CN105467931A - Method and system for motion control - Google Patents
Method and system for motion control Download PDFInfo
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- CN105467931A CN105467931A CN201510987685.8A CN201510987685A CN105467931A CN 105467931 A CN105467931 A CN 105467931A CN 201510987685 A CN201510987685 A CN 201510987685A CN 105467931 A CN105467931 A CN 105467931A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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Abstract
The invention relates to a system for motion control. The system comprises an upper computer, a four-axis motion controller and drives, wherein the upper computer is used to provide an interaction interface for setting of driving parameters; the four-axis motion controller is in a communication connection with the upper computer and used to receive the driving parameters set by the upper computer so as to generate a driving signal; the quantity of the drives is four, and the drives are separately connected to the four-axis motion controller and used to receive the driving signal and drive running of a correspondingly connected motor according to the driving signal; and wherein, the four-axis motion controller is in a communication connection with the upper computer via a USB interface. The invention also relates to a method for the motion control. The system and method for the motion control have the advantages that processing becomes quicker; the four-axis motion controller can be connected to the computer or the four-axis motion controller can be removed and disconnected from the computer conveniently at any time; and data transmission is quick.
Description
Technical field
The present invention relates to technical field of mechanical automation, particularly relate to a kind of motion control method and a kind of kinetic control system.
Background technology
Motion controller is part and parcel in Numeric Control Technology, and it is participated in directly and controls servo-drive system or step-by-step system (generally comprising driver and motor), and motor is run according to the mode of setting.Because be limited to the arithmetic capability of motion controller, there is larger problem in the multiaxis Collaborative Control of motion controller always.Meanwhile, the various operations for motion controller are also very inconvenient.
Summary of the invention
Based on this, be necessary to provide one can realize multiaxis Collaborative Control, and easy to operate kinetic control system.
In addition, a kind of easy to operate motion control method is also provided.
A kind of kinetic control system, comprising:
Host computer, for providing interactive interface, to arrange driving parameter;
4 axis sport controller, communicates to connect with described host computer, for receiving the driving parameter that described host computer is arranged, generates drive singal;
Driver, quantity is four, is connected respectively with described 4 axis sport controller, for receiving described drive singal, and drives the corresponding motor connected to run according to drive singal;
Wherein, described 4 axis sport controller is communicated to connect by USB interface and host computer; Described 4 axis sport controller is also connected with the scrambler of motor, receives the operational factor of motor, and combines drive singal described in driving parameter adjustment.
Wherein in an embodiment, described 4 axis sport controller comprises:
Data-signal converting unit, for the driving received from USB interface parameter being changed, obtains specified type signal;
Data processing unit, is connected with described data-signal converting unit, receives described specified type signal, then processes, obtain motion control instruction;
Motion control chip, communicates to connect with described data processing unit, receives described motion control instruction, and process obtains described drive singal.
Wherein in an embodiment, described data-signal converting unit comprise following one or more:
USB RS 232 signal element, USB turn 485 signal elements and USB turns CAN signal unit.
Wherein in an embodiment, described USB RS 232 signal element comprises chip PL2303HX.
Wherein in an embodiment, described USB turns 485 signal elements and comprises chip MAX485ESA.
Wherein in an embodiment, described USB turns CAN signal unit and comprises chip TJA1040.
Wherein in an embodiment, described data processing unit comprises ARM chip STM32F103VET6, and described motion control chip model is adopt FSMC to communicate between TC6014, ARM chip and motion control chip.
A kind of motion control method, based on above-mentioned kinetic control system, comprises the following steps:
Host computer receives user's input by interactive interface, and is converted to driving parameter through process, sends to 4 axis sport controller;
Described driving Parameter Switch is drive singal by 4 axis sport controller, and sends to driver;
Driver drives the corresponding motor connected to run according to the drive singal received;
Described 4 axis sport controller is also connected with the scrambler of motor, receives the operational factor of motor, and combines drive singal described in driving parameter adjustment.
Wherein in an embodiment, user's input that host computer is received by interactive interface comprises: pulse pattern selections of each driver, basic parameter settings, Aligning control optimum configurations, axle move setting and Continuous interpolation program arrange in one or more.
Wherein in an embodiment, the pulse pattern of described each driver is selected to comprise: for each driver selects one from 8 kinds of pulse patterns;
Described basic parameter arranges and comprises: for each driver spacing significant level is set, spacing stopping mode, servo put signal, servo alerting signal, scrambler input mode and encoder to count mode in place;
Described Aligning control optimum configurations comprises: for each driver selects one from two kinds of automatic Aligning control patterns;
Described axle motion setting comprises: arrange mode of motion, stopping mode, curve movement, selection type of sports, chosen axis parameter for each driver and select the axle of motion;
Described Continuous interpolation program arranges and comprises: first paragraph linear interpolation is arranged, second segment circular interpolation is arranged and the 3rd section of linear interpolation is arranged.
Above-mentioned kinetic control system and method, host computer, owing to possessing powerful data processing and storage capacity, can carry out efficient and complex calculations and present abundant interactive interface.After 4 axis sport controller is connected with host computer by USB interface, can give host computer process by complex calculations, 4 axis sport controller itself is then absorbed in the process part relevant to motion control, thus improves processing speed.Host computer also can provide the human-computer interaction interface of close friend to user simultaneously, facilitates user to carry out the setting of various parameter.And USB interface is a kind of plug and play interface, can easily USB device be carried out being connected or removing connection with computing machine at any time, and also possess data rate faster.
Accompanying drawing explanation
Fig. 1 is the kinetic control system structural drawing of an embodiment;
Fig. 2 is the module map of the 4 axis sport controller in the kinetic control system of Fig. 1;
Fig. 3 is the motion control method process flow diagram of an embodiment;
Fig. 4 a ~ 4e is each optimum configurations surface chart;
Fig. 5 a is the motion schematic diagram of automatic Aligning control pattern 1;
Fig. 5 b is the motion schematic diagram of automatic Aligning control pattern 2.
Embodiment
Be further described below in conjunction with drawings and Examples.
As shown in Figure 1, the kinetic control system of an embodiment comprises host computer 100,4 axis sport controller 200 and driver 300.Host computer 100 is for providing interactive interface and arranging driving parameter.4 axis sport controller 200 and host computer 100 communicate to connect, and for receiving the driving parameter that host computer 100 is arranged, generate drive singal.Driver 300 quantity is four (being respectively X-axis, Y-axis, Z axis, U axle driver), is connected respectively with 4 axis sport controller 200, for receiving described drive singal, and drives the corresponding motor 400 connected to run according to drive singal.
Host computer 100 is the computing machines possessing conventional data process and storage, generally includes for the treatment of the central processing unit of data and the storer for storing data.In order to expand computer function, computing machine all also comprises various expansion interface usually, such as pci interface, USB interface etc.Wherein USB interface is a kind of plug and play interface, can USB device be carried out being connected or removing connection with computing machine at any time easily, and also possess data rate faster.
In the present embodiment, 4 axis sport controller 200 is communicated to connect by USB interface and host computer 100.Host computer 100, according to driver, identifies 4 axis sport controller 200 and carries out data communication with 4 axis sport controller 200.
Host computer 100, owing to possessing powerful data processing and storage capacity, can carry out efficient and complex calculations and present abundant interactive interface.After 4 axis sport controller 200 is connected with host computer 100 by USB interface, complex calculations can be given host computer 100 and process, 4 axis sport controller 200 itself is then absorbed in the process part relevant to motion control, thus improves processing speed.Host computer 100 also can provide the human-computer interaction interface of close friend to user simultaneously, facilitates user to carry out the setting of various parameter.
4 axis sport controller 200 is connected with four drivers 300 simultaneously, can carry out independent control to four drivers 300 simultaneously, and collaborative work.
As shown in Figure 2,4 axis sport controller 200 comprises data-signal converting unit 210, data processing unit 220 and motion control chip 230.Data-signal converting unit 210, for the driving received from USB interface parameter being changed, obtains specified type signal.Data processing unit 220 is connected with data-signal converting unit 210, receives described specified type signal, then processes, obtain motion control instruction.Motion control chip 230 and data processing unit 220 communicate to connect, and receive described motion control instruction, and process obtains described drive singal.4 axis sport controller 200 is also connected with the scrambler of motor 400, receives the operational factor of motor 400, and combines drive singal described in driving parameter adjustment.Higher control accuracy is realized by closed-loop control.
4 axis sport controller 200 is connected with host computer 100 particular by data-signal converting unit 210.Data-signal converting unit 210 receives usb data stream from host computer 100, and changes, and obtains specified type signal.As required, the signal of specified type can be RS232 signal, 485 signals or CAN signal.Correspondingly, data-signal converting unit 210 can be USB RS 232 signal element, USB turn that 485 signal elements and USB turn in CAN signal unit one or more.Like this, 4 axis sport controller 200, when actual disposition, just can use different signals to process, and configuration is more flexible, can adapt to different professionals.
Described USB RS 232 signal element comprises chip PL2303HX.Be appreciated that USB RS 232 signal element can also be other feasible circuit forms.Described USB turns 485 signal elements and comprises chip MAX485ESA.Being appreciated that USB turns 485 signal elements can also be other feasible circuit forms.Described USB turns CAN signal unit and comprises chip TJA1040; Being appreciated that USB turns CAN signal unit can also be other feasible circuit forms.
Be appreciated that the signal that usb data circulation can also be changed to other types as required, be not limited to above-mentioned three kinds of signals.
Usb data flows through the specified type signal obtained after data-signal converting unit 210 processes and is sent to data processing unit 220.In the present embodiment, data processing unit 220 comprises ARM chip STM32F103VET6.
The motion control instruction that specified type signal obtains after data processing unit 220 processes is sent to motion control chip 230.In the present embodiment, the model that motion control chip 230 adopts Shenzhen Weixin Science and Science Co. Ltd. to design is the chip of TC6014.FSMC is adopted to communicate between ARM chip and motion control chip.In one embodiment, by the operating structure body of C language, carry out multiplexing to the register in chip TC6014, make same register can deposit data or the order of different purposes, improve utilization factor and the communication efficiency of register.
The drive singal that motion control instruction obtains after motion control chip 230 processes is sent to driver 300.This drive singal comprises direction, speed and displacement signal.
Based on above-mentioned kinetic control system, provide the motion control method of an embodiment.
As shown in Figure 3, this motion control method comprises the following steps:
Step S100: host computer receives user's input by interactive interface, and is converted to driving parameter through process, sends to 4 axis sport controller.Host computer 100 runs the program being used for drived control 4 axis sport controller, presents interactive interface, and receives user's input.
Step S200: described driving Parameter Switch is drive singal by 4 axis sport controller, and sends to driver.This drive singal is the discernible signal of driver.
Step S300: driver drives the corresponding motor connected to run according to the drive singal received.
With reference to figure 4a ~ 4e, user's input that host computer is received by interactive interface comprises: 1) pulse pattern of each driver is selected; 2) basic parameter is arranged; 3) Aligning control optimum configurations; 4) axle motion is arranged; 5) Continuous interpolation program is arranged.
As shown in fig. 4 a, 1) pulse pattern of each driver is selected.
The pulse pattern of described each driver is selected to comprise: for each driver selects one from 8 kinds of pulse patterns.Particularly, be for X-axis, Y-axis, Z axis and U axle driver select a kind of pulse pattern.In the interface shown in Fig. 4 a, top is each axle selected zone, bottom is legend.The pulse choice region of the X-axis on top, Y-axis, Z axis and U axle driver is respectively equipped with the option that 8 mutual mutual exclusions are selected, and successively called after type 0, Class1 ..., type 7.
User can the legend of reference diagram 4a bottom, for each driver selects a kind of pulse pattern.Particularly, above-mentioned 8 kinds of pulse patterns respectively define type 0: positive dirction pulse
As shown in Figure 4 b, 2) basic parameter is arranged.
Described basic parameter arranges and comprises: for each driver spacing significant level is set, spacing stopping mode, servo put signal, servo alerting signal, scrambler input mode and encoder to count mode in place.Particularly, be for X-axis, Y-axis, Z axis and U axle driver select above-mentioned each parameter respectively.In interface shown in Fig. 4 b, each driver and the infall of parameter are provided with one group of corresponding option.
Spacing significant level: select high level effective according to the actual signal of limit sensors, or Low level effective.
Spacing stopping mode: the mode arranging spacing stopping is the stopping that stopping immediately or slow down.
Servo puts in place signal: if what control is servo-driver, can select according to actual conditions.
Servo alerting signal: if control is servo-driver, low and high level can be set according to the alerting signal of reality effective.
Scrambler input mode: when system band scrambler, the actual conditions according to scrambler select input mode.
Encoder to count mode: if system is with scrambler, can be arranged, otherwise without the need to arranging.
As illustrated in fig. 4 c, 3) Aligning control optimum configurations.
Described Aligning control optimum configurations comprises: for each driver selects one from two kinds of automatic Aligning control patterns.Each driver can control two kinds of Aligning control patterns, is undertaken selecting and controlling by the mode in the interface shown in Fig. 4 c.
Composition graphs 5a, automatic Aligning control pattern 1 comprises following 4 steps:
Step S1: shift to stop0 (deceleration) signaling point at a high speed;
Step S2: low speed search stop1 (initial point) signaling point;
Step S3: low speed search stop2 (scrambler Z phase) signaling point;
Step S4: high speed offset movement.
This pattern uses stop0, stop1, stop2 input signal, respectively as deceleration, initial point and scrambler Z phase signals.These signals act on 4 above-mentioned steps respectively.Stop1 and stop2 signal can not access, and if do not accessed, then step S1 and step S3 will not perform.Step 4 also can not perform.User, according to actual conditions, can select in each option of " pattern 1 " of each driver at the interface shown in Fig. 4 c.
Composition graphs 5b, automatic Aligning control pattern 2 comprises following 3 steps:
Steps A 1: shift to stop0 (deceleration) signaling point at a high speed;
Steps A 2: low speed search stop1 (initial point) signaling point;
Steps A 3: high speed offset movement.
This pattern uses stop0 and stop1 input signal, respectively as deceleration and initial point signal.These signals act in 3 above-mentioned steps respectively.Stop0 signal can not access, and if do not accessed, then steps A 1 will not perform.Steps A 3 also can not perform.User, according to actual conditions, can select in each option of " pattern 2 " of each driver at the interface shown in Fig. 4 c.
As shown in figure 4d, 4) axle motion is arranged.Axle motion arranges the direction, Distance geometry mode etc. of the motion of major control motor shaft.
Described axle motion setting comprises: for each driver arranges mode of motion, stopping mode, curve movement, selection type of sports, arranges axle parameter and select the axle of motion;
Mode of motion is set: relative motion or absolute motion.
Stopping mode being set: slow down and stop or stopping immediately.
Rate curve is arranged: step curve or sigmoid curve.
Spor ts choice: Aligning control, motion continuously, fixed length motion, linear interpolation, circular interpolation.
Single shaft optimum configurations: toggle speed, travelling speed, Acceleration and deceleration time, displacement, moving direction
Axle is selected: before XYZU tetra-axle, select the axle moved.One or more axle can be selected to participate in motion.
As shown in fig 4e, 5) Continuous interpolation program is arranged.
Described Continuous interpolation program arranges and comprises: first paragraph linear interpolation is arranged, second segment circular interpolation is arranged and the 3rd section of linear interpolation is arranged.
Being appreciated that to present and being not limited to the mode shown in Fig. 4 a ~ 4e with the mode of Selection parameter, can also be other suitable modes.
In the arranging of above-mentioned driving parameter, pulse pattern is selected and basic parameter setting is all that the overall situation is arranged, Aligning control optimum configurations is the setting for this action of Aligning control, it is also do local optimum configurations for out-of-alignment motion that axle motion is arranged, and it is for the optimum configurations done that specifically moves that Continuous interpolation program is arranged.
The program that host computer 100 runs, according to the selection of user in aforementioned interactive interface, is the value that the variable set up preset is corresponding.Namely described default variable sends to part or all of the driving parameter of 4 axis sport controller 200 as host computer 100.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this instructions is recorded.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a kinetic control system, is characterized in that, comprising:
Host computer, for providing interactive interface, to arrange driving parameter;
4 axis sport controller, communicates to connect with described host computer, for receiving the driving parameter that described host computer is arranged, generates drive singal;
Driver, quantity is four, is connected respectively with described 4 axis sport controller, for receiving described drive singal, and drives the corresponding motor connected to run according to drive singal;
Wherein, described 4 axis sport controller is communicated to connect by USB interface and host computer; Described 4 axis sport controller is also connected with the scrambler of motor, receives the operational factor of motor, and combines drive singal described in driving parameter adjustment.
2. kinetic control system according to claim 1, is characterized in that, described 4 axis sport controller comprises:
Data-signal converting unit, for the driving received from USB interface parameter being changed, obtains specified type signal;
Data processing unit, is connected with described data-signal converting unit, receives described specified type signal, then processes, obtain motion control instruction;
Motion control chip, communicates to connect with described data processing unit, receives described motion control instruction, and process obtains described drive singal.
3. kinetic control system according to claim 2, is characterized in that, described data-signal converting unit comprise following one or more:
USB RS 232 signal element, USB turn 485 signal elements and USB turns CAN signal unit.
4. kinetic control system according to claim 3, is characterized in that, described USB RS 232 signal element comprises chip PL2303HX.
5. kinetic control system according to claim 3, is characterized in that, described USB turns 485 signal elements and comprises chip MAX485ESA.
6. kinetic control system according to claim 3, is characterized in that, described USB turns CAN signal unit and comprises chip TJA1040.
7. kinetic control system according to claim 2, is characterized in that, described data processing unit comprises ARM chip STM32F103VET6, and described motion control chip model is adopt FSMC to communicate between TC6014, ARM chip and motion control chip.
8. a motion control method, based on kinetic control system according to claim 1, comprises the following steps:
Host computer receives user's input by interactive interface, and is converted to driving parameter through process, sends to 4 axis sport controller;
Described driving Parameter Switch is drive singal by 4 axis sport controller, and sends to driver;
Driver drives the corresponding motor connected to run according to the drive singal received;
Described 4 axis sport controller is also connected with the scrambler of motor, receives the operational factor of motor, and combines drive singal described in driving parameter adjustment.
9. motion control method according to claim 8, it is characterized in that, user's input that host computer is received by interactive interface comprises: pulse pattern selections of each driver, basic parameter settings, Aligning control optimum configurations, axle move setting and Continuous interpolation program arrange in one or more.
10. motion control method according to claim 9, is characterized in that,
The pulse pattern of described each driver is selected to comprise: for each driver selects one from 8 kinds of pulse patterns;
Described basic parameter arranges and comprises: for each driver spacing significant level is set, spacing stopping mode, servo put signal, servo alerting signal, scrambler input mode and encoder to count mode in place;
Described Aligning control optimum configurations comprises: for each driver selects one from two kinds of automatic Aligning control patterns;
Described axle motion setting comprises: arrange mode of motion, stopping mode, curve movement, selection type of sports, chosen axis parameter for each driver and select the axle of motion;
Described Continuous interpolation program arranges and comprises: first paragraph linear interpolation is arranged, second segment circular interpolation is arranged and the 3rd section of linear interpolation is arranged.
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| CN201510987685.8A CN105467931A (en) | 2015-12-23 | 2015-12-23 | Method and system for motion control |
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| CN201510987685.8A CN105467931A (en) | 2015-12-23 | 2015-12-23 | Method and system for motion control |
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| CN105892407A (en) * | 2016-06-12 | 2016-08-24 | 佛山市中菱智控科技有限公司 | Sheet metal clearance eliminating control system for metal plate hot laminated film production line |
| CN109322065A (en) * | 2018-11-23 | 2019-02-12 | 无锡信捷电气股份有限公司 | Full-automatic sewing machine platform follow-up control device |
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