CN105141204B - A kind of multi-motor control system based on LabVIEW - Google Patents
A kind of multi-motor control system based on LabVIEW Download PDFInfo
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- CN105141204B CN105141204B CN201510615460.XA CN201510615460A CN105141204B CN 105141204 B CN105141204 B CN 105141204B CN 201510615460 A CN201510615460 A CN 201510615460A CN 105141204 B CN105141204 B CN 105141204B
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Abstract
A kind of multi-motor control system based on LabVIEW of the present invention belongs to vision measurement field, is related to a kind of plurality of stepping motors cooperative control system based on LabVIEW.Control system is made up of hardware components with software section；Hardware components include power supply, work station, communication card, PXI Express cabinets, counter card, driver, stepper motor, accessory power supply.Software section is, based on LabVIEW platform exploitation, the Collaborative Control to multiple stepper motors to be realized by hardware components；Software section includes common function module, spacing adjustment module, parameter setting module and jerk module.Control system program is simple, easy to operate；There is more preferable stability and convenience compared with being controlled using equipment such as single-chip microcomputer, PLC, Collaborative Control efficiently and easily can be carried out to multiple stepper motors, realize striation projecting pattern in vision measurement be switched fast and each striation between the collaboration of spacing and position and separately adjustable, improve the efficiency of vision measurement.
Description
Technical field
The invention belongs to vision measurement field, more particularly to a kind of plurality of stepping motors Collaborative Control system based on LabVIEW
System.
Background technology
In vision measurement technology, in order to improve the precision and efficiency of measurement, generally needed in data splicing, dimensional measurement
Aid in target.Auxiliary target based on line laser has high precision, the advantages of easy to implement, extensively should in vision measurement
With.But, in vision measurement different phase it is different to pitch requirements between the combining form and striation of auxiliary laser striation, it is necessary to
Adjusted in real time according to the process of actual measurement.
Coordination control at present for multiple stepper motors is more based on singlechip chip design control circuit, and cost is relatively low,
Flexibility is good, but is due to that single-chip microcomputer is simple in construction in itself, poor in industrial environment especially bad working environments stability inferior, it is impossible to
Meet reliable and stable demand.In June, 2008 congratulates Hongjiang etc. in periodical《Industrial and mineral is automated》On deliver " many motors based on DSP
2 asynchronous motors are controlled, and motor is become using SVPWM methods by the text of control system " one using 1 dsp chip
Frequency modulation speed, this method has higher cost performance.But circuit itself is more complicated, the stability of a system is not high, controlled motor number
It is less.In the patent that patent announcement number is CN 103116318 entitled " a kind of robot multi-axis synchronized control method ", profit
With interpolation software and small PLC hardware platform forming control system, pulse is sent from interpolation software control PLC to each motor,
So as to be controlled to multiple motors.This method cost is relatively low, but be due to PLC pulses delivery outlet itself seldom, control compared with
Multiple PLC cooperations are needed during many motors, cost is higher, and system redundancy can be caused, influence property easy to use.Therefore, need
Want a kind of new method to realize to control the fast and stable of many stepper motors.
The content of the invention
The technical problems to be solved by the invention are the defects for overcoming prior art, are invented a kind of based on many of LabVIEW
Electric machine control system.Control system is made up of hardware components with software section, and software section is write based on LabVIEW programming platforms
Control program and system interface, using the system control relevant hardware devices, realize the Collaborative Control of many stepper motors, make with
Its connected associated machines can project Three models striation combination, and fast and stable switch over, while energy
Enough spacing between each striation realize the separately adjustable of joint regulation and single striation position.The system can conveniently stably
Many stepping motor synchronous co-ordinations are controlled, the efficiency of vision measurement is effectively improved.
The present invention adopts the technical scheme that a kind of multi-motor control system based on LabVIEW, it is characterised in that control
System is made up of hardware components with software section；Hardware components include power supply 7, work station 1, communication card 2, PXI Express
Cabinet 3, counter card 4, driver 5, stepper motor 6, accessory power supply 8；Power supply 7 and work station 1 and PXI Express cabinets 3
It is connected, work station 1 is communicated by communication card 2 and PXI Express cabinets 3, counter card 4 and PXI Express machines
The output end of case 3 is connected, and control signal is transmitted to driver 5, and driver 5 again sends pulse signal and direction signal to step
Stepper motor 6, realizes control；Accessory power supply 8 is connected with driver 5, and 24V DC voltages are provided for it；
Software section is, based on LabVIEW platform exploitation, the collaboration to multiple stepper motors to be realized by hardware components
Control；Software section includes common function module I, spacing adjustment module II, parameter setting module III and jerk module IV；
Common function module I adjusts a and battle array by the array spacing that many of array inside stepper motor is adjusted
Row frame translational adjustment b and the array pattern c that array is integrally adjusted are constituted, and realize joint regulatory function；Array
Frame spacing regulation a is used for adjusting the increase or diminution of the spacing between the array laser striation of left and right, and array translational adjustment b is used
To realize the movement of laser striation integral pitch or horizontal direction；Array pattern c is the rotation for controlling left and right array, so that
Realize the switching of horizontal striation, vertical striation and intersection grid Three models；
The each stepper motor progress of II pair of spacing adjustment module is separately adjustable, including left array space fine-adjusting d, right array
Frame space fine-adjusting e and array mode of operation f；The position and two array anglecs of rotation of every striation are finely adjusted；
Parameter setting module III, which is used for setting clicking every time in common function module I and spacing adjustment module II, to be controlled respectively
The single step pulse number and pulse frequency of model stepper motor are planted, to adjust the stepper motor single step anglec of rotation and rotary speed；
Jerk module IV is embedded in every other module, for cutting off all signals rapidly, before something unexpected happened
Stop the operating of all motors immediately, make equipment stable in current location, prevent the generation of fortuitous event；
The control flow of software is：Whether detection jerk program first triggers, if triggering, cuts off all letters immediately
Number, program stopped；Conversely, then control system is in ready state；Either button is clicked on control system interface, i.e., can be corresponded to
A clustered file is generated, this document includes the signal of event, direction, umber of pulse and pulse frequency, preset in systems
All issuable control signals, these preset signals are similarly clustered file, include event, direction, umber of pulse and pulse
The relevant information of frequency, after the signal that control panel is sent is received, system is first according to the thing included in received signal
Event information in all preset signals of part information searching is simultaneously matching, then by included in the preset signals that the match is successful
Event, direction, the information of umber of pulse and pulse frequency transmitted to next judgement system as a new clustered file；With same
The method of sample, matching signal is extracted using the event information included inside signal from systemic presupposition control signal, into
The signal comprising direction, umber of pulse and pulse frequency is sent to counter card 4 after work(, counter card 4 is by included in signal
Control information launch corresponding pulses to driver 5, realize control to motor；In program process, it can detect anxious all the time
Stop whether program triggers, if triggering can cut off all signals immediately, make system out of service.
The beneficial effects of the invention are as follows the cooperative control system that motor more than one is developed based on LabVIEW, program is simple,
It is easy to operate, there is more preferable stability and convenience compared with being controlled using equipment such as single-chip microcomputer, PLC, can high efficacious prescriptions
Just Collaborative Control is carried out to multiple stepper motors, realizes being switched fast and each striation for striation projecting pattern in vision measurement
Between the collaboration of spacing and position and separately adjustable, improve the efficiency of vision measurement.
Brief description of the drawings
Fig. 1 is control system hardware connection figure, wherein, 1- work stations, 2- communication cards, 3-PXI Express cabinets, 4-
Counter/timer board, 5- drivers, 6- stepper motors, 7- power supplys, 8- accessory power supplys.
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-jerk module, the regulation of a- arrays spacing, b- array translational adjustments, c- array patterns.
Fig. 3 is the software control interface of spacing adjustment module II, wherein, II-spacing adjustment module, the left array spacing of d-
Fine setting, the right array space fine-adjustings of e-, f- array mode of operations.
Fig. 4 is the software control interface of parameter setting module III, wherein, III-parameter setting module, g-42 stepper motors,
H-57 stepper motors.
Fig. 5 is the control flow chart of software.
Embodiment
Describe the embodiment of the present invention in detail with reference to technical scheme and accompanying drawing.
In embodiment, using ten laser line generators, it is desirable to its can project vertical parallel striation, horizontal parallel striation and
Intersect three kinds of striation combining forms of grid, and quickly the spacing between striation and position can be adjusted.Mechanical device
Scheme is that ten lasers are equally divided into two groups, and is individually fixed in two machinery frames, be referred to as left array and
Right array, when the equal horizontal positioned of two array lasers, ten laser projection striations are horizontal striation, that is, realize level
The projecting pattern of striation.If using motor by 90 ° of five laser line generator integral-rotations of left array, the line on left array swashs
Light device will project 5 vertical parallel striations, be incident upon with the horizontal striation of right array together with formed and intersect the form of grid.
Similarly recycle motor to be equally rotated by 90 ° five laser line generators of right array, it is in vertical state, then ten lines swash
Light device projects vertical striation, that is, realizes vertical parallel striation projecting pattern.In addition, inside two arrays, each
A spacing adjusting device is all connected with below laser line generator, each spacing adjusting device is connected with a stepper motor,
And the rotary motion of motor can be converted to the elevating movement of laser line generator, so as to change the position of projection striation.In order to
The flexible coordination control of whole mechanical device is realized, it is necessary to a kind of many motor cooperative control methods, while to 12 stepper motors
Carry out Collaborative Control, complete between the flexible conversion and each striation of three kinds of striation projecting patterns spacing and the regulation of the joint of position and
The independent regulation of every striation position.
Accompanying drawing 1 is one embodiment of the present of invention, and control system is made up of hardware components and software section, Hardware Subdivision subpackage
Include power supply 7, work station 1, PXI Express cabinets 3, communication card 2, counter/timer board 4, driver 5, stepping electricity
Machine 6, accessory power supply 8.Power supply 7 is connected with work station 1 and PXI Express cabinets 3, and work station 1 passes through communication card 2 and PXI
Express cabinets 3 are communicated, and counter card 4 is connected with the output end of PXI Express cabinets 3, and control signal passes through counter card 4
Transmit to driver 5, driver 5 again sends pulse signal and direction signal to stepper motor 6, realizes control.Work station 1 with
Communicated between PXI Express cabinets 3 and communication card 2 and counter card 4 based on PXI bus protocols, power supply 7 is responsible for
It is that work station 1 and PXI Express cabinets 3 are powered, accessory power supply 8 is that driver 5 provides 24V DC voltages, as shown in Figure 1.
Software section is, based on LabVIEW platform exploitation, the collaboration to multiple stepper motors to be realized by hardware components
Control.Software section is made up of common function module I, spacing adjustment module II, parameter setting module III and jerk module IV.Figure
2 be the software control interface of common function module I, and common function module I includes totally 10 steppings inside two arrays in left and right
The synchronization combining regulation and the selection of striation projecting pattern of motor, joint regulatory function are divided into array spacing regulation a and array
Translational adjustment b, array spacing regulation a is used for adjusting the spacing between the striation that left array or right array are projected
Increase or reduce, array translational adjustment b be used for realize the striation that left array or right array are projected integral pitch or
The movement of person's horizontal direction, while keeping the spacing between striation constant.Fringe projection model selection refers mainly to horizontal striation, erected
Direct light bar and the switching for intersecting grid Three models, two are further driven to by controlling two stepper motors to be rotated by 90 ° every time
Individual array is with same angular turn so as to realize the switching of different mode.Fig. 3 controls boundary for the software of spacing adjustment module II
Face, spacing adjustment module II is main separately adjustable to the progress of each stepper motor, including left array space fine-adjusting d, right array
Frame space fine-adjusting e and array mode of operation f, mainly the position to every striation and two array anglecs of rotation carry out micro-
Adjust.Fig. 4 be parameter setting module III software control interface, parameter setting module III be used for set common function module I and
Away from the single step pulse number and pulse frequency for clicking controlled various model stepper motors in adjustment module II every time, to adjust stepping
The motor single step anglec of rotation and rotary speed；42 stepper motor g and 57 stepper motor h are represented in parameter setting module III.
Jerk module IV is embedded in every other module, for cutting off all signals rapidly, before possible something unexpected happened immediately
Stop the operating of all motors, make equipment stable in current location, prevent fortuitous event.
During work, work station 1 is used as host computer, opening operation system interface.The control flow of software is：First in parameter
Setup module III sets the single step pulse number and pulse frequency of various model stepper motors to adjust the stepper motor single step anglec of rotation
Degree and rotary speed, for example, 42 stepper motor g and 57 stepper motor h single step pulse number and pulse frequency is set, then normal
With being selected in function module I striation projecting pattern or striation spacing and position be adjusted.Each clicking operation
Button in system interface, it will correspondence produces a control signal, the signal is clustered file, include event, direction,
The information of umber of pulse and pulse frequency.By a sequential organization, global variable is provided with inside configuration first for control signal, and
Boolean's button is connected with, the jerk module IV in boolean's button correspondence control interface, after rapid stop key is pressed, the overall situation becomes
Amount is judged as false, then all signal interruptions, and equipment is stopped.Conversely, when boolean's button is judged as true, signal after
Continuous transmission downwards.Then control signal is by a queue structure, and the structure separates the event information in control signal,
And a loop structure is sent into, the effect of loop structure is that guarantee system can repeatedly receive, empty extraneous control signal, is being followed
There are an event handling structure, the event information separated for receiving from queue structure, in event in the inside of ring structure
All possible control signal in three functional modules has been preset in advance in processing structure, has been found and received signal by comparing
In the corresponding event of control information, and by the information transfer of default event in the event, direction, umber of pulse and pulse frequency
Return in queue structure, cover its internal initial information, and by the event after renewal, direction, umber of pulse and pulse frequency information
Another loop structure is sent to, its function is equally used for receiving, emptying repeatedly the control signal in the external world.It is same embedding inside it
An event handling structure is covered, judgement matching is carried out to the event information in treated control signal, corresponding thing is found
Part simultaneously recalls default program, and the program is responsible for receiving direction in control signal, the information of umber of pulse and pulse frequency, will
It is transmitted into the subprogram of DAQ assistant, and control information is passed through into communication card 2 and PXI Express machines by DAQ assistant
Case 3 is sent in counter/timer board 4, and direction specified in after handling control information by information, umber of pulse
Pulse and level signal are sent to driver 5 with pulse frequency, driver 5 will be sent to stepper motor 6 after information processing, controlled
Corresponding one or more stepper motors 6 are by assigned direction, speed and angle rotation.
The present invention has invented a kind of many motor cooperative control systems based on LabVIEW and relevant hardware devices, can realize
Collaboration and independent control to 12 stepper motors, it is easy to operate, it is reliable and stable.
Claims (1)
1. a kind of multi-motor control system based on LabVIEW, it is characterised in that control system is by hardware components and software section
Constitute；Hardware components include power supply (7), work station (1), communication card (2), PXI Express cabinets (3), counter card
(4), driver (5), stepper motor (6), accessory power supply (8)；Power supply (7) and work station (1) and PXI Express cabinets (3)
It is connected, work station (1) is communicated by communication card (2) with PXI Express cabinets (3), counter card (4) and PXI
Express cabinets (3) output end is connected, and control signal is transmitted to driver (5), driver (5) again by pulse signal and
Direction signal is sent to stepper motor (6), realizes control；Accessory power supply (8) is connected with driver (5), and 24V direct currents are provided for it
Voltage；
Software section is, based on LabVIEW platform exploitation, the Collaborative Control to multiple stepper motors to be realized by hardware components；
Software section includes common function module (I), spacing adjustment module (II), parameter setting module (III) and jerk module (IV)；
Common function module (I) is by the array spacing regulation (a) that many of array inside stepper motor is adjusted and battle array
Row frame translational adjustment (b) and the array pattern (c) that array is integrally adjusted are constituted, and realize joint regulatory function；
Array spacing regulation (a) is used for adjusting the increase or diminution of the spacing between the array laser striation of left and right, array translation
Regulation (b) is used for realizing the movement of laser striation integral pitch or horizontal direction；Array pattern (c) is control left and right array
Rotation, so as to realize the switching of horizontal striation, vertical striation and intersection grid Three models；
Spacing adjustment module (II) is separately adjustable to the progress of each stepper motor, including left array space fine-adjusting (d), right array
Frame space fine-adjusting (e) and array mode of operation (f), position and two arrays of the spacing adjustment module (II) to every striation
The frame anglec of rotation is finely adjusted；
Parameter setting module (III), which is used for setting clicking every time in common function module (I) and spacing adjustment module (II), to be controlled
The single step pulse number and pulse frequency of various model stepper motors, to adjust the stepper motor single step anglec of rotation and rotary speed；
Jerk module (IV) is embedded in every other module, for cutting off all signals rapidly, is stood before something unexpected happened
Stop the operating of all motors, make equipment stable in current location, prevent the generation of fortuitous event；
The control flow of software is：Whether detection jerk program first triggers, if triggering, cuts off all signals, journey immediately
Sequence stops；Conversely, then control system is in ready state；Either button is clicked on control system interface, i.e., can correspond to and generate
One clustered file, this document includes the signal of event, direction, umber of pulse and pulse frequency, and institute has been preset in systems
The control signal produced is possible to, these preset signals are similarly clustered file, include event, direction, umber of pulse and pulse frequency
Relevant information, after the signal that control panel is sent is received, system is believed according to the event that is included in received signal first
Breath searches the event information in all preset signals and matching, then by the thing included in the preset signals that the match is successful
Part, direction, the information of umber of pulse and pulse frequency are transmitted to next judgement system as a new clustered file；With same
Method, extracts matching signal, after success using the event information included inside signal from systemic presupposition control signal
Signal comprising direction, umber of pulse and pulse frequency is sent to counter card (4), counter card (4) is by included in signal
Control information launch corresponding pulses to driver (5), realize control to motor；In program process, it can detect all the time
Whether jerk program triggers, if triggering can cut off all signals immediately, makes system out of service.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105572836B (en) * | 2015-12-17 | 2017-09-29 | 中国工程物理研究院流体物理研究所 | Light laser target practice 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 |
| CN109343374B (en) * | 2018-09-12 | 2020-01-07 | 厦门大学 | Pulse synchronous control two-dimensional scanning and signal acquisition method based on LabVIEW |
| 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 |
| CN111628682B (en) * | 2020-05-25 | 2022-02-18 | 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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| CN102354220A (en) * | 2011-07-18 | 2012-02-15 | 李劲松 | Multi-axis motion control system for image measurement |
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| GB2198297A (en) * | 1986-11-19 | 1988-06-08 | Brother Ind Ltd | Driving multiple stepping motors |
| JP2823415B2 (en) * | 1992-03-04 | 1998-11-11 | シャープ株式会社 | Stepping motor control device |
| CN102354220A (en) * | 2011-07-18 | 2012-02-15 | 李劲松 | Multi-axis motion control system for image measurement |
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