CN105573184A - Micro-computer accurate positioning control system - Google Patents
Micro-computer accurate positioning control system Download PDFInfo
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- CN105573184A CN105573184A CN201410550786.4A CN201410550786A CN105573184A CN 105573184 A CN105573184 A CN 105573184A CN 201410550786 A CN201410550786 A CN 201410550786A CN 105573184 A CN105573184 A CN 105573184A
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Abstract
The invention discloses a micro-computer accurate positioning control system. The system comprises an integrated circuit plate, a central processing unit and a processor. The processor is used for processing differential data output by the central processing unit, and the processed data is output to a driving circuit. In the invention, the processor is directly communicated with the integrated circuit plate through the central processing unit, and special-purpose communication and a decoding chip are not needed during an intermediate process so that cost is greatly saved; and a serial communication port of the processor is used so that a safe and reliable communication function can be provided, which is good for the system to work stably.
Description
Technical field
The present invention relates to a kind of micro computer precise positioning control system, particularly relate to be applied to high-precision, at a high speed, in digital ac servo drive unit with the micro computer precise positioning control system of surface-mounted integrated circuit.
Background technology
Digital AC servo system is obtained for and applies widely in many high-tech areas, as in the various fields such as numerically-controlled machine, robot, packaging facilities, radar, military issue weapons servomechanism, Aero-Space and frequency converter.Along with the develop rapidly of every field, to the requirement also increasingly stringent of servo-drive system, the performance requirement of different applied environments to servo-drive system is also not quite similar.Especially in the systems such as precise numerical control machine, robot and radar, many special requirements be also been proposed to servo-drive system: at a high speed, high precision, high reliability and stronger antijamming capability.All-digitized demodulator has become servo-controlled developing direction because of himself high reliability.The servo-controlled total digitalization that develops into of high-performance microprocessor and power electronic device realizes providing condition.The key issue that will solve based on the positional servosystem of total digitalization is: the realization of (1) high-performance drive system; (2) design of regulator, by designing suitable position control, realize accurately locating permagnetic synchronous motor, make positioning precision, locating speed, the indexs such as position response can meet servo-controlled requirement.
At present, existing AC permanent-magnet synchronous servo motor and scrambler are widely used in servo device.To in the control procedure of motor, not only need to determine rotor magnetic pole initial position, the rotor anglec of rotation and sense of rotation when also will determine that motor runs.In order to obtain these information, scrambler can be embedded on motor, and synchronizing motors, thus obtain the information in angle of rotor of motor and direction.Surface-mounted integrated circuit but has following characteristics: the absolute value that 1, directly can read angle coordinate; 2, without cumulative errors; 3, after power supply excision, positional information can not be lost.But resolution is decided by binary figure place, and that is precision depends on figure place, have at present 16,32 etc. multiple.Thus it can be applicable to the motion control occasion of many high precision, high speed.Application integrated circuit plate needs the key issue solved to be exactly communication and decoding.Be all that the special chip adopting scrambler manufacturer to provide realizes at present, greatly will increase cost, circuit is also more complicated simultaneously.
Therefore, a kind of new micro computer precise positioning control system of invention is needed to solve the problem.
Summary of the invention
The object of the invention is for above-mentioned defect, a kind of new convenience, safety, the micro computer precise positioning control system that reliable, cost is low are provided, and are successfully applied in digital ac servo drive unit.
The present invention, in order to realize above-mentioned technical purpose, adopts following technological means:
A kind of micro computer precise positioning control system, for carrying out data acquisition and process to AC servo motor, again the data after process are outputted to described AC servo motor via driving circuit, this device is connected between AC servo motor and driving circuit, described micro computer precise positioning control system comprises and to be connected with described AC servo motor and surface-mounted integrated circuit for gathering AC servo motor rotor angle and direction information, be connected with described surface-mounted integrated circuit and the CPU (central processing unit) of the image data exported for the treatment of it, be connected respectively with described CPU (central processing unit) and driving circuit, and the differential data exported for the treatment of described CPU (central processing unit) and the data after process are exported again to the processor of driving circuit.
Described processor comprises digital signal processing unit and is connected to the time control circuit module between described CPU (central processing unit) and digital signal processing unit, and described time control circuit module is for completing the sequential control of processor and surface-mounted integrated circuit serial communication.
Described processor also comprises the demoder be connected between described CPU (central processing unit) and digital signal processing unit, and described demoder is used for realizing described AC Servo Motor Control algorithm and the reading and writing of surface-mounted integrated circuit data, instruction transmission and data decode.
Described processor also comprises the message exchange be connected between described CPU (central processing unit) and digital signal processing unit, and described message exchange is for realizing the communication Time-based Control of described micro computer precise positioning control system.
Described processor also comprises the data sink be connected between described CPU (central processing unit) and digital signal processing unit, and described data sink transmits by described surface-mounted integrated circuit the data of coming for receiving.
Described surface-mounted integrated circuit includes difference channel module, is connected symmetrically to each other with described CPU (central processing unit).
Compared with prior art, the present invention has following beneficial effect: processor is direct and surface-mounted integrated circuit communication by CPU (central processing unit), and centre does not need special communication, decoding chip, greatly cost-saving; Multiple functional module is set within a processor, fully develops its potentiality; After utilizing the serial communication interface of processor, safer, reliable communication function can be provided, be conducive to system stability work.
Accompanying drawing explanation
Fig. 1 is the one-piece construction block diagram of disclosed micro computer precise positioning control system;
Fig. 2 is integrated circuit intralamellar part difference channel module of the present invention and CPU (central processing unit) annexation schematic diagram.
Embodiment
Disclosed micro computer precise positioning control system is further described below in conjunction with drawings and Examples.
Fig. 1 discloses the one-piece construction of micro computer precise positioning control system in one embodiment of the invention, and it comprises motor 1, surface-mounted integrated circuit 2, CPU (central processing unit) 3, processor 4, drive amplification circuit 5; Surface-mounted integrated circuit 2 embeds in motor 1, and motor 1 run-in synchronism, thus obtains the information in motor 1 rotor angle and direction; CPU (central processing unit) 3 is connected between motor 1 and processor 4, and processor 4 is direct and surface-mounted integrated circuit communication by CPU (central processing unit) 3, and centre does not need special communication, decoding chip.
Fig. 2 discloses integrated circuit intralamellar part difference channel module and CPU (central processing unit) annexation in one embodiment of the invention, ADM485 in figure: differential signal amplifier, SDAT: serial data, SRQ: request sends command signal, DE: control ADM485 data transfer direction signal, SCIRXD:DSP receives FPDP, and SCITXD:DSP sends command port.In figure, most left part is the inside difference channel module 21 of surface-mounted integrated circuit 2; Difference channel module 21 and CPU (central processing unit) 3 respectively comprise the RS-485 interface chip ADM485 of the semiduplex serial data transmission mode of a slice, the SDAT of ADM485 is data output pins, SRQ is data-out pin, DE is external control pin, this pin is subject to processing device 4 and controls, and when DE is high level, SDAT exports data, when DE is low level, data input from SRQ; DE in the inside difference channel module 21 of surface-mounted integrated circuit 2 controlled by the control chip of surface-mounted integrated circuit 2 inside.
The know-why that the present invention adopts is as follows: mode of operation, semiduplex serial data transmission mode and RS-485 interface standard before and after processor 4 and the serial communication of surface-mounted integrated circuit 2 and the software architecture of coding/decoding method adopt.Whole communication and decoding effort are completed by four functional modules.Time control circuit module in charge controls the DE signal of difference channel module chip, and when it is high level, surface-mounted integrated circuit can receive external command; And when for low level, surface-mounted integrated circuit externally can send data.Timer 1 underflow interrupt service routine is used to realize motor control algorithms and the work such as scrambler reading and writing instruction transmission and data decode.Data receiver work then completes at serial data receive interruption service routine, for Electric Machine Control provides accurate, stable parameter information.
Above-mentionedly press serial communication data layout, (comprise 1 start bit, 8 data bit, 1 position of rest) when it receives a character and just cause and once accept interruption, and the corresponding interrupt flag bit of set, when interrupting enable, just enter corresponding interrupt service routine.Periodic reading and writing surface-mounted integrated circuit in timer 1 underflow interrupt routine, can ensure that DSP receives the integrality of data completely.CPU timer 2 cycle interruption service routine is then intended for communication Time-based Control.The data that DSP serial mouth data receiver interrupt service routine primary responsibility received code device transmits.
Compared with prior art, the present invention has following beneficial effect: processor is direct and surface-mounted integrated circuit communication by CPU (central processing unit), and centre does not need special communication, decoding chip, greatly cost-saving; Multiple functional module is set within a processor, fully develops its potentiality; After utilizing the serial communication interface of processor, safer, reliable communication function can be provided, be conducive to system stability work.
Above disclosedly be only the preferred embodiments of the present invention, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the present patent application the scope of the claims is done, still belong to the scope that the present invention is contained.
Claims (5)
1. a micro computer precise positioning control system, it is characterized in that, described micro computer precise positioning control system comprise to be connected with described AC servo motor and for gather AC servo motor rotor angle and direction information surface-mounted integrated circuit, to be connected with described surface-mounted integrated circuit and the CPU (central processing unit) of the image data exported for the treatment of it, to be connected respectively with described CPU (central processing unit) and driving circuit and the differential data exported for the treatment of described CPU (central processing unit) and the data after processing are exported again to the processor of driving circuit; Described processor comprises digital signal processing unit and is connected to the time control circuit module between described CPU (central processing unit) and digital signal processing unit, and described time control circuit module is for completing the sequential control of processor and surface-mounted integrated circuit serial communication.
2. micro computer precise positioning control system according to claim 2, it is characterized in that, described processor also comprises the demoder be connected between described CPU (central processing unit) and digital signal processing unit, and described demoder is used for realizing described AC Servo Motor Control algorithm and the reading and writing of surface-mounted integrated circuit data and data decode.
3. micro computer precise positioning control system according to claim 2, it is characterized in that, described processor also comprises the message exchange be connected between described CPU (central processing unit) and digital signal processing unit, and described message exchange is for realizing the message exchange time controling of described micro computer precise positioning control system.
4. micro computer precise positioning control system according to claim 3, it is characterized in that, described processor also comprises the data sink be connected between described CPU (central processing unit) and digital signal processing unit, and described data sink transmits by described surface-mounted integrated circuit the data of coming for receiving.
5. micro computer precise positioning control system according to claim 1, is characterized in that, described surface-mounted integrated circuit includes difference channel module, is connected symmetrically to each other with described CPU (central processing unit).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410550786.4A CN105573184A (en) | 2014-10-16 | 2014-10-16 | Micro-computer accurate positioning control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410550786.4A CN105573184A (en) | 2014-10-16 | 2014-10-16 | Micro-computer accurate positioning control system |
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| Publication Number | Publication Date |
|---|---|
| CN105573184A true CN105573184A (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410550786.4A Pending CN105573184A (en) | 2014-10-16 | 2014-10-16 | Micro-computer accurate positioning control system |
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| CN (1) | CN105573184A (en) |
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- 2014-10-16 CN CN201410550786.4A patent/CN105573184A/en active Pending
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Application publication date: 20160511 |