CN109254567A - A kind of multi-axis industrial robot's control system based on FPGA - Google Patents

A kind of multi-axis industrial robot's control system based on FPGA Download PDF

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Publication number
CN109254567A
CN109254567A CN201810755005.3A CN201810755005A CN109254567A CN 109254567 A CN109254567 A CN 109254567A CN 201810755005 A CN201810755005 A CN 201810755005A CN 109254567 A CN109254567 A CN 109254567A
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China
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unit
input terminal
output end
control unit
connect
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CN201810755005.3A
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Chinese (zh)
Inventor
高明煜
何佳欢
詹志平
黄继业
傅煌培
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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Priority to CN201810755005.3A priority Critical patent/CN109254567A/en
Publication of CN109254567A publication Critical patent/CN109254567A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/41845Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00Climate change mitigation technologies for sector-wide applications
    • Y02P80/40Minimising material used in manufacturing processes
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

Multi-axis industrial robot's control system based on FPGA that the present invention provides a kind of, including track acquiring unit, motion control unit, encoder feedback unit, the first vector control unit U1 are to the 6th vector control unit U6 and the first PWM output unit W1 to the 6th PWM output unit W6.The present invention is by the two of industrial robot big electric-control systems, servo drive system and tracking control system are combined into one, and have maximally utilized spatial volume, and a fpga core unit integrates the control logic of multiple PMSM, and complete the trajectory planning of multiaxis in real time simultaneously, save resource and cost;Using FPGA as main control chip, fast response time, and the mode of FPGA finite state machine, the error message and grave warning of servo-system more can be flexibly handled.This multi-axis industrial robot's control system has preferable real value and open application prospect.

Description

A kind of multi-axis industrial robot's control system based on FPGA
Technical field
The present invention relates to industrial robot field, especially a kind of multi-axis industrial robot's control system based on FPGA.
Background technique
Robot industry is included in one of ten big emphasis promotion industries by " industry manufacture 2025 ".21 century enters comprehensively Important epoch of industrial robot development, with the development that the shortage and science and technology of labour is advanced by leaps and bounds, industrial machine People will gradually replace manual labor heavy in factory;
Industrial robot control system and servo-system are collectively as one of big core component of industrial robot three, entire It is played a crucial role in industrial robot system;The most servo-driver of existing industrial robot control system and rail The discrete assembling of mark controller hardware, and the uniaxial independent driving in servo-system, one servo-driver of each axis needs, one A typical six-DOF robot control system wants six servo-drivers of different sizes and a tracking controller assembling It forms, the consequence done so is that industrial robot not only increases cost and increases volume, huge and heavy inconvenient mobile Seriously constrain the adaptive capacity to environment of industrial robot.More importantly existing industrial robot servo-system and control For systems most using DSP as arithmetic core, this mode seriously constrains the real-time of multiaxis collaborative work, it is therefore necessary to A kind of servo-drive and trajectory planning hardware integration are developed and design, volume is smaller, and specific power density is higher, and multiaxis is same When concurrent working industrial robot servo-system.
Summary of the invention
For above-mentioned the above deficiencies in the existing technologies, the present invention provides a kind of multi-axial industrial machine based on FPGA Device people's control system.
In order to solve the above-mentioned technical problem, present invention employs following technical solutions:
A kind of multi-axis industrial robot's control system based on FPGA, including track acquiring unit, motion control unit, coding Device feedback unit, the first vector control unit U1 to the 6th vector control unit U6, the first PWM output unit W1 to the 6th PWM Output unit W6;
The output end of the track acquiring unit and an input terminal of motion control unit connect, encoder feedback list Member output end, visual feedback output end and motion control unit another input terminal connect, motion control unit it is defeated Outlet is connect with the input terminal of input terminal to the 6th vector control unit U6 of the first vector control unit U1, the first vector controlled The output end of unit U1 to the 6th vector control unit U6 output end respectively with the input terminal of the first PWM output unit W1 to The access port of six PWM output unit W6 connects;
The motion control unit includes trajectory planning unit, track correct unit, error protection unit, spacing interpolation Unit, RMAC motion planning unit and electronic gear output unit;
The output end of track correct unit is connect with an input terminal of trajectory planning unit, the output of error protection unit End is connect with another input terminal of trajectory planning unit, the output end of trajectory planning unit and the input terminal of spacing interpolation unit Connection, the output end of spacing interpolation unit connect with the input terminal of RMAC motion planning unit, RMAC motion planning unit it is defeated Outlet is connect with the input terminal of electronic gear output unit, the output of the input terminal and visual feedback unit of track correct unit The output end connection at end, encoder feedback, the input terminal of trajectory planning unit are connect with the output end of track acquiring unit, electronics The input terminal of the output end of gear output unit and the first vector control unit U1 to the 6th vector control unit U6 input terminal Connection;
The first vector control unit U1 is identical to the 6th vector control unit U6 structure, each vector controlled Unit includes electronic gear input unit, coordinate transformation unit, encoder input unit, current sampling unit, SVPWM generator Unit;
The input terminal of electronic gear access unit is connect with the electronic gear output end of fortune function control unit, and electronic gear is defeated One input terminal of the output end and coordinate transformation unit that enter unit connects, output end, the current sample of encoder input unit The output end of unit and another input terminal of coordinate transform connect, the output end and SVPWM generator list of coordinate transformation unit The input terminal connection of member, the output end of SVPWM generating unit are connect with the input terminal of PWM output unit.
The present invention by adopting the above technical scheme possessed by beneficial effect be: by the two of industrial robot big electric-control systems: Servo drive system and tracking control system are combined into one, and 3 D stereo board mounting structure has maximally utilized spatial volume, One fpga core unit integrates the control logic of multiple PMSM, and completes the trajectory planning of multiaxis in real time simultaneously, has saved money Source and cost;High-voltage power power supply and low-voltage control power isolation, control signal and power signal isolation, ensure that servo-system Safe and stable operation;Using FPGA as main control chip, fast response time, the synchronous Du Genggao of each axis, and FPGA finite state machine Mode, more can flexibly handle the error message and grave warning of servo-system;Modular hardware configuration, so that adaptation is different Driver Card need to be only replaced when the motor of power in power capacity allowed band, does not need replacement master control Part and other interface modules, thus be more flexible;With preferable real value and open application prospect.
Detailed description of the invention
Fig. 1 is multi-axis industrial robot's control structure schematic diagram based on FPGA;
Fig. 2 is the structural schematic diagram of motion control unit of the invention;
Fig. 3 is the structural schematic diagram of vector control unit of the invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and specific embodiments.
As shown in Figure 1, a kind of multi-axis industrial robot based on FPGA controls system, including track acquiring unit, movement control Unit processed, encoder feedback unit, the first vector control unit U1 to the 6th vector control unit U6, the first PWM output unit W1 to the 6th PWM output unit W6;
The output end of the track acquiring unit and an input terminal of motion control unit connect, encoder feedback list Member output end, visual feedback output end and motion control unit another input terminal connect, motion control unit it is defeated Outlet is connect with the input terminal of input terminal to the 6th vector control unit U6 of the first vector control unit U1, the first vector controlled The output end of unit U1 to the 6th vector control unit U6 output end respectively with the input terminal of the first PWM output unit W1 to The access port of six PWM output unit W6 connects;
As shown in Fig. 2, the motion control unit includes trajectory planning unit, track correct unit, error protection list Member, spacing interpolation unit, RMAC motion planning unit and electronic gear output unit;
The output end of track correct unit is connect with an input terminal of trajectory planning unit, the output of error protection unit End is connect with another input terminal of trajectory planning unit, the output end of trajectory planning unit and the input terminal of spacing interpolation unit Connection, the output end of spacing interpolation unit connect with the input terminal of RMAC motion planning unit, RMAC motion planning unit it is defeated Outlet is connect with the input terminal of electronic gear output unit, the output of the input terminal and visual feedback unit of track correct unit The output end connection at end, encoder feedback, the input terminal of trajectory planning unit are connect with the output end of track acquiring unit, electronics The input terminal of the output end of gear output unit and the first vector control unit U1 to the 6th vector control unit U6 input terminal Connection;
As shown in figure 3, the first vector control unit U1 is identical to the 6th vector control unit U6 structure, often A vector control unit includes electronic gear input unit, coordinate transformation unit, encoder input unit, current sampling unit, SVPWM generator unit;
The input terminal of electronic gear access unit is connect with the electronic gear output end of fortune function control unit, and electronic gear is defeated One input terminal of the output end and coordinate transformation unit that enter unit connects, output end, the current sample of encoder input unit The output end of unit and another input terminal of coordinate transform connect, the output end and SVPWM generator list of coordinate transformation unit The input terminal connection of member, the output end of SVPWM generating unit are connect with the input terminal of PWM output unit.

Claims (1)

1. a kind of multi-axis industrial robot based on FPGA controls system, it is characterised in that: including track acquiring unit, motion control Unit, encoder feedback unit, the first vector control unit U1 to the 6th vector control unit U6, the first PWM output unit W1 To the 6th PWM output unit W6;
The output end of the track acquiring unit and an input terminal of motion control unit connect, encoder feedback unit Another input terminal of output end, the output end of visual feedback and motion control unit connects, the output end of motion control unit It is connect with the input terminal of input terminal to the 6th vector control unit U6 of the first vector control unit U1, the first vector control unit The output end of U1 to the 6th vector control unit U6 output end respectively with the input terminal of the first PWM output unit W1 to the 6th The access port of PWM output unit W6 connects;
The motion control unit includes trajectory planning unit, track correct unit, error protection unit, spacing interpolation list Member, RMAC motion planning unit and electronic gear output unit;
The output end of track correct unit is connect with an input terminal of trajectory planning unit, the output end of error protection unit with Another input terminal of trajectory planning unit connects, and the output end of trajectory planning unit and the input terminal of spacing interpolation unit connect It connects, the output end of spacing interpolation unit is connect with the input terminal of RMAC motion planning unit, the output of RMAC motion planning unit End is connect with the input terminal of electronic gear output unit, the output end of the input terminal of track correct unit and visual feedback unit, The output end of encoder feedback connects, and the input terminal of trajectory planning unit is connect with the output end of track acquiring unit, electronics tooth The input terminal for taking turns the output end of output unit and input terminal to the 6th vector control unit U6 of the first vector control unit U1 connects It connects;
The vector control unit includes electronic gear input unit, coordinate transformation unit, encoder input unit, and electric current is adopted Sample unit, SVPWM generator unit;
The input terminal of electronic gear access unit is connect with the electronic gear output end of fortune function control unit, and electronic gear input is single The output end of member and an input terminal of coordinate transformation unit connect, output end, the current sampling unit of encoder input unit Output end and another input terminal of coordinate transform connect, the output end of coordinate transformation unit and SVPWM generator unit Input terminal connection, the output end of SVPWM generating unit are connect with the input terminal of PWM output unit.
CN201810755005.3A 2018-07-11 2018-07-11 A kind of multi-axis industrial robot's control system based on FPGA Pending CN109254567A (en)

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