CN110687843B - Multi-shaft multi-motor servo device based on ZYNQ and control method thereof - Google Patents
Multi-shaft multi-motor servo device based on ZYNQ and control method thereof Download PDFInfo
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- CN110687843B CN110687843B CN201910971235.8A CN201910971235A CN110687843B CN 110687843 B CN110687843 B CN 110687843B CN 201910971235 A CN201910971235 A CN 201910971235A CN 110687843 B CN110687843 B CN 110687843B
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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
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- 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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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
Abstract
The invention relates to the technical field of automatic control. The invention relates to a multi-shaft multi-motor servo device based on ZYNQ and a control method thereof, which comprises a visual acquisition module, an interface module, a visual parallel segmentation module, a visual positioning processing module, a multi-processor cooperation module, a control algorithm and control instruction generation module, an external application algorithm module, a driving signal generation module and a driving circuit board, wherein the visual acquisition module is connected with the interface module; the ZYNQ chip comprises PS0, PS1, DDR, FPGA and DSP; the multi-axis multi-motor servo device comprises a camera, a vision parallel segmentation module, a vision positioning processing module, a four-ring control command generation module, a final control command generation module, a driving signal regeneration module, a driving circuit board, a plurality of motors and a feedback module.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a servo driving technology.
Background
The servo system is one of the important power sources of modern industrial production equipment, and is an indispensable basic technology of industrial automation and robots. Servo devices have been attracting attention as important components of industrial control devices. With the increasing requirements of products on cost and volume, a servo driving device capable of supporting multiple shafts of motors of different types is favored.
In order to ensure the control precision of a servo system, higher requirements are provided for a position sensor of a motor, a conventional servo driver consists of a power driving module, the position sensor and a control module, a processor realizes three-loop control of position, speed and moment according to angle information acquired by the sensor, the acquisition of the position information is single and limited in precision, even if a vision measurement technology is added to enable the control precision of the position to be higher, the FPGA is used for processing the vision information, meanwhile, the FPGA generates a PWM driving signal, the processing capacity is limited, but a large number of resources are occupied, the realization of a control algorithm and a driving interface is inconvenient, and the performance of the driver is influenced. Moreover, the servo driver generally adopts independent DSP, ARM, FPGA and other multiprocessor schemes, so that the size is overlarge, the communication is complex, the bandwidth of chip-level interconnection is easy to become a bottleneck, the development difficulty is high, and the integration and the expansion of a system module have certain limitations.
Disclosure of Invention
Technical problem to be solved
Based on the problems, the invention provides a ZYNQ-based multi-shaft multi-motor servo device and a control method thereof, which improve the accuracy and performance of the multi-shaft multi-motor servo device, reduce the volume and facilitate communication.
(II) technical scheme
Based on the technical problem, the invention provides a multi-axis multi-motor servo device based on ZYNQ, which comprises a visual acquisition module, an interface module, a visual parallel segmentation module, a visual positioning processing module, a multi-processor cooperation module, a control algorithm and control instruction generation module, an external application algorithm module, a driving signal generation module and a driving circuit board, wherein the interface module is used for acquiring a plurality of images;
the ZYNQ chip comprises a processing system PS and a programmable logic PL, wherein the PS comprises an ARM core PS0, a PS1 and a memory DDR, the PL comprises an FPGA and a DSP, the PS and the PL are connected through an on-chip high-speed AXI bus, and the DSP is provided with a floating point operation library;
the interface module, the vision parallel segmentation module and the driving signal generation module are realized by the FPGA, the vision positioning processing module is realized by the DSP, the multi-processor cooperative processing module, the control algorithm and control instruction generation module are realized by PS0, the external application algorithm module is realized by PS1, the interface module is connected with the vision acquisition module and the driving circuit board, and the driving signal generation module is connected with the driving circuit board;
the vision parallel segmentation module is used for preprocessing a vision signal; the visual positioning processing module has the function of positioning and detecting the accurate relative position of the detected object relative to the target through floating point operation; the control algorithm and control instruction generation module has the function of generating four-ring control instructions of each motor according to the feedback current, speed and displacement signals and the accurate relative position of the measured object.
Preferably, the ZYNQ chip is a Xilinx ZYNQ 7030 chip.
Preferably, the vision acquisition module comprises a 2100 ten thousand pixel industrial camera and a USB3.0 or PCIE interface.
Preferably, the FPGA and DSP are accessed through the DDR, ZYNQ are accessed through on-chip AXI high speed buses at the DDR and PS0, PS 1.
A method of controlling a multi-axis multi-motor servo device based on ZYNQ, the method comprising:
the vision acquisition module acquires high-speed vision information and transmits the high-speed vision information to the interface module; the vision parallel segmentation module is used for preprocessing the acquired vision signals; the visual positioning processing module detects the accurate relative position of the detected object relative to the target through floating point operation positioning;
the control algorithm and control instruction generation module generates four-ring control instructions of each motor, namely primary control instructions, according to the feedback current, speed and displacement signals and the accurate relative position of the measured object; the external application algorithm module receives other external control signals and generates a secondary control instruction by combining a motion control algorithm; the control algorithm and control instruction generation module is combined with the primary control instruction and the secondary control instruction to generate a final control instruction;
the driving signal generation module receives the control algorithm and the final control instruction of each motor of the control instruction generation module, generates PWM driving signals corresponding to each motor in parallel, controls a plurality of motors of different types in parallel through the driving circuit board, and feeds current, speed and displacement signals of each motor back to the interface module in parallel;
the multiprocessor cooperation module controls the processing of data in the FPGA and the DSP and controls the data access in the DDR, the PS0 and the PS1 through an AXI on-chip high-speed bus.
Further, the preprocessing of the visual signal comprises the step of carrying out parallel edge type and parallel segmentation type segmentation processing on the frame data according to the frame according to the requirement, and removing redundant information irrelevant to the target.
Furthermore, the accurate relative position of the measured object relative to the target is obtained by performing feature extraction on the preprocessed visual information, detecting the position of the measured object in the current frame, and performing data fusion and positioning detection.
Further, the external other control signals comprise keys and other control signals provided by the man-machine interaction platform or visual information provided by other cameras.
Furthermore, a current sensor on the driving circuit board acquires a current signal, and a motor encoder on the motor acquires the rotating speed and the rotating angle of the motor, so that the current, speed and displacement feedback signals are generated.
Furthermore, the PWM driving signals include stepping motor driving signals, brushless dc motor driving signals, permanent magnet synchronous motor driving signals, and other motor driving signals, and the PWM driving signals are pairs of complementary signals or a single PWM driving signal, and the frequency and duty ratio of the PWM can be independently and simultaneously adjusted, so as to simultaneously drive a plurality of different types of motors.
(III) advantageous effects
The technical scheme of the invention has the following advantages:
(1) according to the invention, the ZYNQ chip is adopted to fuse the ARM, the FPGA and the DSP in the SoC, compared with a single ARM, FPGA and DSP processor mixing scheme, the size is reduced, communication is realized among the processors through an on-chip bus AXI, the communication bottleneck is avoided, the communication speed is higher, the anti-interference capability is stronger, the integration and expansion of modules are facilitated, and an embedded Linux operating system is carried in the ARM of the ZYNQ chip, so that the system design is simplified, the difficulty of software development is reduced, and the expansibility of the system is improved;
(2) according to the invention, each part of the ZYNQ chip is divided reasonably, if the introduced visual positioning technology is used for performing parallel visual segmentation on the ZYNQ chip through the FPGA and performing floating point visual positioning processing through the DSP, the advantages of strong parallel processing capability, large bandwidth, strong expandability and flexible interface of the FPGA and the advantage of strong operation capability of the DSP are fully utilized, and the overall performance is greatly improved;
(3) compared with the vision measurement which is independently carried out by adopting the FPGA in the existing driving device, on one hand, the floating point operation is carried out by utilizing the DSP, the speed is high, and the accuracy is higher; on the other hand, the resource occupation of the FPGA is reduced, so that the FPGA is utilized to increase the support of the driving device on the number of the visual acquisition interface and the multi-axis motors of various different types;
(4) according to the invention, the outer ring closed-loop control of the vision system is introduced on the basis of the traditional three-ring control, and the accurate position of the controlled object relative to the target is acquired by the vision positioning technology, so that the control precision and the anti-interference capability of the driving device are improved;
(5) the PWM driving signals can be a plurality of pairs of complementary signals or a single PWM signal, and the frequency and the duty ratio of the PWM can be independently and simultaneously adjusted, so that the multi-shaft control of various motors of different types can be realized, such as a stepping motor, a brushless direct current motor, a permanent magnet synchronous motor and the like, the motor control mode is diversified, the practicability is better, the use number of driving devices is reduced, the volume is reduced, and the cost is saved.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a block diagram of a multi-axis multi-motor servo device based on ZYNQ according to an embodiment of the present invention;
fig. 2 is a control block diagram of a multi-axis multi-motor servo device based on ZYNQ according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The invention provides a multi-shaft multi-motor servo device based on ZYNQ, which comprises a visual acquisition module, an interface module, a visual parallel segmentation module, a visual positioning processing module, a multi-processor cooperation module, a control algorithm and control instruction generation module, an external application algorithm module, a driving signal generation module and a driving circuit board, wherein the visual acquisition module is connected with the interface module;
as shown in fig. 1, the ZYNQ chip is a Xilinx ZYNQ 7030 chip, and includes two parts, namely a processing system PS and a programmable logic PL, where the PS includes an ARM core PS0, a PS1, and a memory DDR, the PL includes an FPGA and a DSP, the PS and the PL are connected through an on-chip high-speed AXI bus, the DSP has a floating-point operation library, and the FPGA and the DSP are accessed through the memory DDR.
The vision acquisition module comprises a 2100 ten thousand pixel industrial camera and a USB3.0 or PCIE interface, acquires high-speed vision information and inputs the high-speed vision information to the interface module of the FPGA through the USB3.0 or PCIE interface;
the interface module is realized by the FPGA, is connected with the visual acquisition module and the driving circuit board, and receives external signals, such as visual signals and motor feedback signals.
The vision parallel segmentation module is realized by the FPGA, and carries out parallel edge class and parallel segmentation class segmentation processing on the acquired frame data according to frames according to requirements, and removes redundant information irrelevant to a target, namely preprocessing of vision information.
The vision positioning processing module is realized by the DSP, performs characteristic extraction on the preprocessed vision information, detects the position of the detected object in the current frame, positions and detects the relative position of the detected object relative to the target through data fusion, and the relative position is more accurate due to the floating point arithmetic capability.
The multiprocessor cooperative processing module is realized by PS0, controls the processing of data in the FPGA and the DSP, and controls the data access in the DDR, PS0 and PS1 through an AXI on-chip high-speed bus.
The control algorithm and control instruction generation module is realized by PS0, and generates a four-ring control instruction, i.e., a primary control instruction, according to the current, speed, displacement feedback signal and the relative position signal of the object to be measured, as shown in fig. 2, and then generates a final control instruction by combining with a secondary control instruction generated by the external application algorithm module of PS 1.
The external application algorithm module is realized by PS1, receives visual information provided by a control bus, keys, external other control signals or other cameras, and generates a secondary control instruction by combining a motion control algorithm.
The driving signal generation module is realized by the FPGA, receives the control algorithm of the PS0 and the final control instruction of the control instruction generation module, and generates the driving signal of each motor.
The driving circuit board is connected with the interface module of the FPGA and the driving signal generation module, respectively controls each motor according to the PWM driving signal generated by the driving signal generation module, and feeds back the acquired current, the acquired corner and the acquired rotating speed value to the interface module of the FPGA.
The FPGA interface module, the visual signal segmentation module, the driving signal generation module and the DSP visual signal positioning module extract signals from the DDR, and the signals are processed and cached in the DDR.
The control method realized by each module is as follows:
the visual acquisition module acquires high-speed visual information and transmits the high-speed visual information to the interface module, and the interface module receives and caches the high-speed visual information in the DDR; the visual parallel segmentation module extracts visual information from the DDR, conducts parallel edge type and parallel segmentation type segmentation processing on the collected frame data according to the frame according to the requirement, removes redundant information irrelevant to a target, and stores a preprocessed visual signal into the DDR; the visual positioning processing module extracts a preprocessed visual signal from the DDR, performs characteristic extraction on the preprocessed visual information, detects the position of the detected object in the current frame, performs data fusion, positions and detects the accurate relative position of the detected object relative to a target, and stores the accurate relative position in the DDR;
a current sensor on the driving circuit board collects a current signal, a motor encoder on the motor collects the rotating speed and the rotating angle of the motor to generate a speed signal and a displacement signal, and the fed-back current signal, the speed signal and the displacement signal are transmitted to an interface module and are cached in the DDR;
the control algorithm and control instruction generation module generates four-ring control instructions of each motor, namely primary control instructions, according to the feedback current, speed and displacement signals and the accurate relative position of the tested object; the external application algorithm module receives a control bus, keys and other control signals provided by a human-computer interaction platform or visual information provided by other cameras, and generates a secondary control instruction by combining a motion control algorithm; the control algorithm and control instruction generation module is combined with the primary control instruction and the secondary control instruction to generate a final control instruction;
the driving signal generation module receives the control algorithm and the final control instruction of each motor of the control instruction generation module, generates PWM driving signals corresponding to each motor in parallel, controls a plurality of motors of different types in parallel through the driving circuit board, and feeds current, speed and displacement signals of each motor back to the interface module in parallel;
the multiprocessor cooperation module controls the processing of data in the FPGA and the DSP and controls the data access in the DDR, the PS0 and the PS1 through an AXI on-chip high-speed bus.
Because the FPGA contains a plurality of IP cores, visual signals can be processed in parallel, PWM driving signals of a plurality of motors of different types can be generated in parallel, the PWM driving signals comprise stepping motor driving signals, brushless direct current motor driving signals, permanent magnet synchronous motor driving signals and other motor driving signals, therefore, the PWM driving signals are a plurality of pairs of complementary signals or a single PWM driving signal, and the frequency and the duty ratio of PWM can be adjusted independently and simultaneously, so that the motors of different types can be driven simultaneously, and the motors comprise the stepping motor, the brushless direct current motor, the permanent magnet synchronous motor and other types of motors.
In summary, the multi-axis multi-motor servo device based on ZYNQ and the control method thereof have the following advantages:
(1) according to the invention, the ZYNQ chip is adopted to fuse the ARM, the FPGA and the DSP in the SoC, compared with a single ARM, FPGA and DSP processor mixing scheme, the size is reduced, communication is realized among the processors through an on-chip bus AXI, the communication bottleneck is avoided, the communication speed is higher, the anti-interference capability is stronger, the integration and expansion of modules are facilitated, and an embedded Linux operating system is carried in the ARM of the ZYNQ chip, so that the system design is simplified, the difficulty of software development is reduced, and the expansibility of the system is improved;
(2) according to the invention, each part of the ZYNQ chip is divided reasonably, if the introduced visual positioning technology is used for performing parallel visual segmentation on the ZYNQ chip through the FPGA and performing floating point visual positioning processing through the DSP, the advantages of strong parallel processing capability, large bandwidth, strong expandability and flexible interface of the FPGA and the advantage of strong operation capability of the DSP are fully utilized, and the overall performance is greatly improved;
(3) compared with the vision measurement which is independently carried out by adopting the FPGA in the existing driving device, on one hand, the floating point operation is carried out by utilizing the DSP, the speed is high, and the accuracy is higher; on the other hand, the resource occupation of the FPGA is reduced, so that the FPGA is utilized to increase the support of the driving device on the number of the visual acquisition interface and the multi-axis motors of various different types;
(4) according to the invention, the outer ring closed-loop control of the vision system is introduced on the basis of the traditional three-ring control, and the accurate position of the controlled object relative to the target is acquired by the vision positioning technology, so that the control precision and the anti-interference capability of the driving device are improved;
(5) the PWM driving signals can be a plurality of pairs of complementary signals or a single PWM signal, and the frequency and the duty ratio of the PWM can be independently and simultaneously adjusted, so that the multi-shaft control of various motors of different types can be realized, such as a stepping motor, a brushless direct current motor, a permanent magnet synchronous motor and the like, the motor control mode is diversified, the practicability is better, the use number of driving devices is reduced, the volume is reduced, and the cost is saved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (6)
1. A control method of a multi-shaft multi-motor servo device based on ZYNQ is characterized in that,
the ZYNQ-based multi-shaft multi-motor servo device comprises a visual acquisition module, an interface module, a visual parallel segmentation module, a visual positioning processing module, a multi-processor cooperation module, a control algorithm and control instruction generation module, an external application algorithm module, a driving signal generation module and a driving circuit board;
the ZYNQ chip comprises a processing system PS and a programmable logic PL, wherein the PS comprises an ARM core PS0, a PS1 and a memory DDR, the PL comprises an FPGA and a DSP, the PS and the PL are connected through an on-chip high-speed AXI bus, and the DSP is provided with a floating point operation library;
the interface module, the vision parallel segmentation module and the driving signal generation module are realized by the FPGA, the vision positioning processing module is realized by the DSP, the multi-processor cooperative processing module, the control algorithm and control instruction generation module are realized by PS0, the external application algorithm module is realized by PS1, the interface module is connected with the vision acquisition module and the driving circuit board, and the driving signal generation module is connected with the driving circuit board;
the vision parallel segmentation module is used for preprocessing a vision signal; the visual positioning processing module has the function of positioning and detecting the accurate relative position of the detected object relative to the target through floating point operation; the control algorithm and control instruction generation module has the function of generating four-ring control instructions of each motor according to the feedback current, speed and displacement signals and the accurate relative position of the measured object;
the control method comprises the following steps:
the vision acquisition module acquires high-speed vision information and transmits the high-speed vision information to the interface module; the vision parallel segmentation module preprocesses the acquired vision signals, namely, the acquired frame data is subjected to parallel edge class and parallel segmentation class segmentation processing according to the frame according to the requirement, and redundant information irrelevant to the target is removed; the visual positioning processing module detects the accurate relative position of the detected object relative to the target through floating point operation positioning, namely, the characteristic extraction is carried out on the visual signal after the preprocessing, the position of the detected object in the current frame is detected, and the accurate relative position of the detected object relative to the target is detected through data fusion positioning;
the control algorithm and control instruction generation module generates four-ring control instructions of each motor, namely primary control instructions, according to the feedback current, speed and displacement signals and the accurate relative position of the measured object; the external application algorithm module receives a control bus, keys and other control signals provided by a human-computer interaction platform or visual information provided by other cameras, and generates a secondary control instruction by combining a motion control algorithm; the control algorithm and control instruction generation module is combined with the primary control instruction and the secondary control instruction to generate a final control instruction;
the driving signal generation module receives the control algorithm and the final control instruction of each motor of the control instruction generation module, generates PWM driving signals corresponding to each motor in parallel, controls a plurality of motors of different types in parallel through the driving circuit board, and feeds current, speed and displacement signals of each motor back to the interface module in parallel;
the multiprocessor cooperation module controls the processing of data in the FPGA and the DSP and controls the data access in the DDR, the PS0 and the PS1 through an AXI on-chip high-speed bus.
2. The method as claimed in claim 1, wherein the ZYNQ chip is a Xilinx ZYNQ 7030 chip.
3. The method as claimed in claim 1, wherein the vision acquisition module comprises a 2100 ten thousand pixel industrial camera and a USB3.0 or PCIE interface.
4. The method as claimed in claim 1, wherein the FPGA and DSP are accessed via the DDR, and the ZYNQ is accessed via on-chip AXI high speed bus at the DDR and PS0, PS 1.
5. The method as claimed in claim 1, wherein the current sensor on the driving circuit board collects current signals, and the motor encoder on the motor collects motor rotation speed and rotation angle, so as to generate the feedback signals of current, speed and displacement.
6. The method as claimed in claim 1, wherein the PWM driving signals include stepping motor driving signals, brushless dc motor driving signals, permanent magnet synchronous motor driving signals and other motor driving signals, and the PWM driving signals are a plurality of pairs of complementary signals or a single PWM driving signal, and the frequency and duty ratio of the PWM can be independently and simultaneously adjusted to simultaneously drive a plurality of different types of motors.
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| CN113504745A (en) * | 2021-06-17 | 2021-10-15 | 欧拓飞科技(珠海)有限公司 | High-integration-level motion control system and working method thereof |
| RU209670U1 (en) * | 2021-10-08 | 2022-03-17 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Российский государственный аграрный университет - МСХА имени К.А. Тимирязева" (ФГБОУ ВО РГАУ - МСХА имени К.А. Тимирязева) | Servo control board |
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