CN107315376A - A kind of step motion system for supporting to may be programmed independent operating mode of operation - Google Patents
A kind of step motion system for supporting to may be programmed independent operating mode of operation Download PDFInfo
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- CN107315376A CN107315376A CN201610264235.0A CN201610264235A CN107315376A CN 107315376 A CN107315376 A CN 107315376A CN 201610264235 A CN201610264235 A CN 201610264235A CN 107315376 A CN107315376 A CN 107315376A
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- independent operating
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- 238000004891 communication Methods 0.000 claims abstract description 32
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 238000005516 engineering process Methods 0.000 claims description 14
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000000875 corresponding effect Effects 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 6
- 238000011161 development Methods 0.000 description 4
- 238000007711 solidification Methods 0.000 description 3
- 230000008023 solidification Effects 0.000 description 3
- 210000001367 artery Anatomy 0.000 description 2
- 238000013329 compounding Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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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
- G05B19/048—Monitoring; Safety
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The present invention relates to a kind of step motion system for supporting to may be programmed independent operating mode of operation, including program terminal and embedded Control terminal, described program terminal is connected by communication network with embedded Control terminal；Described program terminal is used to programming and sending control or configuration-direct information；The described control of embedded Control terminal-pair and configuration-direct parsing and execution, and the command sequence preserved when can perform last time power down automatically after electricity on every time.Compared with prior art, the present invention has the use that greatly simplify stepper motor, enriches the function and application of stepping motor system, the advantages of extending the application scenario of stepper motor.
Description
Technical field
The present invention relates to a kind of step motion system, programmable independent operating Working mould is supported more particularly, to one kind
The step motion system of formula.
Background technology
Stepper motor is the control element that electric impulse signal is changed into mechanical angular displacement, that is, gives stepper motor one arteries and veins
Signal is rushed, motor just turns over a step angle.Stepper motor, as executive component, is the crucial production of electromechanical integration
One of product, are widely used in various automation control systems.With the development of microelectronics and computer technology, by
It is simple in step motor control, facilitate easy-to-use, the demand of stepper motor is growing day by day, in each national economy neck
There is application in domain.
Although stepper motor has been widely used, the stepper motor that generally uses can not be as common straight at present
Motor is flowed, alternating current generator can work under various modes.Its mode of operation is more single, is generally exactly to be operated in arteries and veins
Under punching/direction controlling mode, it is necessary to can be used by forming control systems such as pulse signal, power driving circuits.
Therefore stepper motor non-easy thing is made good use of, it is related to many professional knowledges such as machinery, motor, electronics and computer.
Simultaneously because its mode of operation used is more single, brings inconvenience to many applications or even limit it many
Application under occasion.
The development of industrial automation technology is the necessary condition of modernization, and the development of industrial automation technology is simultaneously to step
The motion control of stepper motor proposes higher and higher requirement, while the high speed development that digital and electronic is counted gives stepping electricity
Machine variation control brings possibility.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind supports programmable
The step motion system of independent operating mode of operation.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of step motion system for supporting to may be programmed independent operating mode of operation, it is characterised in that including programming eventually
End and embedded Control terminal, described program terminal are connected by communication network with embedded Control terminal；
Described program terminal is used to programming and sending control or configuration-direct information；Described embedded Control terminal
To control and configuration-direct parsing and execution, and preserved when can perform last time power down automatically after electricity on every time
Command sequence.
Described program terminal by host computer or based on this kinematic system embedded Control terminal support it is a set of logical
The developed communication terminal of letter instruction.
Described embedded Control terminal includes：
Communication module, is communicated to connect with program terminal；
Command analysis module, is connected with communication module, the command information for parsing communication module reception；
Motor control module, is connected with command analysis module, for controlled motor under programmable independent operation mode
Operation；
Alarm module, is connected with motor control module, and motor operating state is monitored in real time and chance is provided and misrepresented deliberately
It is alert；
Protection module, is connected with motor control module, and real-time guard is carried out to motor.
Described communication module is RS232, RS485, CANOpen or Ethernet communication module.
Described motor control module makes motor be in following control model：
Under instruction torque mode, described motor control module comprising electric current loop closed loop algorithm, analog-to-digital conversion algorithm,
Filtering algorithm and the alarm provided according to I/O functions or defencive function；
Under command speed pattern, described motor control module comprising current closed-loop algorithm, speed closed loop algorithm,
Analog-to-digital conversion algorithm, the filtering algorithm of each loop and the alarm provided according to I/O functions or defencive function；
Under location of instruction pattern, described motor control module comprising current closed-loop algorithm, speed closed loop algorithm,
Position closed loop algorithm, analog-to-digital conversion algorithm, trace generator algorithm, smooth trajectory algorithm, the filter of each loop
Ripple algorithm and the alarm provided according to I/O functions or defencive function.
Described alarm module is provided with error condition query interface, state display lamp and state output interface, the state
Display lamp is used to show error condition, and described state output interface is used for output error state.
Described program terminal provides the user a set of control and configuration-direct collection, and user writes finger using the instruction set
Sequence is made to be supplied to embedded Control terminal to parse and perform automatically.
Described command analysis module supports that instruction sheet thread order is performed or multi-threaded parallel performs technology.
Described program terminal is instructed by I/O operation to be judged the input pin state of user, or to user
The read operation of register is so as to realize that instruction redirects to complete the corresponding actions that user specifies；Also provide to defeated simultaneously
Go out the operational order of pin or to the write operation of user register to export corresponding action executing state.
Described program terminal is supported to interrupt service, for being immediately performed what is triggered by I/O pins or false alarm
Interrupt service.
Compared with prior art, the present invention supports programmable independent operating mode of operation, including：Skill is downloaded in communication
Art, to control and the parsing and execution of configuration-direct, supports that single thread order is performed or multi-threaded parallel instruction is performed
Operation, to user I/O and the compounding practice of register, supports to interrupt service, may be programmed after curing technology, upper electricity
Independent operation mode；The present invention greatly simplify the use of stepper motor, enrich the function of stepping motor system
And application, extend the application scenario of stepper motor.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is control flow chart of the invention；
Fig. 3 is PWM cycle interrupt processing flow chart of the invention.
Wherein 1 is program terminal, and 2 be embedded Control terminal, and 11 be host computer, and 12 be communication terminal, 21
It is command analysis module for communication module, 22,23 be motor control module, and 24 be alarm module, and 25 be protection
Module.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out it is clear,
It is fully described by, it is clear that described embodiment is a part of embodiment of the present invention, rather than whole embodiments.
Based on the embodiment in the present invention, those of ordinary skill in the art are obtained on the premise of creative work is not made
The every other embodiment obtained, should all belong to the scope of protection of the invention.
The step motion system of programmable independent operating mode of operation is supported as shown in figure 1, a kind of, including is programmed eventually
End 1 and embedded Control terminal 2, described program terminal 1 pass through communication network and embedded Control terminal 2
Connection；
Described program terminal is used to programming and sending control or configuration-direct information；Described embedded Control terminal
To control and configuration-direct parsing and execution, and preserved when can perform last time power down automatically after electricity on every time
Command sequence (including configuration and control instruction).
Described program terminal 1 supported by host computer 11 or based on this kinematic system embedded Control terminal one
The communication terminal 12 that set communication instruction is developed.
Described embedded Control terminal 2 includes：
Communication module 21, is communicated to connect with program terminal 1；
Command analysis module 22, is connected with communication module 21, the command information for parsing communication module reception,
This kinetic control system supports a set of communication instruction, and the instruction can be used to configure or read the parameter of kinematic system
(including the parameter of electric machine, driving parameter, motion and control parameter), the support of single thread/multithreading, in
The functions such as support, I/O functions, acquisition system running state information, online programming and the solidification of disconnected service；
Motor control module 23, is connected with command analysis module 22, for controlled motor in programmable independent operating
Run under pattern；
Alarm module 24, is connected with motor control module 23, and motor operating state is monitored and provided in real time
Chance misrepresents deliberately police；
Protection module 25, is connected with motor control module 23, and real-time guard is carried out to motor.
Described communication module 21 is RS232, RS485, CANOpen or Ethernet communication module.
Described motor control module 23 makes motor be in following control model：
Under instruction torque mode, described motor control module comprising electric current loop closed loop algorithm, analog-to-digital conversion algorithm,
Filtering algorithm and the alarm provided according to I/O functions or defencive function；
Under command speed pattern, described motor control module comprising current closed-loop algorithm, speed closed loop algorithm,
Analog-to-digital conversion algorithm, the filtering algorithm of each loop and the alarm provided according to I/O functions or defencive function；
Under location of instruction pattern, described motor control module comprising current closed-loop algorithm, speed closed loop algorithm,
Position closed loop algorithm, analog-to-digital conversion algorithm, trace generator algorithm, smooth trajectory algorithm, the filter of each loop
Ripple algorithm and the alarm provided according to I/O functions or defencive function.
Described alarm module 24 is provided with error condition query interface, state display lamp and state output interface, should
State display lamp is used to show error condition, and described state output interface is used for output error state.
Described program terminal 1 provides the user a set of control and configuration-direct collection, and user is write using the instruction set
Command sequence is supplied to embedded Control terminal to parse and perform automatically.
Described command analysis module supports that instruction sheet thread order is performed or multi-threaded parallel performs technology.
Described program terminal 1 is instructed by I/O operation to be judged the input pin state of user, or to
The read operation of family register is so as to realize that instruction redirects to complete the corresponding actions that user specifies；Also offer pair simultaneously
The operational order of output pin or to the write operation of user register to export corresponding action executing state.
Described program terminal 1 is supported to interrupt service, for being immediately performed by I/O pins or false alarm triggering
Interruption service.
The content that the present invention relates to includes and is not limited to include following：
1. programmable independent operating mode of operation includes to the support of communication interface being supplied to user instruction to download behaviour
Make, communication interface includes and is not limited to include RS232, RS485, CANOpen, Ethernet interface etc.；
2. programmable independent operating mode of operation includes the parsing and execution to control and configuration-direct, in the pattern
Lower step motion system is provided to a set of perfect control of user and configuration-direct collection, and the instruction can be used in user
Collection writes a set of command sequence and is supplied to system to parse and perform automatically.
3. programmable independent operating mode of operation includes supporting that instruction sheet thread order is performed or multi-threaded parallel is performed
Technology, the technology causes the function of programmable independent operating mode of operation more to enrich powerful.
4. programmable independent operating mode of operation includes the compounding practice to user I/O and register, in the pattern
Lower step motion system can be instructed by I/O operation to be judged the input pin state of user, or user is deposited
The read operation of device is so as to realize that instruction redirects to complete the corresponding actions that user specifies.Also provide simultaneously and output is drawn
The operational order of pin or to the write operation of user register to export corresponding action executing state or requirement.
5. programmable independent operating mode of operation includes the support to interrupting service, it can also jump immediately in this mode
Turn to perform the interrupt service subroutine by the triggering such as I/O pins or false alarm.
6. programmable independent operating mode of operation includes programmable curing technology, so-called programmable independent operating mould
Formula inevitable requirement can be realized to the curing technology of the programmable and command sequence of kinematic system so that upper electrically independent fortune
Row is possibly realized.
7. programmable independent operating mode of operation includes supporting upper electric automatic running solidification command sequence technology, at this
Require that kinematic system supports the automatic technology for reading solidification command sequence and automatic running after upper electricity under pattern.
The function referred to above of arriving and its setting can be by supporting upper computer softwares or based on this kinematic system
The communication terminal that a set of communication instruction that embedded firmware is supported is developed is realized, to user brings more square
Just simple usage experience.
Implement process as follows：
Programmable independent operating mode of operation is configured to using upper computer software.Sequence of instructions is write using upper computer software
Row.Can be according to using downloading to the operation program woven in the system on upper computer software, after system electrification
Weave program operation.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, can readily occur in various equivalent
Modifications or substitutions, these modifications or substitutions should all be included within the scope of the present invention.Therefore, it is of the invention
Protection domain should be defined by scope of the claims.
Claims (10)
1. a kind of step motion system for supporting to may be programmed independent operating mode of operation, it is characterised in that including compiling
Journey terminal and embedded Control terminal, described program terminal are connected by communication network with embedded Control terminal；
Described program terminal is used to programming and sending control or configuration-direct information；Described embedded Control terminal
To control and configuration-direct parsing and execution, and preserved when can perform last time power down automatically after electricity on every time
Command sequence.
2. a kind of step motion system for supporting to may be programmed independent operating mode of operation according to claim 1,
Characterized in that, what described program terminal was supported by host computer or based on this kinematic system embedded Control terminal
The communication terminal that a set of communication instruction is developed.
3. a kind of step motion system for supporting to may be programmed independent operating mode of operation according to claim 1,
Characterized in that, described embedded Control terminal includes：
Communication module, is communicated to connect with program terminal；
Command analysis module, is connected with communication module, the command information for parsing communication module reception；
Motor control module, is connected with command analysis module, for controlled motor under programmable independent operation mode
Operation；
Alarm module, is connected with motor control module, and motor operating state is monitored in real time and chance is provided and misrepresented deliberately
It is alert；
Protection module, is connected with motor control module, and real-time guard is carried out to motor.
4. a kind of step motion system for supporting to may be programmed independent operating mode of operation according to claim 3,
Characterized in that, described communication module is RS232, RS485, CANOpen or Ethernet communication module.
5. a kind of step motion system for supporting to may be programmed independent operating mode of operation according to claim 3,
Characterized in that, described motor control module makes motor be in following control model：
Under instruction torque mode, described motor control module comprising electric current loop closed loop algorithm, analog-to-digital conversion algorithm,
Filtering algorithm and the alarm provided according to I/O functions or defencive function；
Under command speed pattern, described motor control module comprising current closed-loop algorithm, speed closed loop algorithm,
Analog-to-digital conversion algorithm, the filtering algorithm of each loop and the alarm provided according to I/O functions or defencive function；
Under location of instruction pattern, described motor control module comprising current closed-loop algorithm, speed closed loop algorithm,
Position closed loop algorithm, analog-to-digital conversion algorithm, trace generator algorithm, smooth trajectory algorithm, the filter of each loop
Ripple algorithm and the alarm provided according to I/O functions or defencive function.
6. a kind of step motion system for supporting to may be programmed independent operating mode of operation according to claim 3,
Characterized in that, described alarm module is provided with error condition query interface, state display lamp and state output interface,
The state display lamp is used to show error condition, and described state output interface is used for output error state.
7. a kind of step motion system for supporting to may be programmed independent operating mode of operation according to claim 1,
Characterized in that, described program terminal provides the user a set of control and configuration-direct collection, user uses the instruction
Collection writes command sequence and is supplied to embedded Control terminal to parse and perform automatically.
8. a kind of step motion system for supporting to may be programmed independent operating mode of operation according to claim 3,
Characterized in that, described command analysis module supports that instruction sheet thread order is performed or multi-threaded parallel performs technology.
9. a kind of step motion system for supporting to may be programmed independent operating mode of operation according to claim 1,
The input pin state of user is judged characterized in that, described program terminal is instructed by I/O operation,
Or to the read operation of user register so as to realizing that instruction is redirected to complete the corresponding actions that user specifies；Also simultaneously
The operational order to output pin or the write operation to user register is provided to export corresponding action executing state.
10. a kind of step motion system for supporting to may be programmed independent operating mode of operation according to claim 1,
Characterized in that, described program terminal is supported to interrupt service, it is alert by I/O pins or mistake for being immediately performed
Accuse the interruption service of triggering.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610264235.0A CN107315376A (en) | 2016-04-26 | 2016-04-26 | A kind of step motion system for supporting to may be programmed independent operating mode of operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610264235.0A CN107315376A (en) | 2016-04-26 | 2016-04-26 | A kind of step motion system for supporting to may be programmed independent operating mode of operation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491811A (en) * | 2018-11-20 | 2019-03-19 | 网易（杭州）网络有限公司 | Game test method, device and storage medium |
| CN109966081A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of the nursing bed control system and method for achievable secondary development |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103259470A (en) * | 2012-02-16 | 2013-08-21 | 上海安浦鸣志自动化设备有限公司 | Stepping motor movement system supporting a plurality of working modes |
-
2016
- 2016-04-26 CN CN201610264235.0A patent/CN107315376A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103259470A (en) * | 2012-02-16 | 2013-08-21 | 上海安浦鸣志自动化设备有限公司 | Stepping motor movement system supporting a plurality of working modes |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109966081A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of the nursing bed control system and method for achievable secondary development |
| CN109491811A (en) * | 2018-11-20 | 2019-03-19 | 网易（杭州）网络有限公司 | Game test method, device and storage medium |
| CN109491811B (en) * | 2018-11-20 | 2022-03-08 | 网易（杭州）网络有限公司 | Game testing method, device and storage medium |
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Application publication date: 20171103 |