CN105785849A - Microcomputer accurate positioning control system - Google Patents
Microcomputer accurate positioning control system Download PDFInfo
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- CN105785849A CN105785849A CN201410833634.5A CN201410833634A CN105785849A CN 105785849 A CN105785849 A CN 105785849A CN 201410833634 A CN201410833634 A CN 201410833634A CN 105785849 A CN105785849 A CN 105785849A
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Abstract
The invention discloses a microcomputer accurate positioning control system comprising an integrated circuit board, a central processing unit, and a processor. The processor is used for processing the differential data output by the central processing unit, and the processed data can be output to a driving circuit. The microcomputer accurate positioning control system is advantageous in that the processor is used for the direct communication with the integrated circuit board by the central processing unit, and the special communication, decoding chip is not required, and therefore the costs can be greatly saved; by using the serial communication port of the processor, the safe and reliable communication function can be provided, and the stable working of the system can be facilitated.
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 driving device with the micro computer precise positioning control system of surface-mounted integrated circuit.
Background technology
Digital AC servo system is obtained in many high-tech areas and is widely applied, in the various fields such as Digit Control Machine Tool, robot, packaging facilities, radar, military issue weapons servo system, Aero-Space and converter.Along with developing rapidly of every field, the requirement also increasingly stringent to servosystem, the performance requirement of servosystem is also not quite similar by different applied environments.Especially, in the systems such as precise numerical control machine, robot and radar, servosystem be also been proposed many special requirements: at a high speed, in high precision, high reliability and stronger capacity of resisting disturbance.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 solved based on the positional servosystem of total digitalization is: the realization of (1) high-performance drive system;(2) design of actuator, by designing suitable position control, it is achieved permagnetic synchronous motor is accurately positioned, makes positioning precision, locating speed, and the index such as position response can meet servo-controlled requirement.
At present, existing AC permanent-magnet synchronous servo motor and encoder are widely used in servo device.In the control process to motor, not only it needs to be determined that rotor magnetic pole initial position, when motor run the rotor anglec of rotation and direction of rotation are also predefined.In order to obtain these information, it is possible to encoder is embedded on motor, and synchronizing motors, thus obtaining the information in angle of rotor of motor and direction.Surface-mounted integrated circuit but has the following characteristics that 1, can directly read the absolute value of angle coordinate；2, without cumulative error；3, after power supply excision, positional information will not be lost.But resolution is determined by binary figure place, say, that precision depends on figure place, have at present 16,32 etc. multiple.Thus it can be applicable to the motor control occasion of many high accuracy, high speed.Application integrated circuit plate needs the key issue solved to be exactly communication and decoding.Being all adopt the special chip that encoder manufacturer provides to realize at present, will be greatly increased cost, circuit is also more complicated simultaneously.
Accordingly, it would be desirable to invent a kind of new micro computer precise positioning control system to solve the problems referred to above.
Summary of the invention
It is an object of the invention to for above-mentioned defect, it is provided that a kind of new convenience, the micro computer precise positioning control system that safe and reliable, cost is low, and be successfully applied in digital ac servo driving device.
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 AC servo motor being carried out data acquisition and process, again the data after process are exported described AC servo motor via drive circuit, this device is connected between AC servo motor and drive circuit, described micro computer precise positioning control system includes being connected with described AC servo motor and for gathering the surface-mounted integrated circuit of AC servo motor rotor angle and direction information, it is connected and is used for processing the CPU of its collection data exported with described surface-mounted integrated circuit, it is connected respectively with described CPU and drive circuit, and for processing the differential data of described CPU output and the data after processing being exported the processor to drive circuit again.
Described processor includes digital signal processing unit and the time control circuit module being connected between described CPU and digital signal processing unit, and described time control circuit module has been used for the sequencing contro of processor and surface-mounted integrated circuit serial communication.
Described processor also includes the decoder being connected between described CPU and digital signal processing unit, and described decoder is used for realizing described AC Servo Motor Control algorithm and surface-mounted integrated circuit data reading and writing, instruction transmission and data decoding.
Described processor also includes the message exchange being connected between described CPU 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 includes the data sink being connected between described CPU and digital signal processing unit, and described data sink is for receiving the data come by the transmission of described surface-mounted integrated circuit.
Described surface-mounted integrated circuit includes difference channel module, is connected symmetrically to each other with described CPU.
Compared with prior art, the method have the advantages that processor passes through CPU directly and surface-mounted integrated circuit communication, centre does not need special communication, decoding chip, is greatly saved cost；Multiple functional module is set within a processor, fully develops its potentiality；After utilizing the serial communication interface of processor, it is provided that communication function safer, reliable, is conducive to system stability to work.
Accompanying drawing explanation
Fig. 1 is the overall structure block diagram of disclosed micro computer precise positioning control system；
Fig. 2 is integrated circuit intralaminar part difference channel module of the present invention and CPU annexation schematic diagram.
Detailed description of the invention
Disclosed micro computer precise positioning control system is further described below in conjunction with drawings and Examples.
Fig. 1 discloses the overall structure of micro computer precise positioning control system in one embodiment of the invention, and it includes motor 1, surface-mounted integrated circuit 2, CPU 3, processor 4, drive amplification circuit 5;Surface-mounted integrated circuit 2 embeds in motor 1, and motor 1 run-in synchronism, thus obtaining the information in motor 1 rotor angle and direction；CPU 3 is connected between motor 1 and processor 4, and processor 4 is direct and surface-mounted integrated circuit communication by CPU 3, and centre does not need special communication, decoding chip.
Fig. 2 discloses integrated circuit intralaminar part difference channel module and CPU 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 3 respectively include the RS-485 interface chip ADM485 of a piece of semiduplex serial data transmission mode, the SDAT of ADM485 is data output pins, SRQ is data-out pin, DE is external control pin, this foot is controlled by processor 4, 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 is controlled by the control chip within surface-mounted integrated circuit 2.
The know-why that the present invention adopts is as follows: processor 4 adopts front and back mode of operation, semiduplex serial data transmission mode and RS-485 interface standard with the serial communication of surface-mounted integrated circuit 2 and the software architecture of coding/decoding method.Whole communication and decoding effort are completed by four functional modules.Time control circuit module is responsible for controlling 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 can send data to outside.Intervalometer 1 underflow interrupt service routine is used to realize motor control algorithms and the work such as encoder reading and writing instruction transmission and data decoding.Data receiver work then receives interrupt service routine at serial data and completes, and controls to provide accurate, stable parameter information for motor.
Above-mentioned by serial communication data form, when it receives a character (include 1 start bit, 8 data bit, 1 stop positions) just cause and once accept interruption, and the corresponding interrupt flag bit of set, when interrupting enabling, just enter corresponding interrupt service routine.Periodic reading and writing surface-mounted integrated circuit in intervalometer 1 underflow interrupt routine, can be completely secured DSP and receive the integrity of data.CPU timer 2 cycle interruption service routine is then intended for communication Time-based Control.DSP serial mouth data receiver interrupt service routine primary responsibility receives the data that encoder transmits.
Compared with prior art, the method have the advantages that processor passes through CPU directly and surface-mounted integrated circuit communication, centre does not need special communication, decoding chip, is greatly saved cost；Multiple functional module is set within a processor, fully develops its potentiality；After utilizing the serial communication interface of processor, it is provided that communication function safer, reliable, is conducive to system stability to work.
Above disclosed it is only the preferred embodiments of the present invention, certainly can not limit the interest field of the present invention, the equivalent variations therefore made according to the present patent application the scope of the claims with this, still belong to the scope that the present invention contains.
Claims (5)
1. a micro computer precise positioning control system, it is characterized in that, described micro computer precise positioning control system includes being connected with described AC servo motor and is connected with described surface-mounted integrated circuit and CPU for processing its collection data exported is connected and for processing the differential data of described CPU output and the data after processing being exported processor to drive circuit more respectively with described CPU and drive circuit for gathering the surface-mounted integrated circuit of AC servo motor rotor angle and direction information；Described processor includes digital signal processing unit and the time control circuit module being connected between described CPU and digital signal processing unit, and described time control circuit module has been used for the sequencing contro 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 includes the decoder being connected between described CPU and digital signal processing unit, and described decoder is used for realizing described AC Servo Motor Control algorithm and surface-mounted integrated circuit data reading and writing and data decoding.
3. micro computer precise positioning control system according to claim 2, it is characterized in that, described processor also includes the message exchange being connected between described CPU and digital signal processing unit, and described message exchange controls for the information realizing described micro computer precise positioning control system swap time.
4. micro computer precise positioning control system according to claim 3, it is characterized in that, described processor also includes the data sink being connected between described CPU and digital signal processing unit, and described data sink is for receiving the data come by the transmission of described surface-mounted integrated circuit.
5. micro computer precise positioning control system according to claim 1, it is characterised in that described surface-mounted integrated circuit includes difference channel module, is connected symmetrically to each other with described CPU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410833634.5A CN105785849A (en) | 2014-12-26 | 2014-12-26 | Microcomputer accurate positioning control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410833634.5A CN105785849A (en) | 2014-12-26 | 2014-12-26 | Microcomputer accurate positioning control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105785849A true CN105785849A (en) | 2016-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410833634.5A Pending CN105785849A (en) | 2014-12-26 | 2014-12-26 | Microcomputer accurate positioning control system |
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|---|---|
| CN (1) | CN105785849A (en) |
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2014
- 2014-12-26 CN CN201410833634.5A patent/CN105785849A/en active Pending
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Application publication date: 20160720 |
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| WD01 | Invention patent application deemed withdrawn after publication |