CN106094634B

CN106094634B - A kind of AC servo position-force control device based on SSI sensor

Info

Publication number: CN106094634B
Application number: CN201610530863.9A
Authority: CN
Inventors: 石进水
Original assignee: Shandong Transport Vocational College
Current assignee: Shandong Transport Vocational College
Priority date: 2016-07-07
Filing date: 2016-07-07
Publication date: 2019-03-05
Anticipated expiration: 2036-07-07
Also published as: CN106094634A

Abstract

The invention discloses a kind of AC servo position-force control device based on SSI sensor, hardware includes FPGA, host computer, CAN bus communication module, sensor, sensor signal transceiver module, servo motor and analog output module；FPGA is used for the data exchange and control of whole system；Host computer is bi-directionally connected by RS232 interface between FPGA, realize the setting and reading of parameter, by being bi-directionally connected between data communication interface and CAN bus communication module, CAN bus communication module is bi-directionally connected by CAN interface and FPGA, realizes the high-speed transfer of system communication data；It is bi-directionally connected between sensor signal transceiver module and FPGA by the port I/O, the acquisition for sensor signal；Analog output module is bi-directionally connected by being bi-directionally connected between parallel interface and FPGA by special purpose interface and servo motor, for the conversion of signal and the control of AC servo motor；Controller test platform is used for the verification experimental verification of system performance.

Description

A kind of AC servo position-force control device based on SSI sensor

Technical field

The invention belongs to the concrete application of field of industrial automatic control more particularly to a kind of exchanges based on SSI sensor Servo-system position-force control device.

Background technique

" driving with the high speed development of modern industry, for precise numerical control machine, industrial robot shop equipment Source " --- servo drive system proposes increasingly higher demands.Precision when AC servo realizes position, speed control Height, low speed runs smoothly, high speed performance is superior, can fast implement acceleration and deceleration, and anti-overload ability is strong, is widely used in technique essence Degree, processing efficiency and functional reliability require relatively high equipment.In AC servo, position detection link is unquestionable It is the key that guarantee entire servo system control performance, common component includes photoelectric encoder, grating, magnetic grid, rotary transformer. For photoelectric encoder due to no friction and wear, driving moment is small, fast response time, more by the favor of engineer.

In the controls, sensor feeds back location information to controller, then issues control signal by controller.Point The high absolute type encoder of resolution has more digit, if reliability is unable to get guarantee using parallel transmission.SSI connects Mouth replaces traditional a plurality of parallel data line with simple 4 lines, substantially increases the reliability of data transmission, and simplifies Wiring and data transmission procedure.Compared to " parallel port " and " asynchronous serial port " transmission mode, SSI interface has stronger anti-interference Property, only with 4 lines, efficiency of transmission is improved, installation cost is reduced, transmission rate is adjustable, up to 2Mbps, transmits data It is not limited by distance and resolution ratio, there is very strong real-time in closed-loop control system.

Currently, the acquisition process device of SSI sensor signal has some matured products, German ERMA- in foreign countries 9006 signal adapter of SSI of Electronic company exploitation, suitable for all sensors using SSI interface.It can be by SSI Protocol conversion is RS485 agreement, while the sensor information that will test is come out by numeral method.Pass through upper computer software The running parameter of converter can be set, adjust detection flow gain and zero bias, and settable 4 alert locations point.Germany The IV251 signal adapter of Motrona company exploitation, is also applied for all sensors using SSI interface.Using positioned at device The operational mode of toggle switch setting converter at the top of part, exports the analog quantity proportional to sensor signal, can also pass through RS232, RS485 interface read encoder data, and the running parameter of converter can be arranged as desired by host computer.

The country for SSI sensor signal acquisition process mainly by being programmed to scm software, synchronous serial is believed Number be converted to parallel signal or asynchronous serial signal.Using single-chip microcontroller as core, RS485/RS422 transmitter is used in transmitting terminal, A kind of SSI interface scheme of low cost may be implemented every being isolated using high-speed light in receiving end.It is directed to Heidenhain ROQ425 (SSI) absolute optical encoder of company has document to devise and realizes by core of AT89C52 single-chip microcontroller to sensing The interface arrangement of acquisition, conversion, display and the output of device data.Converter of the another kind based on single chip computer AT tiny2313, can Using multi-turn absolute rotary encoder SSI protocol conversion as the asynchronous serial communication RS485 agreement of Vehicle Controller, is had compared with Strong anti-interference ability can be used in complicated vehicle environment.

The present invention increases the freedom degree of PID controller design by increasing integral order and differential order, and then improves Control effect, Fractional Order PID, which controls, breaches the concepts of conventional PID controllers, so that the order of differentiator and integrator can be with It is not integer, has further widened the range of choice of P1D controller parameter, uses Fractional Order PID control thought, this method Structure is simple, without model, be easy to be received by engineering staff, better dynamic property, robustness can be obtained compared with PID control Also enhanced.The present invention has stability good, easy to operate, control feature with high accuracy.

Summary of the invention

In order to further increase the precision of industrial automation control system.The purpose of the present invention is to provide one kind to be based on SSI The AC servo position-force control device of sensor, the invention have result accurate, and error is small, and stability is good, operation letter Single feature.

In order to realize above system, the technical solution adopted by the present invention is that: mould is communicated including FPGA, host computer, CAN bus Block, SSI sensor, sensor signal transceiver module, servo motor, analog output module, position-force control algorithm and control Device software processed；Specifically, the FPGA single-ended clock signal issued is converted to differential signal by the sensor signal transceiver module, Meanwhile sensor signal transceiver module receives the differential data signals that SSI sensor issues, and the differential data signals are turned It is changed to single ended data signal；The FPGA control amount calculated is converted to -10~10V voltage signal by analog output module, output Onto the driver of AC servo motor, the control of AC servo motor is completed；Within the system, host computer passes through data communication Interface is bi-directionally connected with CAN bus communication module, and CAN bus communication module is bi-directionally connected by CAN interface and FPGA, on Position machine is double by the port I/O between sensor signal transceiver module and FPGA by being bi-directionally connected between RS232 interface and FPGA To connection, the sensor signal transceiver module is connect with SSI sensor, and analog output module passes through parallel interface and FPGA Between be bi-directionally connected, the analog output module is bi-directionally connected by servo interface and servo motor.

In the AC servo position-force control device system of the SSI sensor, the FPGA selects Cyclone II Serial EP2C8Q208C8N cake core, the type product have 8256 logic units, 182 I/O pins, 36 embedded storages Device block, total memory capacity reach 165Kb, support multiple memorizers mode, support more than 20 single-ended and difference I/O standards, have 8 Global clock network, 2 programmable phase-locked loop PLL, 18 special multipliers, support passive serial PS, actively serial AS and JTAG configuration mode supports SignalProbe and II logic analyzer of SignalTap, and EP2C8Q208C8N type FPGA is for whole The data exchange and control of a system.

In the AC servo position-force control device system of the SSI sensor, the CAN bus communication module choosing Use the SJA1000 cake core of Philips company as CAN controller, which draws with PCA82C200 CAN controller Foot and electric parameter are compatible, and traffic rate can work in BasicCAN mode up to 1Mbps, support 11 and 29 bit identifications Code, there is 64 byte of reception buffer of extension, first in first out, and the interface with different microprocessors supports CAN 2.0A and CAN 2.0B agreement has programmable can output driver, has biggish Acclimation temperature range (- 40~125 DEG C)；It selects The 82C250 cake core of Philips company is as CAN bus transceiver, the compatible ISO11898 standard of the cake core, rate highest Up to 1Mbps, there is anti-instantaneous interference ability, radio frequency interference can be effectively reduced by slop control (Slope Control) (RFI) there is overheating protection, there is the short-circuit protection between bus and power supply and ground, there is low current standby mode, have not Upper electrical nodes do not interfere the advantages of bus, can at least connect 110 nodes.

In the AC servo position-force control device system of the SSI sensor, the sensor signal receives and dispatches mould Block includes the port differential driving receiver SN75179 and I/O；SN75179 is differential driving receiver pair, is used for balance transmission Line complies with standard TIA/EIA-422-B and TIA/EIA-485-A；Differential driving receiver SN75179 can provide limited positive and negative Electric current, receiver have very high input impedance and input magnetic hysteresis reply noise, and input voltage is -7V~12V, spirit under normal mode Sensitivity is ± 200mV, has hot closing function, and the case where to protect transmission line to malfunction, differential driving receiver SN75179 is maximum 60mA current loading can be driven, use temperature range is 0 DEG C~70 DEG C；SN75179 receives the single-ended letter of CLK that FPGA is issued Number, it is converted into differential signal, while the difference DATA signal that receiving sensor issues, and be converted into single-ended DATA letter Number it is sent to the port I/O of FPGA；It joined build-out resistor between differential signal herein, to eliminate DM EMI, guarantee signal Stability, in long range, high rate data transmission data, strong antijamming capability, effectively inhibition electromagnetic interference.

In the AC servo position-force control device system of the SSI sensor, the analog output module choosing Digital analog converter DAC7742 is encapsulated with 16 of TI company, 200KHz, LQFP-48, DAC7742 is 16 digit mode converters, interior Portion's offer+10V stable reference voltage, output area are configurable to ± 10V, and ± 5V or+10V are controlled by pin, DAC7742 can neatly carry out unipolarity or bipolar operation, and DAC7742 includes speedy carding process amplifier, when maximum stable Between 5 μ s, 20V full scales only have ± 0.003% fluctuation, power consumption 100mW possesses 16 parallel-by-bit interface of standard, two buffer realities The asynchronous refresh of existing simulation output, data function of reading back support the data integrity authentication before updating, user-programmable to reset control End can ignore value in digital analog converter register, and output valve is set to the FFFFH or medium range of minimum range 7FFFH。

In the AC servo position-force control device system of the SSI sensor, the position-force control is calculated Method, which is characterized in that the process step of the algorithm is as follows:

Step 1.1 starts；

Step 1.2, the closed loop transfer function, for establishing AC servo；

Step 1.3 estimates transmission function；

Step 1.4 makees approximate processing to transmission function；

Step 1.5 makees equivalent processes to transmission function with poles and zeros assignment transmission function；

Step 1.6, using discretization method, obtain the transmission function of discretization；

Step 1.7, the approximation for obtaining transmission function and the Bode figure without approximate 1/s；

Step 1.8, the SIMULINK module packaging technique using MATLAB, by the approximate fractional order of Oustaloup method Calculus is packaged；

Step 1.9 terminates.

In the AC servo position-force control device system of the SSI sensor, the sensor signal receives and dispatches mould The process of block clock signal transmission process is as follows:

Step 2.1, clock signal output are high level；

Step 2.2, load sensor parameter；

Step 2.3, tranmitting data register signal；

Step 2.4 judges whether to have sent width, is to go to step 2.5, otherwise goes to step 2.3；

Step 2.5 keeps 50 μ s high level, goes to step 2.3.

The sensor signal transceiver module clock data signal process flow is as follows:

Step 3.1 judges whether to detect clock signal failing edge, is to go to step 3.2, otherwise continues step 3.1；

Step 3.2 receives data；

Step 3.3 judges whether to have received width, is to go to step 3.4, otherwise goes to step 3.2；

Step 3.4, by Gray code conversion be binary code；

Step 3.5 judges whether to complete conversion, is to go to step 3.6, otherwise goes to step 3.4；

Step 3.6, data storage.

In the AC servo position-force control device system of the SSI sensor, the loading procedure of control parameter Process step is as follows:

Step 4.1 starts；

Step 4.2, request Read Controller parameter；

Step 4.3 judges whether to read from EEPROM, is to go to step 4.4, otherwise goes to step 4.2；

Step 4.4, storage parameter；

Step 4.5 judges whether to have read whole ginsengs, is to go to step 4.6, otherwise goes to step 4.4；

Step 4.6 finds out control parameter for load；

Step 4.7, request of loading controller parameter；

Step 4.8 judges that parameter whether for load, is to go to step 4.9, otherwise goes to step 4.7；

Step 4.9, output parameter numerical value；

Step 4.10, output parameter identification code；

Step 4.11 judges whether to complete parameter load, is to go to step 4.12, otherwise goes to step 4.9；

Step 4.12, parameter load are completed.

The beneficial effects of the present invention are:

A kind of AC servo position-force control device based on SSI sensor, including FPGA, host computer, CAN bus Communication module, SSI sensor, sensor signal transceiver module, servo motor, analog output module, position-force control are calculated Method and controller software, the controller increase the freedom degree of PID controller design by increasing integral order and differential order, And then improving control effect, Fractional Order PID, which controls, breaches the concepts of conventional PID controllers, so that differentiator and integrator Order can not be integer, further widen the range of choice of PID controller parameter, use Fractional Order PID control thought, This method structure is simple, without model, be easy to be received by engineering staff, better dynamic can be obtained compared with PID control Can, robustness is also enhanced.The present invention has stability good, easy to operate, control feature with high accuracy.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments the present invention will be further explained explanation.

Fig. 1 is the AC servo position-force control device overall framework figure based on SSI sensor；

Fig. 2 is position-force control algorithm flow chart；

Fig. 3 is sensor signal transceiver module clock signal transmission flow figure；

Fig. 4 is sensor signal transceiver module clock signal process flow diagram；

Fig. 5 is control parameter loading procedure flow chart；

Fig. 6 is test platform structure principle chart.

Specific embodiment

A specific embodiment of the invention are as follows: a kind of AC servo position-force control device based on SSI sensor, The host computer is bi-directionally connected by RS232 interface between FPGA, and data communication interface and CAN bus communication module are passed through Between be bi-directionally connected, CAN bus communication module is bi-directionally connected by CAN interface and FPGA, sensor signal transceiver module It is bi-directionally connected between FPGA by the port I/O, analog output module is logical by being bi-directionally connected between parallel interface and FPGA Special purpose interface is crossed to be bi-directionally connected with servo motor.Specifically, the single ended clock that sensor signal transceiver module issues FPGA is believed Differential signal, while the differential data signals that receiving sensor issues number are converted to, and are converted into single ended data signal, and Power supply is provided for SSI sensor；The control amount that controller calculates is converted to -10~10V voltage signal by analog output module, It is output on the driver of AC servo motor, completes the control of AC servo motor；CAN bus communication module realizes that system is logical The high-speed transfer of data is interrogated, RS232 interface realizes the setting and reading of parameter；AC servo position based on SSI sensor It sets closed loop controller and function is realized by position-force control algorithm and controller software, complete system eventually by test platform The verification experimental verification of performance.

Fig. 1 is the AC servo position-force control device structural block diagram based on SSI sensor, in figure hardware by FPGA, host computer, CAN bus communication module, sensor, sensor signal transceiver module, servo motor, analog output module Composition；FPGA is used for the data exchange and control of whole system；Host computer is bi-directionally connected by RS232 interface between FPGA, The setting and reading for realizing parameter, by being bi-directionally connected between data communication interface and CAN bus communication module, CAN bus is logical News module is bi-directionally connected by CAN interface and FPGA, realizes the high-speed transfer of system communication data；Sensor signal transmitting-receiving It is bi-directionally connected between module and FPGA by the port I/O, the acquisition for sensor signal；Analog output module passes through parallel It is bi-directionally connected between interface and FPGA and is bi-directionally connected by special purpose interface and servo motor, conversion and AC servo for signal The control of motor.

Fig. 2 is position-force control algorithm flow chart, in the AC servo position-force control device of the SSI sensor In system, the position-force control algorithm, which is characterized in that the process step of the algorithm is as follows:

Step 1.1 starts；

Step 1.2, the closed loop transfer function, for establishing AC servo；

Step 1.3 estimates transmission function；

Step 1.4 makees approximate processing to transmission function；

Step 1.9 terminates.

Fig. 3 is sensor signal transceiver module clock signal transmission flow figure, in the AC servo of the SSI sensor In position-force control device system, the process of the sensor signal transceiver module clock signal transmission process is as follows:

Step 2.1, clock signal output are high level；

Step 2.2, load sensor parameter；

Step 2.3, tranmitting data register signal；

Step 2.5 keeps 50 μ s high level, goes to step 2.3.

Fig. 4 is sensor signal transceiver module clock signal process flow diagram, in the AC servo of the SSI sensor In position-force control device system, the sensor signal transceiver module clock data signal process flow is as follows:

Step 3.2 receives data；

Step 3.4, by Gray code conversion be binary code；

Step 3.6, data storage.

Fig. 5 is control parameter loading procedure flow chart, in the AC servo position-force control device of the SSI sensor In system, the process step of the loading procedure of control parameter is as follows:

Step 4.1 starts；

Step 4.2, request Read Controller parameter；

Step 4.4, storage parameter；

Step 4.6 finds out control parameter for load；

Step 4.7, request of loading controller parameter；

Step 4.9, output parameter numerical value；

Step 4.10, output parameter identification code；

Step 4.12, parameter load are completed.

Fig. 6 is test platform structure principle chart, in the AC servo position-force control device system of the SSI sensor In, the test platform, which is characterized in that its structure composition include: host computer, controller, AC servo machinery driving device, AC servo motor, SSI interface sensor；AC servo motor model number is sgmjv-04aaa61, and rated output power is 400W, nominal torque 1.27Nm, rated current 2.7A, rated speed 3000min^-1, torque parameter 0.512N M/Arms, rotor moment of inertia are 0.442 × 10-4kgm², carrying drive model is sgdv-2r8a01a002000, if Be set to speed operating mode, SSI sensor is the AFM60A-S4PC26144 of SICK company, individual pen full accuracy up to 18, It is 18 that multi-turn full accuracy, which passes through PC machine software up to 30, in experiment for its precision setting,.

General technical staff of the technical field of the invention also will readily appreciate that in addition to the foregoing, illustrates herein and schemes The specific embodiment shown can further change combination.Although the present invention is to give what diagram illustrated with regard to its preferred embodiment, But person skilled in the art is, it is recognized that in the spirit and scope of the present invention defined by the attached claims, A variety of changes and variation can be also made to the present invention.

Claims

1. a kind of AC servo position-force control device based on SSI sensor, which is characterized in that including FPGA, upper Machine, CAN bus communication module, SSI sensor, sensor signal transceiver module, servo motor, analog output module, position Closed loop control algorithm and controller software；Specifically, the single ended clock that the sensor signal transceiver module issues FPGA is believed Number differential signal is converted to, meanwhile, sensor signal transceiver module receives the differential data signals that SSI sensor issues, and will The differential data signals are converted to single ended data signal；The FPGA control amount calculated is converted to -10 by analog output module ~10V voltage signal, is output on the driver of AC servo motor, completes the control of AC servo motor；Within the system, Host computer is bi-directionally connected by data communication interface and CAN bus communication module, and CAN bus communication module is connect by CAN bus Mouthful be bi-directionally connected with FPGA, host computer by being bi-directionally connected between RS232 interface and FPGA, sensor signal transceiver module and It is bi-directionally connected between FPGA by the port I/O, the sensor signal transceiver module is connect with SSI sensor, analog output For module by being bi-directionally connected between parallel interface and FPGA, the analog output module is double by servo interface and servo motor To connection；

The process step of position-force control algorithm is as follows:

Step 1.1 starts；

Step 1.2, the closed loop transfer function, for establishing AC servo；

Step 1.3 estimates transmission function；

Step 1.4 makees approximate processing to transmission function；

Step 1.8, the SIMULINK module packaging technique using MATLAB, by the micro- product of the approximate fractional order of Oustaloup method Divide and is packaged；

Step 1.9 terminates；

The process of sensor signal transceiver module clock signal transmission process is as follows:

Step 2.1, clock signal output are high level；

Step 2.2, load sensor parameter；

Step 2.3, tranmitting data register signal；

Step 2.5 keeps 50 μ s high level, goes to step 2.3；

The clock data signal process flow of sensor signal transceiver module is as follows:

Step 3.2 receives data；

Step 3.4, by Gray code conversion be binary code；

Step 3.6, data storage；

The process step of control parameter loading procedure is as follows in controller software:

Step 4.1 starts；

Step 4.2, request Read Controller parameter；

Step 4.4, storage parameter；

Step 4.6 finds out control parameter for load；

Step 4.7, request of loading controller parameter；

Step 4.9, output parameter numerical value；

Step 4.10, output parameter identification code；

Step 4.12, parameter load are completed.

2. AC servo position-force control device as described in claim 1, which is characterized in that the FPGA is selected II series EP2C8Q208C8N cake core of Cyclone, the FPGA are used for the data exchange and control of whole system.

3. AC servo position-force control device as described in claim 1, which is characterized in that the CAN bus communication Module selects SJA1000 cake core as CAN controller；CAN bus transceiver selects 82C250 cake core, described 82C250 cake core can be effectively reduced radio frequency interference by slop control.

4. AC servo position-force control device as described in claim 1, which is characterized in that the sensor signal is received Sending out module includes the port differential driving receiver SN75179 and I/O；The differential driving receiver SN75179 receives FPGA hair CLK single-ended signal out, is converted into differential signal, at the same receive SSI sensor sending difference DATA signal, and by its It is converted to single-ended DATA signal and is sent to the port I/O.

5. AC servo position-force control device as described in claim 1, which is characterized in that the analog output mould Block selects LQFP-48 to encapsulate digital analog converter DAC7742.