CN108334040A - A kind of impulse type servo analog system and its control method - Google Patents

A kind of impulse type servo analog system and its control method Download PDF

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Publication number
CN108334040A
CN108334040A CN201810085302.1A CN201810085302A CN108334040A CN 108334040 A CN108334040 A CN 108334040A CN 201810085302 A CN201810085302 A CN 201810085302A CN 108334040 A CN108334040 A CN 108334040A
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CN
China
Prior art keywords
pulse
servo
analog
data
servo analog
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CN201810085302.1A
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Chinese (zh)
Inventor
杨雨标
陈小朴
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广州雨创电子科技有限公司
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Priority to CN201810085302.1A priority Critical patent/CN108334040A/en
Publication of CN108334040A publication Critical patent/CN108334040A/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/414Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/31From computer integrated manufacturing till monitoring
    • G05B2219/31137Sercos serial real time communications system between servo and cpu

Abstract

The invention discloses a kind of impulse type servo analog service systems, including, servo analog device, it connect with digital control system, receive the command pulse that digital control system is sent out, command pulse described in servo analog simultaneously generates analogue data, and analogue data is converted to response message and feeds back to digital control system by servo analog device;Meanwhile the pulse data and analogue data of command pulse described in servo analog device acquisition and recording, and connect with PC machine and carry out data exchange;PC machine is connect with servo analog device, and the servo analog parameter of the servo analog device is arranged, and is also used for controlling the sample record that the servo analog device carries out pulse data;Meanwhile the pulse data and analogue data are converted into picture signal by PC machine, are output to display;Display is connect with PC machine, and pulse data, and the operating status and parameter of display servo analog device are shown with image mode.It is big convenient absolutely to be provided for exploitation and commissioning device.

Description

A kind of impulse type servo analog system and its control method

Technical field

The invention belongs to the technical fields of numerically-controlled machine tool matched simulated servosystem, and in particular to a kind of impulse type servo mould Quasi- system and its control method.

Background technology

As industrial environment and object itself are increasingly numerous and jumbled, digital control system oneself from simple movement locus controller turn Become the system-level platform through Digitized manufacturing overall process.In order to meet the real needs of industrial circle, digital control system is to watching The requirement for taking the elaborate position control of motor is higher and higher.Servo-driver can be divided into impulse type and bus-type two by interface class Major class, wherein impulse type servo-driver are simple with its control mode, and it is convenient that interface standard is replaced, the relatively cheap spy of price Property, application especially extensively.

Conventional test methodologies are tested by connecting servo motor, in the case of extensive serious testing, due to The factor of cost, can only provide the test servo and motor of limited quantity, so when often resulting in insufficient test or test Between it is elongated.380 volts of high voltage supplies are used due to carrying out testing power using servo and motor, ratio is connected up for test It is more difficult, and high-voltage electricity also results in threat to the safety of tester.

Invention content

It is the technology tested by connecting servo motor the invention aims to solve the digital control system of impulse type Problem provides a kind of test equipment and method providing reliable means of testing for solution numerical control device test, reduces exploitation test The impulse type servo analog device and its control method of cost.

To solve the above-mentioned problems, the present invention is achieved by following technical scheme:

A kind of impulse type servo analog service system of the present invention, including:

Servo analog device, connect with digital control system, receives the command pulse that digital control system is sent out, is ordered described in servo analog It enables pulse and generates analogue data, analogue data is converted to response message and feeds back to digital control system by servo analog device;Meanwhile it watching The pulse data and analogue data of command pulse described in simulator acquisition and recording are taken, and is connect with PC machine and carries out data exchange;

PC machine is connect with servo analog device, and the servo analog parameter of the servo analog device is arranged, and is also used for control institute State the sample record that servo analog device carries out pulse data;Meanwhile the pulse data and analogue data are converted into figure by PC machine As signal, it is output to display;

Display is connect with PC machine, and pulse data, and the operation shape of display servo analog device are shown with image mode State and parameter.

Further, the servo analog device includes:

Receiving circuit connects digital control system, receives the command pulse that digital control system is sent out, and directly obtained from digital control system Take power supply;

Feedback circuit connects digital control system, and feedback response information is to digital control system;

Transmission circuit connects PC machine, and communication and data exchange are carried out with PC machine;

FPGA circuitry, servo analog command pulse simultaneously generate analogue data, and the analogue data is converted into response letter Breath, meanwhile, FPGA circuitry is acquired record to the pulse data and analogue data of command pulse.

The receiving circuit and feedback circuit are connect with FPGA circuitry respectively, realize receive digital control system command pulse and Feedback response information is to digital control system;The transmission circuit is connect with FPGA circuitry, realizes that PC machine is logical to the control of FPGA circuitry News, parameter setting and data acquisition.

Further, the FPGA circuitry includes module ASIC, and the module ASIC includes:

Pulse receiving unit, connect with receiving circuit, receives the command pulse in direction and position that digital control system is sent out, Positive and negative counting is carried out to position number of pulses according to direction, generates pulse data;

Pulse collection unit is connect with pulse receiving unit, is carried out to the pulse data that pulse receiving unit provides real When sample record;

Servo analog unit is connect with pulse receiving unit, according to pulse receiving unit provide pulse data, in conjunction with The analog servomechanism parameter being arranged generates the analogue data of analog servomechanism motor running;

Position feedback unit is connect with servo analog unit, and the analogue data that servo analog unit provides is converted to Response message, position feedback unit are connect with the feedback circuit, and response message is fed back to digital control system.

Further, the FPGA circuitry includes data communication module, the data communication module respectively at the biography Transmission of electricity road, servo analog unit, the connection of pulse collection unit, by this design, data communication module is instead of the excessively program-controlled of CPU System has transmitting-receiving control, buffer module function, without being independently arranged the processors such as CPU, to reduce production cost.

Further, the response message includes response impulse and status signal, and what the response impulse transmitted is position Pulse signal, the status signal be transmit servo analog motor is enabled or non-enabled motion state, servo alarm, super The state of limit.

A kind of control method of impulse type servo analog system, includes the following steps:

S1, the servo analog parameter that servo analog device is set by PC machine;

S2, servo analog device receive the command pulse that sends out of digital control system, in conjunction with the servo analog parameter in above-mentioned S1 into The running of row analog servomechanism motor calculates the analogue data of the servo motor of simulation and is converted into response message, by the sound Information is answered to feed back to digital control system;

S3, PC machine control servo analog device are acquired the pulse data of command pulse in above-mentioned S2, servo analog device It returns the pulse data and carries out analysis conversion to PC machine, generate scaling results;

S4, display are shown scaling results with figure with image format, while showing the operation of servo analog device State and parameter.

Specifically, in the S1 servo analog parameter include execution unit motion range, automatic or artificial triggering simulation Servo feedback;

The command pulse that digital control system provides in the S2 includes direction and P-pulse;

Servo analog device carries out real-time sampling record to the pulse change in direction and P-pulse in the S3, according to parameter Permissible accuracy and data content, maximum can acquire direction and P-pulse in 500 milliseconds;

PC machine carries out sample collection to the wave sequence of the command pulse in the S4, and redraws numerical control over the display System is sent to direction and the P-pulse of servo analog device, can overall analysis system instruction speed and location information;

Specifically, the servo analog device in the S2 can or non-enabled motion state enabled with simulated machine and movement portion Part, which transfinites, position and generates analogue data;

Response message in the S2 includes response impulse and status signal, and the response impulse is the motor of servo analog Position signal, the status signal are the motor of servo analog enabled or non-enabled motion state, servo alarm and position of transfiniting Status signal;

To treated, orthogonal encoder signal return that analogue data changes into gives numerical control system to servo analog device in the S2 System, achievees the purpose that the servo motor of emulation executes instruction action.

Compared with prior art, the beneficial effects of the invention are as follows:

1. the cost of the present invention is relatively low, the cost of control system's development test can be reduced.

2. the pulse interface standard of the present invention is widely used, the control of distinct interface can be adapted to by simply replacing wiring System processed simulates the various servomechanisms of distinct interface.

3. the voltage of the present invention is low, low in energy consumption, electricity can be directly taken from the interface with control system, is made without external power supply With simple and convenient;There are no external 380 volts of high-voltage electricity are needed, ensure test and the safety of developer.

4. the present invention can be as the debugging method and commissioning device in systems development process, the present invention is small, carries It is easy for installation, it can use in the different scenes in laboratory to industry spot, be provided absolutely greatly conveniently for exploitation and commissioning device.

Description of the drawings

Specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings, wherein:

Fig. 1 is a kind of overall construction drawing of impulse type servo analog system of the present invention;

Fig. 2 is a kind of FPGA internal structure charts of impulse type servo analog system of the present invention.

In figure:1- servo analogs device, 11- receiving circuits, 12- transmission circuits, 13-FPGA circuits, 131- pulses receive list Member, 132- pulse collections unit, 133- servo analogs unit, 134- position feedbacks unit, 135- data communication modules, 14- are anti- Current feed circuit, 2-PC machines, 3- displays.

Specific implementation mode

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.

As shown in Fig. 1~Fig. 2, a kind of impulse type servo analog service system of the present invention, including servo analog device 1, PC machine 2 and display 3, the servo analog device 1 are connect with PC machine 2, realize communication between the two and data exchange, described PC machine 2 is connect with display 3;

The servo analog device 1 receives the command pulse that digital control system is sent out, and analog servomechanism is carried out to the command pulse And analogue data is generated, and response message is generated according to analogue data and feeds back to digital control system;It is ordered described in acquisition and recording simultaneously The pulse data of pulse and the analogue data, output it to PC machine 2;

The pulse analysis function of the PC machine 2 is written as using cross-platform QT GUI, and the communication with servo analog device 1 is adopted It is realized with the serial communication library built in QT;The PC machine 2 is used for the servo analog parameter setting to the servo analog device 1, institute State the kinematic parameter and range that servo analog parameter includes the execution unit of simulation, automatic or artificial triggering simulation servo feedback IO Feedback etc.;

The PC machine 2 is also used for controlling the sample record that the servo analog device 1 carries out pulse data, while to servo mould It carries out analysis conversion to the pulse data and analogue data that quasi- device 1 provides, and is output on display 3 and shows pulse with image mode Data, and show the operating status and parameter of servo analog device 1.

The 1 inside composition figure of servo analog device of the present invention as shown in Figure 1, the servo analog device 1 includes receiving circuit 11, transmission circuit 12, FPGA circuitry 13, feedback circuit 14,;The receiving circuit 11 and feedback circuit 14 connect with FPGA circuitry 13 It connects, realizes the data exchange for receiving command pulse and feedback response information;The transmission circuit 12 is connect with FPGA circuitry 13, real Now with the data exchange of PC machine 2.

Specifically, the receiving circuit 11 connects digital control system, receives the command pulse that sends out of digital control system, and directly from Digital control system obtains power supply;The feedback circuit 14 connects digital control system, and the response message that feedback servo simulator 1 generates is to number Control system;The transmission circuit 12 connects PC machine 2, and communication and data exchange are carried out with PC machine 2;The FPGA circuitry 13 is to described Command pulse carries out the running of analog servomechanism motor and generates analogue data, the analogue data is converted into response message, simultaneously Record is acquired to the command pulse and the analogue data.

It is illustrated in figure 2 the inside composition figure of the FPGA circuitry 13 of the present invention, the FPGA circuitry 13 includes module ASIC With data communication module 135, the module ASIC includes:Pulse receiving unit 131, pulse collection unit 132, servo analog list Member 133 and position feedback unit 134;

The data communication module 135 respectively at the transmission circuit 12, servo analog unit 133 and pulse collection list Member 132 connects, and on the one hand receives the instruction from PC machine 2, and control pulse collection unit 132 starts or stops adopting for pulse data Collection;The analog servomechanism and kinematic parameter of servo analog unit 133 are set simultaneously, to allow servo analog unit 133 to generate difference Analogue data;On the other hand, the pulse data that pulse collecting unit 132 stores is sent to PC by data communication module 135.

Pulse receiving unit 131 is connect with receiving circuit 11, receives the order in direction and position that digital control system is sent out Pulse carries out positive and negative counting to position number of pulses according to direction, generates pulse data.

Servo analog unit 133, according to the command pulse that pulse receiving unit 141 provides, in conjunction with servo analog parameter, Speed and the position of the servo motor of simulation are calculated to generate analogue data, and can be enabled with simulated machine or non-enabled Motion state, moving component transfinites the various situations such as position.

Pulse collection unit 132 is connect with pulse receiving unit 131, RAM of the pulse collection unit 132 inside The direction and P-pulse that device provides pulse receiving unit 131, direction and P-pulse within a certain period of time carry out real When acquisition and recording, can be adjusted according to the precision and data content of parameter request, maximum can acquire in 500 milliseconds Direction and P-pulse.

Position feedback unit 134 is connect with servo analog unit 143 and feedback circuit 14 respectively, and location information passes through Position feedback unit 134 is converted into the response impulse of orthogonal encoder, is output to feedback circuit 14 and feeds back to digital control system, institute Rheme, which is set feedback unit 134 while being provided, includes motor enabled or non-enabled motion state, position transfinite position and servo is alarmed The status signal of equal servo analogs gives digital control system.

A kind of control method of impulse type servo analog system, includes the following steps:

S1, the servo analog parameter that servo analog device is set by PC machine;

S2, servo analog device receive the command pulse that sends out of digital control system, in conjunction with the servo analog parameter in above-mentioned S1 into The running of row analog servomechanism motor calculates the analogue data of the servo motor of simulation and is converted into response message, by the sound Information is answered to feed back to digital control system;

The pulse data that S3, PC machine control servo analog device are acquired the pulse data of command pulse in above-mentioned S2 into Row acquisition, servo analog device return the pulse data and carry out analysis conversion to PC machine, generate scaling results;

S4, display are shown scaling results with figure with image format, while showing the operation of servo analog device State and parameter.

Servo analog parameter includes the motion range of execution unit in the S1, and automatic or artificial triggering analog servomechanism is anti- Feedback;

The command pulse that digital control system provides in the S2 includes direction and P-pulse, and the servo analog device can be with mould Quasi- motor is enabled or non-enabled motion state and moving component transfinite position simultaneously generates analogue data, and the response message includes mould The response impulse of the location information of quasi- servo motor, including motor is enabled or non-enabled motion state, position transfinite position and watch Take the status signal of alarm, the servo analog device to the pulse signal of treated orthogonal encoder that analogue data changes into and Status information returns to digital control system, achievees the purpose that the servo motor of emulation executes instruction action;

Servo analog device carries out real-time sampling record to the pulse change in direction and P-pulse in the S3, according to parameter Permissible accuracy and data content, maximum can acquire direction and P-pulse in 500 milliseconds;

PC machine carries out sample collection to the wave sequence of the command pulse in the S4, and redraws numerical control over the display System is sent to direction and the P-pulse of servo analog device, can overall analysis system instruction speed and location information.

A kind of operation principle of impulse type servo analog system of the present invention is:By servo analog device to numerical control system The command pulse that system provides, the analog servomechanism emulated generate analogue data and response message, and response message are fed back to Digital control system has the function that exemplary pulse type servo analog;Simultaneously record is acquired to command pulse, by pulse data, Analogue data is output to PC machine;Display graphically shows collected pulse data and analogue data, with Whether the instruction that analyzing numerically controlled system command servo executes meets the requirements, and whether speed and position are consistent with system requirements; The hardware that can be used for investigating digital control system whether there is failure, and whether control output order meets the requirement of sequential and performance.

A kind of other structures of impulse type servo analog system described in the present embodiment are referring to the prior art.

The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, therefore It is every without departing from technical solution of the present invention content, according to the technical essence of the invention to made by above example it is any modification, Equivalent variations and modification, in the range of still falling within technical solution of the present invention.

Claims (8)

1. a kind of impulse type servo analog system, it is characterised in that:Including
Servo analog device (1), connect with digital control system, receives the command pulse that digital control system is sent out, is ordered described in servo analog It enables pulse and generates analogue data, analogue data is converted to response message and feeds back to digital control system by servo analog device (1);Together When, the pulse data of command pulse described in servo analog device (1) acquisition and recording and the analogue data;
PC machine (2) is connect with servo analog device (1), and the servo analog parameter of the servo analog device (1) is arranged, is also used for Control the sample record that the servo analog device (1) carries out pulse data;Meanwhile PC machine (2) is by the pulse data and simulation Data reduction is output to display at picture signal;
Display (3) is connect with PC machine (2), shows pulse data with image mode, and show servo analog device (1) Operating status and parameter.
2. impulse type servo analog system according to claim 1, which is characterized in that the servo analog device (1) includes:
Receiving circuit (11) connects digital control system, receives the command pulse that digital control system is sent out, and directly obtained from digital control system Take power supply;
Transmission circuit (12), connection PC machine (2) carry out communication and data exchange with PC machine (2);
FPGA circuitry (13), servo analog command pulse simultaneously generate analogue data, and the analogue data is converted into response letter Breath, meanwhile, FPGA circuitry (13) is acquired record to the pulse data and analogue data of command pulse.
Feedback circuit (14) connects digital control system, and feedback response information is to digital control system;
The receiving circuit (11) and feedback circuit (14) are connect with FPGA circuitry (13) respectively, realize the life for receiving digital control system Enable pulse and feedback response information to digital control system;The transmission circuit (12) connect with FPGA circuitry (13), realizes PC machine (2) The communication control of FPGA circuitry (13), parameter setting and data are acquired.
3. impulse type servo analog system according to claim 2, which is characterized in that the FPGA circuitry (13) includes Module ASIC, the module ASIC include:
Pulse receiving unit (131) is connect with receiving circuit (11), receives the order in direction and position that digital control system is sent out Pulse carries out positive and negative counting to position number of pulses according to direction, generates pulse data;
Pulse collection unit (132) is connect with pulse receiving unit (131), the pulse provided pulse receiving unit (131) Data carry out real-time sampling record;
Servo analog unit (133) is connect with pulse receiving unit (131), the arteries and veins provided according to pulse receiving unit (131) Data are rushed, in conjunction with the analog servomechanism parameter being arranged, generate the analogue data of analog servomechanism motor running;
Position feedback unit (134) is connect with servo analog unit (133), the simulation that servo analog unit (133) is provided Data are converted to response message, and position feedback unit (134) is connect with the feedback circuit (14), and response message is fed back to number Control system.
4. impulse type servo analog system according to claim 3, which is characterized in that the FPGA circuitry (13) includes number According to communication module (135), the data communication module (135) respectively at the transmission circuit (12), servo analog unit (133), pulse collection unit (132) connects.
5. according to the arbitrary impulse type servo analog system of Claims 1-4, which is characterized in that the response message packet Response impulse and status signal are included, what the response impulse transmitted is the pulse signal of position, and the status signal is to transmit to watch The motor of clothes simulation enables or non-enabled motion state, servo are alarmed, the state for position of transfiniting.
6. a kind of control method of impulse type servo analog system, which is characterized in that include the following steps:
S1, the servo analog parameter that servo analog device is set by PC machine;
S2, servo analog device receive the command pulse that digital control system is sent out, and mould is carried out in conjunction with the servo analog parameter in above-mentioned S1 The running of quasi- servo motor, calculates the analogue data of the servo motor of simulation and is converted into response message, and the response is believed Breath feeds back to digital control system;
S3, PC machine control servo analog device are acquired the pulse data of command pulse in above-mentioned S2, the passback of servo analog device The pulse data carries out analysis conversion to PC machine, generates scaling results;
S4, display are shown scaling results with figure with image format, while showing the operating status of servo analog device And parameter.
7. the control method of impulse type servo analog system according to claim 6, which is characterized in that
Servo analog parameter includes the motion range of execution unit in the S1, automatic or artificial triggering simulation servo feedback;
The command pulse that digital control system provides in the S2 includes direction and P-pulse;
Servo analog device carries out real-time sampling record to the pulse change in direction and P-pulse in the S3, according to parameter request Precision and data content, maximum can acquire direction and P-pulse in 500 milliseconds;
PC machine carries out sample collection to the wave sequence of the command pulse in the S4, and redraws digital control system over the display Be sent to direction and the P-pulse of servo analog device, can overall analysis system instruction speed and location information.
8. the control method of impulse type servo analog system according to claim 6, which is characterized in that
Servo analog device in the S2 can be enabled with simulated machine or non-enabled motion state and moving component transfinite position simultaneously Generate analogue data;
Response message in the S2 includes response impulse and status signal, and the response impulse is the motor position of servo analog Signal, the status signal are that the motor of servo analog enables or non-enabled motion state, servo are alarmed and the shape for position of transfiniting State signal;
Servo analog device is reached to treated orthogonal encoder signal return that analogue data changes into digital control system in the S2 The purpose of action is executed instruction to the servo motor of emulation.
CN201810085302.1A 2018-01-29 2018-01-29 A kind of impulse type servo analog system and its control method CN108334040A (en)

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