CN105824270B - Multi-axis motion controller - Google Patents
Multi-axis motion controller Download PDFInfo
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- CN105824270B CN105824270B CN201610138140.4A CN201610138140A CN105824270B CN 105824270 B CN105824270 B CN 105824270B CN 201610138140 A CN201610138140 A CN 201610138140A CN 105824270 B CN105824270 B CN 105824270B
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25338—Microprocessor
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- Automation & Control Theory (AREA)
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Abstract
The present invention relates to a kind of motion controller of fields of numeric control technique and control method, in particular to based on dual core processor, the control method of a kind of multi-axis motion controller and its closed loop pwm pulse.Including main processor core, host computer, servo-driver, it is connected between host computer and main processor core by universal serial bus, by movement instruction data transmission to main processor core, it further include the PWM controller of a co-processor core and integrated multi-channel, and shared drive, the PWM controller and co-processor core complete position tracking jointly；The shared drive, main processor core, PWM controller, co-processor core are in turn connected to form closed loop.1. using single channel multi-core DSP digital signal processor, processor core shared data consistency problem in the heart is not present, also improves treatment effeciency.2. closed loop pwm pulse control method is applied in motion control.3. the technology of the present invention is easy to expanded application.
Description
Technical field
It is handled the present invention relates to a kind of motion controller of fields of numeric control technique and control method, in particular to based on double-core
Device, the control method of a kind of multi-axis motion controller and its closed loop pwm pulse.
Background technique
Motion control is that an important branch of Numeric Control Technology produces multiple technologies solution party by the development of many years
Case suffers from respective advantage and disadvantage.Currently, the solution generallyd use has: (1) CPU+FPGA scheme, CPU carry out interpolation
Calculation processing, FPGA is according to interpolation calculation processing as a result, output control pulse, controls motor movement.Program rational division of labor,
Flexibly, however, it is desirable to keep data synchronous between CPU and FPGA, there are biggish delay time errors for control, export pulse precision
It is limited, cause control performance less desirable, and motion controller hardware cost is higher.(2) CPU+dedicated Interpolation
Scheme, CPU are responsible for the data processing of periphery, and interpolation is exported with pulse and completed by dedicated Interpolation.There is control essence in the program
The advantages that degree is high, and peripheral control response is fast.But dedicated Interpolation can't realize the above interpolation algorithm processing of three axis, and comprehensive
This is very high for synthesis, and cost performance is very low.(3) list CPU scheme, CPU are not only responsible for interpolation calculation processing, are also responsible for output control arteries and veins
Punching, furthermore, it is desirable to complete all external signal responses.The program has the advantages that low in cost.But in motion control,
CPU is often under high load capacity or overload state, it is difficult to ensure that various interrupt events timely respond to, can not be accomplished high-precision
Pulse output is spent, High-speed Control ability is poor, and external signal response is slower, is suitable only for simple, low speed motion control.In synthesis
The advantage and disadvantage for stating three kinds of schemes, in line with low cost, high-precision, the flexible target of control, the present invention is devised based on double-core processing
Device, a kind of multi-axis motion controller and closed loop pwm pulse control method.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, intend proposing a kind of new movement in fields of numeric control technique
Controller and control method, the control method of specially a kind of multi-axis motion controller and its closed loop pwm pulse.
The invention is realized by the following technical scheme, including main processor core, host computer, servo-driver, host computer
It is connect between main processor core by universal serial bus, by movement instruction data transmission to main processor core,
It further include the PWM controller and shared drive of a co-processor core and integrated multi-channel, the PWM control
Device processed and co-processor core complete position tracking jointly；The shared drive, main processor core, PWM controller, association's processing
Device core is in turn connected to form closed loop.
The main processor core and co-processor core concurrent working, possess running memory space independent, and
And data are exchanged by shared drive；
Signal that main processor core generates, including synchronization signal, digital comparison signal, PWM FM signal etc., make PWM
Controller generates required pulse signal；
Co-processor core receives the interrupt signal that PWM controller generates, and completes interrupt event processing, and by processing result
Shared drive is written；
Each channel of PWM controller generates pulse control signal, is respectively outputted to corresponding servo by multichannel and drives
Dynamic device, controls motor movement.
The present invention includes following rate-determining steps:
Step 1, host computer send main processor core, primary processor for motion control instruction data by universal serial bus
Core 1 periodically carries out interpolation calculation according to the current location and present speed for reading each kinematic axis from shared drive
Method processing；The target velocity and target position that each axis should reach in current period are calculated, and is converted into the PWM arteries and veins of respective channel
Frequency is rushed, updates pulse frequency to the respective channel of PWM controller, meanwhile, direction of motion signal is exported to servo-driver；
Step 2, PWM controller each channel according to the calculated corresponding pwm pulse frequency of main processor core, output
Satisfactory high-precision Continuous Drive pulse, servo-driver receive driving pulse, control corresponding spindle motor movement；Phase
Ying Di, PWM controller generate the interrupt requests of one with co-processor core respective channel when each pulse exports；
Step 3, the co-processor core for receiving interrupt requests execute the interruption service handler of respective channel, into
The processing such as row position tracking, counting, and shared drive is written into processing result, it is used for main processor core in next period；
Step 4 repeats step 1 to step 3, and hardware device successively passes through main processor core, PWM from shared drive
Controller, co-processor core return to shared drive, form a complete processing closed loop, execute once within the extremely short period
Motion control；Above-mentioned calculating is periodically carried out, realizes that control movement executing mechanism presses desired trajectory movement.
The present invention has the advantages that
1. single channel multi-core DSP digital signal processor is used, relative to multi-chip solution, using single channel multi-core
DSP data signal processor reduces Master control chip quantity, simplifies board peripheral circuit, dramatically reduces hardware
Overall cost, meanwhile, be conducive to the stability for improving controller hardware；Pass through between main processor core and co-processor core
Shared drive exchanges data, does not need to connect by slow external bus, does not have processor core communication overhead, do not deposit
In processor core shared data consistency problem in the heart, treatment effeciency is also improved.
2. closed loop pwm pulse control method is applied in motion control.Each channel of multichannel PWM controller is complete
Full parellel work, is capable of the output pulse frequency in each channel of flexible modulation, can accomplish very high pulse frequencies, to generate height
The high-frequency output control pulse of precision.
3. the technology of the present invention is easy to expanded application.By using the processor core of higher running frequency, and more multichannel
Several PWM controllers can easily extend more kinematic axis, to be applicable in axis demand for control of more widely doing more physical exercises, meanwhile,
Also the advantage of low hardware cost is better reflected.
Detailed description of the invention
Fig. 1 is hardware structure diagram of the present invention.
Fig. 2 is flow chart of the present invention.
Specific embodiment
The preferred embodiment of the present invention is described further with reference to the accompanying drawing, referring to shown in attached drawing 1 to 2, the present invention
It is achieved through the following technical solutions, including main processor core 1, host computer 5, servo-driver 6, host computer 5 and primary processor
It is connected between core 1 by universal serial bus, further includes association's processing by movement instruction data transmission to main processor core 1
Device core 2 and the PWM controller of integrated multi-channel 3 and shared drive 4, the PWM controller 3 and co-processor core 2 are total
With completion position tracking；The shared drive 4, main processor core 1, PWM controller 3, co-processor core 2 are sequentially connected shape
At closed loop.
The main processor core 1 and 2 concurrent working of co-processor core, possess running memory space independent,
And data are exchanged by shared drive 4；
Signal that main processor core 1 generates, including synchronization signal, digital comparison signal, PWM FM signal etc., make PWM
Controller 3 generates required pulse signal；
Co-processor core 2 receives the interrupt signal that PWM controller 3 generates, and completes interrupt event processing, and processing is tied
Shared drive 4 is written in fruit；
Each channel of PWM controller 3 generates pulse control signal, is respectively outputted to corresponding servo by multichannel and drives
Dynamic device 6, controls motor movement.
The present invention includes following rate-determining steps:
Step 1, host computer 5 send main processor core 1, main process task for motion control instruction data by universal serial bus
Device core 1 periodically carries out interpolation according to reading current location and the present speed of each kinematic axis from shared drive 4
Algorithm process；The target velocity and target position that each axis should reach in current period are calculated, and is converted into the PWM of respective channel
Pulse frequency updates pulse frequency to the respective channel of PWM controller 3, meanwhile, direction of motion letter is exported to servo-driver 6
Number；
Step 2, PWM controller 3 each channel according to the calculated corresponding pwm pulse frequency of main processor core 1, it is defeated
Satisfactory high-precision Continuous Drive pulse, servo-driver 6 receive driving pulse out, control corresponding spindle motor fortune
It is dynamic；Correspondingly, PWM controller 3 each pulse export when, while generate one in 2 respective channel of co-processor core
Disconnected request；
Step 3, the co-processor core 2 for receiving interrupt requests, execute the interruption service handler of respective channel, into
The processing such as row position tracking, counting, and shared drive 4 is written into processing result, make for main processor core 1 in next period
With；
Step 4 repeats step 1 to step 3, hardware device from shared drive 4, successively by main processor core 1,
PWM controller 3, co-processor core 2 return to shared drive 4, form a complete processing closed loop, execute once in extremely short week
Motion control in phase；Above-mentioned calculating is periodically carried out, realizes that control movement executing mechanism presses desired trajectory movement.
Further specifically citing includes, and by taking hardware configuration is based on 28035 dsp chip of TI as an example, which includes master
Processor core 1, co-processor core 2, PWM controller 3, shared drive 4, the other memories of the chip interior and peripheral hardware are herein
It does not describe.1 dominant frequency 60MHz of main processor core, 2 dominant frequency of co-processor core and main processor core 1 are consistent, PWM controller 3
Clock frequency be 30MHz, 4 type of shared drive be RAM, capacity be 256 bytes.Main processor core 1 and coprocessor core
By address bus and data bus communication between the heart 2 and shared drive 4, shared data is transmitted and received.Primary processor core
The heart 1 synchronizes the interaction of signal, number comparison signal with, PWM controller 3 by peripheral bus., PWM controller 3 passes through
Interrupt signal is passed to co-processor core 2 by cpu bus.Main processor core 1 interacts number by serial bus with host computer 5
According to.Co-processor core 2 can respond multiple interrupt processing tasks.PWM controller 3 also can produce multiplex pulse output, control more
Platform servo-driver 6, while interrupt signal all the way is generated per pulse all the way, co-processor core 2 is responded per interrupt signal all the way
Enter the task processing interrupted on the road afterwards.Main processor core 1 and co-processor core 2 pass through the exchange data of shared drive 4.It is main
Processor core 1 receives the motion control instruction data that host computer 5 is sent.
Software configuration is the program parallelization execution distributed treatment of main processor core 1 and co-processor core 2.Main process task
The program of device core 1 includes three tasks, and task one receives the NC director data that host computer 5 issues, and these data are passed through
Generate interpolation distance and the target position of each interpolation cycle of each axis after interpolation algorithm processing by number of axle mesh, at the same by interpolation away from
It is stored in a round-robin queue buffer area from target position, each axis preservation 20 of buffer area or more is inserted
Mend distance and target position.Task two takes out the target position of next interpolation cycle to be treated from round-robin queue buffer area
It sets, obtains the direction of motion in next period compared with the upper interpolation cycle target position of preservation, and by next target cycle position
Set preservation.Task two reads the pulse position of current axis actual motion from shared drive 4 simultaneously, with upper target cycle position phase
Subtract and obtain location error, by the error multiplied by the generation interpolation distance correction factor after a scale factor.Finally from round-robin queue
Next period interpolation distance is taken out in buffer area, is multiplied by modifying factor to get next period interpolation distance of axis is arrived, by the distance
Pulse frequency is obtained divided by interpolation cycle.The pulse frequency is converted into the PWM control that corresponding axis channel is written after the pulse period
Device register generates next recurrent pulse output.
Pulse position feedback and pulse frequency amendment can be indicated with following equation:
Pulse frequency=[next period interpolation distance × (current period target position-actual feedback pulse position)
× scale factor]/interpolation cycle
Task three controls the stopping of each road pulse and direction changes.Task two generates the direction signal of next interpolation cycle,
Task two generates stop signal if being zero if the pulse period in next period.Task three receives stop signal or commutation signal
Afterwards, whether real-time judge current PRF terminates, and pulse is immediately controlled if terminating and stops；Or impulse commutation is immediately controlled.
A dual core processor is used only in the present invention, completes interpolation algorithm using processor internal main processor and interpolation is slow
The generation of area's data, pwm pulse generation and movement position amendment are rushed, hardware cost is greatly reduced, while meeting multiaxis high speed
High-precision motion performance requirement.Four axis interpolation cycles only need 400us on 28035 chip platform of TI implemented, and export pulse
Frequency reaches 500KHz, and pulse period error is only 33ns.It is more that the interpolation number of axle may be implemented using the processor of higher performance
And the period is shorter, and the performance for exporting pulse is higher.
The innovation of the invention consists in that:
1, using single channel multi-core DSP digital signal processor.Relative to multi-chip solution, using single channel multi-core
DSP data signal processor reduces Master control chip quantity, simplifies board peripheral circuit, dramatically reduces hardware
Overall cost, meanwhile, be conducive to the stability for improving controller hardware；Lead between main processor core 1 and co-processor core 2
Shared drive exchange data are crossed, does not need to connect by slow external bus, does not have processor core communication overhead, no
There are processor core shared data consistency problems in the heart, also improve treatment effeciency.
Relative to one chip solution, using single channel multi-core DSP digital signal processor, not only gather around there are two processing
Device core, meanwhile, it is integrated with the PWM controller 3 of multichannel.Main processor core 1, co-processor core 2 and PWM controller 3
Completely independent from one another, concurrent working, rationally, the division of labor is cooperated again for task distribution, sufficiently excavates the potential and advantage of each execution unit,
The handling capacity for farthest improving motion controller, both can guarantee timely responding to for each interrupt event, can also accomplish high-precision
Pulse output, meets at high speed, high-frequency motion control the needs of.
2, closed loop pwm pulse control method is applied in motion control.Each channel of the PWM controller 3 of multichannel
Complete parallel work, is capable of the output pulse frequency in each channel of flexible modulation, can accomplish very high pulse frequencies, to generate
The output control pulse of High-precision high-frequency rate.Since PWM controller 3 itself can not accomplish the tracking to movement position, but
Position tracking is completed by PWM controller 3 and co-processor core 2 jointly.Specifically, each channel of PWM controller 3 is exporting
When pulse, interrupt requests can be issued to co-processor core 2, association's processing core 2 of high running frequency can timely respond to and locate
Each interrupt requests that PWM controller 3 issues are managed, corresponding interruption service handler is executed, completes position tracking, calculating etc.
Processing, and shared drive 4 is written into processing result, it is used for main processor core 1, forms one from shared drive 4, successively
The control closed loop of shared drive 4 is finally returned that by main processor core 1, PWM controller 3, co-processor core 2.Reach high
The motion control demand of precision pulse output and exact position tracking.
3, the technology of the present invention is easy to expanded application.By using the processor core of higher motion frequency, and more multichannel
Several PWM controllers 3 can easily extend more kinematic axis, to be applicable in axis demand for control of more widely doing more physical exercises, together
When, the advantage for also better reflecting low hardware cost is fallen.
Claims (5)
1. multi-axis motion controller, including main processor core (1), host computer (5), servo-driver (6), host computer (5) with
It is connected between main processor core (1) by universal serial bus, it is special by movement instruction data transmission to main processor core (1)
Sign is,
It further include the PWM controller (3) and shared drive (4) of a co-processor core (2) and integrated multi-channel, it is described
Position tracking is completed in PWM controller (3) and co-processor core (2) jointly；The shared drive (4), main processor core
(1), PWM controller (3), co-processor core (2) are in turn connected to form closed loop；
The multi-axis motion controller uses closed loop pwm pulse control method, including following rate-determining steps:
Step 1, host computer (5) send main processor core (1), main process task for motion control instruction data by universal serial bus
Device core (1) is periodically carried out according to the current location of each kinematic axis of reading and present speed from shared drive (4)
Interpolation algorithm processing；The target velocity and target position that each axis should reach in current period are calculated, and is converted into respective channel
Pwm pulse frequency, to the respective channel of PWM controller (3) update pulse frequency, meanwhile, to servo-driver (6) export transport
Dynamic direction signal；
Step 2, PWM controller (3) each channel according to the calculated corresponding pwm pulse frequency of main processor core (1), it is defeated
Satisfactory high-precision Continuous Drive pulse out, servo-driver (6) receive driving pulse, control corresponding spindle motor fortune
It is dynamic；Correspondingly, PWM controller (3) is when each pulse exports, while generating one and co-processor core (2) respective channel
Interrupt requests；
Step 3, the co-processor core (2) for receiving interrupt requests execute the interruption service handler of respective channel, carry out
Position tracking, counting processing, and shared drive (4) are written into processing result, make for main processor core (1) in next period
With；
Step 4 repeats step 1 to step 3, hardware device from shared drive (4), successively by main processor core (1),
PWM controller (3), co-processor core (2) return to shared drive (4), form a complete processing closed loop, and execution once exists
Motion control in the extremely short period；Above-mentioned calculating is periodically carried out, realizes that control movement executing mechanism presses desired trajectory movement.
2. multi-axis motion controller according to claim 1, it is characterised in that:
The main processor core (1) and co-processor core (2) concurrent working, and data are exchanged by shared drive (4).
3. multi-axis motion controller according to claim 1, it is characterised in that:
The signal that main processor core (1) generates makes PWM controller (3) to generate required pulse signal.
4. multi-axis motion controller according to claim 1, it is characterised in that:
Co-processor core (2) receives the interrupt signal that PWM controller (3) generate, and completes interrupt event processing, and processing is tied
Shared drive (4) are written in fruit.
5. multi-axis motion controller according to claim 1, it is characterised in that:
Each channel of PWM controller (3) generates pulse control signal, is respectively outputted to corresponding servo-drive by multichannel
Device (6) controls motor movement.
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| CN107498561B (en) * | 2017-09-29 | 2024-07-09 | 深圳市山龙智控有限公司 | ARM-based control method and terminal for embedded robot ARM |
| CN110018523B (en) * | 2018-01-08 | 2021-07-27 | 中国石油化工股份有限公司 | Ground receiving device and method of electromagnetic measurement while drilling system |
| CN114116598A (en) * | 2021-11-22 | 2022-03-01 | 珠海泰为电子有限公司 | Chip with built-in reconfigurable coprocessor and electronic equipment |
| CN114116593A (en) * | 2021-11-22 | 2022-03-01 | 珠海泰为电子有限公司 | Control method and device for low-dominant-frequency high-performance chip, storage medium and electronic equipment |
| CN114690692B (en) * | 2022-06-01 | 2022-09-20 | 浙江大学 | High-speed interpolation pulse output method and device based on shift register |
| CN116774637B (en) * | 2023-08-16 | 2023-12-08 | 通用技术集团机床工程研究院有限公司 | Numerical control system and data transmission method thereof |
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