CN108762183A - Chip type controls integral structure - Google Patents
Chip type controls integral structure Download PDFInfo
- Publication number
- CN108762183A CN108762183A CN201810423052.8A CN201810423052A CN108762183A CN 108762183 A CN108762183 A CN 108762183A CN 201810423052 A CN201810423052 A CN 201810423052A CN 108762183 A CN108762183 A CN 108762183A
- Authority
- CN
- China
- Prior art keywords
- integral structure
- software platform
- chip type
- control
- controls integral
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Control By Computers (AREA)
Abstract
The present invention relates to robotic technology fields, disclose chip type and control integral structure, including control panel and the driving plate for driving multiple motors；The control panel includes the processing chip for runs software platform, and the software platform includes SERVO CONTROL, axis control, Cia402 standards, robot control algorithm, PLC.The present invention is based on single processing chips, depth customized development software platform, not only it is integrated with the calculating of traditional controller and driver, and it is all completed in single processing chip, without considering the problems of communication delay caused by multiple process parts, it is capable of the operational capability of abundant development process chip, finally improves performance.
Description
Technical field
The present invention relates to the technical fields of robot, more particularly to control integrated technique.
Background technology
The control section of robot generally comprises controller and driver, in order to realize human-computer interaction, generally also needs to show
Teach device.Wherein, controller is responsible for trajectory planning and the control section on upper layer, output control signal, and driver connects suspension control signal
Afterwards, corresponding pulse signal is converted to, is inputted in motor, motor finally makes robot run according to output of pulse signal.It is transporting
In capable process, motor feedback movable information to driver, driver knows the degree of movement according to feedback information, namely needs
Three close-loop control is realized in driver：Position ring, speed ring and electric current loop.
Due to being driven communication delay caused by device and controller separation so that it is more powerful that tricyclic can not feed back to calculation power
Controller in, and need for each motor be equipped with a driver, not only increase Material Cost, and mutually independent drive
Dynamic device and each self-operating of controller control program, it is difficult in upper layer Optimal Control Strategy.There is the drives of a variety of brands on the market
Dynamic device and controller, due to the equal stand-alone development of the two, there is also software programs to be difficult to the problem of depth customizes, finally influence property
Energy.
To solve the above-mentioned problems, occur controling integrated technique, it is intended to make driver and controller be combined into one, still
The level in the prior art for controling integration and even resting on cabinet integration and circuit integrating, the former will only drive merely
Dynamic device and controller are integrated in the same cabinet, although the two is further integrated on same circuit by the latter, still
At least processing unit is needed separately to handle calculating data, both control integrated technique and still have communication delay, independent operating
The problem of at least two sets of operation programs, still there is larger room for promotion in performance.
Invention content
The purpose of the present invention is to provide chip types to control integral structure, it is intended to which solution controls integrated needs in the prior art
Multiple process parts separately handle data, cause to there are problems that communication delay, need at least two sets of operation programs.
The invention is realized in this way providing chip type controls integral structure, including control panel and for driving multiple electricity
The driving plate of machine；The control panel includes the processing chip for runs software platform, the software platform include SERVO CONTROL,
Axis control, Cia402 standards, robot control algorithm, PLC.
Further, the driving plate is to integrate how shaft-driven monomer FPGA structure.
Further, the software platform further includes interface alternation, is equipped on the control panel for providing teaching work(
The input structure and display structure of energy.
Further, the software platform is based on real-time micro-kernel.
Further, the software platform runs on IEC61331 standards.
Further, the software platform has task scheduling priority, is followed successively by from high to low：SERVO CONTROL, axis control,
Cia402 standards, robot control algorithm, PLC.
Further, the software platform further includes non real-time application, and the non real-time application will not interrupt other tasks,
The non real-time application includes the interface alternation.
Further, the driving plate auxiliary calculating speed ring, electric current loop.
Further, the driving plate includes real-time ethernet IP, encoder IP.
Further, the driving plate also runs Clar Park and PID.
Compared with prior art, the present invention is based on single processing chip, depth customized development software platform is not only integrated with
The calculating of traditional controller and driver, and all completed in single processing chip, without considering that multiple process parts are led
The problem of communication delay of cause, is capable of the operational capability of abundant development process chip, finally improves performance.
Description of the drawings
Fig. 1 is the structural schematic diagram that chip type provided in an embodiment of the present invention controls integral structure；
Fig. 2 is the functional schematic of software platform provided in an embodiment of the present invention；
Fig. 3 is the functional schematic of control panel provided in an embodiment of the present invention；
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated dress
It sets or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as the limit to the present invention
System.
In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
The realization of the present embodiment is described in detail below in conjunction with specific attached drawing.
As shown in Figure 1 to Figure 3, chip type is provided in the present embodiment control integral structure 1, including control panel 21 and driving plate
22, control panel 21 is equipped with processing chip 213, and wherein processing chip 213 is used for runs software platform, and software platform includes servo
Control, axis control, Cia402 standards (speed governing and motion control apparatus frame）, robot control algorithm, PLC.
Wherein SERVO CONTROL includes conventional three close-loop control, and axis control and robot control algorithm include conventional control
Part, namely driving and control are all placed in processing chip 213 and complete.Software platform additionally provides Cia402 standards and PLC,
The fully-integrated repertoire of controller.
Chip type in the present embodiment controls integral structure 1, and based single processing chip 213 has customized special software
Platform, the software platform are integrated with whole calculating processes of driving and control.In other words, all the elements that software platform is provided
It is all calculated and is completed by processing chip 213, only there is this calculating center all to calculate, multiple calculating center phase intercommunications are not present
News lead to the problem of delay.Moreover, during exploitation, software platform is based on 213 depth customized development of single processing chip,
It, can the just abundant application in exploitation without consideration and the cooperation of other operation programs without considering to communicate with other processing centers
The calculation power of processing chip 213, planning tasks, final improving performance.
Can not include still all scenes although controling the various functions that integrated technology can be integrated maximumlly
Using, therefore control panel 21 is equipped with expansible Peripheral Interface, is connected for expansion structure 23.
Driving plate 21 in this implementation is monomer FPGA structure（Field programmable gate array）, pass through expansion interface and driving
Plate 22 is communicated.FPGA structure is a kind of calculating structure of synchronous input/output, is good at parallel computation, can be simultaneously
Parallel computation multi-group data, to provide the control of speed ring and electric current loop for multiple motors 221, due to activation point ring, axis
The most calculation processes such as control are completed in control panel 21, therefore can drive the multiaxis of suitable parallel computation
Correlation auxiliary is calculated to be placed in single FPGA and be completed, such as electric current loop and speed ring etc..Namely single driving plate 22 carries out multiaxis
Driving substitutes each motor of the prior art 221 and is required for one driver of adaptation so that has more applicability.Other real
It applies in example, if the servo number of axle is few, FPGA can be substituted for microcontroller, be handled in microcontroller, further, at this point,
Position ring can also be placed on processing in microcontroller.
Preferably, software platform further includes interface alternation, and the input for providing tutorial function is equipped on control panel 21
Structure 211 and display structure 212.Input structure 211, display structure 212 and processing chip 213 constitute the hardware knot of teaching machine
Structure, software platform constitute the software configuration of teaching machine, the input information of user can be handled in software platform, is calculated and be shown
In display structure 212.In other words, the control panel 21 in the present embodiment is integrated with the function of teaching machine, and there is no need to individually adopt
Purchase teaching machine.Control panel 21 is directly connect with each motor 221 on the structure division of robot, input structure 211 is passed through
It is programmed with display structure 212, you can drive each motor 221 of robot to rotate, namely the progress of driving robot is specific
Action.
Preferably, due to using processing chip 213 to substitute the microcontroller in routine techniques in this implementation, it is therefore desirable to higher
Real-time, so software platform in this implementation is based on real-time micro-kernel, task shakes the real-time that can reach 8us.It is soft
Part platform runs on IEC61331 standards, has task scheduling priority in its running environment, is followed successively by servo control from high to low
System, axis control, Cia402 standards, robot control algorithm, PLC.Low priority can not interrupt high priority, according to for communication
The requirement of real-time difference, dispatches relevant calculation resources and handles these functions.
Software platform also has non real-time application namely interface alternation above-mentioned.Non real-time application will not interrupt other
Business, is relatively independent of 61131 runtime environments of IEC.Due to, without being operated immediately, making after the completion of interface alternation
For non real-time application, the calculation power of other tasks will not be occupied.
In driving plate 22, also there is real-time ethernet IP and encoder IP, the former is used to pass through reality with control panel 21
When ethernet communication, the latter with the encoder in motor for communicating.It, then can be only when real-time ethernet speed is sufficiently fast
Electric current loop is realized in FPGA.In driving plate 22, also operation has Clar Park and PID.
The above is merely preferred embodiments of the present invention, it is not intended to limit the invention, it is all in the spirit and principles in the present invention
Within made by all any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. chip type controls integral structure, which is characterized in that the driving plate including control panel and for driving multiple motors；It is described
Control panel includes the processing chip for runs software platform, and the software platform includes SERVO CONTROL, axis control, Cia402 marks
Standard, robot control algorithm, PLC.
2. chip type as described in claim 1 controls integral structure, which is characterized in that the driving plate is that integrated multiaxis drives
Monomer FPGA structure.
3. chip type as claimed in claim 2 controls integral structure, which is characterized in that the software platform further includes that interface is handed over
Mutually, the input structure and display structure for providing tutorial function are installed on the control panel.
4. chip type as described in claim 1 controls integral structure, which is characterized in that the software platform is based in micro- in real time
Core.
5. chip type as described in claim 1 controls integral structure, which is characterized in that the software platform is run on
IEC61331 standards.
6. chip type as claimed in claim 5 controls integral structure, which is characterized in that the software platform has task scheduling
Priority is followed successively by from high to low：SERVO CONTROL, axis control, Cia402 standards, robot control algorithm, PLC.
7. chip type as claimed in claim 3 controls integral structure, which is characterized in that the software platform further includes non real-time
Using the non real-time application will not interrupt other tasks, and the non real-time application includes the interface alternation.
8. chip type as described in claim 1 controls integral structure, which is characterized in that the driving plate assists calculating speed
Ring, electric current loop.
9. chip type as described in claim 1 controls integral structure, which is characterized in that the driving plate includes real-time ethernet
IP, encoder IP.
10. chip type as described in claim 1 controls integral structure, which is characterized in that the driving plate also runs Clar
Park and PID.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423052.8A CN108762183A (en) | 2018-05-05 | 2018-05-05 | Chip type controls integral structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423052.8A CN108762183A (en) | 2018-05-05 | 2018-05-05 | Chip type controls integral structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108762183A true CN108762183A (en) | 2018-11-06 |
Family
ID=64009079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810423052.8A Pending CN108762183A (en) | 2018-05-05 | 2018-05-05 | Chip type controls integral structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108762183A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110127942A1 (en) * | 2008-11-11 | 2011-06-02 | Shenzhen Academy Of Aerospace Technology | Control System of Multi-Shaft Servo Motor |
| CN104750029A (en) * | 2015-03-30 | 2015-07-01 | 深圳市威科达科技有限公司 | Five-axis motion controller and control method thereof |
| CN106272550A (en) * | 2016-08-17 | 2017-01-04 | 北京可以科技有限公司 | Configuration controls information processing method and device |
| CN206023642U (en) * | 2016-08-30 | 2017-03-15 | 北京超同步伺服股份有限公司 | Servo-driver control circuit |
| CN106625683A (en) * | 2017-02-27 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Reconfigurable man-machine cooperation mechanical arm system based on WIFI |
| CN106997285A (en) * | 2016-09-20 | 2017-08-01 | 遨博（北京）智能科技有限公司 | A kind of method and device of control machine people |
-
2018
- 2018-05-05 CN CN201810423052.8A patent/CN108762183A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110127942A1 (en) * | 2008-11-11 | 2011-06-02 | Shenzhen Academy Of Aerospace Technology | Control System of Multi-Shaft Servo Motor |
| CN104750029A (en) * | 2015-03-30 | 2015-07-01 | 深圳市威科达科技有限公司 | Five-axis motion controller and control method thereof |
| CN106272550A (en) * | 2016-08-17 | 2017-01-04 | 北京可以科技有限公司 | Configuration controls information processing method and device |
| CN206023642U (en) * | 2016-08-30 | 2017-03-15 | 北京超同步伺服股份有限公司 | Servo-driver control circuit |
| CN106997285A (en) * | 2016-09-20 | 2017-08-01 | 遨博（北京）智能科技有限公司 | A kind of method and device of control machine people |
| CN106625683A (en) * | 2017-02-27 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Reconfigurable man-machine cooperation mechanical arm system based on WIFI |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100422980C (en) | Hardware based configurable motion control apparatus and method | |
| CN108748079A (en) | A kind of mobile mechanical arm, control method and its remote control system | |
| CN102841618B (en) | Novel quick-exploration automatic control system for microcomputer rat | |
| CN202838024U (en) | Novel automatic control system for quick sprint of a microcomputer mouse | |
| CN102830641B (en) | Three-axis full-automatic high-speed dispensing robot servo control system | |
| CN102841620B (en) | Novel micro-mouse quick sprint automatic control system | |
| CN108768220A (en) | A kind of integrative coordinated control device and method of articulated robot | |
| CN103607149B (en) | A kind of ultrasonic motor rudder servo system and control method thereof | |
| JP2019061523A (en) | Information processing unit, information processing method, and program | |
| CN107791244A (en) | Controller, operation controller, multi-axis actuation control device and drive dynamic control device | |
| CN106843304A (en) | Motor general-purpose control system and method | |
| Dulger et al. | Modelling, simulation and control of a four-bar mechanism with a brushless servo motor | |
| CN102830645B (en) | Uniaxial full-automatic high-speed dispensing robot servo control system | |
| CN108762183A (en) | Chip type controls integral structure | |
| US7339334B2 (en) | Real-time responsive motor control system | |
| US20190146451A1 (en) | Method and Apparatus for Integrating an External Motion Planner with an Industrial Controller | |
| CN208304341U (en) | A kind of screw assembly device for antenna for base station ground strip | |
| CN206341162U (en) | The Double-motor System of five leg inverters based on modelling | |
| CN202837918U (en) | Three-axis full-automatic high speed adhesive dispensing robot servo control system | |
| CN110580005B (en) | Motion control system suitable for extreme application conditions | |
| CN205310270U (en) | General removal chassis control system | |
| CN107264671A (en) | A kind of multi-function robot chassis suit | |
| CN202643017U (en) | Integrated high-efficiency energy-saving driving device | |
| CN108762163A (en) | Moveable robot movement control system based on QT human-computer interaction interfaces and motor servo system | |
| CN106757852A (en) | A kind of sewing machine accuracy-control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210202 Address after: 276800 north of Shantou Road West of Hangzhou Road East of Luzhou road Rizhao Economic Development Zone Shandong Province Applicant after: Rizhao Yuejiang Intelligent Technology Co.,Ltd. Address before: 518000 4th floor, building 8, area a, Tanglang Industrial Zone, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181106 |