CN105242640A - Novel high-speed and high-precision multi-axis servo motion controller circuit - Google Patents
Novel high-speed and high-precision multi-axis servo motion controller circuit Download PDFInfo
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Abstract
The invention belongs to a servo motion controller circuit, and specifically relates to a novel high-speed and high-precision multi-axis servo motion controller circuit. The circuit comprises an ARM-based intelligent control unit, SCM intelligent control modules, a USB bus communication unit, a data storage unit, an external network communication unit, a power management unit, a debugging and simulation unit, a passive crystal oscillation unit, and a human-computer interaction unit, wherein the USB bus communication unit is connected with N single-chip microcomputer intelligent control modules and is further connected with the ARM-based intelligent control unit through a USB bus, and the ARM-based intelligent control unit is connected with the data storage unit, the external network communication unit, the power management unit, the debugging and simulation unit, the passive crystal oscillation unit and the human-computer interaction unit. The novel high-speed and high-precision multi-axis servo motion controller circuit of the invention has the advantages of low cost, low power consumption, small size, high expansibility, good real-time performance, fast response, simple system wiring, high reliability, long life, and high resistance to electromagnetic interference.
Description
Technical field
The invention belongs to a kind of servo motion controller circuit, be specifically related to a kind of novel high-speed, high precision multiple-axis servo motion controller circuit.
Background technology
Numerically-controlled machine is core and the basis of modern manufacturing system, and Modern NC Machine Tool kinetic control system requires to have the features such as high-speed computation, high speed interpolation, hypervelocity communication, the running of main shaft hypervelocity, hi-Fix.Numerically-controlled machine will realize zero complex-shaped device fabrication, necessarily requires kinetic control system can carry out the control of moving interpolation, as linear interpolation, circular interpolation, position interpolation and Continuous interpolation program etc.
China is manufacturing powerhouse, but not industrial power.Larger gap is also there is in motion control field and developed country, the weak lifting affecting China's manufacturing industry technical merit greatly of the capability of independent innovation, owing to lacking the core technology of independent intellectual property right, kinetic control system major part is abroad captured, and the nucleus movement control technology of kinetic control system more abroad monopolizes.The digital control system of numerical control market dominant contribution domestic at present, mainly with SCM (single-chip microcomputer), monolithic DSP (digital signal processor) for control core or industrial computer realize, the digital control system being control core with single-chip microcomputer and monolithic DSP exists that set expandability is low, low-response, automaticity are low and the shortcoming such as control accuracy is low, and with industrial computer be that the digital control system of control core exists that volume is large, very flexible, extendability difference and hardware development high in cost of production shortcoming.Therefore, further investigation next generation CNC equipment kinetic control system has great importance, for overcoming the above problems, little for making multiple-axis servo motion controller have volume, function is strong, precision is high, reliability is high, response block, extendability is strong, the feature of highly versatile, a kind of multiple-axis servo motion controller circuit of novel high-speed, high precision is proposed, system adopts multiple advanced signal microprocessor collaborative work, adopt the architecture thought of centralized control layered shaping, its collection digital intelligent controls, high-speed data acquisition and signal transacting, intelligent diagnostics, communication function is in one, can control for each axle servomotor provides pulse to export, fixed speed control, speeds control and position control function, simultaneously, also can realize any three axle linear interpolations, the circular interpolation of diaxon, three axle bit pattern interpolations etc., realize carrying out position to servomotor, speed and Acceleration Control.This hardware configuration makes full use of the support embedded system characteristic of ARM (reduced instruction set machine is entered on rank), and the ability of powerful data-handling capacity and multiprocessor high speed associated treatment data, system can control at most 256 axle servomotors, each axle control accuracy can reach 0.012mm, each axle 50us servo turnover rate.
Summary of the invention
The object of this invention is to provide a kind of novel high-speed, high precision multiple-axis servo motion controller circuit, this Circuits System have employed the architecture of the two SCM of ARM+, integrate the functions such as data acquisition, data processing, Based Intelligent Control, intelligent diagnostics, network communication, parameter adjust automatically, accurately control multi-axis servo motor in real time, this servo motion controller can drived control DC servo motor, DC brushless motor, stepper motor and AC servo motor etc.
The present invention realizes like this, a novel high-speed, high precision multiple-axis servo motion controller circuit, it comprises based on the intelligent control unit of ARM, SCM intelligent control module, usb bus communication unit, data storage cell, external network communication unit, Power Management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit; Wherein, usb bus communication unit is connected with N number of Intelligent Single-Chip Based control module, usb bus communication unit is also connected with the intelligent control unit based on ARM by usb bus, and the intelligent control unit based on ARM is connected with data storage cell, external network communication unit, Power Management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit respectively.
Described each Intelligent Single-Chip Based control module respectively resolve output unit SCM Based with four is connected, each SCM Based output unit that resolves also is connected with signal condition unit, signal condition unit exports with digital stream network signal and discrete control and is connected, Intelligent Single-Chip Based control module also respectively with passive crystal oscillator unit, Power Management Unit, debugging emulation unit is connected with usb communication unit, Intelligent Single-Chip Based control module is connected with high-speed digital-analog converting unit, high-speed digital-analog converting unit is connected with signal condition unit, signal condition unit exports with Analog control and is connected, analog sensor information, digital sensors information and digital I/O information export signal condition unit to, signal condition unit exports high-speed digital-analog converting unit and Intelligent Single-Chip Based control module to, high-speed digital-analog converting unit exports Intelligent Single-Chip Based control module to.
Described signal condition unit comprises the input of analog sensor information and is connected with filtering circuit, and filtering circuit is connected with voltage follower circuit, and voltage follower circuit is connected with operational amplification circuit; Digital to analog converter information exports and is connected with filtering circuit, and filtering circuit is connected with operational amplification circuit, and operational amplification circuit is connected with voltage follower; The input of digital sensors information is connected with filtering circuit, and filtering circuit is connected with difference channel, and difference channel is connected with photoelectric isolating circuit; Digital sensors information exports and is connected with filtering circuit, and filtering circuit is connected with photoelectric isolating circuit; The input of discrete control information is connected with filtering circuit, and filtering circuit is connected with photoelectric isolating circuit; Discrete control information exports and is connected with filtering circuit, and filtering circuit is connected with difference channel, and difference channel is connected with photoelectric isolating circuit; The input of digital quantity switching information is connected with filtering circuit, and filtering circuit is connected with photoelectric isolating circuit, and photoelectric isolating circuit is connected with level shifting circuit; Digital quantity switching information exports and is connected with filtering circuit, and filtering circuit is connected with level shifting circuit, and level shifting circuit is connected with photoelectric isolating circuit.
Described data storage cell comprises ARM external memory interface, ARM external memory interface is connected with data bus, address bus and control line connect, and data bus connects, address bus is connected with control line and is connected with two pieces of SST39VF6401SDRAM chips and K91G08U0BFLASH chip respectively.
Described man-machine interaction unit comprises ARM bus or I/O FPDP, and ARM bus or I/O FPDP are connected with TFT LCD by bus, and ARM bus or I/O FPDP are connected with light emitting diode, key-press input and charactron by I/O.
Described external network communication unit comprises ARM communication controler, ARM communication controler is connected with CAN transceiver, RS232 transceiver, RS485 transceiver, ethernet transceiver and USB transceiver respectively, and CAN transceiver, RS232 transceiver, RS485 transceiver, ethernet transceiver are also connected with network-bus communication host respectively with USB transceiver.
Advantage of the present invention is, 1 adopts advanced processor and multiple-axis servo motion controller circuit, adopts the architecture of modular construction and centralized control layered shaping, realizes the accurate control to multi-axis servo motor; 2 costs are low, low in energy consumption, volume is little, extendability is strong, real-time is good, response is fast; 3 system wirings are simple, highly reliable, long-life, by force anti-electromagnetic interference capability; 4 control, rich interface flexible with communication mode; 5 software upgrading capacities are strong.
Accompanying drawing explanation
Fig. 1 a kind of novel high-speed, high precision multiple-axis servo motion controller circuit diagram provided by the present invention;
Fig. 2 is SCM intelligent control module structural drawing;
Fig. 3 is signal condition cellular construction figure;
Fig. 4 is data storage cell structural drawing;
Fig. 5 is man-machine interaction unit structural representation;
Fig. 6 is external network communication cellular construction figure.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail:
A kind of novel high-speed, high precision multiple-axis servo motion controller circuit, wherein, servo motion controller has 64 general purpose I/O, 32 digital light every output, 32 digital light every input, 32 tunnel analog inputs, 4 external communication interface and 1 net control bus interface.
As shown in Figure 1, hardware circuit comprises based on the intelligent control unit of ARM, SCM intelligent control module, usb bus communication unit, data storage cell, external network communication unit, Power Management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit; Wherein, SCM intelligent control module comprises SCM Based intelligent control unit, high speed analog-to-digital conversion unit, high-speed digital-analog converting unit, Based Intelligent Control resolve output unit, signal condition unit, drive conditioning unit, analog sensor message unit, digital sensors message unit, digital stream network signal element and digital output message unit.
Wherein, usb bus communication unit is connected with N number of Intelligent Single-Chip Based control module, usb bus communication unit is also connected with the intelligent control unit based on ARM by usb bus, and the intelligent control unit based on ARM is connected with data storage cell, external network communication unit, Power Management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit respectively.
As shown in Figure 2, each Intelligent Single-Chip Based control module respectively resolve output unit SCM Based with four is connected, each SCM Based output unit that resolves also is connected with signal condition unit, signal condition unit exports with digital stream network signal and discrete control and is connected, Intelligent Single-Chip Based control module also respectively with passive crystal oscillator unit, Power Management Unit, debugging emulation unit is connected with usb communication unit, Intelligent Single-Chip Based control module is connected with high-speed digital-analog converting unit, high-speed digital-analog converting unit is connected with signal condition unit, signal condition unit exports with Analog control and is connected, analog sensor information, digital sensors information and digital I/O information export signal condition unit to, signal condition unit exports high-speed digital-analog converting unit and Intelligent Single-Chip Based control module to, high-speed digital-analog converting unit exports Intelligent Single-Chip Based control module to.
As shown in Figure 3, signal condition unit comprises the input of analog sensor information and is connected with filtering circuit, and filtering circuit is connected with voltage follower circuit, and voltage follower circuit is connected with operational amplification circuit; Digital to analog converter information exports and is connected with filtering circuit, and filtering circuit is connected with operational amplification circuit, and operational amplification circuit is connected with voltage follower; The input of digital sensors information is connected with filtering circuit, and filtering circuit is connected with difference channel, and difference channel is connected with photoelectric isolating circuit; Digital sensors information exports and is connected with filtering circuit, and filtering circuit is connected with photoelectric isolating circuit; The input of discrete control information is connected with filtering circuit, and filtering circuit is connected with photoelectric isolating circuit; Discrete control information exports and is connected with filtering circuit, and filtering circuit is connected with difference channel, and difference channel is connected with photoelectric isolating circuit; The input of digital quantity switching information is connected with filtering circuit, and filtering circuit is connected with photoelectric isolating circuit, and photoelectric isolating circuit is connected with level shifting circuit; Digital quantity switching information exports and is connected with filtering circuit, and filtering circuit is connected with level shifting circuit, and level shifting circuit is connected with photoelectric isolating circuit.
As shown in Figure 4, data storage cell comprises ARM external memory interface, ARM external memory interface is connected with data bus, address bus and control line connect, and data bus connects, address bus is connected with control line and is connected with two pieces of SST39VF6401SDRAM chips and K91G08U0BFLASH chip respectively.
As shown in Figure 5, man-machine interaction unit comprises ARM bus or I/O FPDP, and ARM bus or I/O FPDP are connected with TFT LCD by bus, and ARM bus or I/O FPDP are connected with light emitting diode, key-press input and charactron by I/O.
As shown in Figure 6, external network communication unit comprises ARM communication controler, ARM communication controler is connected with CAN transceiver, RS232 transceiver, RS485 transceiver, ethernet transceiver and USB transceiver respectively, and CAN transceiver, RS232 transceiver, RS485 transceiver, ethernet transceiver are also connected with network-bus communication host respectively with USB transceiver.
Whole hardware circuit is made up of control panel and drive plate, control panel comprises based on the intelligent control unit of ARM, Power Management Unit, data storage cell, network communication unit, debugging emulation unit, usb bus communication unit, passive crystal oscillator unit and man-machine interaction unit, drive plate comprises SCM intelligent control module (Intelligent Single-Chip Based control module) and usb bus communication unit, and hardware configuration block diagram as shown in Figure 2, logical relation between them is: after the SCM intelligent control module in drive plate gathers digital quantity and analog quantity information, usb bus is adopted to realize and the communication based on the intelligent control unit of ARM, the data sent are stored into data storage cell by the intelligent control unit based on ARM, when calling intelligent control algorithm and intelligent diagnostics, again data are recalled data storage cell, and logical operation and the process of various complexity is carried out in conjunction with the steering order that external network communication unit transmits, and drive plate SCM intelligent control module and external network communication unit are delivered in the anti-pass of intelligent inference result.In system works, passive crystal oscillator unit is supplied to the intelligent control unit work hour hands frequency based on ARM; Power Management Unit is supplied to the intelligent control unit voltage signal based on ARM; Debugging emulation unit is supplied to the intelligent control unit debugging emulation interface based on ARM, realizes emulation and the download of program; External network communication unit provides network communication interface, realizes multiple-axis servo motion controller and communicates with external communication network, provide system status information and transmitting control parameters; Man-machine interaction unit adopts the mode of keyboard and touch-screen to realize the input of system control parameters and the selection of controlling functions.In drive plate, in SCM intelligent control module, the logical relation of each unit is: digital sensors signal element and digital I/O (constrained input) information directly enter SCM Based intelligent control unit through digital signal conditioning unit; Analog sensor signal element enters high speed analog-to-digital conversion unit after entering analog signal conditioner unit, then the digital quantity after conversion is sent to SCM Based intelligent control unit.After SCM Based intelligent control unit image data, data are passed to intelligent control unit based on ARM with usb bus form, based on the intelligent control unit of ARM after intelligent logical reasoning, and this steering order is passed to each SCM Based intelligent control unit of drive plate with usb bus form, after steering order passed to 4 parallel control solving unit, realize the output of drive singal, control servomotor runs, and exportable signal realizes the output of analog control signal to D/A conversion unit simultaneously.This hardware system is that control strategy, fast response and the strong extendability etc. of complicated algorithm provides the hardware foundation of realization.
Intelligent control unit based on ARM is the core of motion controller circuit, arm processor adopts Samsung high-performance S3C6410 chip, S3C6410 is 16/32 risc microcontroller, adopt 32/64 internal bus framework, work dominant frequency is up to 667MHz, there are 188 GPIO ports, have that volume is little, low in energy consumption, function is strong, stability is high, the advantage of strong interference immunity, fast operation, support Windows and (SuSE) Linux OS, be the high integrated processor of a floating-point operation, there is the interfaces such as I2C, UART, Ethernet, USB.It is responsible for controlling whole servo-control system flow process, has signal handling capacity at a high speed.Intelligent control unit based on ARM is made up of ARM chip, power-switching circuit, passive crystal oscillating circuit, artificial debugging circuit.Relation between it is: power-switching circuit provides standard 3.3V required for ARM chip and 1.3V voltage, and passive crystal oscillating circuit provides the frequency of operation 12MHz required for ARM chip, and artificial debugging circuit provides ARM program software to download and emulation interface.Power-switching circuit is made up of power conversion chip, precision resister, ceramic disc capacitor and inductance.ARM chip realizes data respectively with data bus and address bus mode and transmits with data storage cell, realize communicating with SCM Based intelligent control unit with usb bus.Intelligent control unit based on ARM is responsible for whole system control, data processing and intelligent diagnostics, and realizes communicating with external bus real-time performance by network-bus communication unit.
SCM intelligent control module is using PIC24FJ64GA002 type 16 single-chip microcomputers as primary processor, this single-chip microcomputer volume is little, only there are 28 pins, wherein comprise 64K flash memory, 8K static memory, 5 road PWM (comparing/seizure/pulse width modulator) export, 5 16 bit timing devices, have the interfaces such as I2C, UART, USB, 16 reusable pins, control flexibly, Systematical control needs can be met completely.SCM intelligent control module is made up of SCM Based intelligent control unit, Power Management Unit, passive crystal oscillator unit, artificial debugging unit, network communication unit, and its hardware configuration as shown in Figure 2; Relation between it is: the data of SCM Based intelligent control unit collection after signal condition cell processing and analog to digital converter conversion, and the digital data after signal condition cell processing, the data acquisition advanced control algorithm that this Intelligent Single-Chip Based control module calls collection completes electrically, machine performance parameter calculates, and characteristic quantity is sent to intelligent control unit based on ARM with USB network communication unit, simultaneously, accept the intelligent control unit steering order based on ARM, transmit Based Intelligent Control output signal.Power Management Unit is made up of power conversion chip, precision resister, ceramic disc capacitor and inductance.SCM Based intelligent control unit is responsible for whole system data acquisition and data processing, extracts signal characteristic quantity, accepts the steering order exported based on the intelligent control unit of ARM simultaneously, and each SCM intelligent control module configures 4 and controls solving unit.
Controlling solving unit adopts 8 single-chip microcomputer PIC16F882 as main control chip, and PIC16F882 is the microprocessor of a Harvard structure, reduced instruction set computer.Because its data bus and instruction bus separate, only there is the clock speed of 35 single-word instructions, 30M, so its arithmetic speed and interference free performance are all very outstanding, there are the FLASH program space of 2K word length, 24 separately controllable I/O mouths, 3 Timer/Counter, 8 10 A/D mouths, 2 PWM and 8 interrupt sources.Intelligent Single-Chip Based is resolved control module and is connected with SCM Based intelligent control unit with address bus by data bus, it is the instruction of the intelligent control unit execution intelligent logical reasoning of resolving based on ARM, it exports the Output rusults controlling servomotor and run, and its output is exported by the output of digital stream network information and discrete control I/O signal and forms.Digital stream network information exports and is made up of pwm signal output interface, photoelectric isolating circuit, signal drive circuit.Discrete control I/O information exports and is made up of photoelectric isolating circuit, data drive circuit.Relation between it is: processor of single chip computer exports digital stream network information, this digital signal carries out signal isolation through photoelectric isolating circuit, voltage conversion circuit carries out voltage transitions and realizes and peripheral drive level match, avoids the interference of generation when motor drives to the impact of control system.Discrete control I/O information exports and directly exports I/O signal to external equipment, mainly comprises brake signal, alerting signal, digital-scroll technique signal etc.
High speed analog-to-digital conversion unit is made up of four high-speed AD converters (AD7606) and reference voltage conversion chip.Four high-speed AD converters compose in parallel 32 channel analog signal input interfaces, will be respectively used to analog quantity information collection, and each input channel software is configurable.A high precision 8 of AD7606 chip passage 16 high-speed AD converters, the inversion frequency of each analog channel is 200kSPS, meets Systematical control requirement.Power reference circuit is made up of high-accuracy voltage conversion chip AD584 and ceramic disc capacitor, and ceramic disc capacitor shunt voltage conversion chip exports.Relation between them is: power reference circuit provides high-speed AD converter benchmark+2.5V voltage, and four analog to digital converters adopt address bus and data bus to realize and the data of 16 single-chip microcomputers and command communication.
High-speed digital-analog converting unit is made up of 2 high-speed AD converters (TLC5618) and reference voltage conversion chip.2 high-speed AD converters compose in parallel 4 channel analog signal output interfaces, and will be respectively used to control simulation amount information and export, each input channel software is configurable, and 1 road analog output joined by every drive plate No. 4 servomotor.TLC5618 chip, with the Dual-channel digital analog converter of buffering benchmark input, has the feature of high precision, Low Drift Temperature, low noise, meets Systematical control requirement.High-speed AD converter output voltage range is 2 times of reference voltage, selects MC1403 as reference power supply.Relation between them is: the benchmark+2.5V voltage that reference power supply provides high-speed A/D converter to need, and 2 digital to analog converters adopt data and the command communication of SPI serial implementation and 16 single-chip microcomputers.
Signal condition unit comprises that analog sensor signal input is nursed one's health with analog output, digital sensor signal input nurse one's health nurse one's health with, discrete control information, digital quantity switch I/O signal condition.Signal condition unit is primarily of filtering circuit, difference channel, photoelectric isolating circuit, discharge circuit four part composition.The filtering circuit of filtered electrical routing resistance, ceramic disc capacitor, tantalum electric capacity and inductance composition; Photoelectric isolating circuit is made up of high-speed light lotus root HCPL4504, current-limiting resistance, ceramic disc capacitor; The voltage follower that discharge circuit is made up of four-way operational amplifier OP747 chip, precision resistance, ceramic disc capacitor and operational amplifier form, and signal condition element circuit structure as shown in Figure 3.Relation between them is: analog sensor input information is after filtering after circuit, be input to the discharge circuit be made up of voltage follower and operational amplifier, the signal that analog sensor exports zoomed to the output area of the input range that high speed analog-to-digital conversion unit requires and high-speed digital-analog converting unit.Analog sensor information spinner will refer to positional information, analogue enlargement information, servomotor electric current and information of voltage etc.Analog output information input information, after filtering after circuit, is input to discharge circuit be made up of operational amplifier and voltage follower, adjusts to the control voltage scope of peripheral hardware needs.Digital sensors input information is after filtering after circuit, is input to difference channel and realizes after signal coupling or photoelectric isolating circuit realize signal isolation and level conversion, inputting SCM Based intelligent control unit and realizing signals collecting.Digital sensors information spinner will refer to encoder information, position Hall element information and temperature information, and this Drive and Control Circuit can connect the scrambler of increment type differential encoder and unipolarity scrambler two kinds of forms.Discrete control output information is after filtering after circuit, is input to difference channel and realizes after signal coupling or photoelectric isolating circuit realize signal isolation and level conversion, outputting to the signal that peripheral hardware needs.Numeral I/O, after filtering after circuit, is input to photoelectric isolating circuit and realizes signal isolation and level conversion, after be input to SCM Based intelligent control unit.Digital switch quantity information spinner will refer to that external control I/O inputs information, toggle switch information etc.
Data storage cell is made up of FLASH (flash memory) and SDRAM (Synchronous Dynamic Random Access Memory) two kinds of storeies, and the position annexation between them is: be connected with ARM external memory interface with data bus by address bus.FLASH adopts 1 FLASH chip totally 128 megabits, is used for solidifying boot and built-in application program.SDRAM adopts 2 SDRAM chips totally 128 megabits, is used for storing and process data, and realizes the built-in application program loading after powering on.1 FLASH chip is connected with ARM external memory interface with data bus by address bus with two panels SDRAM chip.Intelligent control unit based on ARM realizes the read-write with data storage cell data by ARM external memory interface, and it stores operating structure as shown in Figure 4.
Conditioning unit is driven to be drive system level converting section.It comprises signal input and exports 2 parts with signal.Form primarily of data driving chip SM74LS245, differential decoding chip AM26LS32, resistance and ceramic disc capacitor.Relation between it is: intelligence is resolved control module and outputed signal a part of signal after data driving chip increase driving force, exports to peripheral hardware servo driver drives motor; Another part signal increases after driving force through data driving chip, then realizes differential signal output by differential decoding chip, is supplied to servo driver drives motor.Peripheral hardware motor driver is input to the signal of motion controller primarily of photoelectric isolated chip, schottky diode, resistance composition.Relation between it is: the signal that driver exports is after the current limiting pressure-limiting signal be made up of schottky diode, resistance and ceramic disc capacitor, be input to photoelectric isolated chip input side, photoelectric isolated chip outgoing side connects and SCM Basedly resolves input end corresponding to control module after the conditioning of pull-up current-limiting resistance.
Usb bus driver element is made up of S1R72U16 chip and crystal oscillating circuit, and traffic rate is 12Mbps, communicates with the intelligent control unit based on ARM for realizing each SCM intelligent control module.Driven by usb bus, the intelligent control unit communication based on ARM can drive nearly 64 SCM intelligent control modules, and each SCM configures 4 and resolves control module, is connected between each drive plate by 6 square usb bus interfaces.
Man-machine interaction unit is made up of charactron, pilot lamp, TFT LCD and button.Charactron adopts 4 common anode pole charactrons, and pilot lamp adopts common light emitting diode, and TFT LCD adopts 5 cun, resolution is 480 (RGB) * 272 liquid crystal display.As shown in Figure 5, the relation between it is the schematic diagram of man-machine interaction unit: charactron and TFT LCD show working status parameter information and the human-machine interactive information of current multiple-axis servo motion controller; The duty of pilot lamp instruction servo motion controller; Peripheral operation is by button adjustment servo motion controller systematic parameter.
External network bus communication unit comprises CAN, RS485 bus, Ethernet, RS232 bus and USB2.0 bus five kinds of network-bus.The corresponding CAN 82C200 transceiver of CAN communication unit, the corresponding MAX485 bus transceiver of RS485 bus, the corresponding MAX3232 bus transceiver of RS232 bus, the corresponding S1R72U16 bus transceiver of usb bus.As shown in Figure 6, transmission based on the communication data between the intelligent control unit of ARM and industrial computer and acceptance are responsible in network-bus communication to external network bus communication structural representation.
Power Management Unit is made up of multiple power sources modular converter, main voltage system input voltage is converted to required for arm processor, processor of single chip computer, sensor circuit and control inputs output circuit, electric pressure is mainly divided into+24V ,+15V ,-15V ,+12V ,-12V ,+5V ,+3.3V ,+1.9V ,+1.5V nine type, and system input voltage is+18V ~+48V.
Passive crystal oscillator unit is primarily of passive crystal oscillator chip and ceramic disc capacitor composition, and circuit provides the 30MHz hour hands signal of 32MHz and the USB need of work of frequency of operation 12MHz required for ARM chip, single-chip microcomputer need of work.
Debugging emulation unit is primarily of debugging storage chip, debugging interface, resistance and ceramic disc capacitor composition, and debugging emulation unit is supplied to intelligent control unit based on ARM and SCM intelligent control module debugging emulation interface, realizes emulation and the download of program.
Installation connected mode is as follows:
1. motion controller shell adopts aluminum alloy materials, and length, width and height are respectively 325mm*210mm*200mm, length easily extensible.
2. control panel and drive plate are fixed on controller inner casing with slot form, and walk abreast and be inserted on controller inner casing, control panel is placed in the left side in casing, is from left to right followed successively by multilayer drive plate, can expand according to the number of axle, extends at most 256 axles.
3. motion controller controls power input port and connects the positive and negative port of external power source, voltage range+18V ~+72V.
4. controller control panel intelligence I/O signal is connected with charactron with man-machine interaction unit button on controller shell by 12 pin soft arranging wires; Be connected with the true colour display screen display screen of TFT by 24 pin soft arranging wires; The true colour display screen display screen of TFT, keyboard, charactron and pilot lamp are placed in controller housing panel the same side.
5. control panel realizes being connected with external communication network peripheral hardware by DB9 port one, DB9 port 2, USB port and ethernet port.
6. side panel realizes being connected with peripheral hardware I/O peripheral hardware by DB26 port one and DB26 port 2.
7. side panel realizes being connected with external sensor peripheral hardware by DB26 port 3 and DB26 port 4.
8. controller housing top panel realizes being connected with the break-make of external power source by 2 wiretaps.
Claims (6)
1. a novel high-speed, high precision multiple-axis servo motion controller circuit, is characterized in that: it comprises based on the intelligent control unit of ARM, SCM intelligent control module, usb bus communication unit, data storage cell, external network communication unit, Power Management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit; Wherein, usb bus communication unit is connected with N number of Intelligent Single-Chip Based control module, usb bus communication unit is also connected with the intelligent control unit based on ARM by usb bus, and the intelligent control unit based on ARM is connected with data storage cell, external network communication unit, Power Management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit respectively.
2. a kind of novel high-speed, high precision multiple-axis servo motion controller circuit as claimed in claim 1, it is characterized in that: described each Intelligent Single-Chip Based control module respectively resolve output unit SCM Based with four is connected, each SCM Based output unit that resolves also is connected with signal condition unit, signal condition unit exports with digital stream network signal and discrete control and is connected, Intelligent Single-Chip Based control module also respectively with passive crystal oscillator unit, Power Management Unit, debugging emulation unit is connected with usb communication unit, Intelligent Single-Chip Based control module is connected with high-speed digital-analog converting unit, high-speed digital-analog converting unit is connected with signal condition unit, signal condition unit exports with Analog control and is connected, analog sensor information, digital sensors information and digital I/O information export signal condition unit to, signal condition unit exports high-speed digital-analog converting unit and Intelligent Single-Chip Based control module to, high-speed digital-analog converting unit exports Intelligent Single-Chip Based control module to.
3. a kind of novel high-speed, high precision multiple-axis servo motion controller circuit as claimed in claim 1, it is characterized in that: described signal condition unit comprises the input of analog sensor information and is connected with filtering circuit, filtering circuit is connected with voltage follower circuit, and voltage follower circuit is connected with operational amplification circuit; Digital to analog converter information exports and is connected with filtering circuit, and filtering circuit is connected with operational amplification circuit, and operational amplification circuit is connected with voltage follower; The input of digital sensors information is connected with filtering circuit, and filtering circuit is connected with difference channel, and difference channel is connected with photoelectric isolating circuit; Digital sensors information exports and is connected with filtering circuit, and filtering circuit is connected with photoelectric isolating circuit; The input of discrete control information is connected with filtering circuit, and filtering circuit is connected with photoelectric isolating circuit; Discrete control information exports and is connected with filtering circuit, and filtering circuit is connected with difference channel, and difference channel is connected with photoelectric isolating circuit; The input of digital quantity switching information is connected with filtering circuit, and filtering circuit is connected with photoelectric isolating circuit, and photoelectric isolating circuit is connected with level shifting circuit; Digital quantity switching information exports and is connected with filtering circuit, and filtering circuit is connected with level shifting circuit, and level shifting circuit is connected with photoelectric isolating circuit.
4. a kind of novel high-speed, high precision multiple-axis servo motion controller circuit as claimed in claim 1, it is characterized in that: described data storage cell comprises ARM external memory interface, ARM external memory interface is connected with data bus, address bus and control line connect, and data bus connects, address bus is connected with control line and is connected with two pieces of SST39VF6401SDRAM chips and K91G08U0BFLASH chip respectively.
5. a kind of novel high-speed, high precision multiple-axis servo motion controller circuit as claimed in claim 1, it is characterized in that: described man-machine interaction unit comprises ARM bus or I/O FPDP, ARM bus or I/O FPDP are connected with TFT LCD by bus, and ARM bus or I/O FPDP are connected with light emitting diode, key-press input and charactron by I/O.
6. a kind of novel high-speed, high precision multiple-axis servo motion controller circuit as claimed in claim 1, it is characterized in that: described external network communication unit comprises ARM communication controler, ARM communication controler is connected with CAN transceiver, RS232 transceiver, RS485 transceiver, ethernet transceiver and USB transceiver respectively, and CAN transceiver, RS232 transceiver, RS485 transceiver, ethernet transceiver are also connected with network-bus communication host respectively with USB transceiver.
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| CN107786132A (en) * | 2016-08-25 | 2018-03-09 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of high speed, high-precision servo control system for high power density motor |
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| CN113960972A (en) * | 2021-11-09 | 2022-01-21 | 广东科伺智能科技有限公司 | Open type driving and controlling system |
| CN116449772A (en) * | 2023-06-16 | 2023-07-18 | 成都飞机工业（集团）有限责任公司 | Multi-axis cooperative motion control method, device, equipment and medium |
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