CN108989351A

CN108989351A - A kind of data communications method and its method and system for double redundancy motor observing and controlling

Info

Publication number: CN108989351A
Application number: CN201811017756.1A
Authority: CN
Inventors: 周奇勋; 李鹏博; 刘全龙; 郭山; 孟庆品; 陶海莉; 刘娜; 卢少亮; 徐贵超
Original assignee: Xian University of Science and Technology
Current assignee: Xian University of Science and Technology
Priority date: 2018-09-01
Filing date: 2018-09-01
Publication date: 2018-12-11
Anticipated expiration: 2038-09-01
Also published as: CN108989351B

Abstract

The invention discloses a kind of data communications method and its for the method and system of double redundancy motor observing and controlling, data communications method is comprising steps of the setting of one, communication protocol, two, Two-way Cycle parallel data reception processing；Its double redundancy motor investigating method is comprising steps of the setting of one, communication protocol, two, data acquisition and transmission, three, data receiver processing；Its double redundancy monitor and control system of electric machine includes DSP digital processor module and power circuit block, and the reset circuit, storage expanded circuit and the RS422/RS485 telecommunication circuit that connect with DSP digital processor module；The input of DSP digital processor module is terminated with current detection circuit, voltage detecting circuit, temperature sensing circuit and RVDT resolving circuit.The present invention can stablize, safely and reliably realize coordinated control and host computer LabVIEW and slave computer DSP digital processor module between dual-redundancy servo motor between data communication, convenient for promoting the use of.

Description

A kind of data communications method and its method and system for double redundancy motor observing and controlling

Technical field

The invention belongs to motor control technology fields, and in particular to a kind of data communications method and its be used for double redundancy motor The method and system of observing and controlling.

Background technique

Application of the servo-system in aerospace field is rather extensive, what servo-system broke down in the process of running Situation is inevitable, and bring loss is also immeasurable after breaking down in aerospace applications, in order to increase Strong system copes with the adaptability of failure, generallys use Redundancy Control System, can when certain a part of system breaks down It ensures the reliability service of whole system, while can satisfy certain performance requirement, but strong coupling feature is especially remaining between remaining The coordinated control difficulty that load condition difference will lead to servo-system between degree increases, in order to rationally and effectively realize double redundancy motor Between coordinated control, real-time monitor the various states of servo-system, acquire the revolving speed of motor, busbar voltage, three-phase current, The parameters such as temperature and rotor-position it is thought that carrying out data acquisition using DSP digital processing unit, and use on host computer LabVIEW carries out the method that intuitively shows of data, and still, it is simple also to lack a kind of circuit structure in the prior art, can be real-time Acquire the data acquisition circuit of the parameters such as busbar voltage, three-phase current, temperature and the rotor-position of dual-redundancy servo motor；And And it is easily lost based on LabVIEW and DSP traditional communication plan in the case where amount of communication data is big, call duration time is extremely short Data, program is complicated and time-consuming more during parsing data frame, is difficult meet the needs of real-time monitoring system；With program Long-play, buffer area data volume increase causes program operation speed to reduce, or even Caton occurs；It also lacks in the prior art Effective solution scheme.

In LabVIEW, " initialization of (a) serial ports-read and write serial port-closing serial ports " are communicated using basic VISA, so that it may Realize the transmitting-receiving process of serial communication data, in April, 2017 plain duckweed delivered on periodical " electronic device " " based on DSP and The serial communication of LabVIEW is studied " text, on basic VISA communication infrastructure, although utilizing while circulation+event structure It enhances the real-time of system, reduce the utilization rate of CPU, but do not account for when amount of communication data is big, call duration time is extremely short Under it is required that, basic VISA communication is easy to cause the loss of data, while program is complicated and time-consuming during parsing data frame It is more, it is difficult meet the needs of real-time monitoring system；It is that entitled " one kind is based on CN104063216 in patent announcement number In the patent of the high-speed data method of processing display of LabVIEW ", lift a sail et al. in large complicated LabVIEW engineering, In system signal be increasing, amount of communication data it is big, traditional design cycle is due to lacking rationally effective program operation frame It builds, image shows Caton occur when causing program low efficiency, system resource occupying big, high-speed data processing transmission at runtime The problem of, it proposes to be divided into 11 kinds of functional modules according to module transfer rate, real-time, integrality and resource occupation etc., it is each A functional module creates a while circular flow thread, when using timing while circulation to functional module priority and circulation Between be configured, although the communication of program effective solution is complicated and processing data not in time the problem of, program structure is whole Body is complicated, more using thread, is easy to increase CPU usage when dealing with improperly, keeps program operation slow.

Summary of the invention

In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing one kind can ensure The quality of data communication, program structure are simple, will not be substantially reduced program operation speed because of program long-play causes card Or image display it is abnormal phenomena such as data communications method.

In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of data communications method, for realizing upper Position machine LabVIEW receives the data that slave computer DSP digital processor module is sent to it by serial ports, which is characterized in that the party Method the following steps are included:

Step 1: communication protocol is set: setting host computer LabVIEW and slave computer DSP number in host computer LabVIEW The communication protocol of processor module communication；

Step 2: Two-way Cycle parallel data reception is handled: DSP digital processor module is every time t to host computer LabVIEW sends a frame data；Host computer LabVIEW is divided to receive data and unpacking data two circulations of processing, receives data While start to data carry out dissection process；

Wherein, the detailed process of datacycle is received are as follows: when VISA is read in the reception datacycle of host computer LabVIEW The data received are successively taken out by byte to when having byte and are stored in specified array " reading buffering array " by Data Detection In；Every one byte of storage " read buffering array and deposit pointer " plus 1 in " reading buffering array "；

Wherein, the detailed process of processing datacycle is unpacked are as follows: when in the unpacking processing datacycle of host computer LabVIEW " read buffering array deposit pointer " and unequal " read and buffer array fetching needle " when, host computer LabVIEW enters at unpacking It manages and parses data frame in datacycle；Firstly, " read buffering array fetching needle " " will read and buffer array " in data directory To " unpacking interim byte ", then will should " unpacking interim byte " be stored in new array " unpacking array "；Then, Boolean quantity is set " frame head mark " position, after finding frame head in " unpacking array ", " frame head mark " Boolean is very that entry condition judges structure Very, " unpacking pointer " from 0 to 1, successively adds 3 bytes backward, and it is to find the complete data of a frame that " unpacking pointer ", which is 4, at this time It is again that " frame head mark " is most false, " unpacking pointer " most 0；Finally, the every frame data that will acquire carry out CRC check, will pass through The data of CRC check are determined as correct data and assignment is shown to front panel；Otherwise, when not finding frame head in " unpack array " Or data abandon data when not passing through CRC check.

The invention also discloses a kind of quality that can ensure data communication, program structures simply, will not be long because of program Time operation is substantially reduced program operation speed and Caton or image is caused to show phenomena such as abnormal, can realize on computer to electricity The double redundancy motor measuring and control data acquiring and processing method of the real-time monitoring of machine, which is characterized in that method includes the following steps:

Step 2: data acquisition and transmission: current detection circuit is measured in real time the winding current of double redundancy motor, Voltage detecting circuit is measured in real time busbar voltage, and temperature sensing circuit carries out the temperature of double redundancy power of motor plate real When detect, RVDT resolving circuit carries out detection resolving to the rotor-position of double redundancy motor；DSP digital processor module acquisition around Group current data, busbar voltage data, double redundancy power of motor plate temperature data and rotor position data, and every time t A frame data are sent to host computer LabVIEW；

Step 3: data receiver is handled: host computer LabVIEW is divided to receive data and unpacking data two circulations of processing, Start to carry out dissection process to data while receiving data；

Simple, novel design that the invention also discloses a kind of circuit structures is rationally, realization is convenient and at low cost, can stablize And safely and reliably realize that the acquisition of dual-redundancy servo motor data is transmitted, is practical, realizing double redundancy electricity convenient for promoting the use of The double redundancy motor measuring and control data acquisition system of machine investigating method, it is characterised in that: including DSP digital processor module and be double The power circuit block of each electricity consumption module for power supply in remaining servo telemetry circuit, and connect with DSP digital processor module Reset circuit, storage expanded circuit and the RS422/RS485 telecommunication circuit for being communicated with host computer；The DSP number The input of processor module is terminated with current detection circuit for detecting machine winding current and for detecting busbar voltage Voltage detecting circuit, and temperature sensing circuit for detecting the dual-redundancy servo motor telemetry circuit temperature and for solving Calculate the RVDT resolving circuit of motor rotor position information；The power circuit block includes 24V Switching Power Supply and opens with 24V 24V to the 15V voltage conversion circuit and 24V to 5V voltage conversion circuit of the output end connection in powered-down source, 24V to the 15V electricity The 15V voltage output of voltage conversion circuit is terminated with 15V to -15V voltage conversion circuit, 24V to the 5V voltage conversion circuit 5V voltage output is terminated with 5V to 3.3V and 1.9V voltage conversion circuit；The DSP digital processor module and 5V to 3.3V and The 3.3V voltage output end and 1.9V voltage output end of 1.9V voltage conversion circuit are all connected with, the reset circuit and storage extension Circuit is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit, the RS422/RS485 communication electricity Road and the 5V voltage output end and 5V to 3.3V of 24V to 5V voltage conversion circuit and the 3.3V voltage of 1.9V voltage conversion circuit are defeated Outlet is all connected with, and the current detection circuit is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit, the voltage inspection Slowdown monitoring circuit and the 15V voltage output end of 24V to 15V voltage conversion circuit and the -15V voltage of 15V to -15V voltage conversion circuit Output end is all connected with, the 5V voltage output end and 5V to 3.3V of the temperature sensing circuit and 24V to 5V voltage conversion circuit and The 3.3V voltage output end of 1.9V voltage conversion circuit is all connected with, the RVDT resolving circuit and 24V to 5V voltage conversion circuit 5V voltage output end and the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit be all connected with.

Above-mentioned double redundancy motor measuring and control data acquisition system, it is characterised in that: 24V to the 15V voltage conversion circuit Voltage stabilizing chip U5, switching diode D5, nonpolar capacitor C12, nonpolar capacitor C13, nonpolarity electricity including model LM317 It is opened with 24V one end of the 1st pin and nonpolar capacitor C12 that hold C15, resistance R12 and resistance R15, the voltage stabilizing chip U5 The output end in powered-down source connects, and the other end of the nonpolarity capacitor C12 is grounded by resistance R15, the voltage stabilizing chip U5's 2nd pin and one end of one end of resistance R12, the cathode of switching diode D5 and nonpolar capacitor C15 are all connected with, and are 24V To the 15V voltage output end of 15V voltage conversion circuit, the 3rd pin of the voltage stabilizing chip U5, the other end of resistance R12, switch One end of the anode of diode D5 and nonpolar capacitor C13 are grounded, the other end and nonpolarity electricity of the nonpolarity capacitor C15 Hold the other end connection of C13；24V to the 5V voltage conversion circuit includes the voltage stabilizing chip U6 of model LM317, two pole of switch Pipe D6, nonpolar capacitor C17, nonpolar capacitor C18, nonpolar capacitor C19, resistance R13 and resistance R14, the voltage stabilizing chip One end of the 1st pin of U6 and nonpolar capacitor C17 are connect with the output end of 24V Switching Power Supply, the nonpolarity capacitor C17 The other end be grounded by resistance R14, one end of the 2nd pin of the voltage stabilizing chip U6 and resistance R13, switching diode D6 One end of cathode and nonpolar capacitor C19 are all connected with, and are the 5V voltage output end of 24V to 5V voltage conversion circuit, described steady One end of the 3rd pin of chip U6, the other end of resistance R13, the anode of switching diode D6 and nonpolar capacitor C18 is pressed to connect Ground, the other end of the nonpolarity capacitor C19 are connect with the other end of nonpolar capacitor C18；5V to the 3.3V and 1.9V electricity Voltage conversion circuit includes power management chip TPS70302, Light-emitting diode LED 1, Light-emitting diode LED 2, polar capacitor CEP1, polar capacitor CEP2, polar capacitor CEP3, polar capacitor CEP4, nonpolar capacitor CP2, nonpolar capacitor CP3, non-pole Property capacitor CP4, resistance RP13, resistance RP14, resistance RP15, resistance RP16, resistance RP17, resistance RP18, resistance RP19 and electricity Hinder RP20, the 2nd pin, the 3rd pin, the 5th pin, the 6th pin, the 8th pin, the 10th of the power management chip TPS70302 Pin, the 11st pin, the anode of polar capacitor CEP2, polar capacitor CEP3 positive and nonpolar capacitor CP3 one end with The 5V voltage output end of 24V to 5V voltage conversion circuit connects, and the 0th pin of the power management chip TPS70302, the 1st are drawn Foot, the 7th pin, the 9th pin, the 12nd pin, the cathode of polar capacitor CEP2, the cathode of polar capacitor CEP3 and nonpolarity capacitor The other end of CP3 is grounded, the 22nd pin of the power management chip TPS70302 and power management chip TPS70302's 23rd pin connection, and be 5V to 3.3V and 1.9V voltage conversion circuit 3.3V voltage output end, the one of the resistance RP13 End, one end of resistance RP16, one end of resistance RP20, the anode of polar capacitor CEP1, one end of nonpolar capacitor CP2 and resistance One end of RP15 is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit, the polar capacitor CEP1 Cathode, the other end of nonpolar capacitor CP2 and the minus earth of Light-emitting diode LED 1, the sun of the Light-emitting diode LED 1 Pole is connect with the other end of resistance RP15, the other end of the 21st pin and resistance RP13 of the power management chip TPS70302 Connection, and be grounded by resistance RP14, the other end of the 19th pin and resistance RP16 of the power management chip TPS70302 Connection, the 18th pin of the power management chip TPS70302 are connect with the other end of resistance RP20, the power management core The 14th pin of piece TPS70302 is connected with the 15th pin of power management chip TPS70302, and is 5V to 3.3V and 1.9V electricity The 1.9V voltage output end of voltage conversion circuit, one end of the resistance RP18, the anode of polar capacitor CEP4, nonpolar capacitor One end of CP4 and one end of resistance RP17 are connect with the 1.9V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit, The 16th pin of the power management chip TPS70302 is connected with the other end of resistance RP18, and is grounded by resistance RP19, The 13rd pin, the 24th pin, the cathode of polar capacitor CEP4, nonpolar capacitor CP4 of the power management chip TPS70302 The other end and the cathode of Light-emitting diode LED 1 be grounded, the anode of the Light-emitting diode LED 1 is another with resistance RP17's End connection；15V to -15V the voltage conversion circuit includes voltage stabilizing chip MAX765, Schottky diode D7, inductance L1, non-pole Property capacitor C16 and the 6th pin of nonpolar capacitor C21, the voltage stabilizing chip MAX765, the 7th pin and nonpolar capacitor C16 One end is connect with the 15V voltage output end of 24V to 15V voltage conversion circuit, the 3rd pin of the voltage stabilizing chip MAX765, The other end of 5th pin and nonpolar capacitor C16 are grounded, the 4th pin and voltage stabilizing chip of the voltage stabilizing chip MAX765 The 2nd pin of MAX765 connects, and is grounded by nonpolarity capacitor C21, the 1st pin and Xiao Te of the voltage stabilizing chip MAX765 The anode of based diode D7 connects, and is the -15V voltage output end of 15V to -15V voltage conversion circuit, the voltage stabilizing chip The 8th pin of MAX765 is connect with the cathode of Schottky diode D7, and is grounded by inductance L1.

Above-mentioned double redundancy motor measuring and control data acquisition system, it is characterised in that: the DSP digital processor module includes One end and non-pole of dsp chip TMS320F2812, crystal oscillator Y1, nonpolarity capacitor CX1 and nonpolar capacitor CX2, the crystal oscillator Y1 One end of property capacitor CX1 is connect with the 77th pin of dsp chip TMS320F2812, the other end of the crystal oscillator Y1 and non-pole Property capacitor CX2 one end connect with the 76th pin of dsp chip TMS320F2812, the other end of the nonpolarity capacitor CX1 It is grounded with the other end of nonpolar capacitor CX2, the 31st pin, the 64th pin, the 81st of the dsp chip TMS320F2812 Pin, the 114th pin, the 145th pin and the 69th pin are defeated with the 3.3V voltage of 5V to 3.3V and 1.9V voltage conversion circuit Outlet connection, the 23rd pin of the dsp chip TMS320F2812, the 37th pin, the 56th pin, the 75th pin, the 100th are drawn Foot, the 112nd pin, the 128th pin, the 143rd pin and the 154th pin with 5V to 3.3V and 1.9V voltage conversion circuit The connection of 1.9V voltage output end, the 19th pin of the dsp chip TMS320F2812, the 32nd pin, the 38th pin, the 52nd are drawn Foot, the 58th pin, the 70th pin, the 78th pin, the 86th pin, the 99th pin, the 105th pin, the 113rd pin, the 120th are drawn Foot, the 129th pin, the 142nd pin and the 153rd pin are grounded；The reset circuit includes microprocessor monitors device chip MAX690_ESA, switching diode D1, nonpolar capacitor CX64, nonpolar capacitor CX65, resistance RX8 and resistance RX9, it is described micro- The 1st pin of processor monitor chip MAX690_ESA, the 2nd pin, the 8th pin and nonpolar capacitor CX64 one end with 5V to 3.3V is connected with the 3.3V voltage output end of 1.9V voltage conversion circuit, the microprocessor monitors device chip MAX690_ The other end of the 3rd pin of ESA, the 4th pin and nonpolar capacitor CX64 is grounded, the microprocessor monitors device chip The 6th pin of MAX690_ESA is connect with the 92nd pin of dsp chip TMS320F2812, and passes through resistance RX9 and 5V to 3.3V It is connected with the 3.3V voltage output end of 1.9V voltage conversion circuit, the 7th of the microprocessor monitors device chip MAX690_ESA the Pin, the anode of switching diode D1, one end of resistance RX8 and nonpolar capacitor CX65 one end and dsp chip The 135th pin of TMS320F2812 connects, and the cathode of the switching diode D1 and the other end of resistance RX8 are arrived with 5V The 3.3V voltage output end of 3.3V with 1.9V voltage conversion circuit connects, the other end ground connection of the nonpolarity capacitor CX65.

Above-mentioned double redundancy motor measuring and control data acquisition system, it is characterised in that: the storage expanded circuit includes storage The 5th pin and DSP core of chip AT24C256, resistance RX11, resistance RX13 and resistance RX14, the storage chip AT24C256 The 157th pin of piece TMS320F2812 connects, and passes through the 3.3V of resistance RX13 and 5V to 3.3V and 1.9V voltage conversion circuit Voltage output end connection, the 6th pin of the storage chip AT24C256 and the 34th pin of dsp chip TMS320F2812 connect It connects, and is connect by resistance RX14 with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit, the storage core The 8th pin of piece AT24C256 is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit, the storage The 1st pin, the 2nd pin, the 4th pin and the 7th pin of chip AT24C256 is grounded, and the of the storage chip AT24C256 3 pins are grounded by resistance RX11.

Above-mentioned double redundancy motor measuring and control data acquisition system, it is characterised in that: the RS422/RS485 telecommunication circuit packet Include transponder chip ISO3080, nonpolar capacitor CS1, nonpolar capacitor CS4, nonpolar capacitor CS5, resistance RS1, resistance RS2, resistance RS3, resistance RS4, resistance RS5, resistance RS6, resistance RS7, resistance RS8, resistance RS9, resistance RS10 and resistance RS11 and model are the switching diode of BAV99, switching diode DS2, switching diode DS3 and switching diode DS4；The 3rd pin of the transponder chip ISO3080 is connect with the 90th pin of dsp chip TMS320F2812, and passes through electricity Resistance RS8 is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit, the transponder chip ISO3080's 4th pin is connect with the 20th pin of dsp chip TMS320F2812, and is turned by resistance RS7 and 5V to 3.3V and 1.9V voltage Change the 3.3V voltage output end connection of circuit, the 5th pin and dsp chip TMS320F2812 of the transponder chip ISO3080 The connection of the 22nd pin, and be grounded by resistance RS6, the 6th pin and dsp chip of the transponder chip ISO3080 The 91st pin of TMS320F2812 connects, and passes through the 3.3V of resistance RS11 and 5V to 3.3V and 1.9V voltage conversion circuit electricity Press output end connection, the 3.3V of the 1st pin and 5V to 3.3V and 1.9V voltage conversion circuit of the transponder chip ISO3080 Voltage output end connection, the 2nd pin, the 7th pin, the 8th pin, the 9th pin and the 10th of the transponder chip ISO3080 draw Foot is grounded, the 3rd pin of the 11st pin of the transponder chip ISO3080 and switching diode DS4 with resistance RS10 One end connection, the other end of the resistance RS10 is the signal output end RS422A_TRANS of RS422/RS485 telecommunication circuit +, the 1st pin ground connection of the switching diode DS4, the 2nd pin and 24V to 5V voltage of the switching diode DS4 is converted The 5V voltage output end of circuit connects, and the 12nd pin of the transponder chip ISO3080 and the 3rd of switching diode DS3 are drawn Foot is connect with one end of resistance RS9, and the other end of the resistance RS9 is the signal output end of RS422/RS485 telecommunication circuit The 1st pin of RS422A_TRANS-, the switching diode DS3 are grounded, the 2nd pin and 24V of the switching diode DS3 5V voltage output end to 5V voltage conversion circuit connects, the 13rd pin, the switching diode of the transponder chip ISO3080 The 3rd pin of DS2 and one end of resistance RS4 are connect with one end of resistance RS5, the other end ground connection of the resistance RS4, described The 1st pin of switching diode DS2 is grounded, the 2nd pin and 24V to the 5V voltage conversion circuit of the switching diode DS2 The connection of 5V voltage output end, the other end of the resistance RS5 and one end of resistance RS3 connect with one end of nonpolar capacitor CS1 It connects, and is the signal output end RS422A_REC- of RS422/RS485 telecommunication circuit, the 14th of the transponder chip ISO3080 the One end of pin, the 3rd pin of switching diode DS1 and resistance RS1 is connect with one end of resistance RS2, the resistance RS1's The other end is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit, the 1st pin ground connection of the switching diode DS1, The 2nd pin of the switching diode DS1 is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit, the resistance RS2 The other end and the other end of resistance RS3 connect with the other end of nonpolar capacitor CS1, and be RS422/RS485 communication electricity The signal output end RS422A_REC+ on road.

Above-mentioned double redundancy motor measuring and control data acquisition system, it is characterised in that: the current detection circuit includes first Current detection circuit and the second current detection circuit, the circuit knot of first current detection circuit and the second current detection circuit Structure is identical and includes current sensor ACS712, nonpolarity capacitor C23 and nonpolar capacitor C25, the current sensor The 1st pin of ACS712 and the 2nd pin connect and are the positive electrode current of the first current detection circuit or the second current detection circuit Signal input part IIN1+, the 3rd pin of the current sensor ACS712 and the 4th pin connect and are the first current detecting electricity The cathodal current signal input part IIN1- of road or the second current detection circuit, the 5th pin of the current sensor ACS712 connect 6th pin on ground, the current sensor ACS712 is grounded by nonpolarity capacitor C25, the current sensor ACS712's 7th pin is connect with the 21st pin of dsp chip TMS320F2812, the 8th pin of the current sensor ACS712 and non-pole Property capacitor C23 one end connect with the 5V voltage output end of 24V to 5V voltage conversion circuit, the nonpolarity capacitor C23's Other end ground connection.

The voltage detecting circuit includes first voltage detection circuit and second voltage detection circuit, the first voltage inspection Slowdown monitoring circuit it is identical with the circuit structure of second voltage detection circuit and include operational amplifier TL082, nonpolar capacitor CU4, Nonpolar capacitor CU5, nonpolar capacitor CU6, resistance RU6, resistance RU9, resistance RU10 and resistance RU11, the operational amplifier The 3rd pin of TL082 is connect with one end of resistance RU6, and is grounded respectively by nonpolarity capacitor CU4 and resistance RU9, the electricity The other end for hindering RU6 is the voltage signal inputs V_IN of first voltage detection circuit or second voltage detection circuit, the fortune The 2nd pin for calculating amplifier TL082 is connect by resistance RU10 with the 1st pin of operational amplifier TL082, and respectively by non- Polar capacitor CU5 and resistance RU11 ground connection, the 1st pin of the operational amplifier TL082 is with dsp chip TMS320F2812's The connection of 27th pin, and be grounded by nonpolarity capacitor CU6, the 8th pin and 24V to the 15V electricity of the operational amplifier TL082 The 15V voltage output end of voltage conversion circuit connects, and the 4th pin and 15V to -15V voltage of the operational amplifier TL082 is converted - 15V the voltage output end of circuit connects.

Above-mentioned double redundancy motor measuring and control data acquisition system, it is characterised in that: the temperature sensing circuit includes first Temperature sensing circuit and second temperature detection circuit, the circuit knot of first temperature sensing circuit and second temperature detection circuit Structure it is identical and include isolated amplifier AMC1200, operational amplifier UT3A, operational amplifier UT5A, switching diode DT1, Zener diode VT1, nonpolar capacitor CT4, nonpolar capacitor CT5, nonpolar capacitor CT6, nonpolar capacitor CT7, nonpolarity Capacitor CT8, nonpolar capacitor CT9, nonpolar capacitor CT10, nonpolar capacitor CT11, nonpolar capacitor CT12, nonpolar capacitor CT13, nonpolar capacitor CT14, nonpolar capacitor CT15, nonpolar capacitor CT16, resistance RT4, resistance RT5, resistance RT6, electricity Hinder RT7, resistance RT8, resistance RT9, resistance RT10, resistance RT11, resistance RT12, resistance RT13, resistance RT14, resistance RT15, Resistance RT16 and resistance RT17, one end of the resistance RT4 connect with one end of resistance RT8 and for the first temperature sensing circuit or The other end and 24V to 5V voltage the conversion electricity of the positive temperature signal input NTC_P1 of second temperature detection circuit, the RT4 The 5V voltage output end on road connects, the other end of the resistance RT8, one end of resistance RT5, one end of resistance RT14 and nonpolarity One end of capacitor CT14 is all connected with and inputs for the first temperature sensing circuit or the cathode temperature signal of second temperature detection circuit NTC_N1 is held, the other end of the resistance RT14 and the other end of nonpolarity capacitor CT14 are grounded, the switching diode DT1 The 3rd pin, the other end of resistance RT5 and one end of nonpolar capacitor CT11 connect with one end of resistance RT6, the switch The other end of the 1st pin of diode DT1 and nonpolar capacitor CT11 are grounded, the 2nd pin of the switching diode DT1 with The 5V voltage output end of 24V to 5V voltage conversion circuit connects, and the 3rd pin of the operational amplifier UT3A is with resistance RT6's Other end connection, the 8th pin of the operational amplifier UT3A and the 5V voltage output end of 24V to 5V voltage conversion circuit connect It connects, and is grounded by nonpolarity capacitor CT4, the 4th pin ground connection of the operational amplifier UT3A, the operational amplifier UT3A The 2nd pin, one end of resistance RT11 and one end of resistance RT16 connect with one end of nonpolar capacitor CT16, the resistance The other end of RT11 is grounded, the 1st pin of the operational amplifier UT3A, the other end of resistance RT16 and nonpolar capacitor CT16 The other end connect with one end of resistance RT9, the 2nd pin of the isolated amplifier AMC1200, nonpolar capacitor CT13 One end and one end of resistance RT12 are connect with the other end of resistance RT9, the 3rd pin of the isolated amplifier AMC1200, The other end of 4 pins, the other end of nonpolar capacitor CT13 and resistance RT12 is grounded, the isolated amplifier AMC1200's 5V of the one end of 1st pin, one end of nonpolar capacitor CT9 and nonpolar capacitor CT10 with 24V to 5V voltage conversion circuit The other end of voltage output end connection, the other end of the nonpolarity capacitor CT9 and nonpolar capacitor CT10 are grounded, it is described every The 5th pin ground connection from amplifier AMC1200, the one of the 8th pin of the isolated amplifier AMC1200, nonpolar capacitor CT6 End and one end of nonpolar capacitor CT7 are connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit, institute The other end of the other end and nonpolar capacitor CT7 of stating nonpolar capacitor CT6 is grounded, and the 3rd of the operational amplifier UT5A the Pin is connect by resistance RT10 with the 7th pin of isolated amplifier AMC1200, and passes through nonpolarity capacitor CT8 and electricity respectively RT7 ground connection is hindered, the 2nd pin of the operational amplifier UT5A passes through the 6th pin of resistance RT15 and isolated amplifier AMC1200 Connection, and connect respectively by nonpolarity capacitor CT15 and resistance RT17 with the 1st pin of operational amplifier UT5A, the operation The 8th pin of amplifier UT5A is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit, and by non- Polar capacitor CT5 ground connection, the operational amplifier UT5A the 4th pin ground connection, the 1st pin of the operational amplifier UT5A with One end of resistance RT13 connects, the other end of the resistance RT13, one end of nonpolar capacitor CT12 and zener diode VT1 Cathode is connect with the 33rd pin of dsp chip TMS320F2812, two pole of the other end and pressure stabilizing of the nonpolarity capacitor CT12 The anode of pipe VT1 is grounded.

Above-mentioned double redundancy motor measuring and control data acquisition system, it is characterised in that: the RVDT resolving circuit includes first RVDT resolving circuit and the 2nd RVDT resolving circuit, the circuit knot of the first the RVDT resolving circuit and the 2nd RVDT resolving circuit Structure is identical and includes that rotation becomes digital quantizer AD2S1210, crystal oscillator Y2, nonpolar capacitor C1, nonpolar capacitor C2, nonpolarity Capacitor C3, nonpolar capacitor C4, nonpolar capacitor C5, nonpolar capacitor C6, resistance R8 and resistance R9, one end of the crystal oscillator Y2 The 7th pin for becoming digital quantizer AD2S1210 with rotation with one end of nonpolar capacitor C5 is connect, and the crystal oscillator Y2's is another The 8th pin that end and one end of nonpolar capacitor C6 become digital quantizer AD2S1210 with rotation is connect, the nonpolarity capacitor The other end of the other end of C5 and nonpolar capacitor C6 are grounded, and the 2nd pin that the rotation becomes digital quantizer AD2S1210 is logical Resistance R8 ground connection is crossed, the 38th pin that the rotation becomes digital quantizer AD2S1210 is grounded by nonpolarity capacitor C3, the rotation The 39th pin for becoming digital quantizer AD2S1210 is grounded by nonpolarity capacitor C2, and the rotation becomes digital quantizer AD2S1210 The 46th pin pass through nonpolar capacitor C1 and nonpolarity capacitor C2 ground connection, the rotation change digital quantizer AD2S1210 respectively 5th pin, the 19th pin and the 40th pin ground connection, the rotation become the 6th pin and the 43rd pin of digital quantizer AD2S1210 It is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit, the rotation becomes the 18th of digital quantizer AD2S1210 and draws Foot is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit, and the rotation becomes digital quantizer AD2S1210 The 9th pin connect with the 161st pin of dsp chip TMS320F2812 by resistance R9, the rotation change digital quantizer The 1st pin, the 3rd pin, the 4th pin, the 10th pin, the 11st pin and the 12nd pin of AD2S1210 is corresponding in turn to and DSP core The 66th pin, the 42nd pin, the 51st pin, the 84th pin, the 148th pin and the connection of the 144th pin of piece TMS320F2812, The rotation becomes the 13rd pin, the 14th pin, the 15th pin, the 16th pin, the 17th pin, the 20th of digital quantizer AD2S1210 Pin, the 21st pin, the 22nd pin, the 23rd pin and the 24th pin are corresponding in turn to the 141st with dsp chip TMS320F2812 Pin, the 138th pin, the 132nd pin, the 130th pin, the 125th pin, the 121st pin, the 118th pin, the 111st pin, 108 pins and the connection of the 103rd pin, the 25th pin for revolving change digital quantizer AD2S1210, the 26th pin, the 27th are drawn Foot, the 28th pin, the 29th pin, the 30th pin, the 31st pin, the 32nd pin, the 33rd pin, the 34th pin, the 35th pin and 36th pin is corresponding in turn to and the 85th pin of dsp chip TMS320F2812, the 80th pin, the 43rd pin, the 18th pin, 96 pins, the 74th pin, the 73rd pin, the 68th pin, the 160th pin, the 65th pin, the 54th pin and the connection of the 39th pin, The rotation becomes the 37th pin, the 41st pin, the 42nd pin, the 44th pin, the 45th pin, the 47th of digital quantizer AD2S1210 Pin and the 48th pin are corresponding in turn to be drawn with the 97th pin of dsp chip TMS320F2812, the 71st pin, the 72nd pin, the 61st Foot, the 62nd pin, the 63rd pin and the connection of the 67th pin.

Compared with the prior art, the present invention has the following advantages:

1, the circuit structure of double redundancy motor measuring and control data acquisition system of the present invention is simple, design rationally, realize it is convenient and It is at low cost.

2, double redundancy motor measuring and control data acquisition system of the invention, using current sensor ACS712 motor in real time Winding current, and export and give dsp chip TMS320F2812, it can be realized the overcurrent and short-circuit protection of current closed-loop and electric current； It acquires the busbar voltage of dual-redundancy servo motor in real time using voltage detecting circuit, and exports and give dsp chip TMS320F2812, It can be realized the over-voltage and under-voltage protection of busbar voltage；Acquire double redundancy power of motor plate in real time using temperature sensing circuit Temperature, and export and give dsp chip TMS320F2812, can be realized the overheat protector of double redundancy power of motor plate, safety is good, High reliablity.

3, double redundancy motor measuring and control data acquisition system of the invention is acquired in real time using RVDT resolving circuit and resolves servo The rotor position information of motor, and export and give dsp chip TMS320F2812, the rotor position of accurate servo motor can be obtained Parameter is set, the control of dual-redundancy servo motor is convenient for, stability is good.

4, the present invention realizes host computer LabVIEW and slave computer DSP digital processing unit using RS422/RS485 telecommunication circuit Data communication between module is received using the Two-way Cycle parallel data of " receiving datacycle " and " unpacking processing datacycle " Processing method, can not only ensure the quality of data communication, realize the real-time monitoring to motor, and program knot on computers Structure is simple only, and there are two while to recycle thread, will not be because of program long-play, hence it is evident that reduces program operation speed and causes card Pause or image shows phenomena such as abnormal.

5, the present invention stability, security reliability of coordinated control can provide circuit knot between dual-redundancy servo motor Structure is simple, novel design is reasonable, realizes telemetry circuit convenient, that functional reliability is high, and is host computer LabVIEW and bottom Data communication between machine DSP digital processor module provides reliable and stable data processing method, and using effect is good, convenient for pushing away It is wide to use.

In conclusion circuit structure of the invention is simple, rationally, it is convenient and at low cost to realize for design, can stablize, safety The coordinated control being reliably achieved between dual-redundancy servo motor and host computer LabVIEW and slave computer DSP digital processing unit Data communication between module, using effect is good, convenient for promoting the use of.

Below by drawings and examples, technical scheme of the present invention will be described in further detail.

Detailed description of the invention

Fig. 1 is the method flow block diagram of data communications method of the present invention.

Fig. 2 is the method flow block diagram of double redundancy motor measuring and control data acquiring and processing method of the present invention.

Fig. 3 is to receive datacycle in data communications method of the present invention and double redundancy motor measuring and control data acquiring and processing method Flow diagram.

Fig. 4 is that processing data are unpacked in data communications method of the present invention and double redundancy motor measuring and control data acquiring and processing method The flow diagram of circulation.

Fig. 5 is the schematic block circuit diagram of double redundancy motor measuring and control data acquisition system of the present invention.

Fig. 6 is the circuit diagram of 24V to 15V voltage conversion circuit of the present invention.

Fig. 7 is the circuit diagram of 24V to 5V voltage conversion circuit of the present invention.

Fig. 8 is the circuit diagram of 5V to 3.3V of the present invention and 1.9V voltage conversion circuit.

Fig. 9 is the circuit diagram of 15V to -15V voltage conversion circuit of the present invention.

Figure 10 is the circuit diagram of DSP digital processor module of the present invention.

Figure 11 is the circuit diagram of reset circuit of the present invention.

Figure 12 is the circuit diagram of present invention storage expanded circuit.

Figure 13 is the circuit diagram of RS422/RS485 telecommunication circuit of the present invention.

Figure 14 is the circuit diagram of the first current detection circuit and the second current detection circuit of the invention.

Figure 15 is the circuit diagram of first voltage detection circuit and second voltage detection circuit of the present invention.

Figure 16 is the circuit diagram of the first temperature sensing circuit and second temperature detection circuit of the invention.

Figure 17 is the circuit diagram of the first RVDT resolving circuit and the 2nd RVDT resolving circuit of the invention.

Description of symbols:

1-DSP digital processor module；2-power circuit blocks；

2-1-24V Switching Power Supply；2-2-24V to 15V voltage conversion circuit；

2-4-24V to 5V voltage conversion circuit；2-5-5V to 3.3V/1.9V voltage conversion circuit；

2-6-15V to-15V voltage conversion circuit；3-reset circuits；

4-storage expanded circuits；5-RS422/RS485 telecommunication circuits；

6-current detection circuits；The first current detection circuit of 6-1-；

The second current detection circuit of 6-2-；7-voltage detecting circuits；

7-1-first voltage detection circuit；7-2-second voltage detection circuit；

8-temperature sensing circuits；The first temperature sensing circuit of 8-1-；

8-2-second temperature detection circuit；9-RVDT resolving circuits；

The first RVDT resolving circuit of 9-1-；The 2nd RVDT resolving circuit of 9-2-.

Specific embodiment

As shown in Figure 1, data communications method of the invention, receives bottom by serial ports for realizing host computer LabVIEW Machine DSP digital processor module 1 is sent to its data, comprising the following steps:

Step 1: communication protocol is set: setting host computer LabVIEW and slave computer DSP number in host computer LabVIEW The communication protocol that processor module 1 communicates；

When it is implemented, the protocol command of setting is as shown in table 1；Totally 5 bytes, 0x55 are initial orders to every frame data Word, the mark started for recognition command；TYPE indicates the type of order；DataL indicates low eight of an integer, DataH indicates the high eight-bit of an integer；CRC8 verifying receives the correctness of data.

1 upper and lower machine communication protocol of table

Step 2: Two-way Cycle parallel data reception is handled: DSP digital processor module 1 is every time t to host computer LabVIEW sends a frame data；Host computer LabVIEW is divided to receive data and unpacking data two circulations of processing, receives data While start to data carry out dissection process；

When it is implemented, the value of the time t is 10ms；

Wherein, as shown in figure 3, receiving the detailed process of datacycle are as follows: when the reception datacycle of host computer LabVIEW Interior VISA reads Data Detection to when having byte, and the data received are successively taken out by byte and are stored in " the reading of specified array Buffer array " in；Every one byte of storage " read buffering array and deposit pointer " plus 1 in " reading buffering array "；

Because parsing the frame data time is greater than 10ms, i.e. the first frame data have parsed not yet, have just received second Frame data；Therefore, have little time to parse and lead to loss of data in order to prevent, setting " reads buffering array ", does not parse receiving Data be put into the array, can effectively avoid loss of data.

Wherein, as shown in figure 4, unpacking the detailed process of processing datacycle are as follows: when the unpacking of host computer LabVIEW is handled When " read buffering array deposit pointer " and unequal " read and buffer array fetching needle " in datacycle, host computer LabVIEW Data frame is parsed into unpacking in processing datacycle；Firstly, " reading buffering array fetching needle " will be in " reading buffering array " Data directory to " unpacking interim byte ", then will should " unpacking interim byte " be stored in new array " unpacking array "；Then, Boolean quantity " frame head mark " position is set, after finding frame head (i.e. initial order word 0x55) in " unpacking array ", " frame header Will " Boolean is very that entry condition judges that structure is true, and " unpacking pointer " from 0 to 1 successively adds 3 bytes, " unpacking refers to backward It is to find the complete data of a frame that needle ", which is 4, again that " frame head mark " is most false at this time, and " unpacking pointer " most 0 (facilitates next Frame data inquiry)；Finally, the every frame data that will acquire carry out CRC check, positive exact figures will be determined as by the data of CRC check It is shown according to simultaneously assignment to front panel；Otherwise, it when not finding frame head in " unpacking array " or data do not pass through CRC check, loses Abandon data.

If directly finding the complete data of a frame in " reading buffering array ", with the continuous operation of program, " read Data volume is big and time interval is short due to receiving in buffering array ", and being easy accumulation mass data causes data to be overflowed, therefore, if New array " unpacking array " is set, effectively data can be avoided to overflow.

As shown in Fig. 2, double redundancy motor measuring and control data acquiring and processing method of the invention, comprising the following steps:

1 upper and lower machine communication protocol of table

Step 2: data acquisition and transmission: current detection circuit 6 examines the winding current of double redundancy motor in real time It surveys, voltage detecting circuit 7 is measured in real time busbar voltage, temperature of the temperature sensing circuit 8 to double redundancy power of motor plate It is measured in real time, RVDT resolving circuit 9 carries out detection resolving to the rotor-position of double redundancy motor；DSP digital processing unit mould Block 1 acquires the temperature data and rotor position data of winding current data, busbar voltage data, double redundancy power of motor plate, and A frame data are sent to host computer LabVIEW every time t；

When it is implemented, the value of the time t is 10ms；

As shown in figure 5, double redundancy motor measuring and control data acquisition system of the invention, including 1 He of DSP digital processor module For the power circuit block 2 of each electricity consumption module for power supply in double redundancy servo telemetry circuit, and with DSP digital processor module 1 Reset circuit 3, storage expanded circuit 4 and the RS422/RS485 telecommunication circuit 5 for being communicated with host computer to connect；Institute The input for stating DSP digital processor module 1 is terminated with current detection circuit 6 for detecting machine winding current and for detecting The voltage detecting circuit 7 of busbar voltage, and the temperature detection for detecting the dual-redundancy servo motor telemetry circuit temperature Circuit 8 and RVDT resolving circuit 9 for resolving motor rotor position information；The power circuit block 2 includes 24V switch electricity Source 2-1 and 24V to 15V voltage conversion circuit 2-2 and 24V to the 5V voltage being connect with the output end of 24V Switching Power Supply 2-1 Conversion circuit 2-4, the 15V voltage output of 24V to the 15V voltage conversion circuit 2-2 are terminated with 15V to -15V voltage conversion electricity The 5V voltage output of road 2-6,24V to the 5V voltage conversion circuit 2-4 are terminated with 5V to 3.3V and 1.9V voltage conversion circuit 2-5；The 3.3V voltage output end of the DSP digital processor module 1 and 5V to 3.3V and 1.9V voltage conversion circuit 2-5 and 1.9V voltage output end is all connected with, and the reset circuit 3 and storage expanded circuit 4 are electric with 5V to 3.3V and the conversion of 1.9V voltage The 3.3V voltage output end of road 2-5 connects, RS422/RS485 telecommunication circuit 5 and 24V to the 5V voltage conversion circuit 2-4's The 3.3V voltage output end of 5V voltage output end and 5V to 3.3V and 1.9V voltage conversion circuit 2-5 are all connected with, the electric current inspection Slowdown monitoring circuit 6 is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit 2-4, voltage detecting circuit 7 and 24V to the 15V The 15V voltage output end of voltage conversion circuit 2-2 and the -15V voltage output end of 15V to -15V voltage conversion circuit 2-6 connect It connects, the 5V voltage output end and 5V to 3.3V and 1.9V electricity of temperature sensing circuit 8 and 24V to the 5V voltage conversion circuit 2-4 The 3.3V voltage output end of voltage conversion circuit 2-5 is all connected with, RVDT resolving circuit 9 and 24V to the 5V voltage conversion circuit 2-4 5V voltage output end and the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit 2-5 be all connected with.

In the present embodiment, as shown in fig. 6,24V to the 15V voltage conversion circuit 2-2 includes the pressure stabilizing of model LM317 Chip U5, switching diode D5, nonpolar capacitor C12, nonpolar capacitor C13, nonpolar capacitor C15, resistance R12 and resistance One end of the 1st pin of R15, the voltage stabilizing chip U5 and nonpolar capacitor C12 connect with the output end of 24V Switching Power Supply 2-1 It connects, the other end of the nonpolarity capacitor C12 is grounded by resistance R15, the 2nd pin and resistance R12 of the voltage stabilizing chip U5 One end, the cathode of switching diode D5 and one end of nonpolar capacitor C15 be all connected with, and be 24V to 15V voltage conversion circuit The 15V voltage output end of 2-2, the 3rd pin of the voltage stabilizing chip U5, the other end of resistance R12, switching diode D5 anode It is grounded with one end of nonpolar capacitor C13, the other end of the other end of the nonpolarity capacitor C15 and nonpolar capacitor C13 Connection；As shown in fig. 7,24V to the 5V voltage conversion circuit 2-4 includes the voltage stabilizing chip U6 of model LM317, two pole of switch Pipe D6, nonpolar capacitor C17, nonpolar capacitor C18, nonpolar capacitor C19, resistance R13 and resistance R14, the voltage stabilizing chip One end of the 1st pin of U6 and nonpolar capacitor C17 are connect with the output end of 24V Switching Power Supply 2-1, the nonpolarity capacitor The other end of C17 is grounded by resistance R14, the 2nd pin of the voltage stabilizing chip U6 and one end, the switching diode of resistance R13 One end of the cathode of D6 and nonpolar capacitor C19 are all connected with, and are the 5V voltage output end of 24V to 5V voltage conversion circuit 2-4, The 3rd pin of the voltage stabilizing chip U6, the other end of resistance R13, the anode of switching diode D6 and nonpolar capacitor C18 one End is grounded, and the other end of the nonpolarity capacitor C19 is connect with the other end of nonpolar capacitor C18；As shown in figure 8, described 5V to 3.3V and 1.9V voltage conversion circuit 2-5 includes power management chip TPS70302, Light-emitting diode LED 1, light-emitting diodes Pipe LED2, polar capacitor CEP1, polar capacitor CEP2, polar capacitor CEP3, polar capacitor CEP4, nonpolar capacitor CP2, non-pole Property capacitor CP3, nonpolar capacitor CP4, resistance RP13, resistance RP14, resistance RP15, resistance RP16, resistance RP17, resistance RP18, resistance RP19 and resistance RP20, the 2nd pin, the 3rd pin, the 5th pin, the 6th of the power management chip TPS70302 Pin, the 8th pin, the 10th pin, the 11st pin, the anode of polar capacitor CEP2, polar capacitor CEP3 anode and nonpolarity One end of capacitor CP3 is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit 2-4, the power management chip The 0th pin, the 1st pin, the 7th pin, the 9th pin, the 12nd pin, the cathode of polar capacitor CEP2, the polarity electricity of TPS70302 The other end of the cathode and nonpolar capacitor CP3 that hold CEP3 is grounded, the 22nd pin of the power management chip TPS70302 It is connected with the 23rd pin of power management chip TPS70302, and is the 3.3V of 5V to 3.3V and 1.9V voltage conversion circuit 2-5 Voltage output end, one end of the resistance RP13, one end of resistance RP16, one end of resistance RP20, polar capacitor CEP1 are just 3.3V of the one end of pole, one end of nonpolar capacitor CP2 and resistance RP15 with 5V to 3.3V and 1.9V voltage conversion circuit 2-5 Voltage output end connection, the cathode of the polar capacitor CEP1, the other end of nonpolar capacitor CP2 and Light-emitting diode LED 1 The anode of minus earth, the Light-emitting diode LED 1 is connect with the other end of resistance RP15, the power management chip The 21st pin of TPS70302 is connect with the other end of resistance RP13, and is grounded by resistance RP14, the power management chip The 19th pin of TPS70302 is connect with the other end of resistance RP16, the 18th pin of the power management chip TPS70302 with The other end of resistance RP20 connects, the 14th pin and power management chip TPS70302 of the power management chip TPS70302 The 15th pin connection, and be 5V to 3.3V and 1.9V voltage conversion circuit 2-5 1.9V voltage output end, the resistance RP18 One end, the anode of polar capacitor CEP4, one end of nonpolar capacitor CP4 and resistance RP17 one end with 5V to 3.3V and The 1.9V voltage output end of 1.9V voltage conversion circuit 2-5 connects, the 16th pin of the power management chip TPS70302 and The other end of resistance RP18 connects, and is grounded by resistance RP19, the 13rd pin of the power management chip TPS70302, the 24 pins, the cathode of polar capacitor CEP4, the other end of nonpolar capacitor CP4 and the cathode of Light-emitting diode LED 1 are grounded, The anode of the Light-emitting diode LED 1 is connect with the other end of resistance RP17；As shown in figure 9, the 15V to -15V voltage turns Changing circuit 2-6 includes voltage stabilizing chip MAX765, Schottky diode D7, inductance L1, nonpolarity capacitor C16 and nonpolar capacitor One end of the 6th pin of C21, the voltage stabilizing chip MAX765, the 7th pin and nonpolar capacitor C16 with 24V to 15V voltage The 15V voltage output end of conversion circuit 2-2 connects, the 3rd pin, the 5th pin and the nonpolarity electricity of the voltage stabilizing chip MAX765 The other end for holding C16 is grounded, and the 4th pin of the voltage stabilizing chip MAX765 is connect with the 2nd pin of voltage stabilizing chip MAX765, And be grounded by nonpolarity capacitor C21, the 1st pin of the voltage stabilizing chip MAX765 and the anode of Schottky diode D7 connect Connect, and be 15V to-15V voltage conversion circuit 2-6-15V voltage output end, the 8th pin of the voltage stabilizing chip MAX765 and The cathode of Schottky diode D7 connects, and is grounded by inductance L1.

In the present embodiment, as shown in Figure 10, the DSP digital processor module 1 includes dsp chip TMS320F2812, crystalline substance Shake Y1, nonpolarity capacitor CX1 and nonpolar capacitor CX2, the crystal oscillator Y1 one end and nonpolarity capacitor CX1 one end with The 77th pin of dsp chip TMS320F2812 connects, one end of the other end of the crystal oscillator Y1 and nonpolarity capacitor CX2 with The 76th pin of dsp chip TMS320F2812 connects, and the other end of the nonpolarity capacitor CX1 is another with nonpolar capacitor CX2's One end is grounded, the 31st pin, the 64th pin, the 81st pin, the 114th pin, the 145th of the dsp chip TMS320F2812 Pin and the 69th pin are connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit 2-5, the DSP core The 23rd pin, the 37th pin, the 56th pin, the 75th pin, the 100th pin, the 112nd pin, the 128th of piece TMS320F2812 Pin, the 143rd pin and the 154th pin connect with the 1.9V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit 2-5 It connects, the 19th pin, the 32nd pin, the 38th pin, the 52nd pin, the 58th pin, the 70th of the dsp chip TMS320F2812 Pin, the 78th pin, the 86th pin, the 99th pin, the 105th pin, the 113rd pin, the 120th pin, the 129th pin, the 142nd Pin and the 153rd pin are grounded；As shown in figure 11, the reset circuit 3 includes microprocessor monitors device chip MAX690_ ESA, switching diode D1, nonpolar capacitor CX64, nonpolar capacitor CX65, resistance RX8 and resistance RX9, the microprocessor The 1st pin of monitor chip MAX690_ESA, the 2nd pin, the 8th pin and nonpolar capacitor CX64 one end arrived with 5V The 3.3V voltage output end of 3.3V with 1.9V voltage conversion circuit 2-5 connects, the microprocessor monitors device chip MAX690_ The other end of the 3rd pin of ESA, the 4th pin and nonpolar capacitor CX64 is grounded, the microprocessor monitors device chip The 6th pin of MAX690_ESA is connect with the 92nd pin of dsp chip TMS320F2812, and passes through resistance RX9 and 5V to 3.3V It is connected with the 3.3V voltage output end of 1.9V voltage conversion circuit 2-5, the microprocessor monitors device chip MAX690_ESA's 7th pin, the anode of switching diode D1, one end of resistance RX8 and nonpolar capacitor CX65 one end and dsp chip The 135th pin of TMS320F2812 connects, and the cathode of the switching diode D1 and the other end of resistance RX8 are arrived with 5V The 3.3V voltage output end of 3.3V with 1.9V voltage conversion circuit 2-5 connects, the other end ground connection of the nonpolarity capacitor CX65.

In the present embodiment, as shown in figure 12, the storage expanded circuit 4 include storage chip AT24C256, resistance RX11, Resistance RX13 and resistance RX14, the 5th pin of the storage chip AT24C256 draw with the 157th of dsp chip TMS320F2812 Foot connection, and connect by resistance RX13 with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit 2-5, it is described The 6th pin of storage chip AT24C256 is connect with the 34th pin of dsp chip TMS320F2812, and by resistance RX14 with 5V to 3.3V is connected with the 3.3V voltage output end of 1.9V voltage conversion circuit 2-5, and the 8th of the storage chip AT24C256 is drawn Foot is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit 2-5, the storage chip AT24C256's 1st pin, the 2nd pin, the 4th pin and the 7th pin are grounded, and the 3rd pin of the storage chip AT24C256 passes through resistance RX11 ground connection.

In the present embodiment, as shown in figure 13, the RS422/RS485 telecommunication circuit 5 include transponder chip ISO3080, Nonpolar capacitor CS1, nonpolar capacitor CS4, nonpolar capacitor CS5, resistance RS1, resistance RS2, resistance RS3, resistance RS4, electricity It hinders RS5, resistance RS6, resistance RS7, resistance RS8, resistance RS9, resistance RS10 and resistance RS11 and model is BAV99's Switching diode, switching diode DS2, switching diode DS3 and switching diode DS4；The transponder chip ISO3080's 3rd pin is connect with the 90th pin of dsp chip TMS320F2812, and is turned by resistance RS8 and 5V to 3.3V and 1.9V voltage Change the 3.3V voltage output end connection of circuit 2-5, the 4th pin and dsp chip of the transponder chip ISO3080 The 20th pin of TMS320F2812 connects, and passes through the 3.3V of resistance RS7 and 5V to 3.3V and 1.9V voltage conversion circuit 2-5 Voltage output end connection, the 5th pin of the transponder chip ISO3080 and the 22nd pin of dsp chip TMS320F2812 connect It connects, and is grounded by resistance RS6, the 6th pin of the transponder chip ISO3080 and the 91st of dsp chip TMS320F2812 Pin connection, and connect by resistance RS11 with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit 2-5, institute The 3.3V voltage output end of the 1st pin and 5V to 3.3V and 1.9V voltage conversion circuit 2-5 of stating transponder chip ISO3080 connects It connects, the 2nd pin, the 7th pin, the 8th pin, the 9th pin and the 10th pin of the transponder chip ISO3080 is grounded, institute 3rd pin of the 11st pin and switching diode DS4 of stating transponder chip ISO3080 is connect with one end of resistance RS10, The other end of the resistance RS10 is the signal output end RS422A_TRANS+ of RS422/RS485 telecommunication circuit 5, the switch The 1st pin of diode DS4 is grounded, the 2nd pin of the switching diode DS4 and the 5V of 24V to 5V voltage conversion circuit 2-4 The 3rd pin of voltage output end connection, the 12nd pin of the transponder chip ISO3080 and switching diode DS3 with electricity One end connection of RS9 is hindered, the other end of the resistance RS9 is the signal output end RS422A_ of RS422/RS485 telecommunication circuit 5 The 1st pin of TRANS-, the switching diode DS3 are grounded, the 2nd pin and 24V to 5V voltage of the switching diode DS3 The 5V voltage output end of conversion circuit 2-4 connects, the 13rd pin of the transponder chip ISO3080, switching diode DS2 One end of 3rd pin and resistance RS4 are connect with one end of resistance RS5, the other end ground connection of the resistance RS4, the switch The 1st pin of diode DS2 is grounded, the 2nd pin of the switching diode DS2 and the 5V of 24V to 5V voltage conversion circuit 2-4 Voltage output end connection, the other end of the resistance RS5 and one end of resistance RS3 are connect with one end of nonpolar capacitor CS1, And be the signal output end RS422A_REC- of RS422/RS485 telecommunication circuit 5, the 14th of the transponder chip ISO3080 is drawn One end of foot, the 3rd pin of switching diode DS1 and resistance RS1 is connect with one end of resistance RS2, and the resistance RS1's is another One end is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit 2-4, and the 1st pin of the switching diode DS1 connects 2nd pin on ground, the switching diode DS1 is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit 2-4, described The other end of resistance RS2 and the other end of resistance RS3 are connect with the other end of nonpolar capacitor CS1, and are RS422/RS485 The signal output end RS422A_REC+ of telecommunication circuit 5.

When it is implemented, dsp chip TMS320F2812 is communicated by RS485 bus and host computer and is configured transceiver core Piece ISO3080, makes the output of RS485 bus can be exchanged into RS422 communication, and transponder chip ISO3080 can be realized difference letter Conversion number with single-ended signal, the single-ended signal of dsp chip TMS320F2812 output is by turning after transponder chip ISO3080 The signal changed is exported by output end RS422A_TRANS+, RS422A_TRANS-, RS422A_REC+ and RS422A_REC-, is led to It crosses and is connected to RS485 bus interface and is communicated with host computer.

In the present embodiment, as shown in figure 14, the current detection circuit 6 includes the first current detection circuit 6-1 and second The circuit structure of current detection circuit 6-2, the first current detection circuit 6-1 and the second current detection circuit 6-2 it is identical and It include current sensor ACS712, nonpolarity capacitor C23 and nonpolarity capacitor C25, the 1st of the current sensor ACS712 the Pin and the 2nd pin connection and for the first current detection circuit 6-1 or the second current detection circuit 6-2 positive current signal it is defeated Enter and hold IIN1+, the 3rd pin of the current sensor ACS712 and the connection of the 4th pin and for the first current detection circuit 6-1 or The cathodal current signal input part IIN1- of second current detection circuit 6-2, the 5th pin of the current sensor ACS712 connect 6th pin on ground, the current sensor ACS712 is grounded by nonpolarity capacitor C25, the current sensor ACS712's 7th pin is connect with the 21st pin of dsp chip TMS320F2812, the 8th pin of the current sensor ACS712 and non-pole Property capacitor C23 one end connect with the 5V voltage output end of 24V to 5V voltage conversion circuit 2-4, the nonpolarity capacitor C23 The other end ground connection.

When it is implemented, current sensor ACS712 is connected in series in three-phase windings, it is real by the acquisition to winding current The overcurrent and short-circuit protection of existing current closed-loop and electric current, when winding failure alarm.

In the present embodiment, as shown in figure 15, the voltage detecting circuit 7 includes first voltage detection circuit 7-1 and second Voltage detecting circuit 7-2, the first voltage detection circuit 7-1 it is identical with the circuit structure of second voltage detection circuit 7-2 and It include operational amplifier TL082, nonpolar capacitor CU4, nonpolar capacitor CU5, nonpolar capacitor CU6, resistance RU6, resistance RU9, resistance RU10 and resistance RU11, the 3rd pin of the operational amplifier TL082 are connect with one end of resistance RU6, and respectively It is grounded by nonpolar capacitor CU4 and resistance RU9, the other end of the resistance RU6 is first voltage detection circuit 7-1 or second The 2nd pin of the voltage signal inputs V_IN, the operational amplifier TL082 of voltage detecting circuit 7-2 pass through resistance RU10 It connect, and is grounded respectively by nonpolarity capacitor CU5 and resistance RU11, the operation with the 1st pin of operational amplifier TL082 The 1st pin of amplifier TL082 is connect with the 27th pin of dsp chip TMS320F2812, and is connect by nonpolarity capacitor CU6 8th pin on ground, the operational amplifier TL082 is connect with the 15V voltage output end of 24V to 15V voltage conversion circuit 2-2, The 4th pin of the operational amplifier TL082 is connect with -15V the voltage output end of 15V to -15V voltage conversion circuit 2-6.

When it is implemented, acquiring the busbar voltage of dual-redundancy servo motor in real time using voltage detecting circuit 7, and exports and give Dsp chip TMS320F2812 can be realized the over-voltage and under-voltage protection of busbar voltage.

In the present embodiment, as shown in figure 16, the temperature sensing circuit 8 includes the first temperature sensing circuit 8-1 and second Temperature sensing circuit 8-2, the first temperature sensing circuit 8-1 it is identical with the circuit structure of second temperature detection circuit 8-2 and It include isolated amplifier AMC1200, operational amplifier UT3A, operational amplifier UT5A, switching diode DT1, two pole of pressure stabilizing Pipe VT1, nonpolar capacitor CT4, nonpolar capacitor CT5, nonpolar capacitor CT6, nonpolar capacitor CT7, nonpolar capacitor CT8, It is nonpolar capacitor CT9, nonpolar capacitor CT10, nonpolar capacitor CT11, nonpolar capacitor CT12, nonpolar capacitor CT13, non- Polar capacitor CT14, nonpolar capacitor CT15, nonpolar capacitor CT16, resistance RT4, resistance RT5, resistance RT6, resistance RT7, electricity Hinder RT8, resistance RT9, resistance RT10, resistance RT11, resistance RT12, resistance RT13, resistance RT14, resistance RT15, resistance RT16 With resistance RT17, one end of the resistance RT4 connects with one end of resistance RT8 and is the first temperature sensing circuit 8-1 or second The other end and 24V to 5V voltage the conversion electricity of the positive temperature signal input NTC_P1 of temperature sensing circuit 8-2, the RT4 The 5V voltage output end of road 2-4 connects, the other end of the resistance RT8, one end of resistance RT5, one end of resistance RT14 and non- One end of polar capacitor CT14 is all connected with and is the cathode temperature of the first temperature sensing circuit 8-1 or second temperature detection circuit 8-2 Signal input part NTC_N1 is spent, the other end of the resistance RT14 and the other end of nonpolarity capacitor CT14 are grounded, described to open The one end for closing the 3rd pin of diode DT1, the other end of resistance RT5 and nonpolar capacitor CT11 connects with one end of resistance RT6 It connects, the other end of the 1st pin of the switching diode DT1 and nonpolar capacitor CT11 are grounded, the switching diode DT1 The 2nd pin connect with the 5V voltage output end of 24V to 5V voltage conversion circuit 2-4, the 3rd of the operational amplifier UT3A is drawn Foot is connect with the other end of resistance RT6, and the 8th pin of the operational amplifier UT3A is with 24V to 5V voltage conversion circuit 2-4's The connection of 5V voltage output end, and be grounded by nonpolarity capacitor CT4, the 4th pin ground connection of the operational amplifier UT3A is described One end of the 2nd pin of operational amplifier UT3A, one end of resistance RT11 and resistance RT16 with nonpolar capacitor CT16 one End connection, the other end ground connection of the resistance RT11, the other end of the 1st pin of the operational amplifier UT3A, resistance RT16 It is connect with one end of resistance RT9 with the other end of nonpolar capacitor CT16, the 2nd pin of the isolated amplifier AMC1200, One end of nonpolar capacitor CT13 and one end of resistance RT12 are connect with the other end of resistance RT9, the isolated amplifier The 3rd pin of AMC1200, the 4th pin, the other end of nonpolar capacitor CT13 and resistance RT12 the other end be grounded, it is described One end of the 1st pin of isolated amplifier AMC1200, one end of nonpolar capacitor CT9 and nonpolar capacitor CT10 is arrived with 24V The 5V voltage output end of 5V voltage conversion circuit 2-4 connects, the other end of the nonpolarity capacitor CT9 and nonpolar capacitor CT10 The other end be grounded, the 5th pin of isolated amplifier AMC1200 ground connection, the 8th of the isolated amplifier AMC1200 the One end of pin, one end of nonpolar capacitor CT6 and nonpolar capacitor CT7 with 5V to 3.3V and 1.9V voltage conversion circuit 2- The other end of 5 3.3V voltage output end connection, the other end of the nonpolarity capacitor CT6 and nonpolar capacitor CT7 are grounded, The 3rd pin of the operational amplifier UT5A is connect by resistance RT10 with the 7th pin of isolated amplifier AMC1200, and point Not Tong Guo nonpolarity capacitor CT8 and resistance RT7 ground connection, the 2nd pin of the operational amplifier UT5A by resistance RT15 with every The 6th pin connection from amplifier AMC1200, and pass through nonpolarity capacitor CT15 and resistance RT17 and operational amplifier respectively The 1st pin of UT5A connects, the 8th pin and 5V to 3.3V and 1.9V voltage conversion circuit 2-5 of the operational amplifier UT5A The connection of 3.3V voltage output end, and be grounded by nonpolarity capacitor CT5, the 4th pin of the operational amplifier UT5A is grounded, The 1st pin of the operational amplifier UT5A is connect with one end of resistance RT13, the other end, the nonpolarity electricity of the resistance RT13 The cathode of one end and zener diode VT1 for holding CT12 is connect with the 33rd pin of dsp chip TMS320F2812, described non- The other end of polar capacitor CT12 and the anode of zener diode VT1 are grounded.

It acquires the temperature of double redundancy power of motor plate in real time using temperature sensing circuit, and exports to dsp chip TMS320F2812 is implemented for the overheat protector of double redundancy power of motor plate, high reliablity.

In the present embodiment, as shown in figure 17, the RVDT resolving circuit 9 includes the first RVDT resolving circuit 9-1 and second The circuit structure of RVDT resolving circuit 9-2, the first RVDT resolving circuit 9-1 and the 2nd RVDT resolving circuit 9-2 it is identical and It include that rotation becomes digital quantizer AD2S1210, crystal oscillator Y2, nonpolar capacitor C1, nonpolar capacitor C2, nonpolar capacitor C3, non- Polar capacitor C4, nonpolar capacitor C5, nonpolar capacitor C6, resistance R8 and resistance R9, one end of the crystal oscillator Y2 and nonpolarity The 7th pin that one end of capacitor C5 becomes digital quantizer AD2S1210 with rotation is connect, the other end of the crystal oscillator Y2 and non-pole Property capacitor C6 one end the 8th pin for becoming digital quantizer AD2S1210 with rotation connect, the nonpolar capacitor C5's is another The other end of end and nonpolar capacitor C6 are grounded, and the 2nd pin that the rotation becomes digital quantizer AD2S1210 passes through resistance R8 Ground connection, the 38th pin that the rotation becomes digital quantizer AD2S1210 are grounded by nonpolarity capacitor C3, and the rotation parameter word turns The 39th pin of parallel operation AD2S1210 is grounded by nonpolarity capacitor C2, and the rotation becomes the 46th of digital quantizer AD2S1210 and draws Foot passes through nonpolar capacitor C1 and nonpolarity capacitor C2 respectively and is grounded, the 5th pin of the rotation change digital quantizer AD2S1210, 19th pin and the 40th pin ground connection, the rotation becomes the 6th pin of digital quantizer AD2S1210 and the 43rd pin is arrived with 24V The 5V voltage output end of 5V voltage conversion circuit 2-4 connects, and the rotation becomes the 18th pin and 5V of digital quantizer AD2S1210 3.3V voltage output end to 3.3V with 1.9V voltage conversion circuit 2-5 connects, and the rotation becomes digital quantizer AD2S1210's 9th pin is connect by resistance R9 with the 161st pin of dsp chip TMS320F2812, and the rotation becomes digital quantizer The 1st pin, the 3rd pin, the 4th pin, the 10th pin, the 11st pin and the 12nd pin of AD2S1210 is corresponding in turn to and DSP core The 66th pin, the 42nd pin, the 51st pin, the 84th pin, the 148th pin and the connection of the 144th pin of piece TMS320F2812, The rotation becomes the 13rd pin, the 14th pin, the 15th pin, the 16th pin, the 17th pin, the 20th of digital quantizer AD2S1210 Pin, the 21st pin, the 22nd pin, the 23rd pin and the 24th pin are corresponding in turn to the 141st with dsp chip TMS320F2812 Pin, the 138th pin, the 132nd pin, the 130th pin, the 125th pin, the 121st pin, the 118th pin, the 111st pin, 108 pins and the connection of the 103rd pin, the 25th pin for revolving change digital quantizer AD2S1210, the 26th pin, the 27th are drawn Foot, the 28th pin, the 29th pin, the 30th pin, the 31st pin, the 32nd pin, the 33rd pin, the 34th pin, the 35th pin and 36th pin is corresponding in turn to and the 85th pin of dsp chip TMS320F2812, the 80th pin, the 43rd pin, the 18th pin, 96 pins, the 74th pin, the 73rd pin, the 68th pin, the 160th pin, the 65th pin, the 54th pin and the connection of the 39th pin, The rotation becomes the 37th pin, the 41st pin, the 42nd pin, the 44th pin, the 45th pin, the 47th of digital quantizer AD2S1210 Pin and the 48th pin are corresponding in turn to be drawn with the 97th pin of dsp chip TMS320F2812, the 71st pin, the 72nd pin, the 61st Foot, the 62nd pin, the 63rd pin and the connection of the 67th pin.

When it is implemented, RVDT resolving circuit 9 becomes digital quantizer AD2S1210 using the rotation of 16 bit resolutions, in piece Integrated programmable sine-wave oscillator provides sine-wave excitation to become device for rotation, and RVDT exports cosine and sine signal, becomes through overwinding Digital quantizer AD2S1210 resolves to obtain the location information of rotor.

The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention In the protection scope of art scheme.

Claims

1. a kind of data communications method receives slave computer DSP digital processing unit mould by serial ports for realizing host computer LabVIEW Block (1) is sent to its data, which is characterized in that method includes the following steps:

Step 1: communication protocol is set: setting host computer LabVIEW and slave computer DSP digital processing in host computer LabVIEW The communication protocol of device module (1) communication；

Step 2: Two-way Cycle parallel data reception is handled: DSP digital processor module (1) is every time t to host computer LabVIEW sends a frame data；Host computer LabVIEW is divided to receive data and unpacking data two circulations of processing, receives data While start to data carry out dissection process；

Wherein, the detailed process of datacycle is received are as follows: when VISA reads data in the reception datacycle of host computer LabVIEW When having detected byte, the data received are successively taken out by byte and are stored in specified array " reading buffering array "；It " reads Take buffering array " in one byte of every storage " read buffering array and deposit pointer " plus 1；

Wherein, the detailed process of processing datacycle is unpacked are as follows: when in the unpacking processing datacycle of host computer LabVIEW When " read buffering array and deposit pointer " and " reading buffering array fetching needle " are unequal, host computer LabVIEW enters unpacking processing Data frame is parsed in datacycle；Firstly, " read buffering array fetching needle " " will read and buffer array " in data directory extremely " unpacking interim byte ", then " unpacking interim byte " will be somebody's turn to do and be stored in new array " unpacking array "；Then, Boolean quantity is set " frame head mark " position, after finding frame head in " unpacking array ", " frame head mark " Boolean is very that entry condition judges structure Very, " unpacking pointer " from 0 to 1, successively adds 3 bytes backward, and it is to find the complete data of a frame that " unpacking pointer ", which is 4, at this time It is again that " frame head mark " is most false, " unpacking pointer " most 0；Finally, the every frame data that will acquire carry out CRC check, will pass through The data of CRC check are determined as correct data and assignment is shown to front panel；Otherwise, when not finding frame head in " unpack array " Or data abandon data when not passing through CRC check.

2. a kind of double redundancy motor measuring and control data acquiring and processing method for applying data communications method as described in claim 1, It is characterized in that, method includes the following steps:

Step 2: data acquisition and transmission: current detection circuit (6) is measured in real time the winding current of double redundancy motor, Voltage detecting circuit (7) is measured in real time busbar voltage, temperature of the temperature sensing circuit (8) to double redundancy power of motor plate It is measured in real time, RVDT resolving circuit (9) carries out detection resolving to the rotor-position of double redundancy motor；DSP digital processing unit Module (1) acquires the temperature data and rotor-position number of winding current data, busbar voltage data, double redundancy power of motor plate According to, and a frame data are sent to host computer LabVIEW every time t；

Step 3: data receiver is handled: host computer LabVIEW is divided to receive data and unpacking data two circulations of processing, receives Start to carry out dissection process to data while data；

3. a kind of double redundancy motor measuring and control data acquisition system for realizing the double redundancy motor investigating method as shown in claim 2, It it is characterized by comprising DSP digital processor module (1) and is the electricity of each electricity consumption module for power supply in double redundancy servo telemetry circuit Source circuit module (2), and the reset circuit (3), storage expanded circuit (4) and the use that connect with DSP digital processor module (1) In the RS422/RS485 telecommunication circuit (5) communicated with host computer；The input of the DSP digital processor module (1) terminates There are the current detection circuit (6) for detecting machine winding current and the voltage detecting circuit (7) for detecting busbar voltage, with And temperature sensing circuit (8) for detecting the dual-redundancy servo motor telemetry circuit temperature and for resolving rotor position The RVDT resolving circuit (9) of confidence breath；The power circuit block (2) includes 24V Switching Power Supply (2-1) and opens with 24V 24V to the 15V voltage conversion circuit (2-2) and 24V to 5V voltage conversion circuit (2-4) of the output end connection of powered-down source (2-1), The 15V voltage output of 24V to the 15V voltage conversion circuit (2-2) is terminated with 15V to -15V voltage conversion circuit (2-6), institute The 5V voltage output for stating 24V to 5V voltage conversion circuit (2-4) is terminated with 5V to 3.3V and 1.9V voltage conversion circuit (2-5)； The 3.3V voltage output end of the DSP digital processor module (1) and 5V to 3.3V and 1.9V voltage conversion circuit (2-5) and 1.9V voltage output end is all connected with, and the reset circuit (3) and storage expanded circuit (4) turn with 5V to 3.3V and 1.9V voltage Change the 3.3V voltage output end connection of circuit (2-5), the RS422/RS485 telecommunication circuit (5) and 24V to 5V voltage conversion electricity The 5V voltage output end and 5V to 3.3V on road (2-4) and the 3.3V voltage output end of 1.9V voltage conversion circuit (2-5) are all connected with, The current detection circuit (6) connect with the 5V voltage output end of 24V to 5V voltage conversion circuit (2-4), the voltage detecting The 15V voltage output end and 15V to -15V voltage conversion circuit (2-6) of circuit (7) and 24V to 15V voltage conversion circuit (2-2) - 15V voltage output end be all connected with, the 5V voltage of the temperature sensing circuit (8) and 24V to 5V voltage conversion circuit (2-4) The 3.3V voltage output end of output end and 5V to 3.3V and 1.9V voltage conversion circuit (2-5) is all connected with, and the RVDT resolves electricity The 5V voltage output end and 5V to 3.3V and 1.9V voltage conversion circuit (2- on road (9) and 24V to 5V voltage conversion circuit (2-4) 5) 3.3V voltage output end is all connected with.

4. double redundancy motor measuring and control data acquisition system described in accordance with the claim 3, it is characterised in that: 24V to the 15V electricity Voltage conversion circuit (2-2) includes the voltage stabilizing chip U5, switching diode D5, nonpolar capacitor C12, nonpolarity of model LM317 The 1st pin and nonpolar capacitor C12 of capacitor C13, nonpolar capacitor C15, resistance R12 and resistance R15, the voltage stabilizing chip U5 One end connect with the output end of 24V Switching Power Supply (2-1), the other end of the nonpolarity capacitor C12 is connect by resistance R15 Ground, the 2nd pin and one end of resistance R12, the cathode of switching diode D5 and the nonpolar capacitor C15 of the voltage stabilizing chip U5 One end is all connected with, and is the 15V voltage output end of 24V to 15V voltage conversion circuit (2-2), and the 3rd of the voltage stabilizing chip U5 is drawn Foot, the other end of resistance R12, the anode of switching diode D5 and nonpolar capacitor C13 one end be grounded, the nonpolarity electricity The other end for holding C15 is connect with the other end of nonpolar capacitor C13；24V to the 5V voltage conversion circuit (2-4) includes model For the voltage stabilizing chip U6 of LM317, switching diode D6, nonpolar capacitor C17, nonpolar capacitor C18, nonpolar capacitor C19, electricity One end of the 1st pin and nonpolarity capacitor C17 that hinder R13 and resistance R14, the voltage stabilizing chip U6 with 24V Switching Power Supply (2- 1) other end of output end connection, the nonpolarity capacitor C17 is grounded by resistance R14, and the 2nd of the voltage stabilizing chip U6 is drawn Foot and one end of one end of resistance R13, the cathode of switching diode D6 and nonpolar capacitor C19 are all connected with, and are 24V to 5V electricity The 5V voltage output end of voltage conversion circuit (2-4), the 3rd pin, the other end of resistance R13, the switch two of the voltage stabilizing chip U6 One end of the anode of pole pipe D6 and nonpolar capacitor C18 are grounded, the other end and nonpolar capacitor of the nonpolarity capacitor C19 The other end of C18 connects；5V to the 3.3V and 1.9V voltage conversion circuit (2-5) include power management chip TPS70302, Light-emitting diode LED 1, Light-emitting diode LED 2, polar capacitor CEP1, polar capacitor CEP2, polar capacitor CEP3, polar capacitor CEP4, nonpolar capacitor CP2, nonpolar capacitor CP3, nonpolar capacitor CP4, resistance RP13, resistance RP14, resistance RP15, electricity Resistance RP16, resistance RP17, resistance RP18, resistance RP19 and resistance RP20, the 2nd of the power management chip TPS70302 are drawn Foot, the 3rd pin, the 5th pin, the 6th pin, the 8th pin, the 10th pin, the 11st pin, the anode of polar capacitor CEP2, polarity 5V voltage output end of the one end of the anode of capacitor CEP3 and nonpolar capacitor CP3 with 24V to 5V voltage conversion circuit (2-4) Connection, the 0th pin, the 1st pin, the 7th pin, the 9th pin, the 12nd pin, polarity of the power management chip TPS70302 The other end of the cathode of capacitor CEP2, the cathode of polar capacitor CEP3 and nonpolar capacitor CP3 is grounded, the power management core The 22nd pin of piece TPS70302 is connected with the 23rd pin of power management chip TPS70302, and is 5V to 3.3V and 1.9V electricity The 3.3V voltage output end of voltage conversion circuit (2-5), one end of the resistance RP13, one end of resistance RP16, resistance RP20 One end, the anode of polar capacitor CEP1, one end of nonpolar capacitor CP2 and resistance RP15 one end with 5V to 3.3V and 1.9V The 3.3V voltage output end of voltage conversion circuit (2-5) connects, the cathode of the polar capacitor CEP1, nonpolar capacitor CP2 The minus earth of the other end and Light-emitting diode LED 1, the anode of the Light-emitting diode LED 1 and the other end of resistance RP15 connect It connects, the 21st pin of the power management chip TPS70302 is connect with the other end of resistance RP13, and is connect by resistance RP14 19th pin on ground, the power management chip TPS70302 is connect with the other end of resistance RP16, the power management chip The 18th pin of TPS70302 is connect with the other end of resistance RP20, the 14th pin of the power management chip TPS70302 and The 15th pin of power management chip TPS70302 connects, and is the 1.9V of 5V to 3.3V and 1.9V voltage conversion circuit (2-5) Voltage output end, one end of the resistance RP18, the anode of polar capacitor CEP4, one end of nonpolar capacitor CP4 and resistance One end of RP17 is connect with the 1.9V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit (2-5), the power supply pipe The 16th pin of reason chip TPS70302 is connected with the other end of resistance RP18, and is grounded by resistance RP19, the power supply pipe Manage the 13rd pin of chip TPS70302, the 24th pin, the cathode of polar capacitor CEP4, nonpolar capacitor CP4 the other end and The cathode of Light-emitting diode LED 1 is grounded, and the anode of the Light-emitting diode LED 1 is connect with the other end of resistance RP17；Institute Stating 15V to -15V voltage conversion circuit (2-6) includes voltage stabilizing chip MAX765, Schottky diode D7, inductance L1, nonpolarity electricity Hold the 6th pin of C16 and nonpolar capacitor C21, the voltage stabilizing chip MAX765, one end of the 7th pin and nonpolar capacitor C16 It is connect with the 15V voltage output end of 24V to 15V voltage conversion circuit (2-2), the 3rd pin of the voltage stabilizing chip MAX765, The other end of 5th pin and nonpolar capacitor C16 are grounded, the 4th pin and voltage stabilizing chip of the voltage stabilizing chip MAX765 The 2nd pin of MAX765 connects, and is grounded by nonpolarity capacitor C21, the 1st pin and Xiao Te of the voltage stabilizing chip MAX765 The anode of based diode D7 connects, and is the -15V voltage output end of 15V to -15V voltage conversion circuit (2-6), the pressure stabilizing The 8th pin of chip MAX765 is connect with the cathode of Schottky diode D7, and is grounded by inductance L1.

5. double redundancy motor measuring and control data acquisition system described in accordance with the claim 3, it is characterised in that: at the DSP number Reason device module (1) includes dsp chip TMS320F2812, crystal oscillator Y1, nonpolarity capacitor CX1 and nonpolar capacitor CX2, the crystalline substance One end of vibration Y1 and one end of nonpolar capacitor CX1 are connect with the 77th pin of dsp chip TMS320F2812, the crystal oscillator One end of the other end of Y1 and nonpolar capacitor CX2 are connect with the 76th pin of dsp chip TMS320F2812, the non-pole Property capacitor CX1 the other end and the other end of nonpolar capacitor CX2 be grounded, the 31st of the dsp chip TMS320F2812 is drawn Foot, the 64th pin, the 81st pin, the 114th pin, the 145th pin and the 69th pin are converted with 5V to 3.3V and 1.9V voltage The 3.3V voltage output end of circuit (2-5) connects, the 23rd pin, the 37th pin, the 56th of the dsp chip TMS320F2812 Pin, the 75th pin, the 100th pin, the 112nd pin, the 128th pin, the 143rd pin and the 154th pin with 5V to 3.3V It is connected with the 1.9V voltage output end of 1.9V voltage conversion circuit (2-5), the 19th pin of the dsp chip TMS320F2812, 32nd pin, the 38th pin, the 52nd pin, the 58th pin, the 70th pin, the 78th pin, the 86th pin, the 99th pin, the 105th Pin, the 113rd pin, the 120th pin, the 129th pin, the 142nd pin and the 153rd pin are grounded；The reset circuit (3) Including microprocessor monitors device chip MAX690_ESA, switching diode D1, nonpolar capacitor CX64, nonpolar capacitor CX65, The 1st pin of resistance RX8 and resistance RX9, the microprocessor monitors device chip MAX690_ESA, the 2nd pin, the 8th pin and One end of nonpolar capacitor CX64 is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit (2-5), The other end of the 3rd pin of the microprocessor monitors device chip MAX690_ESA, the 4th pin and nonpolar capacitor CX64 connects Ground, the 6th pin of the microprocessor monitors device chip MAX690_ESA and the 92nd pin of dsp chip TMS320F2812 connect It connects, and is connect by resistance RX9 with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit (2-5), it is described micro- The 7th pin, the anode of switching diode D1, one end of resistance RX8 and the nonpolarity of processor monitor chip MAX690_ESA One end of capacitor CX65 is connect with the 135th pin of dsp chip TMS320F2812, the cathode of the switching diode D1 and The other end of resistance RX8 is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit (2-5), described non- The other end of polar capacitor CX65 is grounded.

6. double redundancy motor measuring and control data acquisition system according to claim 5, it is characterised in that: the storage extension electricity Road (4) includes storage chip AT24C256, resistance RX11, resistance RX13 and resistance RX14, the storage chip AT24C256's 5th pin is connect with the 157th pin of dsp chip TMS320F2812, and passes through resistance RX13 and 5V to 3.3V and 1.9V voltage The 3.3V voltage output end of conversion circuit (2-5) connects, the 6th pin and dsp chip of the storage chip AT24C256 The 34th pin of TMS320F2812 connects, and passes through resistance RX14 and 5V to 3.3V and 1.9V voltage conversion circuit (2-5) The connection of 3.3V voltage output end, the 8th pin and 5V to 3.3V and 1.9V voltage conversion circuit of the storage chip AT24C256 The 3.3V voltage output end of (2-5) connects, the 1st pin, the 2nd pin, the 4th pin and the 7th of the storage chip AT24C256 Pin is grounded, and the 3rd pin of the storage chip AT24C256 is grounded by resistance RX11.

7. double redundancy motor measuring and control data acquisition system according to claim 5, it is characterised in that: the RS422/ RS485 telecommunication circuit (5) includes transponder chip ISO3080, nonpolar capacitor CS1, nonpolar capacitor CS4, nonpolar capacitor CS5, resistance RS1, resistance RS2, resistance RS3, resistance RS4, resistance RS5, resistance RS6, resistance RS7, resistance RS8, resistance RS9, Resistance RS10 and resistance RS11 and model are the switching diode of BAV99, switching diode DS2, switching diode DS3 With switching diode DS4；The 3rd pin of the transponder chip ISO3080 and the 90th pin of dsp chip TMS320F2812 Connection, and connect by resistance RS8 with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit (2-5), it is described The 4th pin of transponder chip ISO3080 is connect with the 20th pin of dsp chip TMS320F2812, and by resistance RS7 with 5V to 3.3V is connected with the 3.3V voltage output end of 1.9V voltage conversion circuit (2-5), and the of the transponder chip ISO3080 5 pins are connect with the 22nd pin of dsp chip TMS320F2812, and are grounded by resistance RS6, the transponder chip The 6th pin of ISO3080 is connect with the 91st pin of dsp chip TMS320F2812, and by resistance RS11 and 5V to 3.3V and The 3.3V voltage output end of 1.9V voltage conversion circuit (2-5) connects, the 1st pin and 5V of the transponder chip ISO3080 3.3V voltage output end to 3.3V with 1.9V voltage conversion circuit (2-5) connects, and the 2nd of the transponder chip ISO3080 the Pin, the 7th pin, the 8th pin, the 9th pin and the 10th pin are grounded, the 11st pin of the transponder chip ISO3080 It is connect with one end of resistance RS10 with the 3rd pin of switching diode DS4, the other end of the resistance RS10 is RS422/ The 1st pin of the signal output end RS422A_TRANS+, the switching diode DS4 of RS485 telecommunication circuit (5) are grounded, described The 2nd pin of switching diode DS4 is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit (2-4), the transceiver The 12nd pin of chip I SO3080 and the 3rd pin of switching diode DS3 are connect with one end of resistance RS9, the resistance The other end of RS9 is the signal output end RS422A_TRANS- of RS422/RS485 telecommunication circuit (5), the switching diode The 1st pin of DS3 is grounded, the 2nd pin of the switching diode DS3 and the 5V voltage of 24V to 5V voltage conversion circuit (2-4) Output end connection, the 13rd pin of the transponder chip ISO3080, the 3rd pin of switching diode DS2 and resistance RS4 One end is connect with one end of resistance RS5, the other end ground connection of the resistance RS4, the 1st pin of the switching diode DS2 Ground connection, the 2nd pin of the switching diode DS2 are connect with the 5V voltage output end of 24V to 5V voltage conversion circuit (2-4), The other end of the resistance RS5 and one end of resistance RS3 are connect with one end of nonpolar capacitor CS1, and are RS422/RS485 The signal output end RS422A_REC- of telecommunication circuit (5), the 14th pin, the switching diode of the transponder chip ISO3080 The 3rd pin of DS1 and one end of resistance RS1 are connect with one end of resistance RS2, the other end and 24V to 5V of the resistance RS1 The 5V voltage output end of voltage conversion circuit (2-4) connects, the 1st pin ground connection of the switching diode DS1, the switch two The 2nd pin of pole pipe DS1 is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit (2-4), and the resistance RS2's is another The other end of one end and resistance RS3 are connect with the other end of nonpolar capacitor CS1, and are RS422/RS485 telecommunication circuit (5) Signal output end RS422A_REC+.

8. double redundancy motor measuring and control data acquisition system according to claim 5, it is characterised in that: the current detecting electricity Road (6) includes the first current detection circuit (6-1) and the second current detection circuit (6-2), the first current detection circuit (6- 1) identical with the circuit structure of the second current detection circuit (6-2) and include current sensor ACS712, nonpolar capacitor C23 With nonpolar capacitor C25, the 1st pin of the current sensor ACS712 and the 2nd pin connect and are the first current detecting electricity The positive current signal input IIN1+ of road (6-1) or the second current detection circuit (6-2), the current sensor ACS712 The 3rd pin and the connection of the 4th pin and the cathode for the first current detection circuit (6-1) or the second current detection circuit (6-2) The 5th pin of current signal input IIN1-, the current sensor ACS712 are grounded, the current sensor ACS712's 6th pin is grounded by nonpolarity capacitor C25, the 7th pin and dsp chip of the current sensor ACS712 The 21st pin of TMS320F2812 connects, one end of the 8th pin of the current sensor ACS712 and nonpolar capacitor C23 It is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit (2-4), the other end ground connection of the nonpolarity capacitor C23.

The voltage detecting circuit (7) includes first voltage detection circuit (7-1) and second voltage detection circuit (7-2), described First voltage detection circuit (7-1) is identical with the circuit structure of second voltage detection circuit (7-2) and includes operational amplifier TL082, nonpolar capacitor CU4, nonpolar capacitor CU5, nonpolar capacitor CU6, resistance RU6, resistance RU9, resistance RU10 and electricity RU11 is hindered, the 3rd pin of the operational amplifier TL082 is connect with one end of resistance RU6, and passes through nonpolar capacitor respectively CU4 and resistance RU9 ground connection, the other end of the resistance RU6 are first voltage detection circuit (7-1) or second voltage detection circuit The 2nd pin of the voltage signal inputs V_IN, the operational amplifier TL082 of (7-2) pass through resistance RU10 and operation amplifier The 1st pin of device TL082 connects, and is grounded respectively by nonpolarity capacitor CU5 and resistance RU11, the operational amplifier The 1st pin of TL082 is connect with the 27th pin of dsp chip TMS320F2812, and is grounded by nonpolarity capacitor CU6, described The 8th pin of operational amplifier TL082 is connect with the 15V voltage output end of 24V to 15V voltage conversion circuit (2-2), the fortune The 4th pin for calculating amplifier TL082 is connect with -15V the voltage output end of 15V to -15V voltage conversion circuit (2-6).

9. double redundancy motor measuring and control data acquisition system according to claim 5, it is characterised in that: the temperature detection electricity Road (8) includes the first temperature sensing circuit (8-1) and second temperature detection circuit (8-2), the first temperature sensing circuit (8- 1) identical with the circuit structure of second temperature detection circuit (8-2) and include isolated amplifier AMC1200, operational amplifier UT3A, operational amplifier UT5A, switching diode DT1, zener diode VT1, nonpolar capacitor CT4, nonpolar capacitor CT5, Nonpolar capacitor CT6, nonpolar capacitor CT7, nonpolar capacitor CT8, nonpolar capacitor CT9, nonpolar capacitor CT10, nonpolarity Capacitor CT11, nonpolar capacitor CT12, nonpolar capacitor CT13, nonpolar capacitor CT14, nonpolar capacitor CT15, nonpolarity electricity Hold CT16, resistance RT4, resistance RT5, resistance RT6, resistance RT7, resistance RT8, resistance RT9, resistance RT10, resistance RT11, resistance RT12, resistance RT13, resistance RT14, resistance RT15, resistance RT16 and resistance RT17, one end of the resistance RT4 and resistance RT8 One end connection and be the input of the positive temperature signal of the first temperature sensing circuit (8-1) or second temperature detection circuit (8-2) NTC_P1 is held, the other end of the RT4 is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit (2-4), the resistance The other end of RT8, one end of resistance RT5, one end of resistance RT14 and nonpolar capacitor CT14 one end be all connected with and be first The cathode temperature signal input NTC_N1 of temperature sensing circuit (8-1) or second temperature detection circuit (8-2), the resistance The other end of the other end of RT14 and nonpolar capacitor CT14 are grounded, the 3rd pin, the resistance RT5 of the switching diode DT1 The other end and one end of nonpolar capacitor CT11 connect with one end of resistance RT6, the 1st of the switching diode DT1 is drawn The other end of foot and nonpolar capacitor CT11 are grounded, and the 2nd pin and 24V to 5V voltage of the switching diode DT1 is converted The 5V voltage output end of circuit (2-4) connects, and the 3rd pin of the operational amplifier UT3A is connect with the other end of resistance RT6, The 8th pin of the operational amplifier UT3A is connect with the 5V voltage output end of 24V to 5V voltage conversion circuit (2-4), and logical Nonpolarity capacitor CT4 ground connection is crossed, the 4th pin ground connection of the operational amplifier UT3A, the 2nd of the operational amplifier UT3A is drawn One end of foot, one end of resistance RT11 and resistance RT16 is connect with one end of nonpolar capacitor CT16, the resistance RT11's Other end ground connection, the 1st pin of the operational amplifier UT3A, the other end of resistance RT16 and nonpolar capacitor CT16 it is another End connect with one end of resistance RT9, the 2nd pin of the isolated amplifier AMC1200, nonpolarity capacitor CT13 one end and One end of resistance RT12 is connect with the other end of resistance RT9, the 3rd pin of the isolated amplifier AMC1200, the 4th pin, The other end of nonpolar capacitor CT13 and the other end of resistance RT12 are grounded, and the 1st of the isolated amplifier AMC1200 is drawn 5V of the one end of foot, one end of nonpolar capacitor CT9 and nonpolar capacitor CT10 with 24V to 5V voltage conversion circuit (2-4) The other end of voltage output end connection, the other end of the nonpolarity capacitor CT9 and nonpolar capacitor CT10 are grounded, it is described every The 5th pin ground connection from amplifier AMC1200, the one of the 8th pin of the isolated amplifier AMC1200, nonpolar capacitor CT6 End and one end of nonpolar capacitor CT7 connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit (2-5) It connects, the other end of the other end of the nonpolarity capacitor CT6 and nonpolar capacitor CT7 are grounded, the operational amplifier UT5A The 3rd pin connect with the 7th pin of isolated amplifier AMC1200 by resistance RT10, and pass through nonpolarity capacitor CT8 respectively It is grounded with resistance RT7, the 2nd pin of the operational amplifier UT5A passes through the 6th of resistance RT15 and isolated amplifier AMC1200 Pin connection, and connect respectively by nonpolarity capacitor CT15 and resistance RT17 with the 1st pin of operational amplifier UT5A, it is described The 8th pin of operational amplifier UT5A is connect with the 3.3V voltage output end of 5V to 3.3V and 1.9V voltage conversion circuit (2-5), And be grounded by nonpolarity capacitor CT5, the 4th pin ground connection of the operational amplifier UT5A, the operational amplifier UT5A's 1st pin is connect with one end of resistance RT13, the other end of the resistance RT13, one end of nonpolar capacitor CT12 and pressure stabilizing two The cathode of pole pipe VT1 is connect with the 33rd pin of dsp chip TMS320F2812, the other end of the nonpolarity capacitor CT12 It is grounded with the anode of zener diode VT1.

10. double redundancy motor measuring and control data acquisition system according to claim 5, it is characterised in that: the RVDT is resolved Circuit (9) includes the first RVDT resolving circuit (9-1) and the 2nd RVDT resolving circuit (9-2), the first RVDT resolving circuit (9-1) is identical with the circuit structure of the 2nd RVDT resolving circuit (9-2) and includes that rotation becomes digital quantizer AD2S1210, crystal oscillator Y2, nonpolar capacitor C1, nonpolar capacitor C2, nonpolar capacitor C3, nonpolar capacitor C4, nonpolar capacitor C5, nonpolarity electricity One end of one end and nonpolar capacitor C5 for holding C6, resistance R8 and resistance R9, the crystal oscillator Y2 becomes digital quantizer with rotation The 7th pin of AD2S1210 connects, and one end of the other end of the crystal oscillator Y2 and nonpolar capacitor C6 are converted with rotation parameter word The 8th pin of device AD2S1210 connects, and the other end of the other end of the nonpolarity capacitor C5 and nonpolar capacitor C6 are grounded, The 2nd pin that the rotation becomes digital quantizer AD2S1210 is grounded by resistance R8, and the rotation becomes digital quantizer AD2S1210 The 38th pin by nonpolarity capacitor C3 be grounded, it is described rotation become digital quantizer AD2S1210 the 39th pin pass through nonpolarity Capacitor C2 ground connection, the 46th pin that the rotation becomes digital quantizer AD2S1210 pass through nonpolar capacitor C1 and nonpolarity electricity respectively Hold C2 ground connection, the rotation becomes the 5th pin, the 19th pin and the 40th the pin ground connection of digital quantizer AD2S1210, and the rotation becomes The 5V voltage output of the 6th pin of digital quantizer AD2S1210 and the 43rd pin with 24V to 5V voltage conversion circuit (2-4) End connection, the rotation become the 18th pin and 5V to 3.3V and 1.9V voltage conversion circuit (2-5) of digital quantizer AD2S1210 3.3V voltage output end connection, it is described rotation become digital quantizer AD2S1210 the 9th pin pass through resistance R9 and dsp chip The 161st pin of TMS320F2812 connects, and the 1st pin for revolving change digital quantizer AD2S1210, the 3rd pin, the 4th are drawn Foot, the 10th pin, the 11st pin and the 12nd pin are corresponding in turn to and draw with the 66th pin of dsp chip TMS320F2812, the 42nd Foot, the 51st pin, the 84th pin, the 148th pin and the connection of the 144th pin, the rotation become the of digital quantizer AD2S1210 13 pins, the 14th pin, the 15th pin, the 16th pin, the 17th pin, the 20th pin, the 21st pin, the 22nd pin, the 23rd are drawn Foot and the 24th pin are corresponding in turn to the 141st pin, the 138th pin, the 132nd pin, the 130th with dsp chip TMS320F2812 Pin, the 125th pin, the 121st pin, the 118th pin, the 111st pin, the 108th pin and the connection of the 103rd pin, the rotation Become the 25th pin of digital quantizer AD2S1210, the 26th pin, the 27th pin, the 28th pin, the 29th pin, the 30th pin, 31st pin, the 32nd pin, the 33rd pin, the 34th pin, the 35th pin and the 36th pin is corresponding in turn to and dsp chip The 85th pin of TMS320F2812, the 80th pin, the 43rd pin, the 18th pin, the 96th pin, the 74th pin, the 73rd pin, 68th pin, the 160th pin, the 65th pin, the 54th pin and the connection of the 39th pin, the rotation become digital quantizer AD2S1210 The 37th pin, the 41st pin, the 42nd pin, the 44th pin, the 45th pin, the 47th pin and the 48th pin be corresponding in turn to The 97th pin, the 71st pin, the 72nd pin, the 61st pin, the 62nd pin, the 63rd pin and of dsp chip TMS320F2812 The connection of 67 pins.