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

Abstract

The invention belongs to a servo motion controller circuit, in particular to a novel high-speed, high-precision multi-axis servo motion controller circuit. It includes ARM-based intelligent control unit, SCM intelligent control module, USB bus communication unit, data storage unit, external network communication unit, power management unit, debugging simulation unit, passive crystal oscillator unit and human-computer interaction unit; among them, the USB bus The communication unit is connected with N single-chip intelligent control modules, and the USB bus communication unit is also connected with the ARM-based intelligent control unit through the USB bus. The ARM-based intelligent control unit is respectively connected with the data storage unit, external network communication unit, power management unit, debugging The simulation unit, the passive crystal oscillator unit and the human-computer interaction unit are connected. Its advantages are: low cost, low power consumption, small size, strong scalability, good real-time performance, fast response; simple system wiring, high reliability, long life, and strong anti-electromagnetic interference ability.

Description

A new high-speed and high-precision multi-axis servo motion controller circuit

technical field

The invention belongs to a servo motion controller circuit, in particular to a novel high-speed, high-precision multi-axis servo motion controller circuit.

Background technique

CNC machine tools are the core and foundation of modern manufacturing systems. The motion control system of modern CNC machine tools requires high-speed calculation, fast interpolation, ultra-high-speed communication, ultra-high-speed spindle operation, and high-precision positioning. In order to realize the processing of components with complex shapes, the CNC machine tool must require the motion control system to be able to control interpolation motion, such as linear interpolation, circular interpolation, bit interpolation and continuous interpolation.

my country is a manufacturing power, not an industrial power. In the field of motion control, there is still a big gap with developed countries. The weak independent innovation ability greatly affects the improvement of the technological level of my country's manufacturing industry. Due to the lack of core technologies with independent intellectual property rights, most of the motion control systems are occupied by foreign countries. The core motion control technology of the control system is more monopolized by foreign countries. At present, the numerical control system with the main share in the domestic numerical control market is mostly implemented with SCM (single chip microcomputer), single chip DSP (digital signal processor) as the control core or industrial computer, and the numerical control system with single chip microcomputer and single chip DSP as the control core exists in the system There are disadvantages such as low scalability, slow response, low degree of automation, and low control precision, while the CNC system with industrial computer as the control core has disadvantages such as large size, poor flexibility, poor scalability, and high hardware development costs. Therefore, it is of great significance to study the motion control system of the new generation of numerical control equipment in depth. With the characteristics of strong versatility, a new type of high-speed and high-precision multi-axis servo motion controller circuit is proposed. The system uses a variety of advanced signal microprocessors to work together, and adopts the architecture idea of centralized control and layered processing. It integrates digital intelligence. Control, high-speed data acquisition and signal processing, intelligent diagnosis, and communication functions are integrated, and can provide pulse output control, constant speed control, speed control and position control functions for servo motors of each axis. At the same time, any three-axis linear interpolation can also be realized. , two-axis circular interpolation, three-axis bit mode interpolation, etc., to realize the position, speed and acceleration control of the servo motor. The hardware structure makes full use of ARM (Advanced Reduced Instruction Set Machine) to support embedded system features, powerful data processing capabilities and multi-processor high-speed collaborative data processing capabilities. The system can control up to 256 axis servo motors, and the control accuracy of each axis Up to 0.012mm, each axis 50us servo update rate.

Contents of the invention

The purpose of the present invention is to provide a new type of high-speed high-precision multi-axis servo motion controller circuit. Automatic adjustment and other functions are integrated, real-time and precise control of multi-axis servo motors, the servo motion controller can drive and control DC servo motors, DC brushless motors, stepper motors and AC servo motors.

The present invention is achieved in this way, a novel high-speed and high-precision multi-axis servo motion controller circuit, which includes an ARM-based intelligent control unit, an SCM intelligent control module, a USB bus communication unit, a data storage unit, an external network communication unit, Power management unit, debugging simulation unit, passive crystal oscillator unit and human-computer interaction unit; among them, the USB bus communication unit is connected with N single-chip intelligent control modules, and the USB bus communication unit is also connected with the ARM-based intelligent control unit through the USB bus, The ARM-based intelligent control unit is respectively connected with the data storage unit, the external network communication unit, the power management unit, the debugging simulation unit, the passive crystal oscillator unit and the human-computer interaction unit.

Each of the single-chip intelligent control modules is respectively connected with four single-chip computer-based solution output units, and each single-chip computer-based solution output unit is also connected with the signal conditioning unit, and the signal conditioning unit is connected with the digital servo control signal and digital quantity control. Output connection, the single-chip intelligent control module is also connected with the passive crystal oscillator unit, power management unit, debugging simulation unit and USB communication unit, the single-chip intelligent control module is connected with the high-speed digital-to-analog conversion unit, and the high-speed digital-to-analog conversion unit is connected with the signal conditioning unit , the signal conditioning unit is connected to the analog control output, the analog sensor information, digital sensor information and digital I/O information are output to the signal conditioning unit, the signal conditioning unit is output to the high-speed digital-to-analog conversion unit and the single-chip intelligent control module, the high-speed digital The analog conversion unit outputs to the intelligent control module of the single chip microcomputer.

The signal conditioning unit includes that the analog sensor information input is connected with a filter circuit, the filter circuit is connected with a voltage follower circuit, the voltage follower circuit is connected with an operational amplifier circuit; the digital-to-analog converter information output is connected with a filter circuit, and the filter circuit is connected with an operational amplifier circuit. The circuit is connected, the operational amplifier circuit is connected with the voltage follower; the information input of the digital quantity sensor is connected with the filter circuit, the filter circuit is connected with the differential circuit, and the differential circuit is connected with the photoelectric isolation circuit; the information output of the digital quantity sensor is connected with the filter circuit, and the filter circuit is connected with the filter circuit Photoelectric isolation circuit connection; digital quantity control information input is connected with filter circuit, filter circuit is connected with photoelectric isolation circuit; digital quantity control information output is connected with filter circuit, filter circuit is connected with differential circuit, differential circuit is connected with photoelectric isolation circuit; digital quantity The switch information input is connected to the filter circuit, the filter circuit is connected to the photoelectric isolation circuit, the photoelectric isolation circuit is connected to the level conversion circuit; the digital switch information output is connected to the filter circuit, the filter circuit is connected to the level conversion circuit, and the level conversion circuit is connected to the level conversion circuit. Optical isolation circuit connection.

Described data storage unit comprises ARM external memory interface, and ARM external memory interface is connected with data bus, address bus and control line, and data bus connection, address bus and control line are connected with two SST39VF6401SDRAM chips and K91G08U0B FLASH chip respectively .

Described human-computer interaction unit comprises ARM bus or I/O data port, and ARM bus or I/O data port is connected with TFT liquid crystal display through bus line, and ARM bus or I/O data port connects LED, button through I/O The input is connected to the digital tube.

Described external network communication unit comprises ARM communication controller, and ARM communication controller is connected with CAN transceiver, RS232 transceiver, RS485 transceiver, Ethernet transceiver and USB transceiver respectively, CAN transceiver, RS232 transceiver, RS485 The transceiver, the Ethernet transceiver and the USB transceiver are also respectively connected to the network bus communication host.

The advantages of the present invention are: 1. adopt advanced processor and multi-axis servo motion controller circuit, adopt modular structure and centralized control layered processing system structure to realize precise control of multi-axis servo motor; 2. low cost, low power consumption Low cost, small size, strong scalability, good real-time performance, and fast response; 3. Simple system wiring, high reliability, long life, and strong anti-electromagnetic interference; 4. Flexible control and communication methods, rich interfaces; 5. Strong software upgrade capabilities.

Description of drawings

A kind of novel high-speed high-precision multi-axis servo motion controller circuit schematic diagram provided by the present invention of Fig. 1;

Figure 2 is a structural diagram of the SCM intelligent control module;

Fig. 3 is a structural diagram of the signal conditioning unit;

Fig. 4 is a structural diagram of a data storage unit;

Fig. 5 is a schematic diagram of the structure of the human-computer interaction unit;

Fig. 6 is a structural diagram of the external network communication unit.

Detailed ways

The present invention is described in detail below in conjunction with accompanying drawing and specific embodiment:

A new type of high-speed and high-precision multi-axis servo motion controller circuit, in which the servo motion controller has 64 points of general I/O, 32 points of digital optical isolation output, 32 points of digital optical isolation input, 32 analog inputs, 4 External communication interface and a control network bus interface.

As shown in Figure 1, the hardware circuit includes ARM-based intelligent control unit, SCM intelligent control module, USB bus communication unit, data storage unit, external network communication unit, power management unit, debugging simulation unit, passive crystal oscillator unit and man-machine Interaction unit; wherein, the SCM intelligent control module includes an intelligent control unit based on a single-chip microcomputer, a high-speed analog-to-digital conversion unit, a high-speed digital-to-analog conversion unit, an intelligent control solution output unit, a signal conditioning unit, a drive conditioning unit, an analog sensor information unit, Digital sensor information unit, digital servo control signal unit and digital output information unit.

Among them, the USB bus communication unit is connected with N single-chip intelligent control modules, and the USB bus communication unit is also connected with the ARM-based intelligent control unit through the USB bus. The ARM-based intelligent control unit is connected with the data storage unit, external network communication unit, power supply Management unit, debugging simulation unit, passive crystal oscillator unit and human-computer interaction unit are connected.

As shown in Figure 2, each single-chip intelligent control module is connected to four single-chip-based calculation output units, each single-chip-based calculation output unit is also connected to a signal conditioning unit, and the signal conditioning unit is connected to the digital servo control signal and The digital control output connection, the single-chip intelligent control module is also connected with the passive crystal oscillator unit, the power management unit, the debugging simulation unit and the USB communication unit, the single-chip intelligent control module is connected with the high-speed digital-to-analog conversion unit, and the high-speed digital-to-analog conversion unit is connected to the signal The conditioning unit is connected, the signal conditioning unit is connected to the analog control output, the analog sensor information, digital sensor information and digital I/O information are output to the signal conditioning unit, and the signal conditioning unit is output to the high-speed digital-to-analog conversion unit and the single-chip intelligent control module , the high-speed digital-to-analog conversion unit outputs to the single-chip intelligent control module.

As shown in Figure 3, the signal conditioning unit includes analog sensor information input connected to the filter circuit, the filter circuit connected to the voltage follower circuit, the voltage follower circuit connected to the operational amplifier circuit; the digital-to-analog converter information output connected to the filter circuit, the filter circuit It is connected with the operational amplifier circuit, and the operational amplifier circuit is connected with the voltage follower; the digital sensor information input is connected with the filter circuit, the filter circuit is connected with the differential circuit, and the differential circuit is connected with the photoelectric isolation circuit; the digital sensor information output is connected with the filter circuit, The filter circuit is connected to the photoelectric isolation circuit; the digital quantity control information input is connected to the filter circuit, and the filter circuit is connected to the photoelectric isolation circuit; the digital quantity control information output is connected to the filter circuit, the filter circuit is connected to the differential circuit, and the differential circuit is connected to the photoelectric isolation circuit ; The digital switch information input is connected to the filter circuit, the filter circuit is connected to the photoelectric isolation circuit, the photoelectric isolation circuit is connected to the level conversion circuit; the digital switch information output is connected to the filter circuit, the filter circuit is connected to the level conversion circuit, and the level The conversion circuit is connected with the photoelectric isolation circuit.

As shown in Figure 4, the data storage unit includes an ARM external memory interface. The ARM external memory interface is connected to the data bus, address bus and control lines. The data bus connection, address bus and control lines are connected to two SST39VF6401SDRAM chips and K91G08U0BFLASH chip connection.

As shown in Figure 5, the human-computer interaction unit includes an ARM bus or I/O data port, the ARM bus or I/O data port is connected to the TFT liquid crystal display through the bus, and the ARM bus or I/O data port is connected to the light emitting diode through the I/O Diode, key input and digital tube connection.

As shown in Figure 6, the external network communication unit includes an ARM communication controller, and the ARM communication controller is connected with CAN transceiver, RS232 transceiver, RS485 transceiver, Ethernet transceiver and USB transceiver respectively, CAN transceiver, RS232 transceiver The transceiver, the RS485 transceiver, the Ethernet transceiver and the USB transceiver are respectively connected with the network bus communication host.

The entire hardware circuit is composed of a control board and a driver board; the control board includes an ARM-based intelligent control unit, power management unit, data storage unit, network communication unit, debugging simulation unit, USB bus communication unit, passive crystal oscillator unit and human-computer interaction unit; the driver board includes an SCM intelligent control module (single-chip microcomputer intelligent control module) and a USB bus communication unit, and the block diagram of the hardware structure is shown in Figure 2; the logical relationship between them is: the SCM intelligent control module in the driver board collects digital After receiving the quantity and analog information, the USB bus is used to communicate with the ARM-based intelligent control unit. The ARM-based intelligent control unit stores the transmitted data in the data storage unit. When the intelligent control algorithm and intelligent diagnosis are called, the The data is called out from the data storage unit, combined with the control instructions sent by the external network communication unit to perform various complex logic operations and processing, and the intelligent reasoning results are transmitted back to the drive board SCM intelligent control module and the external network communication unit. In the system work, the passive crystal oscillator unit provides the working clock frequency for the ARM-based intelligent control unit; the power management unit provides the voltage signal for the ARM-based intelligent control unit; the debugging simulation unit provides the debugging simulation interface for the ARM-based intelligent control unit, Realize the simulation and download of the program; the external network communication unit provides a network communication interface, realizes the communication between the multi-axis servo motion controller and the external communication network, provides system status information and transmits control parameters; the human-computer interaction unit uses the keyboard and touch screen to realize the system Input of control parameters and selection of control functions. The logical relationship of each unit in the SCM intelligent control module in the driver board is: the digital sensor signal unit and digital I/O (input and output) information directly enters the intelligent control unit based on the single-chip microcomputer through the digital signal conditioning unit; the analog sensor signal unit After entering the analog signal conditioning unit, it enters the high-speed analog-to-digital conversion unit, and then transmits the converted digital quantity to the intelligent control unit based on the single-chip microcomputer. After the intelligent control unit based on the single-chip computer collects data, it transmits the data to the intelligent control unit based on ARM in the form of USB bus. Each intelligent control unit based on the single-chip microcomputer transmits the control command to four parallel control solving units to realize the output of the drive signal and control the operation of the servo motor. At the same time, it can output the signal to the digital-to-analog conversion unit to realize the output of the analog control signal. The hardware system provides the hardware basis for the control strategy of complex algorithms, fast response and strong scalability.

The ARM-based intelligent control unit is the core of the motion controller circuit. The ARM processor uses Samsung's high-performance S3C6410 chip. S3C6410 is a 16/32-bit RISC microprocessor with a 32/64-bit internal bus architecture and a working frequency up to 667MHz. , with 188 GPIO ports, has the advantages of small size, low power consumption, strong function, high stability, strong anti-interference, and fast operation speed. It supports Windows and Linux operating systems. It is a highly integrated processing of floating point operations. Device, with I2C, UART, Ethernet, USB and other interfaces. It is responsible for controlling the entire servo control system process and has high-speed signal processing capabilities. The ARM-based intelligent control unit is composed of an ARM chip, a power conversion circuit, a passive crystal oscillator circuit, and a simulation debugging circuit. The relationship between them is: the power conversion circuit provides the standard 3.3V and 1.3V voltage required by the ARM chip, the passive crystal oscillator circuit provides the operating frequency 12MHz required by the ARM chip, and the simulation debugging circuit provides ARM program software download and simulation interface. The power conversion circuit is composed of a power conversion chip, high-precision resistors, ceramic capacitors and inductors. The ARM chip communicates with the data storage unit through the data bus and the address bus, and communicates with the intelligent control unit based on the single-chip microcomputer through the USB bus. The ARM-based intelligent control unit is responsible for the entire system control, data processing and intelligent diagnosis, and can communicate with the external bus network through the network bus communication unit.

The SCM intelligent control module uses PIC24FJ64GA002 16-bit microcontroller as the main processor. The microcontroller is small in size and has only 28 pins, including 64K flash memory, 8K static memory, and 5-way PWM (comparison/capture/pulse width modulator) output. , 5 16-bit timers, with I2C, UART, USB and other interfaces, 16 reusable pins, flexible control, fully meet the needs of system control. The SCM intelligent control module is composed of an intelligent control unit based on a single-chip microcomputer, a power management unit, a passive crystal oscillator unit, a simulation debugging unit, and a network communication unit. Its hardware structure is shown in Figure 2; The control unit collects the data processed by the signal conditioning unit and converted by the analog-to-digital converter, as well as the digital data processed by the signal conditioning unit. The single-chip intelligent control unit calls the collected data and uses advanced control algorithms to complete the calculation of electrical and mechanical state parameters. , and transmit the feature quantity to the ARM-based intelligent control unit through the USB network communication unit, and at the same time, accept the control instruction of the ARM-based intelligent control unit and transmit the intelligent control output signal. The power management unit consists of a power conversion chip, high-precision resistors, ceramic capacitors and inductors. The intelligent control unit based on the single-chip microcomputer is responsible for the data acquisition and data processing of the whole system, extracts the signal characteristic quantity, and accepts the control instructions output by the intelligent control unit based on the ARM. Each SCM intelligent control module is equipped with 4 control solving units.

The control solution unit adopts 8-bit single-chip microcomputer PIC16F882 as the main control chip, and PIC16F882 is a microprocessor with Harvard structure and simplified instruction set. Because its data bus and instruction bus are separated, there are only 35 single-word instructions and a clock speed of 30M, so its operation speed and anti-interference performance are excellent. It has a 2K-word-long FLASH program space and 24 individually controllable I/O O port, 3 timers/counters, 8 10-bit A/D ports, 2 PWMs and 8 interrupt sources. The single-chip intelligent calculation control unit is connected with the single-chip-based intelligent control unit through the data bus and the address bus. It is the instruction for solving the intelligent logic reasoning performed by the ARM-based intelligent control unit. It outputs the output result of controlling the operation of the servo motor. Its output It consists of digital servo control information output and digital quantity control I/O signal output. Digital servo control information output is composed of PWM signal output interface, photoelectric isolation circuit and signal drive circuit. The digital quantity control I/O information output consists of a photoelectric isolation circuit and a data drive circuit. The relationship between them is: the single-chip processor outputs digital servo control information, the digital signal is isolated by the photoelectric isolation circuit, and the voltage conversion circuit performs voltage conversion to match the level of the peripheral driver, avoiding the interference generated when the motor is driven impact on the control system. Digital control I/O information output directly outputs I/O signals to external equipment, mainly including brake signals, alarm signals, digital display signals, etc.

The high-speed analog-to-digital conversion unit is composed of four high-speed analog-to-digital converters (AD7606) and a reference voltage conversion chip. Four high-speed analog-to-digital converters are connected in parallel to form a 32-channel analog signal input interface, which will be used for analog information collection respectively, and the software of each input channel can be configured. The AD7606 chip is a high-precision 8-channel 16-bit high-speed analog-to-digital converter. The conversion frequency of each analog channel is 200kSPS, which meets the system control requirements. The power reference circuit is composed of a high-precision voltage conversion chip AD584 and a ceramic capacitor, and the ceramic capacitor is connected in parallel to the voltage conversion chip for output. The relationship between them is: the power supply reference circuit provides the reference +2.5V voltage of the high-speed analog-to-digital converter, and the four-chip analog-to-digital converter uses the address bus and data bus to realize data and command communication with the 16-bit microcontroller.

The high-speed digital-to-analog conversion unit consists of two high-speed analog-to-digital converters (TLC5618) and a reference voltage conversion chip. 2 pieces of high-speed analog-to-digital converters are connected in parallel to form a 4-channel analog signal output interface, which will be used to control the output of analog information. The software of each input channel can be configured. Each drive board has 4 servo motors with 1 analog output. The TLC5618 chip has a dual-channel digital-to-analog converter with buffered reference input, which has the characteristics of high precision, low temperature drift, and low noise, and meets the system control requirements. The output voltage range of the high-speed analog-to-digital converter is twice the reference voltage, and MC1403 is selected as the reference power supply. The relationship between them is: the reference power supply provides the reference +2.5V voltage required by the high-speed digital-to-analog converter, and the two digital-to-analog converters use SPI serial to realize data and command communication with the 16-bit microcontroller.

The signal conditioning unit includes analog sensor signal input and analog output conditioning, digital sensor signal input conditioning, digital control information conditioning, and digital switch I/O signal conditioning. The signal conditioning unit is mainly composed of filter circuit, differential circuit, photoelectric isolation circuit and operational amplifier circuit. The filter circuit is composed of resistors, ceramic capacitors, tantalum capacitors and inductors; the photoelectric isolation circuit is composed of high-speed optical coupling HCPL4504, current limiting resistors, and ceramic capacitors; the operational amplifier is routed by four-channel operational amplifier OP747 chips, precision resistors, A voltage follower composed of ceramic capacitors and an operational amplifier are composed. The circuit structure of the signal conditioning unit is shown in Figure 3. The relationship between them is: after the input information of the analog sensor passes through the filter circuit, it is input to the operational amplifier circuit composed of a voltage follower and an operational amplifier, and the signal output by the analog sensor is scaled to the input range required by the high-speed analog-to-digital conversion unit And the output range of the high-speed digital-to-analog conversion unit. Analog sensor information mainly refers to position information, analog control information, servo motor current and voltage information, etc. After the input information of the analog output information passes through the filter circuit, it is input to the operational amplifier circuit composed of the operational amplifier and the voltage follower, and adjusted to the control voltage range required by the peripherals. After the digital sensor input information passes through the filter circuit, it is input to the differential circuit to realize signal coupling or the photoelectric isolation circuit to realize signal isolation and level conversion, and then input to the intelligent control unit based on the single-chip microcomputer to realize signal acquisition. Digital sensor information mainly refers to encoder information, position Hall sensor information and temperature information. The drive control circuit can be connected to two types of encoders: incremental differential encoder and unipolar encoder. After the digital control output information passes through the filter circuit, it is input to the differential circuit to realize signal coupling or the photoelectric isolation circuit realizes signal isolation and level conversion, and then outputs the signal required by the peripheral. After the digital I/O passes through the filter circuit, it is input to the photoelectric isolation circuit to realize signal isolation and level conversion, and then input to the intelligent control unit based on the single-chip microcomputer. Digital switch information mainly refers to external control I/O input information, DIP switch information, etc.

The data storage unit is composed of FLASH (flash memory) and SDRAM (synchronous dynamic random access memory), and the position connection relationship between them is: it is connected with the ARM external memory interface through the address bus and the data bus. FLASH uses a FLASH chip with a total of 128 megabits, which is used to solidify the bootloader and embedded applications. SDRAM uses 2 SDRAM chips with a total of 128 megabits, which are used to store and process data, and to load embedded applications after power-on. One FLASH chip and two SDRAM chips are connected with ARM external memory interface through address bus and data bus. The ARM-based intelligent control unit realizes the reading and writing of data with the data storage unit through the ARM external memory interface, and its storage operation structure is shown in Figure 4.

The drive conditioning unit is the level conversion part of the drive system. It includes signal input and signal output 2 parts. It is mainly composed of data driver chip SM74LS245, differential decoding chip AM26LS32, resistors and ceramic capacitors. The relationship between them is: part of the signal output by the intelligent calculation control unit passes through the data driver chip to increase the driving capability, and then outputs to the peripheral servo driver to drive the motor; The code chip realizes differential signal output, which is provided to the servo driver to drive the motor. The signal input from the peripheral motor driver to the motion controller is mainly composed of a photoelectric isolation chip, a Schottky diode, and a resistor. The relationship between them is: the signal output by the driver passes through the current-limiting and voltage-limiting signal composed of Schottky diodes, resistors and ceramic capacitors, and then is input to the input side of the photoelectric isolation chip, and the output side of the photoelectric isolation chip is pulled up to limit the current. After the resistance conditioning, the input end corresponding to the solution control unit based on the single-chip microcomputer is connected.

The USB bus drive unit is composed of S1R72U16 chip and crystal oscillator circuit, and the communication rate is 12Mbps, which is used to realize the communication between each SCM intelligent control module and the ARM-based intelligent control unit. Driven by the USB bus, the ARM-based intelligent control unit communication can drive up to 64 SCM intelligent control modules, each SCM is equipped with 4 solving control units, and each driver board is connected through a 6-bit square USB bus interface.

The human-computer interaction unit consists of digital tubes, indicator lights, TFT liquid crystal displays and buttons. The digital tube adopts 4 common anode digital tubes, the indicator light adopts ordinary light-emitting diodes, and the TFT liquid crystal display adopts a 5-inch LCD screen with a resolution of 480 (RGB)*272. The schematic diagram of the human-computer interaction unit is shown in Figure 5, and the relationship between them is: the digital tube and the TFT liquid crystal display display the working status parameter information and human-computer interaction information of the current multi-axis servo motion controller; the indicator light indicates the servo motion control The working state of the controller; the external operation can adjust the parameters of the servo motion controller system through the buttons.

The external network bus communication unit includes five network buses: CAN bus, RS485 bus, Ethernet, RS232 bus and USB2.0 bus. The CAN communication unit corresponds to the CAN bus 82C200 transceiver, the RS485 bus corresponds to the MAX485 bus transceiver, the RS232 bus corresponds to the MAX3232 bus transceiver, and the USB bus corresponds to the S1R72U16 bus transceiver. The schematic diagram of the external network bus communication structure is shown in Figure 6. The network bus communication is responsible for the sending and receiving of communication data between the ARM-based intelligent control unit and the industrial computer.

The power management unit is composed of a variety of power conversion modules, which mainly convert the system input voltage to the voltage required by the ARM processor, single-chip processor, sensor circuit and control input and output circuits. The voltage levels are mainly divided into +24V, +15V, - 15V, +12V, -12V, +5V, +3.3V, +1.9V, +1.5V nine types, the system input voltage is +18V～+48V.

The passive crystal oscillator unit is mainly composed of a passive crystal oscillator chip and a ceramic capacitor. The circuit provides the operating frequency 12MHz required by the ARM chip, 32MHz required by the MCU, and 30MHz clock signal required by the USB operation.

The debug simulation unit is mainly composed of a debug memory chip, a debug interface, resistors and ceramic capacitors. The debug simulation unit provides a debug simulation interface for the ARM-based intelligent control unit and the SCM intelligent control module to realize program simulation and download.

The installation and connection method is as follows:

1. The motion controller shell is made of aluminum alloy, the length, width and height are 325mm*210mm*200mm respectively, and the length can be extended.

2. The control board and the drive board are fixed on the inner shell of the controller in the form of slots, and are inserted in parallel on the inner shell of the controller. For expansion, it can be expanded up to 256 axes.

3. The input port of the control power supply of the motion controller is connected to the positive and negative ports of the external power supply, and the voltage range is +18V～+72V.

4. The intelligent I/O signal of the controller control board is connected to the human-computer interaction unit button and digital tube on the controller shell through a 12-pin flexible cable; it is connected to the TFT true-color display screen through a 24-pin flexible cable; TFT true-color display The screen, keyboard, digital tube and indicator light are placed on the same side of the controller shell panel.

5. The control board is connected to external communication network peripherals through DB9 port 1, DB9 port 2, USB port and Ethernet port.

6. The side panel is connected to peripheral I/O peripherals through DB26 port 1 and DB26 port 2.

7. The side panel is connected to external sensor peripherals through DB26 port 3 and DB26 port 4.

8. The upper panel of the controller shell realizes the on-off connection with the external power supply through a 2-wire switch.

Claims (1)

1. A novel high-speed and high-precision multi-axis servo motion controller circuit is characterized in that: it includes an intelligent control unit based on ARM, an SCM intelligent control module, a USB bus communication unit, a data storage unit, an external network communication unit, and a power supply Management unit, debugging simulation unit, passive crystal oscillator unit and human-computer interaction unit; among them, the USB bus communication unit is connected with N single-chip intelligent control modules, and the USB bus communication unit is also connected with the ARM-based intelligent control unit through the USB bus, based on The intelligent control unit of ARM is respectively connected with the data storage unit, the external network communication unit, the power management unit, the debugging simulation unit, the passive crystal oscillator unit and the human-computer interaction unit; Each single-chip computer-based solution output unit is also connected to the signal conditioning unit, and the signal conditioning unit is connected to the digital servo control signal and digital quantity control output. The single-chip intelligent control module is also connected to the passive crystal oscillator unit, The power management unit, the debugging simulation unit are connected to the USB communication unit, the single-chip intelligent control module is connected to the high-speed digital-to-analog conversion unit, the high-speed digital-to-analog conversion unit is connected to the signal conditioning unit, the signal conditioning unit is connected to the analog control output, and the analog sensor information , digital sensor information and digital I/O information are output to the signal conditioning unit, the signal conditioning unit is output to the high-speed digital-to-analog conversion unit and the single-chip intelligent control module, and the high-speed digital-to-analog conversion unit is output to the single-chip intelligent control module; the signal conditioning The unit includes analog sensor information input connected to the filter circuit, the filter circuit connected to the voltage follower circuit, the voltage follower circuit connected to the operational amplifier circuit; the digital-to-analog converter information output connected to the filter circuit, the filter circuit connected to the operational amplifier circuit, and the operational amplifier circuit The circuit is connected to the voltage follower; the digital sensor information input is connected to the filter circuit, the filter circuit is connected to the differential circuit, and the differential circuit is connected to the photoelectric isolation circuit; the digital sensor information output is connected to the filter circuit, and the filter circuit is connected to the photoelectric isolation circuit; Digital quantity control information input is connected with filter circuit, filter circuit is connected with photoelectric isolation circuit; digital quantity control information output is connected with filter circuit, filter circuit is connected with differential circuit, differential circuit is connected with photoelectric isolation circuit; digital quantity switch information input and filter Circuit connection, the filter circuit is connected with the photoelectric isolation circuit, the photoelectric isolation circuit is connected with the level conversion circuit; the digital switch information output is connected with the filter circuit, the filter circuit is connected with the level conversion circuit, and the level conversion circuit is connected with the photoelectric isolation circuit; Described data storage unit comprises ARM external memory interface, and ARM external memory interface is connected with data bus, address bus and control line, and data bus connection, address bus and control line are connected with two SST39VF6401SDRAM chips and K91G08U0B FLASH chip respectively ; Described human-computer interaction unit comprises ARM bus or I/O data port, ARM bus or I/O data port Connect with TFT liquid crystal display by bus line, ARM bus line or I/O data port are connected with light-emitting diode, button input and nixie tube by I/O; Described external network communication unit comprises ARM communication controller, and ARM communication controller is connected with respectively CAN transceiver, RS232 transceiver, RS485 transceiver, Ethernet transceiver and USB transceiver are connected, and CAN transceiver, RS232 transceiver, RS485 transceiver, Ethernet transceiver and USB transceiver are also connected to the network bus communication host respectively .