CN112631171A - Servo control system and control method based on MIL-STD-1553B bus protocol - Google Patents
Servo control system and control method based on MIL-STD-1553B bus protocol Download PDFInfo
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Abstract
The invention belongs to the field of control systems, and particularly relates to a servo control system and a control method based on an MIL-STD-1553B bus protocol. The system comprises a PC end upper computer, a communication controller, an electro-hydraulic servo operation mechanism, a cable and a distributor; the communication controller is based on the FPGA main chip, the communication controller and the PC end upper computer complete data communication through RS422 asynchronous serial communication, and the communication controller and the electro-hydraulic servo operation mechanism complete data communication through an MIL-STD-1553B bus; the electro-hydraulic servo operation mechanism comprises a displacement feedback sensor, and closed-loop control is realized. The system carries out data communication between the communication controller and the electro-hydraulic private service operation mechanism based on an MIL-STD-1553B bus protocol, thereby improving the real-time property of data transmission and the expandability of the system; the FPGA main chip is used for carrying out communication control on the system, an upper computer is compiled to receive, analyze and process feedback motion information, and a motion instruction is sent to form closed-loop control, so that the stability and reliability of the system are enhanced.
Description
Technical Field
The invention belongs to the field of control systems, and particularly relates to a servo control system and a control method based on an MIL-STD-1553B bus protocol.
Background
With the progress of science and technology, the control field is rapidly developed. Hydraulic technology has emerged from the 20 th century and has become more and more mature today. The hydraulic transmission mode has the advantages of high power density, flexible structure, convenient assembly, durability, reliability and the like, and is widely applied to large and medium power mechanical equipment for flexible control and adjustment. With the further development of science and technology, hydraulic transmission is not only used as a transmission mode, but also used as a control means, and is an indispensable technical means and link in modern control engineering.
Among them, hydraulic servo control has taken an extremely important role in the field of automation control. Hydraulic servo control is mostly adopted for control systems which need to be rapid, accurate in response and high in power. The research on the hydraulic servo control system has important significance on national defense, industrial and economic development.
The existing electro-hydraulic servo control system can realize the motion control of mechanisms such as a servo operator and the like, but the existing servo control system has weaker real-time performance and poor system reliability due to more interference received by the servo system during working.
The existing servo system is mainly divided into a mechanical type, but has the defects of larger integral volume and difficult parameter change; the electric type has flexible control, but has small output force and is inconvenient to expand. The electro-hydraulic servo system adopted by the system has the advantages of large torque, convenience in adjustment and the like. And by combining with a PID control algorithm, the method has the characteristics of more stability and quicker action response compared with the traditional control method, nonlinear control method and other control methods.
Disclosure of Invention
The invention aims to provide a servo control system based on an MIL-STD-1553B bus protocol. The system realizes the control of the movement of the electro-hydraulic servo mechanism based on a 1553B bus protocol, and has the characteristics of high reliability, strong anti-interference capability, centralized control and real-time response.
The technical solution for realizing the purpose of the invention is as follows: a servo control system based on an MIL-STD-1553B bus protocol comprises a PC end upper computer, a communication controller, a distributor, an electro-hydraulic servo operation mechanism and a cable network;
the communication controller is based on an FPGA main chip, the communication controller and a PC end upper computer complete data communication through RS422 asynchronous serial communication, and the communication controller and the electro-hydraulic servo operation mechanism complete data communication through an MIL-STD-1553B bus; the electro-hydraulic servo operation mechanism comprises a displacement feedback sensor and realizes closed-loop control.
Furthermore, the PC end upper computer is compiled based on C + + language, and can complete evaluation of the running state of the current electro-hydraulic servo operating mechanism and sending of the next control instruction.
Further, the communication controller also comprises a Flash storage module and a 1553B communication BC terminal;
an FPGA main chip in the communication controller is responsible for resolving an instruction sent by an upper computer at a PC end, and then sending the instruction to the electro-hydraulic servo operation mechanism based on an MIL-STD-1553B bus protocol; in addition, the device is used for receiving a motion feedback signal from the electro-hydraulic servo operation mechanism and forwarding the motion feedback signal to the PC-side upper computer, so that the PC-side upper computer can conveniently evaluate the operation state of the mechanism and send a next motion instruction; the motion feedback control module is used for storing the motion feedback signals from the electro-hydraulic servo operation mechanism into the Flash storage module; the power distribution device is used for controlling the power-on and power-off of each electrical appliance of the system by the power distributor;
the Flash storage module is used for storing the information of the electro-hydraulic servo operation mechanism in real time;
the 1553B communication BC end is a control end in an MIL-STD-1553B bus and is used for finishing data interaction with the electro-hydraulic servo operation mechanism in a 1553B bus protocol mode.
Furthermore, the electro-hydraulic servo operation mechanism further comprises a 1553B communication RT end and a servo operator;
the 1553B communication RT end is a receiving end of an MIL-STD-1553B bus, is used for receiving an instruction sent by a communication controller, converting the instruction data into a servo mechanism valve current control signal through D/A conversion, transmitting the servo mechanism valve current control signal to a servo operator, is used for receiving a motion feedback signal of the servo operator, and sending the data to the communication controller after the A/D conversion;
the servo operator receives a servo mechanism valve current control signal converted by a 1553B communication RT end and executes corresponding movement according to the magnitude of current;
the displacement feedback sensor is responsible for recording the motion data of the servo operator in real time when the servo operator moves and feeding back the motion data to a 1553B communication BC end; and the 1553B communication BC end feeds data back to the PC end upper computer, so that the MIL-STD-1553B bus communication-based servo control system forms a closed-loop control system.
Furthermore, the distributor is used for providing a 5V power supply for the communication controller, a 28V power supply for a 1553B communication RT end and a 56V power supply for the servo operator;
when the power distributor works on the system, the power distributor firstly supplies power to the communication controller, and after the communication controller completes self-checking, the power distributor completes power supply to the communication receiving module and the servo operator through controlling the switch of the relay according to corresponding instructions.
Furthermore, the cable network is used for realizing power supply and signal transmission among all devices of the control system; a low impedance conductive path is established between the device and ground.
A method for performing servo control by adopting the system comprises the following steps:
step (1): when the actual system starts to work, the communication controller is firstly electrified for self-checking, and after the self-checking confirms that no problem exists, the communication controller starts to wait for the instruction of the PC end upper computer;
step (2): when an instruction of the PC-end upper computer arrives, the instruction is judged first, and if the instruction is not a power distribution instruction, the PC-end upper computer continues to wait; if the command is a power distribution command, the communication controller sends a related command to the power distributor to control the on-off of a relay in the power distributor to be closed, so that the power-on or power-off operation of the electro-hydraulic servo operation mechanism is executed;
and (3): after the power distribution instruction is executed, the communication controller continuously waits for an instruction of an upper computer at the PC end, and when the instruction arrives, the instruction is subjected to relevant judgment, and if the instruction is not a 1553B instruction, the communication controller continuously waits; if the command is a 1553B command, the communication controller generates a 1553B protocol attitude control command according to related information sent by the PC end upper computer, the 1553B protocol attitude control command is transmitted to a 1553B bus RT end through a 1553B bus BC end in the communication controller, the 1553B bus RT end is converted into a servo mechanism current valve control signal according to the command and is transmitted to the servo operator, and the servo operator executes different actions according to the servo mechanism current valve control signal.
And (4): when the servo operator moves, the displacement feedback sensor can timely feed back displacement feedback information to a 1553B bus RT end, and the 1553B bus RT end then transmits the data back to a 1553B bus BC end;
and (5): after receiving the displacement feedback information, the BC end of the 1553B bus stores the displacement feedback information into the Flash storage module, and simultaneously sends the displacement feedback information to the PC end upper computer, and the PC end upper computer performs information comparison and attitude calculation so as to send an operation instruction of the next step and then sends the operation instruction to the communication controller to execute motion control of the next step, thereby forming closed-loop control.
Compared with the prior art, the invention has the remarkable advantages that:
1. the whole volume of the system is small, and the control response of the electro-hydraulic servo actuator is more sensitive and the efficiency is higher;
2. the system can optimize the effect on the electro-hydraulic servo operation mechanism and enhance the anti-interference capability of the electro-hydraulic servo operation mechanism during working by acquiring and processing the motion feedback information;
3. the system has stronger expandability and can simultaneously control a plurality of sets of servo operation mechanisms;
4. the function verification is obtained through experimental application, all indexes of the system meet the design requirements, and the servo operator is controlled to have high reliability and strong stability during operation.
Drawings
FIG. 1 is a schematic diagram of a servo control system according to the present invention.
Fig. 2 is a flow chart of a control method of the present invention.
Description of reference numerals:
the system comprises a PC (personal computer) end upper computer 1, a communication controller 2, an electro-hydraulic servo operation mechanism 3, a cable network 4, a distributor 5, an FPGA (field programmable gate array) main chip 6, a communication BC end 7-1553B, a Flash storage module 8, a communication RT end 9-1553B, a servo operation device 10 and a displacement feedback sensor 11.
Detailed Description
As shown in fig. 1 and 2, a servo control system based on an MIL-STD-1553B bus protocol includes a PC-side upper computer 1, a communication controller 2, an electro-hydraulic private operation mechanism 3, a cable network 4, and a power distributor 5. The electro-hydraulic servo operation mechanism 3 operates according to an instruction sent by the communication controller 2. And the cable network 4 is used for connecting all electric appliances of the control system. The communication controller 2 mainly comprises an FPGA main control chip 6, a 1553B communication BC terminal 7 and a Flash storage module 8. The electro-hydraulic servo operation mechanism 3 mainly comprises a 1553B communication RT end 9, a servo operator 10 and a displacement sensor 11.
A servo control system based on an MIL-STD-1553B bus protocol can realize real-time control of an electro-hydraulic servo motion mechanism. Before the system works, the devices of the system are installed and connected by the cable network 4, and after the system is checked to be correct. When the system works, the communication controller 2 is powered on first, and the distributor 5 provides 5V power.
The communication controller 2 comprises an FPGA main chip 6, a Flash storage module 8 and a 1553B communication BC terminal 7. The FPGA main chip 6 in the communication controller is subjected to power-on self-test, and after the self-test is completed without faults, the FPGA main chip 6 sends a power distribution instruction to the power distributor 5 based on the serial port.
The distributor 5 is mainly responsible for supplying the different electrical devices inside the system with electrical power. The functions that the distributor 5 needs to perform are: one of them provides 5V power supply for the communication controller 2; the second provides 28V power supply for the L1553B communication RT end 9; third, the servo operator 10 is provided with 56V power.
After receiving the power distribution command, the power distributor 5 controls the internal relay to close, thereby providing 28V power for the 1553B communication RT terminal 9 and 56V power for the servo operator 10.
The PC end upper computer 1 is compiled based on C + + language and can complete evaluation of the running state of the current electro-hydraulic servo operation mechanism (3) and resolving and sending of the control instruction in the next step.
After all the system electrical appliances are powered on, the system waits for the instruction of the PC end upper computer 1. The PC end upper computer 1 completes data communication with the communication controller 2 through RS422 asynchronous serial communication.
After the FPGA main chip 6 in the communication controller 2 receives a control instruction sent by the upper computer, the FPGA main chip 6 controls the 1553B communication BC terminal 7 to send the instruction to the electro-hydraulic servo operation mechanism 3 based on a 1553B bus communication protocol.
The electro-hydraulic servo operation mechanism 3 comprises a 1553B communication RT end 9, a servo operator 10 and a displacement feedback sensor 11. After a 1553B communication RT end 9 in the electro-hydraulic servo operation mechanism 3 receives an instruction sent by a 1553B communication BC end 7, the instruction data is converted into a servo mechanism current valve control signal through D/A conversion, and the servo mechanism current valve control signal is transmitted to a servo operator 10. The servo operator 10 receives a servo mechanism current valve control signal of the 1553B communication RT terminal 9, and executes corresponding movement according to the magnitude of the current.
The displacement feedback sensor 11 can record information such as motion displacement and attitude of the servo operator 10 in real time when the servo operator moves, and feeds back signals to the 1553B communication RT end 9. After receiving the data of the displacement sensor, the 1553B communication RT terminal 9 sends the data to the 1553B communication BC terminal 7 through A/D conversion based on a 1553B bus communication protocol.
The 1553B communication BC terminal 9 sends the displacement feedback information to the FPGA main chip 6, and the FPGA main chip 6 stores the displacement feedback information into the Flash storage module 8 while sending data to the PC terminal upper computer 1.
The Flash storage module 8 has the main functions of storing information such as motion displacement and posture of the electro-hydraulic servo operation mechanism 3 in time, facilitating data protection and resetting control when the system works abnormally. The Flash storage module 8 collects and stores the data while working.
After obtaining the motion feedback information sent by the FPGA main chip 6, the PC-side upper computer 1 analyzes and calculates the information to obtain information such as the motion attitude and the operation state of the current servo operator 10. Based on this information, a calculation is performed to issue a next movement instruction to the communication controller 2.
As shown in fig. 2, when the actual system starts to work, the communication controller 2 is first powered on and self-checked, and after the self-check confirms that there is no problem, the communication controller 2 starts to wait for an instruction from the PC-side upper computer 1. When the instruction comes, the instruction is judged first, and if the instruction is not a power distribution instruction, the instruction continues to wait; if the command is a power distribution command, the communication controller 2 sends a relevant command to the power distributor to control the on-off and on-off of a relay inside the power distributor, so that the power-on or power-off operation of the electro-hydraulic servo operating mechanism 3 is executed. After the power distribution instruction is executed, the communication controller 2 continues to wait for the instruction of the PC end upper computer 1, when the instruction arrives, the instruction is subjected to relevant judgment, and if the instruction is not a 1553B instruction, the instruction continues to wait; if the command is a 1553B command, the communication controller 2 generates a 1553B protocol attitude control command according to related information sent by the PC end upper computer 1, the 1553B protocol attitude control command is transmitted to a 1553B bus RT end 9 through a 1553B bus BC end 7 in the communication controller 2, and the 1553B bus RT end 9 is converted into a servo mechanism current valve control signal according to the command and transmitted to the servo operator 10. The servo operator 10 performs different actions according to the servo current valve control signal.
When the servo operator 10 moves, the displacement sensor 11 feeds back displacement feedback information to the 1553B bus RT end 9 in time, and the 1553B bus RT end 9 feeds back data to the 1553B bus BC end 7. After receiving the displacement feedback information, the BC end 7 of the 1553B bus stores the displacement feedback information to the Flash storage module 8, and simultaneously sends the displacement feedback information to the PC end upper computer 1, and the PC end upper computer 1 performs information comparison and posture calculation, so as to send an operation instruction of the next step and then sends the operation instruction to the communication controller 2 to execute the motion control of the next step. So far, a servo control system based on the MIL-STD-1553B bus protocol forms a closed-loop control system.
In conclusion, the PC end upper computer 1, the communication controller 2, the electro-hydraulic servo operation mechanism 3, the cable network 4 and the distributor 5 are matched to work. The system is used for receiving and transmitting data based on an MIL-STD-1553B bus communication protocol, and has strong real-time performance and good expandability. Meanwhile, the system can realize closed-loop PID control, and has strong anti-interference capability and high control precision.
Claims (7)
1. A servo control system based on an MIL-STD-1553B bus protocol is characterized by comprising a PC end upper computer (1), a communication controller (2), a distributor (5), an electro-hydraulic servo operation mechanism (3) and a cable network (4);
the communication controller (2) is based on an FPGA main chip (6), the communication controller (2) and a PC end upper computer (1) complete data communication through RS422 asynchronous serial communication, and the communication controller (2) and the electro-hydraulic servo operation mechanism (3) complete data communication through an MIL-STD-1553B bus; the electro-hydraulic servo operation mechanism (3) comprises a displacement feedback sensor (11) and realizes closed-loop control.
2. The system according to claim 1, wherein the PC side upper computer is written based on C + + language, and can complete evaluation of the current operation state of the electro-hydraulic servo operation mechanism and transmission of the next control instruction.
3. The system according to claim 2, wherein the communication controller (2) further comprises a Flash storage module (8) and a 1553B communication BC terminal (9);
an FPGA main chip (6) in the communication controller is responsible for resolving an instruction sent by a PC end upper computer (1), and then sending the instruction to the electro-hydraulic servo operation mechanism (3) based on an MIL-STD-1553B bus protocol; in addition, the motion feedback signal from the electro-hydraulic servo operation mechanism (3) is received and forwarded to the PC-side upper computer (1), so that the PC-side upper computer (1) can conveniently evaluate the operation state of the mechanism and send a next motion instruction; the motion feedback control device is used for storing a motion feedback signal from the electro-hydraulic servo operation mechanism (3) into a Flash storage module (8); the power distribution device is used for controlling the power-on and power-off of each electrical appliance of the system by the power distributor (5);
the Flash storage module (8) is used for storing the information of the electro-hydraulic servo operation mechanism (3) in real time;
the 1553B communication BC end (9) is a control end in an MIL-STD-1553B bus and is used for finishing data interaction with the electro-hydraulic servo operation mechanism (3) in a 1553B bus protocol mode.
4. The system according to claim 3, wherein the electro-hydraulic servo operation mechanism (3) further comprises a 1553B communication RT terminal (9) and a servo operator (10);
the 1553B communication RT end (9) is a receiving end of an MIL-STD-1553B bus, is used for receiving an instruction sent by the communication controller (2), converting the instruction data into a servo mechanism valve current control signal through D/A conversion and transmitting the servo mechanism valve current control signal to the servo operator (10), is used for receiving a motion feedback signal of the servo operator (10), and sends the data to the communication controller (2) through A/D conversion;
the servo operator (10) receives the servo mechanism valve current control signal converted by the 1553B communication RT end (9), and executes corresponding movement according to the magnitude of the current;
the displacement feedback sensor (11) is responsible for recording the motion data of the servo operator (10) in real time when the servo operator (10) moves and feeding back the motion data to the 1553B communication BC terminal (7); and the 1553B communication BC end (7) feeds data back to the PC end upper computer (1), so that the servo control system based on MIL-STD-1553B bus communication forms a closed-loop control system.
5. The system according to claim 4, wherein the power distributor (5) is used for providing 5V power for the communication controller (2), 28V power for the 1553B communication RT terminal (9) and 56V power for the servo operator (10);
when the power distributor (5) is electrified and works in the system, power is supplied to the communication controller (2), and after the communication controller (2) completes self-checking, power supply to the communication receiving module and the servo operator (10) is completed through controlling the switch of the relay according to corresponding instructions.
6. The system of claim 5, wherein the cable network is used for supplying power and transmitting signals among the devices of the control system; a low impedance conductive path is established between the device and ground.
7. A method of performing servo control using the system of claim 6, comprising the steps of:
step (1): when the actual system starts to work, the communication controller (2) is firstly electrified for self-checking, and after the self-checking confirms that no problem exists, the communication controller (2) starts to wait for the instruction of the PC end upper computer (1);
step (2): when an instruction of the PC-end upper computer arrives, the instruction is judged first, and if the instruction is not a power distribution instruction, the PC-end upper computer continues to wait; if the command is a power distribution command, the communication controller (2) sends a relevant command to the power distributor to control the on-off and the on-off of a relay in the power distributor (2), so that the power-on or power-off operation of the electro-hydraulic servo operation mechanism (3) is executed;
and (3): after the power distribution instruction is executed, the communication controller (2) continues to wait for the instruction of the PC end upper computer (1), when the instruction arrives, the instruction is subjected to relevant judgment, and if the instruction is not a 1553B instruction, the instruction continues to wait; if the command is a 1553B command, the communication controller (2) generates a 1553B protocol attitude control command according to related information sent by the PC end upper computer (1), the 1553B protocol attitude control command is transmitted to a 1553B bus RT end (9) through a 1553B bus BC end (7) in the communication controller (2), the 1553B bus RT end (9) is converted into a servo mechanism current valve control signal according to the command and is transmitted to a servo operator (10), and the servo operator (10) executes different actions according to the servo mechanism current valve control signal.
And (4): when the servo operator (10) moves, the displacement feedback sensor (11) can timely feed back displacement feedback information to the 1553B bus RT end (9), and the 1553B bus RT end (9) transmits the data back to the 1553B bus BC end (7);
and (5): after receiving the displacement feedback information, the 1553B bus BC terminal (7) stores the displacement feedback information to the Flash storage module (8), and simultaneously sends the displacement feedback information to the PC terminal upper computer (1), the PC terminal upper computer (1) carries out information comparison and posture calculation, so that the next operation instruction is sent out, and then the next operation instruction is sent to the communication controller (2) to execute the next motion control, and the closed-loop control is formed.
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