CN106533286B - A kind of integrated driving system of stepping motor of multiple degrees of freedom - Google Patents
A kind of integrated driving system of stepping motor of multiple degrees of freedom Download PDFInfo
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- CN106533286B CN106533286B CN201611142269.9A CN201611142269A CN106533286B CN 106533286 B CN106533286 B CN 106533286B CN 201611142269 A CN201611142269 A CN 201611142269A CN 106533286 B CN106533286 B CN 106533286B
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- 238000006243 chemical reaction Methods 0.000 claims description 9
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- 238000000034 method Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000004804 winding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/40—Special adaptations for controlling two or more stepping motors
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- Control Of Stepping Motors (AREA)
Abstract
The present invention provides a kind of integrated driving system of stepping motor of multiple degrees of freedom, mainly include host computer and hardware components, wherein hardware components mainly include power module, DSP control core, power drive unit, control instruction input unit and display unit.Communication between host computer and hardware components uses answer-mode, both can individually be controlled by hardware components or be jointly controlled by host computer and hardware components, two kinds of control models can arbitrarily switch.The disadvantage of the driving system of stepping motor based on virtual instrument that the present invention can not only well solve system difference at high cost, portable; a variety of different model stepping motor smooths can also be controlled simultaneously to start, accelerate, slow down, shut down, in real time any subdivision model selection etc..
Description
Technical field
The invention belongs to step motor control fields, and in particular to a kind of multiple degrees of freedom integrated stepper motor driving system
System.
Background technique
Stepper motor due to having the characteristics that excellent locating features, without position accumulated error and higher open loop precision and
It is widely used in the every field of production and living.Stepper motor as a kind of electromechanical integrated product, drive system it is excellent
The bad performance for directly influencing stepper motor.Since there are low-frequency vibrations and the decline of high frequency load capacity etc. to ask for stepper motor itself
Topic, it is therefore desirable to which high performance drive system eliminates the low-frequency resonance phenomenon of stepper motor, vibration when reducing operation and makes an uproar
Sound.
With the rapid development of digital signal processor (DSP), field-programmable gate array (FPGA), stepper motor driving
System Development to Highgrade integration, digitlization, software and hardware combining stage.Since FPGA calculation processing power is weaker, often need
FPGA is combined with single-chip microcontroller, this undoubtedly increases the complexity of system, reduces the reliability of system.Patent is " a kind of
Stepper motor non-jitter driving control system based on FPGA and the control method based on the system " uses high performance
FPGA substantially increases the cost of whole system although saving single-chip microcontroller.
On-line monitoring and long-range control also become the Developing mainstream of driving system of stepping motor, the movement based on virtual instrument
Control technology is widely used in the high speed such as on-line checking, high-precision detection technique field.It is traditional based on virtual instrument
Driving system of stepping motor is that host computer is programmed by LabVIEW, and stepper motor motion control card calls related as slave computer
Function realizes drive system.But this mode improves the cost of drive system, reduces the portability of system.
In addition, generally requiring multiple driving system of stepping motor in the occasion for needing while controlling multiple freedom degree operations
Co-ordination, and drive system is usually only applicable to a certain or certain several model stepper motors, application range is narrow.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of by distinctive communication mould between host computer and hardware
A variety of different model stepper motor operations, and the integrated step of multiple degrees of freedom for being able to achieve any micro-stepping control are realized while being controlled to formula
Into motor driven systems.The present invention can not only well solve it is traditional based on the driving system of stepping motor of virtual instrument at
The problem of this height, portable difference, and can control simultaneously a variety of different model stepping motor smooths start, accelerate, slowing down,
It shuts down, in real time any subdivision model selection etc..
A kind of integrated driving system of stepping motor of multiple degrees of freedom, it is characterised in that: mainly include host computer and Hardware Subdivision
Point, wherein hardware components mainly include power module, DSP control core, power drive unit, control instruction input unit and
Display unit.
Host computer receives user and is manually entered various control instructions, and carries out real-time display to the operating status of motor, leads to
RS232 bus is crossed to communicate with the completion of the DSP control core of hardware components；Power module mainly includes voltage setting module, voltage
Conversion module, Voltage stabilizing module, respectively to DSP control core, power drive unit, control instruction input unit and display unit into
Row power supply；DSP control core mainly includes SCI communication module, A/D module, timing module, PWM generation module, receives host computer
Or the control instruction signal of control instruction input unit, A/D conversion is carried out to the collected current signal of A/D module, and send
Signal is controlled to power drive unit, frequency signal is sent and is shown to display unit；Control instruction input unit mainly wraps
Given value of current module, running frequency setting module, start-stop control module, system control model setting module are included, for being controlled
Instruction input processed and working state of system setting；Display unit is recycled the running frequency of display motor by charactron.
There are two types of control models for drive system tool: mode is first is that host computer and hardware components jointly control mode, mode two
It is the independent control model of hardware components, the switching between mode one and mode two is controlled by a self-lock switch；It opens self-locking
Switch, system work in mode one, and control instruction is inputted by host computer man-machine interface, the control instruction input unit of hardware components
It is shielded；Self-lock switch is closed, system works in mode two, and control instruction is defeated by the control instruction input unit of hardware components
Enter；The control command mainly includes the control parameter under freedom degree and the freedom degree, and the control parameter includes motor
Start-stop, positive and negative rotation, running frequency, driving current size, high-subdividing number.
In the control model one, first has to carry out serial ports selection before host computer operation, baud rate and surprise are set
Even parity bit is consistent with the configuration of the SCI communication module of DSP control core, after host computer operation, serial ports selection, baud rate
Setting, even-odd check will be disabled, i.e., cannot modify in the process of running；The motor of each freedom degree has respectively
Independent upper computer control module will modify the control parameter of the freedom degree, need to first carry out freedom degree selection, in no selection phase
When the freedom degree answered, the control parameter under the freedom degree cannot be configured.
Communication between host computer and hardware components uses answer-mode, specifically:
The control instruction of one degree of freedom in man-machine interface is packaged as data frame and is sent to DSP control core by host computer,
The triggering of DSP control core, which receives, to be interrupted, then decoding data packet, while the current signal of sampling is sent to host computer, is jumped out
It interrupts；Host computer receives the data that DSP control core is sent, and is shown, while by the control of second freedom degree
Instruction is packaged as data frame, is sent to DSP control core, and so circulation is until close the control mould of host computer or switching system
Formula.
Drive system mainly includes three kinds of standby mode, halted state and operating status working conditions, three kinds of working conditions
Switching set by the start-stop control module in control instruction input unit, it is specific as follows:
Standby mode: after drive system powers on, power module carries out voltage conversion according to the parameter of electric machine set by user, right
Control instruction input unit and DSP control core normal power supply, do not power to motion state display unit and power drive unit；
Halted state: electric power source pair of module DSP control core, power drive unit, control instruction input unit and display are single
Member all normal power supplies, but DSP control core does not generate control signal to control power drive unit, power drive unit does not drive
Dynamic motor operation；
Operating status: electric power source pair of module DSP control core, power drive unit, control instruction input unit and display are single
Member all normal power supply, the control signal that power drive unit is generated according to DSP generate corresponding movement, motor normal operation.
Beneficial effect
The present invention provides the integrated driving system of stepping motor of multiple degrees of freedom, compared to previous drive system, this system
Both it can individually be controlled by hardware components or be jointly controlled by host computer and hardware components, two kinds of control models can be any
Switching；The driving system of stepping motor based on virtual instrument that the present invention can not only well solve system is at high cost, portable
Property difference disadvantage, and a variety of different model stepping motor smooths can be controlled simultaneously and start, accelerate, slow down, shut down, appointed in real time
Meaning subdivision model selection etc..
Detailed description of the invention
Fig. 1 is a kind of basic structure schematic diagram of the integrated driving system of stepping motor of multiple degrees of freedom of the invention.
Fig. 2 is a kind of integrated driving system of stepping motor block diagram of multiple degrees of freedom of the invention.
Fig. 3 is the integrated driving system of stepping motor driving circuit of multiple degrees of freedom.
Fig. 4 is the integrated driving system of stepping motor display circuit of multiple degrees of freedom.
Fig. 5 is the integrated driving system of stepping motor level shifting circuit of multiple degrees of freedom.
In figure: 1- host computer；2- display unit；3-DSP control core；4- control instruction input unit；5- power module；
6- power drive unit.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
As shown in Figure 1, the integrated driving system of stepping motor of a kind of multiple degrees of freedom of the invention, mainly include host computer and
Hardware components, wherein hardware components mainly include power module, DSP control core, power drive unit, control instruction input
Unit and display unit.
Host computer receives user and is manually entered various control instructions, and carries out real-time display to the operating status of motor, leads to
RS232 bus is crossed to communicate with the completion of the DSP control core of hardware components；Power module mainly includes voltage setting module, voltage
Conversion module, Voltage stabilizing module, respectively to DSP control core, power drive unit, control instruction input unit and display unit into
Row power supply；DSP control core mainly includes SCI communication module, A/D module, timing module, PWM generation module, receives host computer
Or the control instruction signal of control instruction input unit, A/D conversion is carried out to the collected current signal of A/D module, and send
Signal is controlled to power drive unit, frequency signal is sent and is shown to display unit；Control instruction input unit mainly wraps
Given value of current module, running frequency setting module, start-stop control module, system control model setting module are included, for being controlled
Instruction input processed and working state of system setting；Display unit is recycled the running frequency of display motor by charactron.
There are two types of control models for drive system tool: mode is first is that host computer and hardware components jointly control mode, mode two
It is the independent control model of hardware components, the switching between mode one and mode two is controlled by a self-lock switch；It opens self-locking
Switch, system work in mode one, and control instruction is inputted by host computer man-machine interface, the control instruction input unit of hardware components
It is shielded；Self-lock switch is closed, system works in mode two, and control instruction is defeated by the control instruction input unit of hardware components
Enter；The control command mainly includes the start-stop, positive and negative rotation of motor under freedom degree and the freedom degree, running frequency, driving electricity
Flow the control parameters such as size, high-subdividing number.
Host computer has friendly man-machine interface, can flexibly be configured, can be carried out manually by user to serial ports
The control instructions such as running frequency, phase current size, high-subdividing number, positive and negative rotation and start-stop of motor is defeated under freedom degree and the freedom degree
Enter, and phase current waveform when by motor operation shows that this makes user's operation more convenient simultaneously by waveform chart
Also the portability of master system is improved.
In order to avoid the maloperation of user leads to motor operation failure, to possible generation during writing host computer
Maloperation is evaded.Selection serial ports is first had to before host computer operation, baud rate and parity check bit are set, this should be with
The configuration of DSP control core SCI module is consistent.After host computer operation, serial ports selection, Configuration of baud rate, even-odd check will
It is disabled, i.e., it cannot modify in the process of running.The motor of each freedom degree has PC control independent
Module will modify the control parameter of the freedom degree, it is necessary to first select the freedom degree to be controlled.After the completion of freedom degree selection
Just can running frequency, high-subdividing number, size of current, positive and negative rotation etc. to corresponding freedom degree be configured, it is corresponding in no selection
Freedom degree when, the parameters of the freedom degree cannot be configured.
Communication between host computer and hardware components uses answer-mode, specifically: host computer is by one in man-machine interface
The control instruction of freedom degree is packaged as data frame and is sent to DSP control core, and the triggering of DSP control core, which receives, to be interrupted, and then solves
Code data packet, while the size of current of sampling is sent to host computer, jump out interruption；Host computer receives DSP control core and sends
Data, and shown, while the control instruction of second freedom degree is packaged as data frame, be sent to DSP control
Core, so circulation are until close the control model of host computer or switching system.
In hardware components, forward current is passed through to machine winding when needing due to two-phase hybrid stepping motor, sometimes
It is passed through reverse current, the driving major loop of such motor is needed using full H-bridge inverter circuit.It is selected in the present embodiment
TMS320F28335 is the main control chip of DSP control core, as shown in Figure 2；Using L298N bridge driving chip as power drive
The driving element of unit, as shown in Figure 3.Whole system is controlled more two-phase hybrid steps by a DSP control core simultaneously
Into motor, each freedom degree hardware circuit is symmetrical, and software systems are mutually indepedent, phase between freedom degree when preventing motor operation
Mutually interference.
DSP control core by control instruction input unit or the SCI module that communicate with host computer, come obtain it is each oneself
Signal is controlled by the start-stop of degree stepper motor, positive and negative rotation, running frequency, driving current size, high-subdividing number etc..Control instruction input
For unit by toggle switch and by DSP control core respective pins are keyed to, DSP passes through the low and high level for reading respective pins
To judge to input instruction accordingly.
The logic control port (IN1, IN2, IN3, IN4) of L298N receives the control signal of DSP control core I/O output,
Sampling winding current signal is sent to the A/D module of DSP control core.Then DSP control core by given current signal and is fed back
The error of current signal the PWM wave of certain duty ratio is exported by PWM generation module after digital PID is handled, to control
The enable end of L298N processed, and then control the on-off of machine winding.Value by setting PWM generation module period register can
To change chopping frequency.
Display unit is recycled the running frequency of display motor by charactron, since the running frequency of stepper motor is to pass through
Hardware button is set by host computer, and this requires to refresh the operation of motor in real time in motor operation course
Frequency.The present embodiment shows the running frequency of motor using the SM420364 charactron of quaternity, as shown in Figure 4.And it counts
Code pipe needs corresponding display decoder, and SN74LS48N is selected to convert the signal that charactron can be shown for decimal number.
DSP control core obtains the signal of motor operation frequency by control instruction input unit or host computer, then according to given
Frequency controls the operation of motor, and frequency signal is sent to SN74LS48N by respective pins, and SN74LS48N controls DSP
The frequency signal that the decimal number of core output processed indicates is converted into the signal that charactron is capable of reality, and is sent out by respective pins
Charactron is given to be shown.DSP control core is followed according to the refreshing frequency of setting by control SM420364 pin simultaneously
Ring refreshes four charactrons.
In addition, the SCI module that the present embodiment uses DSP F28335 to be internally integrated, selects RS232 bus protocol, due to
The logical criteria that RS232 is generallyd use are as follows: just for logic ,+10V or so is negative for logic, and the I/O pin of DSP is by -10V or so
Transistor-Transistor Logic level, therefore the conversion between RS232 level and Transistor-Transistor Logic level is realized using MAX3232 chip, realize DSP and host computer it
Between communication, as shown in Figure 5.
Drive system mainly includes three kinds of working conditions such as standby mode, halted state and operating status.Three kinds of work shapes
The switching of state is realized by the start-stop control module in control instruction input unit.It is specific as follows:
Standby mode: after drive system powers on, power module carries out voltage conversion according to the parameter of electric machine set by user, right
Control instruction input unit and DSP control core normal power supply, do not power to motion state display unit and power drive unit；
Halted state: electric power source pair of module DSP control core, power drive unit, control instruction input unit and display are single
Member all normal power supplies, but DSP control core does not generate control signal to control power drive unit, power drive unit does not drive
Dynamic motor operation；
Operating status: electric power source pair of module DSP control core, power drive unit, control instruction input unit and display are single
Member all normal power supply, the control signal that power drive unit is generated according to DSP generate corresponding movement, motor normal operation.
Claims (1)
1. a kind of integrated driving system of stepping motor of multiple degrees of freedom, it is characterised in that: mainly include host computer and hardware components,
Wherein, hardware components mainly include power module, DSP control core, power drive unit, control instruction input unit and display
Unit；
Host computer receives the various control instructions that user is manually entered, and carries out real-time display to the operating status of motor, passes through
RS232 bus is communicated with the completion of the DSP control core of hardware components；Power module mainly includes voltage setting module, voltage turn
Block, Voltage stabilizing module are changed the mold, is carried out respectively to DSP control core, power drive unit, control instruction input unit and display unit
Power supply；DSP control core mainly includes SCI communication module, A/D module, timing module, PWM generation module, receive host computer or
The control instruction signal of control instruction input unit carries out A/D conversion to the collected current signal of A/D module, and sends control
Signal processed sends frequency signal and is shown to display unit to power drive unit；Control instruction input unit mainly includes
Given value of current module, running frequency setting module, start-stop control module, system control model setting module, for being controlled
Instruction input and working state of system setting；Display unit is recycled the running frequency of display motor by charactron；
There are two types of control models for system tool: mode is first is that host computer and hardware components jointly control mode, and mode is second is that Hardware Subdivision
Divide independent control model, the switching between mode one and mode two is controlled by a self-lock switch；Open self-lock switch, system
Work is in mode one, and control instruction is inputted by host computer man-machine interface, and the control instruction input unit of hardware components is shielded；It closes
Self-lock switch is closed, system work is inputted in mode two, control instruction by the control instruction input unit of hardware components；The control
Mainly including the control parameter under freedom degree and the freedom degree, the control parameter includes the start-stop, positive and negative of motor for system order
Turn, running frequency, driving current size, high-subdividing number；
Wherein, mode one first has to carry out serial ports selection before host computer operation, and baud rate and parity check bit is arranged, with
The configuration of the SCI communication module of DSP control core is consistent, after host computer operation, serial ports selection, Configuration of baud rate, odd even school
Testing will be disabled, i.e., cannot modify in the process of running；The motor of each freedom degree has independent upper
Machine control module will modify the control parameter of the freedom degree, need to first carry out freedom degree selection, in no corresponding freedom degree of selection
When, the control parameter under the freedom degree cannot be configured；
Communication between host computer and hardware components uses answer-mode, specifically: host computer is by a freedom in man-machine interface
The control instruction of degree is packaged as data frame and is sent to DSP control core, and the triggering of DSP control core, which receives, to be interrupted, and then solves yardage
It is sent to host computer according to packet, while by the current signal of sampling, jumps out interruption；Host computer receives the number that DSP control core is sent
According to, and shown, while the control instruction of second freedom degree is packaged as data frame, it is sent to DSP control core,
So circulation is until close the control model of host computer or switching system；
System mainly includes three kinds of standby mode, halted state and operating status working conditions, and the switching of three kinds of working conditions is logical
The start-stop control module crossed in control instruction input unit is set, specifically:
Standby mode: after drive system powers on, power module carries out voltage conversion according to the parameter of electric machine set by user, to control
Instruction input unit and DSP control core normal power supply, do not power to motion state display unit and power drive unit；
Halted state: electric power source pair of module DSP control core, power drive unit, control instruction input unit and display unit are all
Normal power supply, but DSP control core does not generate control signal to control power drive unit, power drive unit does not drive electricity
Machine operation；
Operating status: electric power source pair of module DSP control core, power drive unit, control instruction input unit and display unit are all
Normal power supply, the control signal that power drive unit is generated according to DSP generate corresponding movement, and motor operates normally.
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| CN109240173B (en) * | 2018-10-26 | 2023-04-07 | 苏州安驰控制系统有限公司 | Integrated control method and integrated control device |
| CN109188988A (en) * | 2018-10-26 | 2019-01-11 | 苏州安驰控制系统有限公司 | A kind of integrated control device |
| CN109343407B (en) * | 2018-10-26 | 2021-05-04 | 苏州安驰控制系统有限公司 | Control method of wire drawing machine, drive control system and related device |
| CN109889109A (en) * | 2019-04-24 | 2019-06-14 | 苏州易德龙科技股份有限公司 | A kind of multichannel stepper motor driver |
| CN110417312A (en) * | 2019-07-31 | 2019-11-05 | 北京航空航天大学 | A kind of multi-Axis Stepper Motor Control System and its control method |
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