CN109962656A - A kind of micro computer precise positioning control system - Google Patents
A kind of micro computer precise positioning control system Download PDFInfo
- Publication number
- CN109962656A CN109962656A CN201711426247.XA CN201711426247A CN109962656A CN 109962656 A CN109962656 A CN 109962656A CN 201711426247 A CN201711426247 A CN 201711426247A CN 109962656 A CN109962656 A CN 109962656A
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- CN
- China
- Prior art keywords
- processing unit
- central processing
- data
- control system
- precise positioning
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
A kind of micro computer precise positioning control system of the present invention comprising integrated circuit board, central processing unit, processor, the processor are used to handle the differential data of the central processing unit output, and data that treated are exported again to driving circuit.Processor is directly communicated with integrated circuit board by central processing unit in the present invention, and centre does not need special communication, decoding chip, greatlys save cost；After the serial communication interface of processor, safer, reliable communication function can be provided, system steady operation is conducive to.
Description
Technical field
The present invention relates to a kind of micro computer precise positioning control systems, more particularly to are applied to high-precision, high speed, digital friendship
Flow the micro computer precise positioning control system in servo drive with integrated circuit board.
Background technique
Digital AC servo system is all widely used in many high-tech areas, such as numerically-controlled machine tool, machine
In the various fields such as people, packaging facilities, radar, military issue weapons servomechanism, aerospace and frequency converter.With every field
Rapid development, the requirement to servo-system is also increasingly strict, different application environments to the performance requirement of servo-system not yet
It is identical to the greatest extent.Especially in the systems such as precise numerical control machine, robot and radar, many special want is had also been proposed to servo-system
It asks: high speed, high-precision, high reliability and stronger anti-interference ability.All-digitized demodulator is watched because its own high reliability has become
Take the developing direction of control.The development of high-performance microprocessor and power electronic device is that servo-controlled total digitalization realization mentions
Condition is supplied.The positional servosystem critical issue to be solved based on total digitalization is: (1) reality of high-performance drive system
It is existing;(2) design of adjuster is realized by designing suitable position control and accurately determine to permanent magnet synchronous motor
Position, makes positioning accuracy, locating speed, the indexs such as position response can meet servo-controlled requirement.
Currently, existing AC permanent-magnet synchronous servo motor and encoder have obtained widely answering in servo device
With.In the control process to motor, not only it needs to be determined that rotor magnetic pole initial position, turns when motor operation is also predefined
Son rotation angle and direction of rotation.Encoder can be embedded into fortune synchronous with motor on motor by these information in order to obtain
Turn, to obtain the information in angle of rotor of motor and direction.Integrated circuit board but has the following characteristics that 1, can directly read angle
Spend the absolute value of coordinate；2, without accumulated error；3, location information will not be lost after power supply excision.But resolution ratio is by binary system
Digit determine, that is to say, that precision depends on digit, have at present 16,32 etc. it is a variety of.Thus it can be applied to be permitted
More high-precisions, the motion control occasion of high speed.It is exactly communication and decoding that application integrated circuit plate, which needs the critical issue solved,.
All be to be realized using the special chip of encoder manufacturer offer at present, will greatly increase cost, at the same circuit also compared with
It is complicated.
Therefore, it is necessary to invent the new micro computer precise positioning control system of one kind to solve the above problems.
Summary of the invention
The purpose of the present invention is being directed to above-mentioned defect, a kind of new convenience, micro- electricity safe and reliable, at low cost are provided
Brain precise positioning control system, and be successfully applied in digital ac servo driving device.
The present invention in order to achieve the above technical purposes, using following technological means:
A kind of micro computer precise positioning control system is used to carry out AC servo motor data acquisition and processing, then will processing
Data afterwards are output to the AC servo motor via driving circuit, which is connected to AC servo motor and driving circuit
Between, the micro computer precise positioning control system includes connecting and being used to acquire AC servo electricity with the AC servo motor
The integrated circuit board of machine rotor angle and direction information connect with the integrated circuit board and is used to handle its acquisition exported
The central processing unit of data is separately connected and for handling the centre with the central processing unit and driving circuit
It manages the differential data of unit output and data is exported again to the processor of driving circuit by treated.
The processor includes digital signal processing unit and is connected at the central processing unit and digital signal
The time control circuit module between unit is managed, the time control circuit module is for completing processor and integrated circuit board string
The timing control of row communication.
The processor further includes the decoder being connected between the central processing unit and digital signal processing unit,
The decoder sent for realizing the AC Servo Motor Control algorithm and the reading and writing of integrated circuit board data, instruction and
Data decoding.
The processor further includes that the information being connected between the central processing unit and digital signal processing unit is handed over
Parallel operation, the message exchange for realizing the micro computer precise positioning control system communication Time -based Control.
The processor further includes that the data being connected between the central processing unit and digital signal processing unit connect
Receiving apparatus, the data sink be used for receives by the integrated circuit board transmission Lai data.
The integrated circuit board includes difference channel module, is connected symmetrically to each other with the central processing unit.
Compared with prior art, the invention has the following advantages: processor passes through the direct sum aggregate of central processing unit
It is communicated at circuit board, centre does not need special communication, decoding chip, greatlys save cost；Multiple functions are set in the processor
Module sufficiently develops and uses its potentiality；After the serial communication interface of processor, safer, reliable communication function can be provided,
Be conducive to system steady operation.
Detailed description of the invention
Fig. 1 is the overall structure block diagram of disclosed micro computer precise positioning control system.
Fig. 2 is integrated circuit intralamellar part difference channel module of the present invention and central processing unit connection relationship diagram.
Specific embodiment
Below in conjunction with drawings and examples, present invention be described in more detail that revealed micro computer is accurately positioned control system
System.
Fig. 1 discloses the overall structure of micro computer precise positioning control system in one embodiment of the invention, including electricity
Motivation 1, integrated circuit board 2, central processing unit 3, processor 4, drive amplification circuit 5;Integrated circuit board 2 is embedded in motor 1
In and motor 1 operate synchronously, to obtain the information of motor 1 rotor angle and direction；Central processing unit 3 is connected to
Between motor 1 and processor 4, processor 4 is directly communicated with integrated circuit board by central processing unit 3, and centre does not need
Special communication, decoding chip.
Fig. 2 discloses integrated circuit intralamellar part difference channel module and central processing unit in one embodiment of the invention and connects
Connect relationship, ADM485 in figure: differential signal amplifier, SDAT: serial data, SRQ: request sends command signal, DE: control
ADM485 data transfer direction signal, SCIRXD:DSP receive data port, and SCITXD:DSP sends command port.It is most left in figure
Portion is the inside difference channel module 21 of integrated circuit board 2;Difference channel module 21 and central processing unit 3 respectively include a piece of
The SDAT of RS-485 the interface chip ADM485, ADM485 of semiduplex serial data transmission mode are data output pins,
SRQ is data-out pin, and DE is external control pin, which is controlled by processor 4, when DE is high level, SDAT output
Data, when DE is low level, data are inputted from SRQ；DE in the inside difference channel module 21 of integrated circuit board 2 is by integrated
Control chip inside circuit board 2 is controlled.
The technical principle that the present invention uses is as follows: the serial communication of processor 4 and integrated circuit board 2 and coding/decoding method it is soft
Part framework uses front and back operating mode, semiduplex serial data transmission mode and RS-485 interface standard.Entire communication reconciliation
Code work is completed by four functional modules.Time control circuit module is responsible for controlling the DE letter of difference channel module chip
Number, when it is high level, integrated circuit board can receive external command；And when for low level, integrated circuit board can be to
Outside sends data.1 underflow interrupt service routine of timer is for realizing motor control algorithms and encoder reading and writing instruction
It sends and the work such as data decoding.Data receiver work then receives interrupt service routine in serial data and completes, and is motor control
Accurate, stable parameter information is provided.
It is above-mentioned to press serial communication data format, when it receives a character (including 1 start bit, 8 data bit, 1
A stop position) just cause and once receives interruption, and the corresponding interrupt flag bit of set, when interrupting enabled, just enter accordingly
Interrupt service routine.DSP reception can be completely secured in the periodic reading and writing integrated circuit board in 1 underflow interrupt routine of timer
The integrality of data.2 cycle interruption service routine of CPU timer is then intended for communication Time -based Control.DSP serial mouth data
It receives interrupt service routine and is mainly responsible for the data that reception encoder transmits.
Compared with prior art, the invention has the following advantages: processor passes through the direct sum aggregate of central processing unit
It is communicated at circuit board, centre does not need special communication, decoding chip, greatlys save cost；Multiple functions are set in the processor
Module sufficiently develops and uses its potentiality；After the serial communication interface of processor, safer, reliable communication function can be provided,
Be conducive to system steady operation.
The above disclosure is only a preferred embodiment of the invention, cannot limit the right of the present invention with this certainly
Range, therefore according to equivalent variations made by scope of the present invention patent, it is still within the scope of the present invention.
Claims (5)
1. a kind of micro computer precise positioning control system, which is characterized in that the micro computer precise positioning control system include with
The AC servo motor connects and is used to acquire integrated circuit board and the institute of AC servo motor rotor angle and direction information
State central processing unit and the central processing unit that integrated circuit board connected and be used to handle the acquisition data that it is exported
And driving circuit be separately connected and the differential data for handling central processing unit output and will treated data again
It exports to the processor of driving circuit；The processor includes digital signal processing unit and is connected to the central processing list
Time control circuit module between member and digital signal processing unit, the time control circuit module is for completing processor
With the timing control of integrated circuit board serial communication.
2. micro computer precise positioning control system according to claim 2, which is characterized in that the processor further includes connecting
The decoder between the central processing unit and digital signal processing unit is connect, the decoder is for realizing the exchange
Serve Motor Control algorithm and the reading and writing of integrated circuit board data and data decoding.
3. micro computer precise positioning control system according to claim 2, which is characterized in that the processor further includes connecting
Connect the message exchange between the central processing unit and digital signal processing unit, the message exchange for realizing
The information exchange time of the micro computer precise positioning control system controls.
4. micro computer precise positioning control system according to claim 3, which is characterized in that the processor further includes connecting
The data sink between the central processing unit and digital signal processing unit is connect, the data sink is used for
Receive by the integrated circuit board transmit Lai data.
5. micro computer precise positioning control system according to claim 1, which is characterized in that the integrated circuit board includes
There is difference channel module, is connected symmetrically to each other with the central processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711426247.XA CN109962656A (en) | 2017-12-26 | 2017-12-26 | A kind of micro computer precise positioning control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711426247.XA CN109962656A (en) | 2017-12-26 | 2017-12-26 | A kind of micro computer precise positioning control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109962656A true CN109962656A (en) | 2019-07-02 |
Family
ID=67021520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711426247.XA Withdrawn CN109962656A (en) | 2017-12-26 | 2017-12-26 | A kind of micro computer precise positioning control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109962656A (en) |
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2017
- 2017-12-26 CN CN201711426247.XA patent/CN109962656A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190702 |