CN105242640B - A kind of novel high-speed, high precision multiple-axis servo motion controller circuit - Google Patents

A kind of novel high-speed, high precision multiple-axis servo motion controller circuit Download PDF

Info

Publication number
CN105242640B
CN105242640B CN201410325634.4A CN201410325634A CN105242640B CN 105242640 B CN105242640 B CN 105242640B CN 201410325634 A CN201410325634 A CN 201410325634A CN 105242640 B CN105242640 B CN 105242640B
Authority
CN
China
Prior art keywords
unit
connect
circuit
arm
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201410325634.4A
Other languages
Chinese (zh)
Other versions
CN105242640A (en
Inventor
黄建
张新华
王晓林
揭军
王顺伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Automation Control Equipment Institute BACEI
Original Assignee
Beijing Automation Control Equipment Institute BACEI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Automation Control Equipment Institute BACEI filed Critical Beijing Automation Control Equipment Institute BACEI
Priority to CN201410325634.4A priority Critical patent/CN105242640B/en
Publication of CN105242640A publication Critical patent/CN105242640A/en
Application granted granted Critical
Publication of CN105242640B publication Critical patent/CN105242640B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention belongs to a kind of servo motion controller circuits, and in particular to a kind of novel high-speed, high precision multiple-axis servo motion controller circuit.It includes intelligent control unit, SCM intelligent control modules, 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 based on ARM;Wherein, usb bus communication unit is connect with N number of Intelligent Single-Chip Based control module, usb bus communication unit is also connect by usb bus with the intelligent control unit based on ARM, and the intelligent control unit based on ARM is connect with data storage cell, external network communication unit, Power Management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit respectively.Its advantage is that:It is at low cost, low in energy consumption, small, autgmentability is strong, real-time is good, response is fast;System wiring is simple, highly reliable, long-life, strong anti-electromagnetic interference capability.

Description

A kind of novel high-speed, high precision multiple-axis servo motion controller circuit
Technical field
The invention belongs to a kind of servo motion controller circuits, and in particular to a kind of novel high-speed, high precision multiple-axis servo Motion controller circuit.
Background technology
Numerically-controlled machine tool is core and the basis of modern manufacturing system, and Modern NC Machine Tool kinetic control system requires height The features such as fast operation, high speed interpolation, ultrahigh speed communication, the operating of main shaft ultrahigh speed, high accuracy positioning.Numerically-controlled machine tool will realize shape Zero complicated device fabrication, must be requested that kinetic control system can carry out the control of moving interpolation, as linear interpolation, circle are inserted It mends, interpolation and Continuous interpolation program etc. are inserted in position.
China is manufacturing powerhouse rather than industrial power.In motion control field, there is also larger differences with developed country Away from the promotion of capability of independent innovation weakness strong influence China's manufacturing industry technical merit, due to lacking independent intellectual property right Core technology, kinetic control system is largely captured by foreign countries, and the nucleus movement control technology more state of kinetic control system Outer monopolization.The digital control system of domestic numerical control market dominant contribution at present, mostly with SCM (microcontroller), monolithic DSP (digital signals Processor) core or industrial personal computer realize that there are systems with the digital control system of microcontroller and monolithic DSP core in order to control in order to control Autgmentability is low, low-response, the degree of automation are low and the disadvantages such as control accuracy is low, and with the digital control system of industrial personal computer core in order to control There are volumes it is big, flexibility is poor, autgmentability is poor and hardware development is of high cost the shortcomings of.Therefore, further investigation next generation CNC dress Received shipment autocontrol system has great importance, in order to solve the above problem, for make multiple-axis servo motion controller have it is small, Function is strong, precision is high, reliability is high, response block, the feature that autgmentability is strong, versatile, proposes a kind of novel high speed and super precision The multiple-axis servo motion controller circuit of degree, system is cooperated using a variety of advanced signal microprocessors, using centralized control The architecture thought of layered shaping, it collects digital intelligent control, high-speed data acquisition and signal processing, intelligent diagnostics, communication Function can provide pulse output control, fixed speed control, speed control and position control function in one for each axis servo motor, Meanwhile can also be achieved arbitrary three axis linear interpolation, two axis circle interpolations, three axle position meta schema interpolations etc., it realizes to servo motor Carry out position, speed and Acceleration Control.The hardware configuration makes full use of the support insertion of ARM (rank into reduced instruction set machine) The ability of formula system performance and powerful data-handling capacity and multiprocessor high speed collaboration processing data, system are at most controllable 256 axis servo motors, each axis control accuracy is up to 0.012mm, each axis 50us servo turnover rates.
Invention content
The object of the present invention is to provide a kind of novel high-speed, high precision multiple-axis servo motion controller circuit, the circuit systems System uses the architecture of the bis- SCM of ARM+, the acquisition of collection data, data processing, intelligent control, intelligent diagnostics, network communication, ginseng The functions such as number adjust automatically accurately control multi-axis servo motor, which can be with drive control in real time in one DC servo motor, DC brushless motor, stepper motor and AC servo motor etc..
The invention is realized in this way a kind of novel high-speed, high precision multiple-axis servo motion controller circuit, it includes Intelligent control unit, SCM intelligent control modules, usb bus communication unit, data storage cell, external network based on ARM are logical Interrogate unit, Power Management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit;Wherein, usb bus communicates Unit is connect with N number of Intelligent Single-Chip Based control module, and usb bus communication unit also passes through usb bus and the intelligence control based on ARM Unit processed connection, the intelligent control unit based on ARM respectively with data storage cell, external network communication unit, power management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit connection.
Each Intelligent Single-Chip Based control module is connect with four SCM Based units that calculate and output respectively, often A SCM Based unit that calculates and outputs also is connect with signal condition unit, signal condition unit and digital stream network signal With discrete control export connect, Intelligent Single-Chip Based control module also respectively with passive crystal oscillator unit, Power Management Unit, debugging Simulation unit is connected with usb communication unit, and Intelligent Single-Chip Based control module is connect with high-speed digital-analog converting unit, and high-speed digital-analog turns It changes unit to connect with signal condition unit, signal condition unit is connected with Analog control output, analog sensor information, number Word quantity sensor information and number I/O information are exported to signal condition unit, and signal condition unit is exported to high speed digital-to-analogue conversion Unit and Intelligent Single-Chip Based control module, high-speed digital-analog converting unit are exported to Intelligent Single-Chip Based control module.
The signal condition unit includes that analog sensor information input is connect with filter circuit, filter circuit and electricity Pressure follows circuit to connect, and voltage follower circuit is connect with operational amplification circuit;Digital analog converter information is exported to be connected with filter circuit It connects, filter circuit is connect with operational amplification circuit, and operational amplification circuit is connect with voltage follower;Digital sensors information is defeated Enter and connect with filter circuit, filter circuit is connect with difference channel, and difference channel is connect with photoelectric isolating circuit;Digital quantity senses The output of device information is connect with filter circuit, and filter circuit is connect with photoelectric isolating circuit;Discrete control information input and filtering Circuit connects, and filter circuit is connect with photoelectric isolating circuit;The output of discrete control information is connect with filter circuit, filter circuit It is connect with difference channel, difference channel is connect with photoelectric isolating circuit;The input of digital quantity switching information is connect with filter circuit, is filtered Wave circuit is connect with photoelectric isolating circuit, and photoelectric isolating circuit is connect with level shifting circuit;Digital quantity switching information export with Filter circuit connects, and filter circuit is connect with level shifting circuit, and level shifting circuit is connect with photoelectric isolating circuit.
The data storage cell includes ARM external memory interfaces, and ARM external memory interfaces connect with data/address bus Connect, address bus is connected with control line, data/address bus connection, address bus and control line connection respectively with two pieces SST39VF6401SDRAM chips are connected with K91G08U0B FLASH chips.
The man-machine interaction unit includes ARM buses or I/O data port, and ARM buses or I/O data port pass through total Line is connect with TFT LCD, and ARM buses or I/O data port pass through I/O and light emitting diode, key-press input and number Pipe connects.
The external network communication unit includes ARM communication controlers, ARM communication controlers respectively with CAN transceiver, RS232 transceivers, RS485 transceivers, ethernet transceiver are connected with USB transceiver, CAN transceiver, RS232 transceivers, RS485 transceivers, ethernet transceiver and USB transceiver are also connect with network-bus communication host respectively.
It is an advantage of the invention that 1 uses advanced processor and multiple-axis servo motion controller circuit, using modular construction And the architecture of centralized control layered shaping, realization accurately control multi-axis servo motor;2 at low cost, low in energy consumption, volumes It is small, autgmentability is strong, real-time is good, response is fast;3 system wirings are simple, highly reliable, long-life, strong anti-electromagnetic interference capability;4 controls System with communication mode flexibly, rich interface;5 software upgrading capacities are strong.
Description of the drawings
A kind of Fig. 1 novel high-speed, high precision multiple-axis servo motion controller circuit diagrams provided by the present invention;
Fig. 2 is SCM intelligent control module structure charts;
Fig. 3 is signal condition unit structure chart;
Fig. 4 is data storage cell structure chart;
Fig. 5 is man-machine interaction unit structural schematic diagram;
Fig. 6 is external network communication cellular construction figure.
Specific implementation mode
It describes in detail in the following with reference to the drawings and specific embodiments to the present invention:
A kind of novel high-speed, high precision multiple-axis servo motion controller circuit, wherein servo motion controller has 64 Point general purpose I/O, 32 digital lights are every output, 32 digital lights every input, 32 tunnel simulation inputs, 4 external communication interfaces and 1 Control network-bus interface.
As shown in Figure 1, hardware circuit includes that intelligent control unit, SCM intelligent control modules, usb bus based on ARM are logical Interrogate 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 modules include SCM Based intelligent control unit, high speed analog-to-digital conversion list Member, high-speed digital-analog converting unit, intelligent control calculate and output unit, signal condition unit, driving conditioning unit, analog quantity sensing Device information unit, digital sensors information unit, digital stream network signal element and digital output information unit.
Wherein, usb bus communication unit is connect with N number of Intelligent Single-Chip Based control module, and usb bus communication unit also passes through Usb bus is connect with the intelligent control unit based on ARM, the intelligent control unit based on ARM respectively with data storage cell, outer Portion's network communication unit, Power Management Unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit connection.
As shown in Fig. 2, each Intelligent Single-Chip Based control module connects with four SCM Based units that calculate and output respectively It connects, each SCM Based unit that calculates and outputs also is connect with signal condition unit, signal condition unit and digital servo control Signal and discrete control processed output connection, Intelligent Single-Chip Based control module also respectively with passive crystal oscillator unit, power management list Member, debugging emulation unit are connected with usb communication unit, and Intelligent Single-Chip Based control module is connect with high-speed digital-analog converting unit, high Fast D/A conversion unit is connect with signal condition unit, and signal condition unit is connected with Analog control output, analog quantity sensing Device information, digital sensors information and number I/O information are exported to signal condition unit, and signal condition unit is exported to high speed D/A conversion unit and Intelligent Single-Chip Based control module, high-speed digital-analog converting unit are exported to Intelligent Single-Chip Based control module.
It is connect with filter circuit as shown in figure 3, signal condition unit includes analog sensor information input, filter circuit It is connect with voltage follower circuit, voltage follower circuit is connect with operational amplification circuit;Digital analog converter information exports and filtered electrical Road connects, and filter circuit is connect with operational amplification circuit, and operational amplification circuit is connect with voltage follower;Digital sensors are believed Breath input is connect with filter circuit, and filter circuit is connect with difference channel, and difference channel is connect with photoelectric isolating circuit;Digital quantity Sensor information output is connect with filter circuit, and filter circuit is connect with photoelectric isolating circuit;Discrete control information input with Filter circuit connects, and filter circuit is connect with photoelectric isolating circuit;The output of discrete control information is connect with filter circuit, is filtered Circuit is connect with difference channel, and difference channel is connect with photoelectric isolating circuit;Digital quantity switching information is inputted to be connected with filter circuit It connects, filter circuit is connect with photoelectric isolating circuit, and photoelectric isolating circuit is connect with level shifting circuit;Digital quantity switching information is defeated Go out and connect with filter circuit, filter circuit is connect with level shifting circuit, and level shifting circuit is connect with photoelectric isolating circuit.
As shown in figure 4, data storage cell includes ARM external memory interfaces, ARM external memory interfaces and data are total Line connection, address bus connects with control line, data/address bus connection, address bus and control line connect respectively with two pieces SST39VF6401SDRAM chips are connected with K91G08U0BFLASH chips.
As shown in figure 5, man-machine interaction unit includes ARM buses or I/O data port, ARM buses or I/O data port are logical Bus is crossed to connect with TFT LCD, ARM buses or I/O data port by I/O and light emitting diode, key-press input and Charactron connects.
As shown in fig. 6, external network communication unit includes ARM communication controlers, ARM communication controlers are received with CAN respectively Hair device, RS232 transceivers, RS485 transceivers, ethernet transceiver are connected with USB transceiver, CAN transceiver, RS232 transmitting-receivings Device, RS485 transceivers, ethernet transceiver and USB transceiver are also connect with network-bus communication host respectively.
Entire hardware circuit is made of control panel and driving plate;Control panel includes intelligent control unit, power supply based on ARM Administrative unit, data storage cell, network communication unit, debugging emulation unit, usb bus communication unit, passive crystal oscillator unit And man-machine interaction unit;Driving plate includes that SCM intelligent control modules (Intelligent Single-Chip Based control module) and usb bus communication are single Member, hardware configuration block diagram are as shown in Figure 2;Logical relation between them is:SCM intelligent control modules in driving plate After acquiring digital quantity and analog quantity information, the communication with the intelligent control unit based on ARM is realized using usb bus, is based on ARM The intelligent control unit data storage that carrys out transmission to data storage cell, when calling intelligent control algorithm and intelligent diagnostics When, then data are recalled into data storage cell, and the control instruction of external network communication unit transmission is combined to carry out various complexity Logical operation and processing, and intelligent inference result anti-pass is sent to driving plate SCM intelligent control modules and external network communication Unit.In system work, passive crystal oscillator unit is supplied to the work hour hands frequency of the intelligent control unit based on ARM;Power supply pipe Reason unit is supplied to the intelligent control unit voltage signal based on ARM;Debugging emulation unit is supplied to the intelligent control based on ARM Unit debugging emulation interface realizes the emulation and download of program;External network communication unit provides network communication interface, realizes more Axis servo motion controller is communicated with external communication network, provides system status information and transmitting control parameters;Human-computer interaction list Member realizes the input of system control parameters and the selection of control function by the way of keyboard and touch screen.SCM intelligence in driving plate The logical relation of each unit is in energy control module:Digital sensors signal element and number I/O (input and output) information It is directly entered SCM Based intelligent control unit by digital signal conditioning unit;Analog sensor signal element enters Enter high speed analog-to-digital conversion unit after analog signal conditioner unit, is then transmitted to transformed digital quantity SCM Based Intelligent control unit.After SCM Based intelligent control unit gathered data, data are passed in the form of usb bus and are based on The intelligent control unit of ARM, based on the intelligent control unit of ARM after intelligent logical reasoning, and by the control instruction with USB Bus form passes to each SCM Based intelligent control unit of driving plate, after control instruction passed into 4 parallel control solutions Unit is calculated, realizes the output of drive signal, control servomotor operation, while exportable signal realizes mould to D/A conversion unit The output of quasi- control signal.The hardware system is that control strategy, quick response and the strong autgmentability etc. of complicated algorithm provide reality Existing hardware foundation.
Intelligent control unit based on ARM is the core of motion controller circuit, and arm processor uses the high property of Samsung Energy S3C6410 chips, S3C6410 is 16/32 risc microcontroller, and using 32/64 internal bus framework, work dominant frequency is high Up to 667MHz, there are 188 GPIO ports, have the function of small, low in energy consumption, strong, stability is high, strong interference immunity, operation Fireballing advantage supports Windows and (SuSE) Linux OS, is the highly integrated processor of a floating-point operation, have I2C, The interfaces such as UART, Ethernet, USB.It is responsible for controlling entire servo-control system flow, the signal handling capacity with high speed. It is made of ARM chips, power-switching circuit, passive crystal oscillating circuit, artificial debugging circuit based on the intelligent control unit of ARM.Its Between relationship be:Power-switching circuit provides the required standard 3.3V of ARM chips and 1.3V voltages, passive crystal oscillating circuit carry For the required working frequency 12MHz of ARM chips, artificial debugging circuit provides the download of ARM program softwares and emulation interface.Power supply Conversion circuit is made of power conversion chip, precision resister, ceramic disc capacitor and inductance.ARM chips are with data/address bus and address Bus mode realizes data transmission with data storage cell respectively, is realized and SCM Based intelligent control single with usb bus Member communication.Intelligent control unit based on ARM is responsible for whole system control, data processing and intelligent diagnostics, and can pass through network The realization of bus communication unit is communicated with external bus real-time performance.
SCM intelligent control modules are using 16 microcontrollers of PIC24FJ64GA002 types as primary processor, the microcontroller volume It is small, only 28 pins, wherein including 64K flash memories, 8K static memories, 5 road PWM (comparing/capture/pulse width modulator) are defeated Go out, 5 16 bit timing devices, there are the interfaces such as I2C, UART, USB, 16 reusable pins, control is flexible, is entirely capable of meeting system System control needs.SCM intelligent control modules by SCM Based intelligent control unit, Power Management Unit, without source crystal oscillator list Member, artificial debugging unit, network communication unit are constituted, and hardware configuration is as shown in Figure 2;Relationship between it is:Based on monolithic The intelligent control unit acquisition of machine is by signal condition unit processing and the transformed data of analog-digital converter, and passes through signal Conditioning unit treated digital data, the Intelligent Single-Chip Based control unit call the data of acquisition to use advanced control algorithm It completes electrical, machine performance parameter to calculate, and characteristic quantity is transmitted to the intelligent control based on ARM with USB network communication unit Unit, meanwhile, receive the intelligent control unit control instruction based on ARM, transmits intelligent control output signal.Power Management Unit It is made of power conversion chip, precision resister, ceramic disc capacitor and inductance.SCM Based intelligent control unit is responsible for entire Signal characteristic quantity is extracted in system data acquisition and data processing, while receiving the control of the intelligent control unit output based on ARM Instruction, each SCM intelligent control modules configure 4 control solving units.
Solving unit is controlled using 8 microcontroller PIC16F882 as main control chip, PIC16F882 is a Harvard knot The microprocessor of structure, reduced instruction set computer.Since its data/address bus and instruction bus separate, only 35 single-word instructions, 30M when Clock rate degree, so its arithmetic speed and interference free performance are all very outstanding, the FLASH program spaces with 2K word lengths, 24 can The I/O mouths that individually control, 3 Timer/Counters, 8 10 A/D mouthfuls, 2 PWM and 8 interrupt sources.Intelligent Single-Chip Based resolves Control unit is connect by data/address bus and address bus with SCM Based intelligent control unit, it is to resolve to be based on ARM Intelligent control unit execute intelligent logical reasoning instruction, it export control servomotor operation output as a result, its export It is made of the output of digital stream network information and the output of discrete control I/O signals.The output of digital stream network information is believed by PWM Number output interface, photoelectric isolating circuit, signal drive circuit composition.Discrete control I/O information output by photoelectric isolating circuit, Data drive circuit forms.Relationship between it is:Processor of single chip computer exports digital stream network information, digital signal warp Photoelectric isolating circuit carries out signal isolation, and voltage conversion circuit carries out voltage conversion realization and peripheral drive electrical level match, keeps away Influence of the interference for having exempted to generate when motor driving to control system.The output of discrete control I/O information is directly defeated to external equipment Go out I/O signals, includes mainly brake signal, alarm signal, digital-scroll technique signal etc..
High speed analog-to-digital conversion unit is made of four high-speed AD converters (AD7606) and reference voltage conversion chip.Four Piece high-speed AD converter composes in parallel 32 channel analog signal input interfaces, will be respectively used to analog quantity information acquisition, each defeated It is configurable to enter channel software.A 16,8 channel of high-precision high-speed AD converter of AD7606 chips, the conversion of each analog channel Frequency is 200kSPS, meets system control and requires.Power reference circuit is by high-accuracy voltage conversion chip AD584 and tile electricity Hold composition, the output of ceramic disc capacitor shunt voltage conversion chip.Relationship between them is:Power reference circuit provides high speed analog-digital conversion Converter benchmark+2.5V voltages, four analog-digital converters realize the number with 16 microcontrollers using address bus and data/address bus According to and command communication.
High-speed digital-analog converting unit is made of 2 high-speed AD converters (TLC5618) and reference voltage conversion chip.2 Piece high-speed AD converter composes in parallel 4 channel analog signal output interfaces, will be respectively used to control analog quantity information output, respectively Input channel software is configurable, respectively matches 1 road analog output per driving plate No. 4 servo motor.TLC5618 chips are with buffering base The Dual-channel digital analog converter of quasi- input, has the characteristics that high-precision, Low Drift Temperature, low noise, meets system control and requires.At a high speed 2 times of voltage on the basis of analog-digital converter output voltage range select MC1403 as reference power supply.Relationship between them It is:Reference power supply provides the benchmark+2.5V voltages that high-speed A/D converter needs, and 2 digital analog converters use SPI serial implementations With the data and command communication of 16 microcontrollers.
Signal condition unit includes that analog sensor signal input is inputted with analog output conditioning, digital sensor signal Conditioning is with the conditioning of, discrete control information, digital quantity switch I/O signal conditions.Signal condition unit is mainly by filter circuit, difference Parallel circuit, photoelectric isolating circuit, four part of operational amplifier circuit composition.Filtered electrical routing resistance, ceramic disc capacitor, tantalum capacitance and inductance group At filter circuit;Photoelectric isolating circuit is made of high speed optocoupler HCPL4504, current-limiting resistance, ceramic disc capacitor;Operational amplifier circuit by Four-way operational amplifier OP747 chips, precision resistance, the voltage follower of ceramic disc capacitor composition and operational amplifier composition, Signal condition unit circuit structure is as shown in Figure 3.Relationship between them is:The filtered electricity of analog sensor input information Lu Hou is input to the operational amplifier circuit being made of voltage follower and operational amplifier, and the signal of analog sensor output is contracted It is put into the input range of high speed analog-to-digital conversion unit requirement and the output area of high-speed digital-analog converting unit.Analog sensor is believed Breath refers mainly to location information, simulation control information, servo motor electric current and information of voltage etc..Analog output information input information After filtered circuit, it is input to the operational amplifier circuit being made of operational amplifier and voltage follower, is adjusted to peripheral hardware needs Control voltage range.After the filtered circuit of digital sensors input information, be input to difference channel realize signal coupling or After photoelectric isolating circuit realizes signal isolation and level conversion, inputs SCM Based intelligent control unit and realize that signal is adopted Collection.Digital sensors information refers mainly to encoder information, position Hall sensor information and temperature information, drive control electricity Road can connect the encoder of two kinds of forms of increment type differential encoder and unipolarity encoder.Discrete control output information is through filtering It is defeated after being input to difference channel realization signal coupling or photoelectric isolating circuit realization signal isolation and level conversion after wave circuit Go out the signal needed to peripheral hardware.After the digital filtered circuits of I/O, it 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 refers mainly to external control I/O input letters Breath, toggle switch information etc..
Data storage cell is by two kinds of memory groups of FLASH (flash memory) and SDRAM (Synchronous Dynamic Random Access Memory) At the position connection relation between them is:It is connect with ARM external memory interfaces by address bus and data/address bus. FLASH uses totally 128 megabits of 1 FLASH chip, using for curing bootstrap and built-in application program.SDRAM is used Totally 128 megabits of 2 SDRAM chips for storing and handling data, and realize built-in application program load after the power is turned on.1 Piece FLASH chip and two panels SDRAM chips are connect by address bus and data/address bus with ARM external memory interfaces.It is based on The intelligent control unit of ARM realizes the read-write with data storage cell data, storage operation by ARM external memory interfaces Structure is as shown in Figure 4.
It is drive system level converting section to drive conditioning unit.It includes that signal input exports 2 parts with signal.Mainly It is made of data driving chip SM74LS245, differential decoding chip AM26LS32, resistance and ceramic disc capacitor.Relationship between it It is:Intelligence resolves a part of signal of control unit output signal after data driving chip increases driving capability, and output is to outer If servo driver drives motor;Another part signal is translated after data driving chip increases driving capability, then by difference Code chip realizes differential signal output, is supplied to servo driver drives motor.Peripheral hardware motor driver is input to motion control The signal of device is mainly made of photoelectric isolated chip, Schottky diode, resistance.Relationship between it is:Driver output Signal is input to photoelectric isolated chip after the current limiting pressure-limiting signal being made of Schottky diode, resistance and ceramic disc capacitor Input side, photoelectric isolated chip outlet side are followed by SCM Based resolving control unit by pull-up current-limiting resistance conditioning and correspond to Input terminal.
Usb bus driving unit is made of S1R72U16 chips and crystal oscillating circuit, traffic rate 12Mbps, for realizing Each SCM intelligent control modules are communicated with the intelligent control unit based on ARM.It is driven by usb bus, the intelligence control based on ARM Unit communication processed can drive up to 64 SCM intelligent control modules, and each SCM configures 4 resolving control units, each driving plate it Between be attached by 6 square usb bus interfaces.
Man-machine interaction unit is made of charactron, indicator light, TFT LCD and button.Charactron uses 4 common anodes Pole charactron, indicator light use common light emitting diode, and TFT LCD uses 5 cun, resolution ratio is 480 (RGB) * 272 liquid Crystalline substance screen.The schematic diagram of man-machine interaction unit is as shown in figure 5, the relationship between it is:Charactron and TFT LCD, which are shown, to be worked as The working status parameter information and human-machine interactive information of preceding multiple-axis servo motion controller;Indicator light indicates servo motion controller Working condition;Peripheral operation can adjust servo motion controller systematic parameter by button.
External network bus communication unit includes CAN bus, RS485 buses, Ethernet, RS232 buses and USB2.0 total Five kinds of network-bus of line.CAN communication unit corresponds to CAN bus 82C200 transceivers, and RS485 buses correspond to the transmitting-receiving of MAX485 buses Device, RS232 buses correspond to MAX3232 bus transceivers, and usb bus corresponds to S1R72U16 bus transceivers.External network bus Communication structure schematic diagram is as shown in fig. 6, leading between intelligent control unit and industrial personal computer based on ARM is responsible in network-bus communication The transmission and receiving of letter data.
Power Management Unit is made of multiple power sources conversion module, mainly by system input voltage be converted to arm processor, Processor of single chip computer, sensor circuit and control the required voltage of imput output circuit, voltage class be broadly divided into+24V ,+ Nine type of 15V, -15V ,+12V, -12V ,+5V ,+3.3V ,+1.9V ,+1.5V, system input voltage are+18V~+48V.
Passive crystal oscillator unit is mainly made of passive crystal oscillator chip and ceramic disc capacitor, and it is required that circuit provides ARM chips Working frequency 12MHz, microcontroller need of work 32MHz and USB needs of work 30MHz hour hands signals.
Debugging emulation unit is mainly made of debugging storage chip, debugging interface, resistance and ceramic disc capacitor, debugging emulation list Member is supplied to intelligent control unit and SCM intelligent control module debugging emulation interfaces based on ARM, realizes the emulation of program under It carries.
It is as follows that connection type is installed:
1. motion controller shell uses aluminum alloy materials, length, width and height are respectively 325mm*210mm*200mm, and length can expand Exhibition.
2. control panel is fixed on controller inner casing with driving plate in the form of slot, it is inserted on controller inner casing, controls parallel Plate is placed in the left side in babinet, is from left to right followed successively by multilayer driving plate, can be extended according to the number of axle, at most extend to 256 Axis.
3. motion controller control power input port meets the positive and negative port of external power supply, voltage range+18V~+72V.
4. controller control panel intelligence I/O signals by man-machine interaction unit button in 12 needle soft arranging wires and controller shell and Charactron is connected;It is connect with the true colour display screen display screen of TFT by 24 needle soft arranging wires;The true colour display screen display screen of TFT, keyboard, charactron and instruction Lamp is placed in controller housing panel the same side.
5. control panel by the ports DB9 1, the ports DB9 2, USB port and ethernet port realize with external communication network outside If being connected.
It is connected with peripheral hardware I/O peripheral hardwares 6. side panel is realized by the ports DB26 1 and the ports DB26 2.
It is connected with external sensor peripheral hardware 7. side panel is realized by the ports DB26 3 and the ports DB26 4.
8. controller housing top panel is realized by 2 wiretaps and is connect with the break-make of external power supply.

Claims (1)

1. a kind of novel high-speed, high precision multiple-axis servo motion controller circuit, it is characterised in that:It includes the intelligence based on ARM It can control unit, SCM intelligent control modules, usb bus communication unit, data storage cell, external network communication unit, power supply Administrative unit, debugging emulation unit, passive crystal oscillator unit and man-machine interaction unit;Wherein, usb bus communication unit and N number of list Piece wisdom energy control module connects, and usb bus communication unit is also connect by usb bus with the intelligent control unit based on ARM, Intelligent control unit based on ARM is imitative with data storage cell, external network communication unit, Power Management Unit, debugging respectively True unit, passive crystal oscillator unit and man-machine interaction unit connection;Each Intelligent Single-Chip Based control module respectively with four SCM Based to calculate and output unit connection, each SCM Based unit that calculates and outputs also connects with signal condition unit It connects, signal condition unit is connected with digital stream network signal and discrete control output, and Intelligent Single-Chip Based control module is also divided It is not connect with passive crystal oscillator unit, Power Management Unit, debugging emulation unit and usb communication unit, Intelligent Single-Chip Based controls mould Block is connect with high-speed digital-analog converting unit, and high-speed digital-analog converting unit is connect with signal condition unit, signal condition unit and mould Analog quantity control output connection, analog sensor information, digital sensors information and number I/O information are exported to signal condition Unit, signal condition unit are exported to high speed D/A conversion unit and Intelligent Single-Chip Based control module, high-speed digital-analog converting unit It exports to Intelligent Single-Chip Based control module;The signal condition unit includes analog sensor information input and filter circuit Connection, filter circuit are connect with voltage follower circuit, and voltage follower circuit is connect with operational amplification circuit;Digital analog converter information Output is connect with filter circuit, and filter circuit is connect with operational amplification circuit, and operational amplification circuit is connect with voltage follower;Number Word quantity sensor information input is connect with filter circuit, and filter circuit is connect with difference channel, difference channel and Phototube Coupling electricity Road connects;The output of digital sensors information is connect with filter circuit, and filter circuit is connect with photoelectric isolating circuit;Digital quantity control Information input processed is connect with filter circuit, and filter circuit is connect with photoelectric isolating circuit;Discrete control information exports and filtering Circuit connects, and filter circuit is connect with difference channel, and difference channel is connect with photoelectric isolating circuit;Digital quantity switching information inputs It is connect with filter circuit, filter circuit is connect with photoelectric isolating circuit, and photoelectric isolating circuit is connect with level shifting circuit;Number Amount switching information output is connect with filter circuit, and filter circuit is connect with level shifting circuit, level shifting circuit and photoelectricity every It is connected from circuit;The data storage cell includes ARM external memory interfaces, and ARM external memory interfaces and data are total Line connection, address bus connects with control line, data/address bus connection, address bus and control line connect respectively with two pieces SST39VF6401SDRAM chips are connected with K91G08U0B FLASH chips;The man-machine interaction unit include ARM buses or I/O data port, ARM buses or I/O data port are connect by bus with TFT LCD, ARM buses or I/O data Port is connect by I/O with light emitting diode, key-press input and charactron;The external network communication unit includes ARM logical Believe controller, ARM communication controlers respectively with CAN transceiver, RS232 transceivers, RS485 transceivers, ethernet transceiver and USB transceiver connects, and CAN transceiver, RS232 transceivers, RS485 transceivers, ethernet transceiver and USB transceiver are also distinguished It is connect with network-bus communication host.
CN201410325634.4A 2014-07-09 2014-07-09 A kind of novel high-speed, high precision multiple-axis servo motion controller circuit Active CN105242640B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410325634.4A CN105242640B (en) 2014-07-09 2014-07-09 A kind of novel high-speed, high precision multiple-axis servo motion controller circuit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410325634.4A CN105242640B (en) 2014-07-09 2014-07-09 A kind of novel high-speed, high precision multiple-axis servo motion controller circuit

Publications (2)

Publication Number Publication Date
CN105242640A CN105242640A (en) 2016-01-13
CN105242640B true CN105242640B (en) 2018-10-26

Family

ID=55040318

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410325634.4A Active CN105242640B (en) 2014-07-09 2014-07-09 A kind of novel high-speed, high precision multiple-axis servo motion controller circuit

Country Status (1)

Country Link
CN (1) CN105242640B (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105843175A (en) * 2016-03-24 2016-08-10 河北科技师范学院 Parallel module structure based on distributed structure and parallel processing method
CN106141461A (en) * 2016-07-21 2016-11-23 成都福誉科技有限公司 Kinetic control system and laser cutting device for industrial lasers cutter sweep
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
CN107127811A (en) * 2017-06-20 2017-09-05 佛山世科智能技术有限公司 Flexible material cutting robot intelligent digital controller and implementation method
CN108762128B (en) * 2018-04-13 2021-09-07 大族激光科技产业集团股份有限公司 Electrical control integrated system and device
CN109445367A (en) * 2018-12-28 2019-03-08 洛阳市杨森工业控制技术有限公司 A kind of universal input output circuit of servomotor controller
CN111506021A (en) * 2020-05-13 2020-08-07 连云港宏翔东方智能技术有限公司 STM 32-based embedded multi-axis motion control system
CN114077225B (en) * 2020-08-11 2023-11-14 北京机械设备研究所 Generalized embedded servo controller
CN112511395A (en) * 2020-11-06 2021-03-16 云浮中科石材创新科技有限公司 Driving and controlling integrated control system
CN113391599B (en) * 2021-06-15 2023-05-09 深圳市朗宇芯科技有限公司 Multi-axis controller
CN113741247A (en) * 2021-08-12 2021-12-03 深圳市鑫信腾科技股份有限公司 Motion controller, motion control method and automation equipment
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
CN116449772B (en) * 2023-06-16 2023-10-03 成都飞机工业(集团)有限责任公司 Multi-axis cooperative motion control method, device, equipment and medium

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08328627A (en) * 1995-06-01 1996-12-13 Sony Corp Servo controller, servo controlling method, robot controller using these and robot controlling method
JP2003044109A (en) * 2001-07-27 2003-02-14 Yaskawa Electric Corp Numerical controller for multiaxial machine tool with work coordinate system setting means
EP1515209A1 (en) * 2003-09-15 2005-03-16 Dürr Systems GmbH Controller for a multi-axis robot
CN101114174A (en) * 2007-08-30 2008-01-30 广东工业大学 Built-in type 4 axis sport controller
CN201261066Y (en) * 2008-09-05 2009-06-24 杭州迈控科技有限公司 Embedded type die casting machine controller
CN203133571U (en) * 2013-05-10 2013-08-14 成都鑫科瑞数控技术有限公司 Dual-core processing control circuit of numerical control system
CN103722556A (en) * 2013-12-16 2014-04-16 北京自动化控制设备研究所 High-precision and light driving control circuit of multiple-degree-of-freedom mechanical arm of robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08328627A (en) * 1995-06-01 1996-12-13 Sony Corp Servo controller, servo controlling method, robot controller using these and robot controlling method
JP2003044109A (en) * 2001-07-27 2003-02-14 Yaskawa Electric Corp Numerical controller for multiaxial machine tool with work coordinate system setting means
EP1515209A1 (en) * 2003-09-15 2005-03-16 Dürr Systems GmbH Controller for a multi-axis robot
CN101114174A (en) * 2007-08-30 2008-01-30 广东工业大学 Built-in type 4 axis sport controller
CN201261066Y (en) * 2008-09-05 2009-06-24 杭州迈控科技有限公司 Embedded type die casting machine controller
CN203133571U (en) * 2013-05-10 2013-08-14 成都鑫科瑞数控技术有限公司 Dual-core processing control circuit of numerical control system
CN103722556A (en) * 2013-12-16 2014-04-16 北京自动化控制设备研究所 High-precision and light driving control circuit of multiple-degree-of-freedom mechanical arm of robot

Also Published As

Publication number Publication date
CN105242640A (en) 2016-01-13

Similar Documents

Publication Publication Date Title
CN105242640B (en) A kind of novel high-speed, high precision multiple-axis servo motion controller circuit
CN103722556B (en) A kind of high accuracy lightweight robotic multi-degree-of-freemechanical mechanical arm Drive and Control Circuit
CN201174041Y (en) Full-digital general AC servo positioning control driver
CN105242587B (en) A kind of dual drive mixed type DC low-voltage Intelligent servo drive circuit
CN105680735B (en) Four axis servomotor motion control cards and method based on arm processor
CN203434899U (en) High-precision servo controller used for multiple motors
CN103490695A (en) Controller applied to multiphase motor speed adjusting system
CN106655973A (en) DSP-based design of SVPWM motor control device
CN205566144U (en) Many motors speed servo drive control structure
CN109968356A (en) Mechanical arm force-feedback control system and method based on Embedded Motion
CN206224181U (en) A kind of multiple-axis servo drive system position feedback data interface card based on FPGA
CN203911823U (en) Ethernet-based electromotor controller and control system
CN103123468A (en) Servo controller for three-shaft antenna test robot
CN105373109B (en) A kind of Delta robots control system
CN204993012U (en) Directly drive formula plane machine controller
CN202929431U (en) Embedded type real time numerical control system
CN206863543U (en) A kind of power station integrated data acquisition plate
CN104972287A (en) Three-degree-of-freedom mechanical arm movement control device
CN102722174B (en) AGV (Automatic Guided Vehicle) control system based on bus control mode
CN104501791A (en) Novel north seeker
CN203658796U (en) Multi-axis movement control system development platform
CN203520105U (en) SoC FPGA-based three-axis numerical control lathe controller
CN112290856A (en) BeagleBone-Black-based motor motion controller
CN202617057U (en) Two-way step motor controller
CN103324144A (en) Four-axis motion control card based on FPGA

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant