kinds of striation combining forms of intersecting, and can regulate the spacing between striation and position fast.Mechanical device scheme is that ten lasers are equally divided into two groups, and be individually fixed in two machinery frames, be called left array and right array, when the two equal horizontal positioned of array laser, ten laser projection striations are horizontal striation, namely achieve the projecting pattern of horizontal striation.If utilize motor by five of left array laser line generator integral-rotations 90 °, then the laser line generator on left array will project 5 vertical parallel striations, namely be formed to intersect the form of grid with the horizontal striation of right array together with being incident upon.In like manner recycle motor by five of right array same half-twists of laser line generator, make it all be in vertical state, then ten laser line generators all project vertical striation, namely achieve vertical parallel striation projecting pattern.In addition, two array inside, be connected with a spacing adjusting device below each laser line generator, each spacing adjusting device is connected with a stepping motor, and the rotary motion of motor can be converted to the elevating movement of laser line generator, thus change the position of projection striation.In order to realize the flexible cooperation control of whole mechanical device, need a kind of many motors cooperative control method, Collaborative Control is carried out to 12 stepping motors simultaneously, complete the combine regulation of spacing and position between the flexible conversion of three kinds of striation projecting patterns and each striation and the independent adjustment of every root striation position.
Accompanying drawing 1 is one embodiment of the present of invention, control system is made up of hardware components and software section, and hardware components comprises power supply 7, work station 1, PXIExpress cabinet 3, communication card 2, counter/timer board 4, driver 5, stepping motor 6, accessory power supply 8.Power supply 7 is connected with PXIExpress cabinet 3 with work station 1, work station 1 is by communication card 2 and PXIExpress cabinet 3 communication, counter card 4 is connected with PXIExpress cabinet 3 output, control signal transfers to driver 5 by counter card 4, pulse signal and direction signal are sent to stepping motor 6 by driver 5 again, realize controlling.Communication is carried out based on PXI bus protocol between work station 1 and PXIExpress cabinet 3 and communication card 2 sum counter card 4, power supply 7 is responsible for work station 1 and PXIExpress cabinet 3 is powered, accessory power supply 8 provides 24V direct voltage for driver 5, as shown in Figure 1.
Software section, based on LabVIEW platform exploitation, realizes the Collaborative Control to multiple stepping motor by hardware components.Software section stops module IV by common function module I, spacing adjustment module II, parameter setting module III and urgency and forms.Fig. 2 is the software control interface of common function module I, the synchronization combining that common function module I comprises inner totally 10 stepping motors of two, left and right array regulates and the selection of striation projecting pattern, combine regulation function is divided into array spacing to regulate a and array translational adjustment b, the increase of the spacing that array spacing regulates a to be used for adjusting between striation that left array or right array project or reduce, array translational adjustment b is used for realizing the integral pitch of striation that left array or right array project or the movement of horizontal direction, keep the spacing between striation constant simultaneously.Fringe projection model selection mainly refers to the switching of horizontal striation, vertically striation and intersection grid Three models, drives two arrays with same angular turn further thus the switching realizing different mode by controlling two each half-twists of stepping motor.Fig. 3 is the software control interface of spacing adjustment module II, spacing adjustment module II mainly carries out independent regulation to each stepping motor, comprise left array space fine-adjusting d, right array space fine-adjusting e and array mode of operation f, mainly the position of every root striation and two array anglecs of rotation are finely tuned.Fig. 4 is the software control interface of parameter setting module III, parameter setting module III is used for arranging in common function module I and spacing adjustment module II the single step pulse number and pulse frequency of clicking controlled various model stepping motor at every turn, to regulate the stepping motor single step anglec of rotation and rotary speed; 42 stepping motor g and 57 stepping motor h are indicated in parameter setting module III.Suddenly stop module IV to be embedded in every other module, be used for cutting off all signals rapidly, before possibility something unexpected happened, stop the running of all motors immediately, make equipment be stabilized in current location, prevent fortuitous event from occurring.
During work, work station 1 as host computer, opening operation system interface.The control flow of software is: first arrange the single step pulse number of various model stepping motor and pulse frequency to regulate the stepping motor single step anglec of rotation and rotary speed at parameter setting module III, such as, single step pulse number and the pulse frequency of 42 stepping motor g and 57 stepping motor h are set, then in common function module I, striation projecting pattern are selected or striation spacing and position are regulated.Button in each clicking operation system interface, corresponding will produce a control signal, this signal is a clustered file, includes the information of event, direction, umber of pulse and pulse frequency.First control signal by a sequential organization, is provided with global variable in inside configuration, and is connected with boolean's button, urgency in the corresponding control inerface of this boolean's button stops module IV, and after rapid stop key is pressed, global variable is judged as false, then all signal interruption, equipment quits work.Otherwise when boolean's button is judged as true, signal continues transmission downwards.Then control signal is by a queue structure, event information in control signal is separated by this structure, and send into a loop structure, the effect of loop structure is that guarantee system can receive repeatedly, empty extraneous control signal, an event handling structure is had in the inside of loop structure, for receiving the event information separated from queue structure, all possible control signal in three functional modules has been preset in advance in event handling structure, the event corresponding with the control information in received signal is found by comparison, and the event will preset in this event, direction, the information transmission of umber of pulse and pulse frequency is returned in queue structure, cover the initial information of its inside, and by the event after renewal, direction, umber of pulse and pulse frequency information are sent to another loop structure, its function is used for repeatedly receiving equally, empty extraneous control signal.A nested equally event handling structure therein, judgement coupling is carried out to the event information in treated control signal, find corresponding event and default program is recalled, this program is responsible for the direction in reception control signal, the information of umber of pulse and pulse frequency, transmit it in the subprogram of DAQ assistant, and by DAQ assistant, control information is sent in counter/timer board 4 by communication card 2 and PXIExpress cabinet 3, and direction specified in information is pressed after to control information process, umber of pulse and pulse frequency send pulse and level signal to driver 5, driver 5 will be sent to stepping motor 6 after information processing, control corresponding one or more stepping motor 6 by assigned direction, speed and angle rotate.
The present invention is based on LabVIEW and relevant hardware devices has invented a kind of many motors cooperative control system, can realize the collaborative of 12 stepping motors and independently to control, easy and simple to handle, reliable and stable.
Claims (1)
1. based on a multi-motor control system of LabVIEW, it is characterized in that, control system is made up of hardware components and software section; Hardware components comprises power supply (7), work station (1), communication card (2), PXIExpress cabinet (3), counter card (4), driver (5), stepping motor (6), accessory power supply (8); Power supply (7) is connected with PXIExpress cabinet (3) with work station (1), work station (1) carries out communication by communication card (2) and PXIExpress cabinet (3), counter card (4) is connected with PXIExpress cabinet (3) output, and control signal is transferred to driver (5), pulse signal and direction signal are sent to stepping motor (6) by driver (5) again, realize controlling; Accessory power supply (8) is connected with driver (5), for it provides 24V direct voltage;
Software section, based on LabVIEW platform exploitation, realizes the Collaborative Control to multiple stepping motor by hardware components; Software section comprises common function module (I), spacing adjustment module (II), parameter setting module (III) and suddenly stops module (IV);
Array pattern (c) that the array spacing that common function module (I) is undertaken regulating by the inner multiple stage stepping motor of pair array frame regulates (a) and array translational adjustment (b) and pair array frame entirety to carry out regulating is formed, and realizes combine regulation function; Array spacing regulate (a) be used for the spacing adjusted between left and right array laser striation increase or reduce, array translational adjustment (b) is used for realizing the movement of laser striation integral pitch or horizontal direction; Array pattern (c) is the rotation controlling left and right array, thus realizes the switching of horizontal striation, vertically striation and intersection grid Three models;
Spacing adjustment module (II) carries out independent regulation to each stepping motor, comprises left array space fine-adjusting (d), right array space fine-adjusting (e) and array mode of operation (f); The position of every root striation and two array anglecs of rotation are finely tuned;
Parameter setting module (III) is used for arranging the single step pulse number and pulse frequency of clicking controlled various model stepping motor in common function module (I) and spacing adjustment module (II) at every turn, to regulate the stepping motor single step anglec of rotation and rotary speed;
Suddenly stop module (IV) to be embedded in every other module, be used for cutting off all signals rapidly, before something unexpected happened, stop the running of all motors immediately, make equipment be stabilized in current location, prevent the generation of fortuitous event;
The control flow of software is: whether first detection urgency is stopped program and triggered, if triggered, then cuts off all signals immediately, program stopped, otherwise then control system is in ready state, arbitrary button is clicked at control system interface, namely correspondingly a clustered file can be generated, this file includes event, direction, the signal of umber of pulse and pulse frequency, all issuable control signals are preset in systems in which, these preset signals are similarly clustered file, comprise event, direction, the relevant information of umber of pulse and pulse frequency, after receiving the signal that control panel sends, first system is searched the event information in all preset signals according to the event information comprised in received signal and is matched, then the event will comprised in the preset signals that the match is successful, direction, the information of umber of pulse and pulse frequency transfers to next judgement system as a new clustered file, use the same method, the event information utilizing signal inside to comprise extracts the signal matched from systemic presupposition control signal, after success by comprising direction, the signal of umber of pulse and pulse frequency is sent to counter card (4), counter card (4) launches corresponding pulses by the control information comprised in signal to driver (5), realizes the control to motor, in program process, whether meeting detection all the time suddenly stops program and triggers, if triggering can cut off all signals immediately, makes system out of service.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105572836A (en) * | 2015-12-17 | 2016-05-11 | 中国工程物理研究院流体物理研究所 | High-power laser targeting optical path adjusting system and method based on LabVIEW |
| CN108803500A (en) * | 2018-06-08 | 2018-11-13 | 大连理工大学 | A kind of more motor motion control systems and its control method of glass polishing machine |
| CN109343374A (en) * | 2018-09-12 | 2019-02-15 | 厦门大学 | A kind of impulsive synchronization control two-dimensional scanning and signal acquisition implementation method based on LabVIEW |
| CN111628682A (en) * | 2020-05-25 | 2020-09-04 | 深圳市兆威机电股份有限公司 | Stepping motor synchronous driving method, stepping motor synchronous driving device, terminal and storage medium |
| CN112218795A (en) * | 2019-07-30 | 2021-01-12 | 深圳市大疆创新科技有限公司 | Multi-motor driving method, electronic speed regulator, power system, unmanned aerial vehicle and storage medium |
| CN112650148A (en) * | 2019-10-10 | 2021-04-13 | 摩梁(上海)智能科技有限公司 | Multi-axis motion control system and method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105572836A (en) * | 2015-12-17 | 2016-05-11 | 中国工程物理研究院流体物理研究所 | High-power laser targeting optical path adjusting system and method based on LabVIEW |
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| CN112218795A (en) * | 2019-07-30 | 2021-01-12 | 深圳市大疆创新科技有限公司 | Multi-motor driving method, electronic speed regulator, power system, unmanned aerial vehicle and storage medium |
| CN112650148A (en) * | 2019-10-10 | 2021-04-13 | 摩梁(上海)智能科技有限公司 | Multi-axis motion control system and method |
| CN111628682A (en) * | 2020-05-25 | 2020-09-04 | 深圳市兆威机电股份有限公司 | Stepping motor synchronous driving method, stepping motor synchronous driving device, terminal and storage medium |
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