CN109560745A - A kind of servo controller - Google Patents
A kind of servo controller Download PDFInfo
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- CN109560745A CN109560745A CN201811638734.7A CN201811638734A CN109560745A CN 109560745 A CN109560745 A CN 109560745A CN 201811638734 A CN201811638734 A CN 201811638734A CN 109560745 A CN109560745 A CN 109560745A
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- module
- arm processor
- fpga circuitry
- servo controller
- circuit
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- 238000004891 communication Methods 0.000 claims abstract description 65
- 238000006243 chemical reaction Methods 0.000 claims abstract description 29
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- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 13
- 230000002093 peripheral effect Effects 0.000 description 12
- 238000013461 design Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
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- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
Abstract
The invention discloses a kind of servo controllers, including arm processor, FPGA circuitry, data conversion module, network communication module, serial communication modular, encoder interfaces module, CAN communication module, input/output interface module and power module；The power module is connected with arm processor, FPGA circuitry and each module respectively, for providing power supply；The data conversion module, network communication module, CAN communication module and input/output interface module are connected with the arm processor respectively；The encoder interfaces module is connected with the FPGA circuitry, and the serial communication modular is connected with the arm processor and FPGA circuitry respectively.Servo controller of the invention has many advantages, such as that structure is simple, operational efficiency is high and feature-rich.
Description
Technical field
The invention mainly relates to technical field of servo control, refer in particular to a kind of servo controller.
Background technique
Servo-control system refers to the execution system that can accurately and rapidly respond a certain Setting signal and its variation, gives
Signal generally includes the signals such as position, speed, torque, and whole system includes executing agency, testing agency, controller and driving electricity
Road etc..Servo-control system is used primarily for defence and military, such as fire control, MISSILE LAUNCHING, photoelectric tracking etc., after gradually push away
Extensively arrive civilian various fields, such as robot control, numerically-controlled machine tool, automatic production line.With information, automatic technology
It continues to develop, to the volume of servo-control system, compatibility, efficiency, intelligence, performance etc., more stringent requirements are proposed.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
The kind servo controller that structure is simple, operational efficiency is high and feature-rich.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of servo controller, including arm processor, FPGA circuitry, data conversion module, network communication module, serial ports
Communication module, encoder interfaces module, CAN communication module, input/output interface module and power module；The power module point
It is not connected with arm processor, FPGA circuitry and each module, for providing power supply；The data conversion module, network communication mould
Block, CAN communication module and input/output interface module are connected with the arm processor respectively；The encoder interfaces module with
The FPGA circuitry is connected, and the serial communication modular is connected with the arm processor and FPGA circuitry respectively.
As a further improvement of the above technical scheme:
The data conversion module includes A/D converter circuit and DA conversion circuit, the A/D converter circuit and DA conversion circuit
It is isolated by isolation circuit with arm processor.
The A/D converter circuit and DA conversion circuit pass through SPI interface and are connected with arm processor.
The encoder interfaces module includes Multi-path synchronous serial line interface, and differential signal biography is carried out between FPGA circuitry
It is defeated.
The serial communication modular includes more than one RS422 serial ports and more than one RS232 serial ports.
The input/output interface module is connect by light-coupled isolation chip with the arm processor.
It is connected between the arm processor and FPGA circuitry by FSMC interface.
The arm processor, FPGA circuitry, data conversion module, network communication module, serial communication modular, encoder
Interface module, CAN communication module and input/output interface module are integrated on same circuit board.
Compared with the prior art, the advantages of the present invention are as follows:
Servo controller of the invention, using the framework of arm processor and FPGA circuitry, ARM controller be can be very good
Support operating system, and FPGA can realize hardware programming, can be realized the design and planning of real-time task and un-real time job, it is real
The high reliability and high real-time of existing system, are greatly improved operational efficiency；Be integrated with network communication module, serial communication modular and
The multiple communication modes such as CAN communication module, the equipment that can connect distinct interface, scalability with higher；Arm processor,
FPGA circuitry, data conversion module, network communication module, serial communication modular, encoder interfaces module, CAN communication module and
Input/output interface module is integrated on same circuit board, it is compact-sized, occupy it is small in size.
Servo controller of the invention has fully considered electromagnetic compatibility and anti-interference ability, multiple independences in circuit design
Power supply is physically mutually isolated；By FPGA stone interface administration module, it can very easily realize and support multiple types absolute
Displacement sensor agreement and non-standard displacement sensor.
Detailed description of the invention
Fig. 1 is frame structure schematic diagram of the invention.
Fig. 2 is the circuit diagram of power module in the present invention.
Fig. 3 is the circuit diagram of arm processor in the present invention.
Fig. 4 is the circuit diagram of A/D converter circuit in the present invention.
Fig. 5 is the circuit diagram of DA conversion circuit in the present invention.
Fig. 6 is the circuit diagram of network communication module in the present invention.
Fig. 7 is the circuit diagram of CAN communication module in the present invention.
Fig. 8 is the circuit diagram of encoder interfaces module in the present invention.
Fig. 9 is the circuit diagram of RS422 serial ports in the present invention.
Figure 10 is the circuit diagram of RS232 serial ports in the present invention.
Figure 11 is the circuit diagram of output isolation circuit in the present invention.
Figure 12 is the circuit diagram of input isolation circuit in the present invention.
Figure label indicates: 1, arm processor；2, FPGA circuitry；3, data conversion module；4, network communication module；5,
Serial communication modular；6, encoder interfaces module；7, CAN communication module；8, input/output interface module；9, power module.
Specific embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
As depicted in figs. 1 and 2, the servo controller of the present embodiment, including arm processor 1, FPGA circuitry 2, data conversion
Module 3, network communication module 4, serial communication modular 5, encoder interfaces module 6, CAN communication module 7, input/output interface mould
Block 8 and power module 9；Wherein arm processor 1, FPGA circuitry 2, data conversion module 3, network communication module 4, serial communication
Module 5, encoder interfaces module 6, CAN communication module 7 and input/output interface module 8 are integrated on same circuit board；Electricity
Source module 9 is connected with arm processor 1, FPGA circuitry 2 and each module respectively, for providing power supply；Data conversion module 3, network
Communication module 4, CAN communication module 7 and input/output interface module 8 are connected with arm processor 1 respectively；Encoder interfaces module 6
It is connected with FPGA circuitry 2, serial communication modular 5 is connected with arm processor 1 and FPGA circuitry 2 respectively.SERVO CONTROL of the invention
Device, using the framework of arm processor 1 and FPGA circuitry 2, arm processor 1 can be very good to support operating system, and FPGA is electric
Road 2 can realize hardware programming, can be realized the design and planning of real-time task and un-real time job, realize the high reliability of system
And high real-time, operational efficiency is greatly improved；It is integrated with network communication module 4, serial communication modular 5 and CAN communication module 7 etc.
Multiple communication modes, the equipment that can connect distinct interface, scalability with higher；Arm processor 1, FPGA circuitry 2, number
It is defeated according to conversion module 3, network communication module 4, serial communication modular 5, encoder interfaces module 6, CAN communication module 7 and input
Outgoing interface module 8 is integrated on same circuit board, it is compact-sized, occupy it is small in size.
As shown in Fig. 2, whole system provides 24V power supply by outside, 24V power supply is converted to after power module 9
± the 12V and two-way+5V voltage being mutually isolated, respectively each component are powered.What arm processor 1 was selected is meaning method half
The STM32H743 of conductor, this chip are the Cortex-M7 core processor that STMicw Electronics newly releases, and dominant frequency can be up to
400MHz, arithmetic speed reach as high as 856DMIPS, and performance is intrepid, peripheral hardware rich in, and can have with other series
Good compatibility.The development cycle can greatly be shortened and drop by carrying out aided programming using newest CubeMX development kit simultaneously
Low development difficulty.1 peripheral circuit of arm processor is simple, including reset circuit, crystal oscillator and JTAG debugging interface, circuit such as Fig. 3
It is shown.What FPGA was selected is Intel CompanyIV series, LE, the 4Mb being arranged vertically comprising up to 11.5 ten thousand are embedding
Enter formula memory and 266 embedded multipliers of 18x18, low in cost, circuit configuration is simple, and the flexibility of FPGA and height collect
At characteristic, can, cost lower device smaller with design volume, reduce system synthesis sheet.
In the present embodiment, data conversion module 3 includes A/D converter circuit and DA conversion circuit, and A/D converter circuit and DA are converted
Circuit passes through isolation circuit is isolated with arm processor 1.A/D converter circuit is mainly that the electric current of acquisition current motor is big
It is small, as the electric current loop feedback quantity of whole system, collected voltage is sent to arm processor 1 by SPI interface；It is real
Existing closed-loop control；DA conversion circuit is that system obtains final instruction output valve to driver after a series of resolvings.AD turns
The ADS8694IDBTR chip that circuit selects TI company is changed, what DA conversion circuit was selected is the DAC8734SPFB of TI company, AD core
Piece and DA chip pass through SPI interface and are connected with arm processor 1, between be isolated by ADUM3151 chip, circuit
Figure is as shown in Figure 4 and Figure 5 respectively.
As shown in fig. 6, STM32F743 carries network communication module 4 (ethernet module) in the present embodiment, use
RMII mode, CPU only needs 9 road signal wires to be attached with external PHY chip under this mode, and what PHY chip was selected is the U.S.
The DP83848CVV of National Semiconductor accesses network by JXD0-0006NL transformer network interface, is received and instructed by network interface
Information.
As shown in fig. 7, Controller Area Network BUS (CAN, Controller Area Network) is a kind of for real-time
The serial communication protocol bus of application, twisted pair can be used to transmit signal in it, is that most widely used scene is total in the world
One of line, have many advantages, such as strong real-time, transmission range farther out, anti-electromagnetic interference capability it is strong, at low cost.In the present embodiment
CAN communication module 7 has used two CAN communication interfaces, carries out transceiver insulation using CAT8251AT, by CAN interface,
It can be efficiently linked into other systems (such as host computer), receive control instruction (location information, the peripheral hardware of such as motor of most original
Operating mode etc.), while other peripheral hardwares for supporting CAN communications can also be accessed by CAN interface.
As shown in figure 8, synchronous serial interface (Synchronous Serial Interface) abbreviation SSI, the present embodiment
In comprising acquiring the data information of peripheral hardware or controlling peripheral hardware there are two SSI interface；SSI interface is as current mainstream
High Precision Absolute Encoder interface, convert differential signal for clock signal and data-signal and transmit, have installation
Cost is few, and route simplifies, and the advantages of stable signal transmission, has used two SSI interfaces in the present embodiment, has been connected to FPGA circuitry
2 are communicated, and are carried out signal differential conversion using MAX490 chip, can be carried out selection access according to demand when in use, mention
The high flexibility of design.
As shown in Figure 9 and Figure 10, in the present embodiment, serial communication modular 5 includes 6 serial ports, wherein there is 4 RS422 strings
Mouthful, two RS232 serial ports meet the access requirement of varying level standard serial port equipment.6 road serial ports are linked at ARM respectively
Device 1 and FPGA circuitry 2 are managed, it can be according to the processing mode of resource service condition unrestricted choice serial data.Such as Figure 11 and Figure 12 institute
Show, in addition in the way of the communications such as common network interface, serial ports, it is also necessary to which some simple level digital amount inputs come with output
Some interactive controllings are carried out with outside, for example peripheral hardware is enabled, external event interrupts etc., input/output interface and STM32H743's
I/O port is connected, and is connect by light-coupled isolation chip TLP290 with peripheral hardware, circuit diagram is as shown in figure 11；Arm processor 1
I/O port connect the negative terminal of diode, when I/O port output is low, diode current flow, which shines, makes the right triode ON, collector quilt
It drags down, output becomes low level, can effectively keep apart the I/O port of arm processor 1 with peripheral hardware by optocoupler, work as peripheral hardware
It can be effectively protected that core devices are unaffected when breaking down, enhance the stability of circuit.
Servo controller of the invention is used as core processor using STMicw Electronics H7 series A RM processor 1, is aided with
The double-core of FPGA circuitry 2 designs, and all communication and control finally all focus on arm processor 1 and is uniformly processed, periphery
Rich interface can receive given command signal by network communication interface, CAN communication interface, 422 mouthfuls, SPI mouthfuls, I/O port,
Or acquire the status information of all kinds of peripheral hardwares (such as encoder, gyroscope, video camera) and carry out relevant control, pass through FSMC
Interface is communicated with FPGA circuitry 2, and final arm processor 1 is (electric current, speed encoder, position encoded by collected information
The relevant digital quantity such as device, gyroscope) it is resolved and is handled, final output command signal (port or DA output) is to driving
The instruction input of device reaches the accurate closed-loop control to motor servo system.
Servo controller of the invention, FPGA circuitry 2 is as peripheral hardware by can be changed static storage controller (FSMC) interface
It is connected with arm processor 1, the acquisition of part desired signal is handled by FPGA circuitry 2, makes full use of FPGA circuitry
Complicated vector controlled is realized by parallel hardware circuit, can be efficiently solved at ARM by hardware resource abundant in 2
The problem for managing 1 Resources on Chip of device and interface deficiency, effectively reduces the expense of arm processor 1.
Servo controller of the invention reduces unnecessary centre using controller and the integrated design of driving circuit
Link substantially increases the operational efficiency and reliability of system, reduces the volume of servo-control system；Servo control of the invention
Device processed has very high integration, can be compatible with the position feedbacks such as incremental encoder, absolute type encoder and rotary transformer
Device, executing agency can be with alternating current generator or direct current generators；It is integrated with the communication modes such as CAN, serial ports, Ethernet, Ke Yilian
The equipment for connecing distinct interface has very high scalability.
Servo controller of the invention has fully considered electromagnetic compatibility and anti-interference ability, multiple independences in circuit design
Power supply is physically mutually isolated；By FPGA stone interface administration module, it can very easily realize and support multiple types absolute
Displacement sensor agreement and non-standard displacement sensor.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (8)
1. a kind of servo controller, which is characterized in that including arm processor (1), FPGA circuitry (2), data conversion module (3),
Network communication module (4), serial communication modular (5), encoder interfaces module (6), CAN communication module (7), input/output interface
Module (8) and power module (9)；The power module (9) respectively with arm processor (1), FPGA circuitry (2) and each module phase
Even, for providing power supply；The data conversion module (3), network communication module (4), CAN communication module (7) and input and output
Interface module (8) is connected with the arm processor (1) respectively；The encoder interfaces module (6) and the FPGA circuitry (2)
It is connected, the serial communication modular (5) is connected with the arm processor (1) and FPGA circuitry (2) respectively.
2. servo controller according to claim 1, which is characterized in that the data conversion module (3) includes AD conversion
Circuit and DA conversion circuit, the A/D converter circuit and DA conversion circuit pass through isolation circuit and arm processor (1) carry out every
From.
3. servo controller according to claim 2, which is characterized in that the A/D converter circuit and DA conversion circuit are logical
SPI interface is crossed to be connected with arm processor (1).
4. servo controller as claimed in any of claims 1 to 3, which is characterized in that the encoder interfaces mould
Block (6) includes Multi-path synchronous serial line interface, carries out differential signal transmission between FPGA circuitry (2).
5. servo controller as claimed in any of claims 1 to 3, which is characterized in that the serial communication modular
It (5) include more than one RS422 serial ports and more than one RS232 serial ports.
6. servo controller as claimed in any of claims 1 to 3, which is characterized in that the input/output interface
Module (8) is connect by light-coupled isolation chip with the arm processor (1).
7. servo controller as claimed in any of claims 1 to 3, which is characterized in that the arm processor (1)
It is connected between FPGA circuitry (2) by FSMC interface.
8. servo controller as claimed in any of claims 1 to 3, which is characterized in that the arm processor (1),
FPGA circuitry (2), data conversion module (3), network communication module (4), serial communication modular (5), encoder interfaces module
(6), CAN communication module (7) and input/output interface module (8) are integrated on same circuit board.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638734.7A CN109560745A (en) | 2018-12-29 | 2018-12-29 | A kind of servo controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638734.7A CN109560745A (en) | 2018-12-29 | 2018-12-29 | A kind of servo controller |
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| Publication Number | Publication Date |
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| CN109560745A true CN109560745A (en) | 2019-04-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110266218A (en) * | 2019-06-24 | 2019-09-20 | 南京理工大学 | High-performance ultrahigh speed control system for permanent-magnet synchronous motor based on ARM and FPGA |
| CN116069703A (en) * | 2023-03-31 | 2023-05-05 | 成都思越智能装备股份有限公司 | Encoder communication mode conversion device and method |
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| CN104135214A (en) * | 2014-08-14 | 2014-11-05 | 哈尔滨工业大学 | Embedded type motor modularization servo controller of flight simulation rotary table |
| CN106656625A (en) * | 2017-01-05 | 2017-05-10 | 中车青岛四方车辆研究所有限公司 | Conversion control method and conversion module for train CAN communication based on ARM |
| WO2018214167A1 (en) * | 2017-05-26 | 2018-11-29 | 深圳配天智能技术研究院有限公司 | Servo system, motor, absolute encoder, and signal processing circuit for same |
| CN209375511U (en) * | 2018-12-29 | 2019-09-10 | 湖南宇正智能科技有限公司 | A kind of servo controller |
-
2018
- 2018-12-29 CN CN201811638734.7A patent/CN109560745A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261512A (en) * | 2008-04-17 | 2008-09-10 | 上海交通大学 | Embedded movement control card based on ARM |
| CN104135214A (en) * | 2014-08-14 | 2014-11-05 | 哈尔滨工业大学 | Embedded type motor modularization servo controller of flight simulation rotary table |
| CN106656625A (en) * | 2017-01-05 | 2017-05-10 | 中车青岛四方车辆研究所有限公司 | Conversion control method and conversion module for train CAN communication based on ARM |
| WO2018214167A1 (en) * | 2017-05-26 | 2018-11-29 | 深圳配天智能技术研究院有限公司 | Servo system, motor, absolute encoder, and signal processing circuit for same |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110266218A (en) * | 2019-06-24 | 2019-09-20 | 南京理工大学 | High-performance ultrahigh speed control system for permanent-magnet synchronous motor based on ARM and FPGA |
| CN116069703A (en) * | 2023-03-31 | 2023-05-05 | 成都思越智能装备股份有限公司 | Encoder communication mode conversion device and method |
| CN116069703B (en) * | 2023-03-31 | 2023-05-30 | 成都思越智能装备股份有限公司 | Encoder communication mode conversion device and method |
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