CN111123783A - CPCI bus motion control system - Google Patents

Abstract

The invention relates to a motion control system based on a CPCI bus, which fully considers various application conditions and application environments of a turntable control system, wherein a main board realizes high-precision timing interruption and strong real-time data synchronization and storage, and a driving board mainly comprises an intelligent high-precision universal angle measuring module and provides good stability and data decoding processing capacity for the turntable control system.

Description

CPCI bus motion control system

Technical Field

The invention mainly relates to a motion control system, in particular to a motion control system based on a CPCI bus.

Background

With the rapid development of computer technology and digital control technology, various domestic research units for inertia test and motion simulation equipment also actively develop digital control technology, and various families have thousands of years, the general trend is that the analog control and digital-analog hybrid control are gradually developed to a digital control system based on a microcontroller or a DSP axis motion controller (ACP), certain progress is made, part of the technical level is close to the international level, but the analog control system or the digital-analog hybrid control system still occupies a considerable proportion.

In the aspect of digital motion controller design technology in China, a common DSP motion control template product at home and abroad is generally selected, and the defects of the DSP motion control template product in China and abroad are limited in the aspects of hardware and software openness, control adaptability to inertia test equipment and the like, so that the modularization degree of a control system is low, and the adaptability and configuration flexibility of the system to new requirements of user equipment testing are limited. The low intelligent degree also causes the low comprehensive performance level of self-detection, self-diagnosis, self-analysis and the like. Therefore, the problems of long equipment development period, low reliability, high after-sale service cost and the like are caused.

The multifunctional and combinative aspects of the inertia test and motion simulation equipment in China still fall behind the foreign advanced level, the function of the developed equipment is often single, the combinative aspects of the motion and the test mode not only fall behind the foreign level, but also fall behind the domestic requirements for the equipment, especially the inertia test equipment in a composite test environment, the domestic environment is basically blank, and the requirements for the equipment are more and more intense along with the development of the inertia technology and the national defense industry.

Disclosure of Invention

To solve the above problems, the present invention provides a motion control system of CPCI bus.

The control method comprises the following steps:

step 1, a control management computer issues a management command to a real-time control system computer, and the real-time control system computer issues a control command to a drive board and a main control board;

step two, the main board provides high-precision timed interruption as a servo sampling period, and selects an operation task according to a command;

the driving plate receives the sensor signal to enable the driver to operate;

and step three, the adapter plate receives signals including a driver operation signal and a fault signal and is connected to the CPCI bus.

The technical scheme of the invention is as follows:

the scheme of the invention can control the test system in real time, adopts high-precision timed interruption, and can expand the drive board infinitely according to the number of system channels.

Drawings

Fig. 1 is a schematic diagram of a motion control system based on a CPCI bus.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

The overall system scheme is based on an embedded computer and a real-time operating system Vxworks. Wherein, the IO board, the main control board, the drive board and other interface cards are inserted into the embedded computer through the CPCI bus. The embedded computer and the real-time operating system platform on the embedded computer are the working platform of the whole motion control system, and all related software algorithms are realized on the platform. The control software responds to the interruption of a timer on the main control board to realize the servo control function of the turntable system, the acquisition of angular positions is realized through a position sensor interface of the drive board in each servo period, the servo control output of each shaft is converted into an analog input signal required by the control of the driver through a servo output control interface of the drive board, and meanwhile, the real-time monitoring of the enabling control and the control state of the driver is realized through an IO interface of the drive board. Some complex control systems also need sensor digital quantity signal input such as limit, frame lock and the like, and digital quantity signal output of special relays for powering on and powering off an electric control cabinet, and can realize system input and output control by using an interface of an IO board.

The signal driving system based on the CPCI bus mainly comprises: mainboard interface, drive plate interface, IO interface, keysets constitute.

1, main board interface:

1.1 CPCI bus driver module: in the system, an integrated circuit QS3861 is adopted to drive signals of the CPCI bus, so that the reliability of the signals is improved.

1.2 isolation serial port interface driver module: in the system, ADM2682 is adopted to realize the signal isolation driving of the RS422 high-speed serial port, and ADM2587 is adopted to realize the signal isolation driving of the RS485 high-speed serial port, so as to meet the requirements of different user interfaces.

1.3 the module-in-module-out conversion function drives the filtering module: high-precision digital-to-analog conversion of 16 bits of 4 channels is provided, and high-precision analog-to-digital conversion of 16 bits of 4 channels is provided as an analog simulation input and frequency response test interface of the system.

1.4 high-precision timing driving module: a 2K high precision timer interrupt is provided as the servo sampling period of the system.

1.5 FPGA logic function module: the FPGA internal logic control circuit can realize signal transfer and control of each driving module of the mainboard and a CPCI bus interface. Analyzing the CPCI bus signal through the CPCI bus analyzing module, and processing the signal into an address, data and control three-bus structure of the CPU; the timer function with settable period is realized through the control management of a clock counting module and a bus built by VHDL language; the serial port receiving driving is realized by using a serial/parallel conversion module built by VHDL language, the output driving of the serial port is realized by using a parallel/serial conversion module built by VHDL language, two FIFOs with 64 word depth are generated by using an FIFO module, and the sending, receiving and buffering of serial port data are realized; the control of the analog/digital conversion AD5754 is realized by utilizing a 24-bit SPI processing module; the control of the digital/analog conversion AD974 is realized by utilizing a 16-bit SPI processing module;

2, driving a board interface:

2.1 CPCI bus driver module: in the system, an integrated circuit QS3861 is adopted to drive signals of the CPCI bus, so that the reliability of the signals is improved.

2.2 high-precision universal angle measurement module: the incremental code disc and absolute code disc ENDAT protocol/BISS protocol signal acquisition and selection can be realized.

2.3 driver IO interface; the output of the digital IO is realized by utilizing the latch function, and the input of the digital IO is realized by utilizing the buffer function of the register. 4 paths of isolated digital quantity output are provided in the interface, and various drivers are controlled; 4 paths of isolated digital quantity input are provided, and the control states of various types of drivers are collected.

2.4 Servo output control interface: providing 1-channel 16-bit high-precision digital-to-analog conversion, second-order filtering and notch processing functions as control input of a driver;

2.5 drive position feedback interface: a position feedback interface is provided for a driver of the brushless control system.

2.6 FPGA logic function module: the FPGA internal logic control circuit can realize signal transfer and control of each driving module of the mainboard and a CPCI bus interface. Analyzing the CPCI bus signal through the CPCI bus analyzing module, and processing the signal into an address, data and control three-bus structure of the CPU; the control of the analog/digital conversion AD5754 is realized by utilizing a 24-bit SPI processing module;

2.7 position feedback interface: the real-time acquisition of the absolute code disc is realized by analyzing an ENDAT/BISS protocol by using a serial/parallel conversion module built by VHDL language, and the real-time counting of the incremental code disc is realized by using an orthogonal counting module of the serial/parallel conversion module built by VHDL language.

3 IO board interface:

3.1 CPCI bus driving module, in the system, an integrated circuit QS3861 is used for driving signals of the CPCI bus, so that the reliability of the signals is improved.

3.2 digital output interface; the output of the digital IO is realized by utilizing the function of the latch in the FPGA, and the input of the digital IO is realized by utilizing the buffer function of the FPGA register. The interface provides 12 isolated digital quantity outputs in common, the high level voltage can be set to 5, 12 and 24V through a jumper wire, and the high level voltage is mainly used for realizing the power electricity up-down electric control of the driving, namely, the relay action of the driving adapter plate.

3.3 digital input interface; the high-level voltage can be set to 5, 12 and 24V through a jumper wire, and the digital quantity sensor input of the system, such as frame locking, limiting and the like, is mainly realized.

3.4 FPGA logic function module: the FPGA internal logic control circuit can realize signal transfer and control of each driving module of the mainboard and a CPCI bus interface. Analyzing the CPCI bus signals through the CPCI bus analyzing module, and processing the signals into three bus structures of address signals, data signals and control signals of a CPU; the output of the digital IO is realized by utilizing the latch function, and the input of the digital IO is realized by utilizing the buffer function of the register.

4, an adapter plate: when the device is carried in a turntable power distribution cabinet, the transfer processing of various IO signals such as three-axis up-and-down electric signals of a turntable, frame lock signals, driver operation, fault signals and the like is realized.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims (1)

1. A motion control system of a CPCI bus is characterized in that the control method comprises the following steps:

step 1, a control management computer issues a management command to a real-time control system computer, and the real-time control system computer issues a control command to a drive board and a main control board;

step two, the main board provides high-precision timed interruption as a servo sampling period, and selects an operation task according to a command;

the driving plate receives the sensor signal to enable the driver to operate;

and step three, the adapter board receives signals including a driver operation signal and a fault signal, and is connected to the CPCI bus to realize the decoding processing, acquisition, storage and management of signal data.

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