CN105955205A - Motion simulator embedded real-time control system - Google Patents
Motion simulator embedded real-time control system Download PDFInfo
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- CN105955205A CN105955205A CN201610326038.7A CN201610326038A CN105955205A CN 105955205 A CN105955205 A CN 105955205A CN 201610326038 A CN201610326038 A CN 201610326038A CN 105955205 A CN105955205 A CN 105955205A
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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 present invention provides a motion simulator embedded real-time control system, and belongs to the motion control technology field. The system comprises a main controller, an ARM processor, a digital-to-analogue conversion interface and an external input/output interface, and the main controller is connected with the ARM processor and is connected with the digital-to-analogue conversion interface and the external input/output interface via predetermined buses. According to the present invention, the main controller communicates with the ARM processor real-timely, and the ARM processor obtains the controlled quantity real-timely according to the acquired driver parameters and via a closed loop control algorithm, thereby finishing the closed loop control of a driver. The motion simulator embedded real-time control system is simple in structure and lower in cost, and has a higher control precision.
Description
Technical field
The present invention relates to a kind of motion simulator embedded real-time control system, belong to movement control technology field.
Background technology
Movement control technology is to promote new technological revolution and the key technology of new Industrial Revolution.Movement control technology energy
Enough fast developments have two big main causes: the first have benefited from computer, high speed numerical processor, automatically control, network skill
The development of art；It two is to have huge market demand.In recent years, along with constantly improving and perfect of movement control technology,
Motion controller, as an independent industrial automatic control series products, is connect by increasing industrial field
It is subject to, and it has reached a noticeable market scale.Existing motion controller is broadly divided into from structure
Following three major types: motion controller based on computer standard bus, Soft type open-type motion, embedded
The motion controller of structure.At present, the control system of motion controller based on damascene structures has become as development
New trend.
ARM (Advanced RISC Machine) is a kind of processor with powerful calculation function, at servo control
System obtains increasingly be widely applied.Motion controller based on ARM technology, it is possible to achieve complicated control
Algorithm, and ensure that the real-time of system, not only integrated level is higher, can also improve design efficiency simultaneously.But
It is universal according to there being stronger specificity that the problem existed now is mainly existing Embedded Motion, it is impossible in system
In realize general, thus at present most control systems is all realized by industrial computer, and it primary disadvantage is that volume
Relatively big with the space taken, cost is the highest, and slower communication speed also cannot the control essence of Guarantee control system
Degree.
Summary of the invention
The present invention solves volume that existing movement control technology exists and the space taken is bigger, relatively costly and
The problem that control accuracy is poor, and then propose a kind of motion simulator embedded real-time control system, specifically include as
Under technical scheme:
Motion simulator embedded real-time control system, including: master controller, arm processor, digital-to-analogue conversion connect
Mouth and outside input/output interface；Described master controller is connected with described arm processor, and described master controller passes through
Predetermined bus is connected with described digital-to-analogue conversion interface and described outside input/output interface.
In motion simulator embedded real-time control system of the present invention, described arm processor use based on
32 bit processor STM32F407 chips of ARM Cortex-M4 kernel.
In motion simulator embedded real-time control system of the present invention, described master controller is by variable static state
Storage controller interface is connected with described arm processor.
In motion simulator embedded real-time control system of the present invention, described system also includes outside storage mould
Block, described outer memory module is connected with described arm processor by variable static storage control unit interface.
In motion simulator embedded real-time control system of the present invention, described system also includes display module,
Described display module is connected with described arm processor by LCD interface.
In motion simulator embedded real-time control system of the present invention, described system also includes serial communication mould
Block, described serial communication modular is connected with described arm processor by serial communication interface.
In motion simulator embedded real-time control system of the present invention, described system also includes network service mould
Block, described network communication module is connected with described arm processor by Ethernet interface.
In motion simulator embedded real-time control system of the present invention, described system also includes code device signal
Input module and signal conversion module, the signal output part of described code device signal input module converts mould with described signal
The signal input part of block connects, and the signal output part of described signal conversion module is defeated with the coding signal of described master controller
Enter end to connect.
In motion simulator embedded real-time control system of the present invention, described system also includes code device signal
Output module, the signal input part of described code device signal output module and the coding signal output part of described master controller
Connect.
The invention has the beneficial effects as follows: carry out real-time Communication for Power by master controller and arm processor, and by ARM
Processor obtains controlled quentity controlled variable by closed loop control algorithm in real time according to the drive parameter gathered, to complete driver
Closed loop control, be not only simple in structure, cost relatively low, and there is higher control accuracy.
Accompanying drawing explanation
Fig. 1 is the structure chart showing motion simulator embedded real-time control system in an illustrative manner.
Fig. 2 is to show the circuit structure diagram that master controller is connected with digital-to-analogue conversion interface in an illustrative manner.
Fig. 3 is to show the circuit structure diagram that master controller is connected with outside input/output interface in an illustrative manner.
Fig. 4 is to show the circuit structure diagram that master controller is connected with arm processor in an illustrative manner.
Fig. 5 is the circuit structure diagram showing outer memory module in an illustrative manner.
Fig. 6 is the circuit structure diagram showing display module in an illustrative manner.
Fig. 7 is the circuit structure diagram showing network communication module in an illustrative manner.
Fig. 8 is to show master controller and code device signal input module, signal conversion module and volume in an illustrative manner
The circuit structure diagram that code device signal output module connects.
Fig. 9 is the structure chart of the motion simulator embedded real-time control system that embodiment one provides.
Detailed description of the invention
Shown in Fig. 1, the motion simulator embedded real-time control system that the present embodiment proposes includes: master controller
1, arm processor 2, digital-to-analogue conversion interface 3 and outside input/output interface 4；At master controller 1 and ARM
Reason device 2 connects, and master controller 1 is by predetermined bus 5 and digital-to-analogue conversion interface 3 and outside input/output interface 4
Connect.
Wherein, master controller 1 can use FPGA (Field Programmable Gate Array, field-programmable gate array
Row)；Arm processor 2 can use ARM chip STM32F407 based on Cortex-M4, and this chip has relatively
Many Resources on Chips, including FSMC (Flexible Static Memory Controller, variable static storage controller)
Interface and ethernet mac (Media Access Control, media get involved key-course) controller etc., and add floating
The function of point processing, can meet the demand that most industry controls；By external connection to the 5V of master controller 1
With power supply and the encoder information of positive and negative 15V, master controller 1 can be made normally to work, according to given rule
Completing control algolithm, and controlled quentity controlled variable passes to driver, drive the operation of motor, simultaneously driving device also can be by motor
The feedback of status run is to master controller 1, and when there is mistake when, master controller 1 can export servo termination signal,
By the output of this servo termination signal to protect whole circuit.
As in figure 2 it is shown, arm processor 2 calculates the controlled quentity controlled variable obtained can pass to master controller by FSMC interface
1, the controlled quentity controlled variable obtained is sent to digital-to-analogue conversion interface 3 by master controller 1 again, and digital-to-analogue conversion interface 3 is again by this control
Amount processed is converted into analog quantity by digital quantity, finally the simulation controlled quentity controlled variable being converted to is sent to by digital-to-analogue conversion interface 3
Driver.
As it is shown on figure 3, the data that master controller 1 is sent to driver by outside input/output interface 4 also include defeated
Enter output (I/O) state, specifically can include driver running state information；Simultaneously drive device and feed back to master controller 1
I/O information also sent by outside input/output interface 4, mainly include servo ON information and other
Control information.
In an alternative embodiment, as shown in Figure 4, master controller 1 is by FSMC interface and arm processor 2
Connect.Owing to arm processor 2 has needed the calculating of closed loop control algorithm, and need from master during calculating
Controller 1 obtains angle information, in order to alleviate the burden of arm processor 2, for code device signal collection and
Process complete on master controller 1, and between master controller 1 and arm processor 2 can by FSMC interface with
And address wire and data wire carry out the selection of module and the exchange of data.Arm processor 2 is obtaining correct angle
After information, so that it may complete closed loop control algorithm in timer interruption processes function, finally give the output of controlled quentity controlled variable
Value, thus significantly improve the real-time of operation.
In an alternative embodiment, as it is shown in figure 5, described system can also include outer memory module, deposit outside this
Storage module is connected with arm processor 2 by FSMC interface.The chip of this outer memory module can use
IS62WV51216 chip, this chip has the amount of storage of 1M byte, it is possible to the internal memory of extension arm processor 2,
To meet the needs to big internally stored program；The most also the data that operation obtains can be stored temporarily in this outer memory module
In, when needing data when, again the data in this outer memory module are disposably passed to host computer, and preserve
Become M file, matlab thus can be utilized easily to draw and take type curve, to facilitate debugging.
In an alternative embodiment, as shown in Figure 6, described system can also include display module 7, this display module
7 are connected with arm processor 2 by LCD interface.When master controller 1 receives the instruction that host computer transmits,
Obtain correct instruction to point out, the data obtained can be shown debugging when and connect at display module 7
In LCDs, thus verify that between master controller 1 and arm processor 2, communication is the most normal, also may be used simultaneously
The state that motor runs is shown in LCDs.
In an alternative embodiment, as it is shown in figure 9, described system can also include serial communication modular 8, this serial ports
Communication module 8 is connect with arm processor 2 series winding by serial communication interface.The present embodiment passes through road 232 serial ports
It is extended with road 485 interface, the use below can extend the communication interface of system.
In an alternative embodiment, as it is shown in fig. 7, described system also includes network communication module 9, this network service
Module 9 is connected with arm processor 2 by Ethernet interface.Use Ethernet interface 9 can realize host computer and
Communication between arm processor 2, owing to arm processor 2 chip carries ethernet mac layer controller,
Realizing the communication with host computer to also need to extend outside PHY chip, the present embodiment uses LAN8720A as PHY
Chip, by RMII, (Reduced Media Independent Interface simplifies media only with arm processor 2
Vertical interface) connect, to reduce the quantity connecting interface, arm processor 2 can also pass through SMI (Serial simultaneously
Management Interface, serial management interface) host computer is configured.The data that host computer transmits pass through net
Network communication module 9 reaches arm processor 2, inside arm processor 2 use LWIP (Light Weight IP,
Light-duty IP) data resolve, thus obtain the instruction that host computer transmits by agreement.
In an alternative embodiment, as shown in Figure 8, described system can also include code device signal input module 10,
Signal conversion module 11 and code device signal output module 12, the signal output of this code device signal input module 10
End is connected with the signal input part of this signal conversion module 11, and the signal output part of this signal conversion module 11 is main with this
The coding signal input part of controller 1 connects, the signal input part of this code device signal output module 12 and this master control
The coding signal output part of device 1 processed connects.Wherein, code device signal input module 10 can use DS26LS31 core
Sheet, code device signal output module 12 can use DS26LS32 chip.Angle information is from absolute type encoder
Obtaining, master controller 1 is carried out with absolute type encoder by DS26LS32 chip and DS26LS31 chip respectively
Connect, by the information gathering of absolute type encoder to inside master controller 1, carry out the process of logic and angle information
Extract, and carry out CRC (Cyclic Redundancy Code, CRC), the angle that final output is correct
Information.
Use the technical scheme that the present embodiment proposes, carry out real-time Communication for Power by master controller and arm processor, and
Controlled quentity controlled variable is obtained by closed loop control algorithm in real time according to the drive parameter gathered by arm processor, right to complete
The closed loop control of driver, be not only simple in structure, cost relatively low, and there is higher control accuracy.
The motion simulator embedded real-time control system proposed the present invention below by specific embodiment is carried out in detail
Describe in detail bright.
Embodiment one
The motion simulator embedded real-time control system that the present embodiment proposes uses the framework of ARM+FPGA to realize
Closed loop control to rotating platform control system.As it is shown in figure 9, this system include master controller 1, arm processor 2,
Digital-to-analogue conversion interface 3, outside input/output interface 4, outer memory module, display module 7, serial communication modular 8,
Network communication module 9, code device signal input module 10, signal conversion module 11 and code device signal output module
12；Outer memory module 6, display module 7, serial communication modular 8 and network communication module 9 respectively with ARM
The LCD interface of processor 2, FSMC interface, serial communication interface and Ethernet interface connect；Arm processor
2 are connected by FSMC interface with main control 1, it is achieved communication each other；Digital-to-analogue conversion interface 3, outside defeated
Enter output interface 4, signal conversion module 11 and code device signal output module 12 corresponding to master controller 1 respectively
Port connects, and completes closed loop control algorithm at arm processor 2, and this algorithm calculates the controlled quentity controlled variable obtained can be by main
Controller 1 passes to digital-to-analogue conversion interface 3, and controlled quentity controlled variable passes to driver the most at last, simultaneously drives device by motor
Kinestate feeds back to master controller 1 by outside input/output interface 4, and is fed back to ARM by master controller 1
Processor 2, is finally completed closed loop control.
In order to realize the real-time control to system, the present embodiment uses real time operating system uC/OS-II to realize
Unified task scheduling and peripherals administration, uC/OS-II be one can run based on ROM, can cutting,
Preemptive type, real time multi task kernel, have the portability of height, be particularly suitable for microprocessor and controller, be
The real time operating system suitable with a lot of commercial operating systems performances.
It addition, for the collection of code device signal, in order to alleviate the burden of arm processor 2, believe for encoder
Number collection and processing complete on master controller 1, and pass through FSMC between master controller 1 and arm processor 2
Complete the exchange of data, thus improve the real-time of operation.
In order to make system design simple, the system that the present embodiment provides achieves the clear and definite division of labor, specifically includes that
For communication and the process of control algolithm.Arm processor 2 is mainly responsible for the complete of network communication and control algolithm
Become.Network communication utilizes the mac controller that arm processor 2 carries, the upper PHY chip of outside configuration
LAN8720A, is connected by RMII interface therebetween, thus decreases the port to arm processor 2
Use, use SMI interface to complete the configuration to PHY chip simultaneously, thus realize the simplification that network interface is processed.With
Time control algolithm utilize 32 bit timing devices of arm processor 2 to complete, timing accuracy is high, can accurately realize
The control cycle.
Control for peripheral interface.The Digital Logic disposal ability utilizing master controller 1 realizes code device signal
Gather；And digital-to-analogue conversion interface 3 and outside input/output interface 4 are also directly connected on master controller 1, ARM
Processor 2 realizes the read-write of data by address wire and the data wire of FSMC to the module in master controller 1.
In order to realize the real-time preservation to data, the system that the present embodiment provides utilizes the FSMC of arm processor 2
Interface Expanding outer memory module, this module can use IS62WV51216 chip, this chip can store 1M
The data of byte, while program is run, can save the data on outer memory module, then at needs number
According to when disposably by data return.
The system that the present embodiment provides uses network-bus communication interface to realize host computer and communicates with arm processor 2,
The digital control amount that arm processor 2 is exported by digital-to-analogue conversion interface 3 is converted into the mould of-10V extremely+10V scope
Intend voltage signal output, as the control signal of motor driver；Utilize code device signal input module 10 and signal
The differential signal that encoder exports is converted to single-ended signal by conversion module 11, believes for the encoder in master controller 1
Number process circuit process；In view of actual functional capability demand and the extensibility of master controller 1,8 ways can be passed through
Word input and output passage makes input and exports all through photoelectric isolating circuit, to improve system rejection to disturbance.
Use the technical scheme that the present embodiment proposes, carry out real-time Communication for Power by master controller and arm processor, and
Controlled quentity controlled variable is obtained by closed loop control algorithm in real time according to the drive parameter gathered by arm processor, right to complete
The closed loop control of driver, be not only simple in structure, cost relatively low, and there is higher control accuracy.
This detailed description of the invention is to be clearly and completely described technical scheme, and embodiment therein is only
It is only a part of embodiment of the present invention, and is not whole embodiments.Based on the embodiment in the present invention, ability
Field technique personnel broadly fall into this at other embodiments all not obtained on the premise of creative work
Bright protection domain.
Claims (9)
1. motion simulator embedded real-time control system, it is characterised in that including: master controller, ARM process
Device, digital-to-analogue conversion interface and outside input/output interface；Described master controller is connected with described arm processor, institute
State master controller to be connected with described digital-to-analogue conversion interface and described outside input/output interface by predetermined bus.
2. motion simulator embedded real-time control system as claimed in claim 1, it is characterised in that described ARM
Processor uses 32 bit processor STM32F407 chips based on ARM Cortex-M4 kernel.
3. motion simulator embedded real-time control system as claimed in claim 1 or 2, it is characterised in that institute
State master controller to be connected with described arm processor by variable static storage control unit interface.
4. motion simulator embedded real-time control system as claimed in claim 1 or 2, it is characterised in that institute
System of stating also includes outer memory module, described outer memory module by variable static storage control unit interface with described
Arm processor connects.
5. motion simulator embedded real-time control system as claimed in claim 1 or 2, it is characterised in that institute
System of stating also includes display module, and described display module is connected with described arm processor by LCD interface.
6. motion simulator embedded real-time control system as claimed in claim 1 or 2, it is characterised in that institute
System of stating also includes serial communication modular, and described serial communication modular is by serial communication interface and described ARM process
Device connects.
7. motion simulator embedded real-time control system as claimed in claim 1 or 2, it is characterised in that institute
System of stating also includes network communication module, and described network communication module is by Ethernet interface and described arm processor
Connect.
8. motion simulator embedded real-time control system as claimed in claim 1 or 2, it is characterised in that institute
System of stating also includes code device signal input module and signal conversion module, the signal of described code device signal input module
Outfan is connected with the signal input part of described signal conversion module, the signal output part of described signal conversion module and institute
The coding signal input part stating master controller connects.
9. motion simulator embedded real-time control system as claimed in claim 1 or 2, it is characterised in that institute
System of stating also includes code device signal output module, the signal input part of described code device signal output module and described master
The coding signal output part of controller connects.
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