CN113156871A - Digital control device, control method thereof, control system thereof and storage medium - Google Patents
Digital control device, control method thereof, control system thereof and storage medium Download PDFInfo
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- CN113156871A CN113156871A CN202110537513.6A CN202110537513A CN113156871A CN 113156871 A CN113156871 A CN 113156871A CN 202110537513 A CN202110537513 A CN 202110537513A CN 113156871 A CN113156871 A CN 113156871A
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- 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
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention discloses a digital control device of a piezoelectric actuator, which comprises: the device comprises a DSP microcontroller, a program online updating and data communication module, a strain gauge ADC acquisition module, a DAC analog output module and a piezoelectric execution structure module; on-line updating of program and closed-loop controller G are realized through DSP microcontroller and each function modulecThe closed loop correction and the analog output of the DAC control quantity, and further realize the digital control of the power supply. The invention also discloses a digital control method of the piezoelectric actuator, a digital power control system and a computer readable storage medium. The device takes a high-performance DSP microcontroller as a core, is compatible with all functional modules, improves the data exchange efficiency and the closed-loop control performance of the control device, and simplifies the structural design of a hardware circuit, thereby not only simultaneously supporting the on-line updating and the real-time data communication of programs, but also being capable of meeting the control requirements of different application occasions in a high-precision and digital manner.
Description
Technical Field
The invention relates to the technical field of power supply digital control, in particular to a digital control device and a control method, a control system and a storage medium thereof.
Background
With the continuous progress of the drive control technology, the piezoelectric actuator is applied to a precise positioning and quick correction system more and more. The traditional piezoelectric actuating mechanism usually adopts an analog circuit built by an operational amplifier to carry out closed-loop control, and the analog control mode has larger closed-loop bandwidth and higher anti-interference capability, so that closed-loop parameter setting of a control system is more complicated, and the system is difficult to achieve the optimal closed-loop control effect. Therefore, the digital controller can easily adjust the closed-loop parameters of the control system, and a relatively ideal closed-loop control effect is achieved.
However, the existing digital controller cannot simultaneously combine a high-precision position sensor acquisition circuit and a digital-to-analog conversion circuit, and is difficult to realize the functions of on-line updating of programs and real-time data communication. Therefore, how to design a high-precision and digital piezoelectric actuator control device capable of simultaneously supporting on-line program updating and real-time data communication is of great significance.
Disclosure of Invention
The invention mainly aims to provide a digital control device, a control method, a control system and a storage medium thereof, aiming at solving the technical problem of how to support a high-precision digital piezoelectric actuator control device with program online update and real-time data communication at the same time.
In order to achieve the above object, according to the present invention, there is provided a digital control device for a piezoelectric actuator, comprising:
the device comprises a DSP microcontroller, a program online updating and data communication module, a strain gauge ADC acquisition module, a DAC analog output module and a piezoelectric execution structure module;
the DSP microcontroller is used for carrying out data interaction with each functional module so as to realize on-line updating of programs and a closed-loop controller GcThe closed loop correction of (3) and the analog output of the DAC control quantity;
the program online updating and data communication module is used for online updating and real-time data communication of the program;
the strain gauge ADC acquisition module is used for acquiring differential voltage signals of the strain gauge and sending the acquired signals to the DSP microcontroller;
the DAC analog output module is used for receiving the closed-loop control quantity output by the DSP microcontroller and converting the closed-loop control quantity into analog voltage for output;
and the piezoelectric execution structure module is used for amplifying the analog voltage output by the DAC analog output module at high voltage so as to realize the digital control of the power supply.
Optionally, the DSP microcontroller is a TMS320C28346 chip; the program online updating and data communication module is an FT2232HL chip; the DAC analog output module is a DAC8544 chip.
Optionally, the digital control device of the piezoelectric actuator further includes: a digital isolator;
the digital isolator is an ISO7220 chip and is used for providing signal connection for the TMS320C28346 chip and the FT2232HL chip.
Optionally, the strain gauge ADC acquisition module includes an ADC acquisition unit, a reference power supply, and a differential voltage conditioning circuit amplifier;
the ADC acquisition unit is an LTC2440 chip and is used for acquiring differential voltage signals of the strain gauge and differential voltage signals output by the differential voltage conditioning circuit amplifier and performing data interaction with the DSP microcontroller by adopting an SPI (serial peripheral interface);
the reference power supply is an LT6658 chip and is used for supplying power to the LTC2440 chip and the differential voltage conditioning circuit amplifier with low noise and low ripple;
the differential voltage conditioning circuit amplifier is an LT1677 chip and is used for outputting differential voltage signals IN-and IN +.
Optionally, the piezoelectric actuator module includes a piezoelectric actuator, a power amplifier and a strain gauge;
the power amplifier is used for amplifying the analog voltage output by the DAC analog output module at high voltage so as to drive the piezoelectric actuator to operate;
and the strain gauge is used for detecting the displacement of the piezoelectric actuator and sending a detection signal to the DSP microcontroller.
In order to achieve the above object, the present invention further provides a digital control method for a piezoelectric actuator, applied to the digital control device, the digital control method for a piezoelectric actuator comprising:
reading signal data acquired by the strain gauge ADC acquisition module to obtain current data L of strain gauge displacement;
according to the data L and the reference position L of the main control computer*Computing closed-loop controller GcA desired error value;
according to the error value, a closed-loop controller GcAnd a wave trap for calculating to obtain the closed-loop control quantity required by closed-loop correction;
and converting the closed-loop control quantity into analog voltage, and carrying out high-voltage amplification on the analog voltage so as to realize digital control of the power supply.
Optionally, the wave trap specifically adopts the following form:
the formula I is as follows:
in the formula WSF(s) is the transfer function of the trap; w is aNFA notch frequency for the piezo actuator module; z is a radical ofZ、zPRespectively damping coefficients of a zero point and a pole of the wave trap; s is a complex variable of the transfer function.
Optionally, before the reading of the signal data acquired by the strain gauge ADC acquisition module, the digital control method of the piezoelectric actuator further includes:
when receiving a control instruction sent by a main control computer, carrying out on-line updating and data communication module on the closed-loop controller G through the program according to the control instructioncThe structure and the parameters of the program are adjusted online to realize the online updating of the program; and/or
And acquiring signal data according to the control instruction and through the strain gauge ADC acquisition module.
In addition, to achieve the above object, the present invention also provides a digital power control system, including: a main control computer and a digital control device of the piezoelectric actuator;
the main control computer is used for carrying out data interaction with the digital control device and realizing digital control of a power supply through the digital control device;
the digital control device is controlled by the main control computer to implement the digital control method of the piezoelectric actuator.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having a digitalized control program stored thereon, which when executed by a processor, realizes the steps of the digitalized control method of a piezoelectric actuator according to any one of the above.
The invention relates to a digital control device of a piezoelectric actuator, comprising: the device comprises a DSP microcontroller, a program online updating and data communication module, a strain gauge ADC acquisition module, a DAC analog output module and a piezoelectric execution structure module; the DSP microcontroller is used for data interaction with each functional module to realize on-line updating of programs and a closed-loop controller GcThe closed loop correction of (3) and the analog output of the DAC control quantity; the online updating and real-time data communication of the program are realized through the online updating and data communication module of the program; differential voltage signals of the strain gauge are collected through an ADC (analog to digital converter) collection module of the strain gauge, and the collected signals are sent to a DSP (digital signal processor) microcontroller; receiving the closed-loop control quantity output by the DSP microcontroller through a DAC analog output module, and converting the closed-loop control quantity into analog voltage for output; and the high-voltage amplification is carried out on the analog voltage output by the DAC analog output module through the piezoelectric execution structure module, and the digital control of the power supply is finally realized. The device takes a high-performance DSP microcontroller as a core, is compatible with all functional modules, improves the data exchange efficiency and the closed-loop control performance of the control device, and simplifies the structural design of a hardware circuitTherefore, the method not only can simultaneously support program online updating and real-time data communication, but also can adapt to the control requirements of different application occasions in a high-precision and digital manner.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an operating environment of a digital power control system according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of a digital control apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of the digital control device data interaction of the present invention;
FIG. 4 is a schematic diagram of an acquisition circuit of an embodiment of the strain gauge ADC acquisition module 30 according to the present invention;
FIG. 5 is a flow chart illustrating a digital control method for a piezoelectric actuator according to an embodiment of the present invention;
FIG. 6 is a response curve of the digitizing control device of the present invention tracking a 1kHz sinusoidal input signal, respectively;
FIG. 7 is a response curve of the digitizing control device of the present invention tracking a 2kHz sinusoidal input signal, respectively;
FIG. 8 is a rising edge curve of the digitizing control of the present invention in response to a step input signal;
FIG. 9 is a graph of the falling edge of the digital control device in response to a step input signal.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an operating environment of a digital power control system according to an embodiment of the present invention.
As shown in fig. 1, the digital power control system may include: a host computer (processor) 1001 such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, and a digital control unit 1006 of a piezoelectric actuator. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the hardware configuration of the digitized power control system shown in fig. 1 does not constitute a limitation of the digitized power control system, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer-readable storage medium, may include therein an operating system, a network communication module, a user interface module, and a computer program. The operating system is a program that manages and controls the digital power control system and software resources, supporting the control and operation of the digital control 1006 of the piezo actuator, as well as other software and/or programs.
In the hardware structure of the digital power control system shown in fig. 1, the network interface 1004 is mainly used for accessing a network; the user interface 1003 is mainly used for detecting a confirmation instruction, an editing instruction, and the like. The host computer 1001 may be used to call up the program stored in the memory 1005, and may control the digital control device 1006 of the piezoelectric actuator to implement digital control of the power supply.
Based on the hardware structure of the digital power control system, various embodiments of the digital control device of the piezoelectric actuator are provided.
Referring to fig. 2, fig. 2 is a functional block diagram of a digital control device according to an embodiment of the present invention.
In this embodiment, a digital control apparatus for a piezoelectric actuator includes:
the system comprises a DSP micro-controller 10, a program online updating and data communication module 20, a strain gauge ADC acquisition module 30, a DAC analog output module 40 and a piezoelectric execution structure module 50. Also, those skilled in the art will appreciate that the hardware configuration of the digital control device shown in FIG. 2 does not constitute a limitation of the digital control device, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
In this embodiment, the DSP microcontroller 10 is used for performing data interaction with each functional module to realize online updating of the program and the closed-loop controller GcAnd analog output of DAC control quantities. Specifically, the DSP microcontroller 10 is preferably a TMS320C28346 chip. The DSP microcontroller 10 is the core of the whole digital control device, executes the instructions of the main control computer, and is responsible for realizing each function module, so as to control the online update of programs, the real-time data communication, the reading of the data acquired by the strain gauge ADC acquisition module 30 and the closed-loop controller GcAnd analog output of DAC control quantities.
In this embodiment, the program online update and data communication module 20 is used for online update and real-time data communication of the program. In particular, the program online update and data communication module 20 is preferably a FT2232HL chip. The program online update and data communication block 20 includes DSP _ TDI, DSP _ TDO, DSP _ TCK, DSP _ TMS, DSP _ TRST, DSP _ EMU0, and DSP _ EMU1 signals. And the FT2232HL chip integrates a conversion circuit from USB to UART/FIFO and supports a multi-protocol synchronous serial machine interface, thereby providing an interface for JTAG boundary scan and UART serial port data communication between the main control computer and the DSP microcontroller 10. The main control computer program and the communication data are connected with the D-and D + differential USB signals of the FT2232HL chip through a USB line; JTAG boundary scan signals TDI, TDO, TCK, TMS, TRST, EMU0 and EMU1 of the FT2232HL chip are respectively connected with DSP _ TDI, DSP _ TDO, DSP _ TCK, DSP _ TMS, DSP _ TRST, DSP _ EMU0 and DSP _ EMU1 of the DSP microcontroller 10 through digital isolators, and the signals realize online updating of control programs of the DSP microcontroller 10.
Further, in another embodiment of the present invention, the digital control device of the piezoelectric actuator further comprises: a digital isolator 60. Digital isolator 60 is preferably an ISO7220 chip for providing signal connections to TMS320C28346 and FT2232HL chips. Namely, RXD and TXD signals of the FT2232HL chip are respectively connected to DSP _ RXD and DSP _ TXD signals of the DSP microcontroller 10 through the digital isolator 60, and these two signals realize real-time data communication between the DSP microcontroller 10 and the host computer. The ISO7220 chip can also realize the isolation of the signal of the digital control device and the signal of the main control computer, and prevent the main control computer from being interfered by the high-voltage signal of the digital control device. For further understanding of data interaction, referring to fig. 3, fig. 3 is a schematic diagram of an embodiment of data interaction of the digital control device according to the present invention.
In this embodiment, the strain gauge ADC collecting module 30 is configured to collect differential voltage signals of the strain gauge and send the collected signals to the DSP microcontroller 10. The strain gage ADC acquisition module 30 includes SS, SCLK, MOSI, MISO, and INT1 signals. Specifically, the strain gauge ADC acquisition module 30 includes an ADC acquisition unit, a reference power supply, and a differential voltage conditioning circuit amplifier. For further understanding, referring to fig. 4, fig. 4 is a schematic diagram of an acquisition circuit of the strain gauge ADC acquisition module 30 according to an embodiment of the invention.
The ADC acquisition unit is preferably an LTC2440 chip and is used for acquiring differential voltage signals of the strain gauge and differential voltage signals output by a differential voltage conditioning circuit amplifier and performing data interaction with the DSP microcontroller 10 by adopting an SPI interface. The LTC2440 chip is a high-speed 24-bit delay-free incremental accumulation ADC chip, has ultra-low noise and speed/resolution combination, and is very suitable for collecting differential voltage signals of a strain gauge. The signals CS1, SCK, SDI, SDO and BUSY of the LTC2440 are respectively connected with the signals SS, SCLK, MOSI and INT1 of the DSP, wherein the BUSY signal is used for generating an ADC sampling end signal, the signal initiates an interrupt signal to the DSP, and the DSP reads ADC acquisition data.
2. The reference power supply is preferably an LT6658 chip for low noise and low ripple power supply to the LTC2440 chip and the differential voltage conditioning circuit amplifier. The LT6658 chip is a precision two-way linear regulated power supply, well suited for providing low noise and low ripple power to drive high resolution ADCs and voltage conditioning circuits. In a strain gauge ADC acquisition circuit of a digital control device, the input voltage of an LT6658 chip is 24V, the output is stable 2.5V and 5V power supplies, a 5V power supply and a 2.5V reference power supply can be provided for an LT2440 chip, a 2.5V reference power supply is provided for a strain gauge, and a 5V power supply is provided for a differential voltage conditioning circuit.
3. The differential voltage conditioning circuit amplifier is preferably an LT1677 chip for outputting differential voltage signals IN-and IN +. The differential voltage conditioning circuit amplifier is used for providing chopping amplification processing of low noise and low offset voltage for the high-impedance strain gauge. The input of the LT1677 chip is the differential voltage signals V-and V + of the strain gauge, and the output is the conditioned voltage signals IN-and IN +, and then the LT2440 chip collects the signals of the differential voltage signals IN-and IN +.
In this embodiment, the DAC analog output module 40 is configured to receive the closed-loop control quantity output by the DSP microcontroller 10, and convert the closed-loop control quantity into an analog voltage for output. In particular, the DAC analog output module 40 is preferably a DAC8544 chip, which is a high-speed 16-bit parallel interface D/a conversion chip. The signals Reset, LDAC, CS2, WR, and DB of the DAC analog output module 40 are connected to RST, LOAD, CSn, WEn, and XD of the DSP microcontroller 10, respectively, where DB and XD are 16-bit data bus signals. The DAC analog output module 40 is used for receiving the closed-loop control quantity output by the DSP microcontroller 10, converting the closed-loop control quantity into 0-5V analog voltage and outputting the analog voltage, and then driving the piezoelectric actuator to move through power amplification of the analog voltage in the range of 0-5V.
In this embodiment, the piezoelectric execution structure module 50 is configured to amplify the analog voltage output by the DAC analog output module 40 at a high voltage, so as to implement digital control of the power supply. Specifically, the piezo actuator module 50 includes a piezo actuator, a power amplifier, and a strain gauge.
The power amplifier amplifies the analog voltage output by the DAC analog output module 40 at high voltage to drive the piezoelectric actuator to move. The strain gauge is installed inside the piezo actuator structural module 50, detects the displacement of the piezo actuator as a position sensor, and sends the detection signal to the DSP microcontroller 10.
In this embodiment, through the above structural design, the digital control device of the piezoelectric actuator uses the high-performance DSP microcontroller 10 as a core, and is compatible with each functional module, thereby improving the data exchange efficiency and the closed-loop control performance of the control device, and simplifying the structural design of the hardware circuit, so that not only can the program online update and the real-time data communication be simultaneously supported, but also the control requirements of different application occasions can be digitally adapted with high precision.
In this embodiment, the hardware circuit has 24-bit ADC acquisition accuracy, a stable reference power supply, and the chopping amplification processing capability of the high-impedance strain gauge with low noise and low offset voltage, and can meet the acquisition requirements of the strain gauge displacement sensors with different resistances. The controller realizes the dual functions of on-line updating and data communication of the controller program, gives consideration to the full duplex function of program updating and data communication, simplifies the design of a hardware circuit, and enables the digital control device to adapt to the control requirements of different application occasions.
Based on the hardware structure of the digital power control system, various embodiments of the digital control method of the piezoelectric actuator are provided.
Referring to fig. 5, fig. 5 is a schematic flow chart of an embodiment of a digital control method of a piezoelectric actuator according to the present invention.
In this embodiment, a digital control method for a piezoelectric actuator is applied to the above digital control apparatus, and the method includes:
step S10, reading signal data acquired by the strain gauge ADC acquisition module to obtain current data L of strain gauge displacement;
in this embodiment, when a control instruction sent by the host computer is received or at the start time of each sampling period, the LTC2440 acquires current displacement information of the strain gauge, generates an interrupt request signal to the DSP through a BUSY signal, and reads a/D conversion through the SPI interface to obtain data L after the DSP interrupt INT1 receives an ADC sampling end signal.
Step S20, according to the data L and the reference position L of the master control computer*Computing closed-loop controller GcA desired error value;
step S30, according to the error value, the closed-loop controller GcAnd a wave trap for calculating to obtain the closed-loop control quantity required by closed-loop correction;
in this embodiment, the DSP will receive the reference position L of the host computer*Comparing with L to generate a closed-loop controller GcCalculating the required error, and passing through a closed-loop controller GcAnd calculating a wave trap to obtain the closed-loop control quantity required by closed-loop correction. And finally, outputting 0-5V analog voltage to the piezoelectric actuator through the DAC, and driving the piezoelectric actuator to move.
In this embodiment, the closed-loop controller GcAnd the wave trap is realized by software programming in the DSP microcontroller 10, so that the digital control device can improve the closed-loop control precision of the piezoelectric actuator and reduce the hysteresis effect of the piezoelectric actuator. Closed-loop controller GcMay be existing programming software. Furthermore, in order to suppress the influence of the resonant frequency of the piezoelectric actuator on the closed-loop control performance and improve the open-loop gain and the control precision of the piezoelectric actuator, a wave trap of the following form is designed:
the formula I is as follows:
in the formula WSF(s) is the transfer function of the trap; w is aNFA trap frequency of the piezo actuator module, also referred to as a resonance frequency of the piezo actuator; z is a radical ofZ、zPRespectively damping coefficients of a zero point and a pole of the wave trap; s is a complex variable of the transfer function.
And step S40, converting the closed-loop control quantity into an analog voltage, and performing high-voltage amplification on the analog voltage to realize the digital control of the power supply.
In this embodiment, through the above structural design, the digital control device of the piezoelectric actuator uses the high-performance DSP microcontroller 10 as a core, and is compatible with each functional module, thereby improving the data exchange efficiency and the closed-loop control performance of the control device, and simplifying the structural design of the hardware circuit, so that not only can the program online update and the real-time data communication be simultaneously supported, but also the control requirements of different application occasions can be digitally adapted with high precision.
Further optionally, in another embodiment of the present invention, before step S10, the method for digitally controlling the piezoelectric actuator further includes:
1. when receiving a control instruction sent by the main control computer, updating and data communication module 20 on line according to the control instruction and through a program, and aligning closed-loop controller GcThe structure and the parameters of the program are adjusted online to realize the online updating of the program; and/or
2. And acquiring signal data through a strain gauge ADC acquisition module 30 according to the control instruction.
In this embodiment, the closed-loop controller G can be updated through the online program update and the data communication interfacecThe structure and parameters of the piezoelectric actuator are adjusted on line, and meanwhile, the main control computer can send control instructions to the DSP in real time, collect signal data, return strain gauge displacement data of the piezoelectric actuator and the like.
In this embodiment, a hardware circuit of the digital control device has 24-bit ADC acquisition accuracy, a stable reference power supply, and low-noise and low-offset-voltage chopping amplification processing capability of the high-impedance strain gauge, and can meet the acquisition requirements of the displacement sensors of the strain gauges with different resistance values. The controller realizes the dual functions of on-line updating and data communication of the controller program, gives consideration to the full duplex function of program updating and data communication, simplifies the design of a hardware circuit, and enables the digital control device to adapt to the control requirements of different application occasions.
To further understand the improved effect of the present invention, refer to fig. 6 and 7, and fig. 8 and 9. FIG. 6 is a graph showing the response of the digitizing control device of the present invention tracking a 1kHz sinusoidal input signal. FIG. 7 is a graph showing the response of the digitizing control device of the present invention tracking a 2kHz sinusoidal input signal. FIG. 8 is a rising edge curve of the digital control device responding to the step input signal. FIG. 9 is a graph of the falling edge of the digital control device in response to a step input signal.
For the convenience of signal testing, the response curve detects the output signal of the power amplifier, and can be seen from the curves in fig. 6 and 7: the digital control device can track the input signal without attenuation, which shows that the digital control device has higher closed-loop bandwidth and dynamic signal tracking capability.
For the convenience of signal testing, the response curve detects the output signal of the power amplifier, and can be seen from the curves in fig. 8 and 9: the rising edge time and the falling edge time of the digital control device in response to the step signal are both 88.8us, which shows that the digital control device has rapid regulation capability, and the designed closed-loop controller well overcomes the hysteresis effect of the piezoelectric actuator.
Furthermore, a computer-readable storage medium having stored thereon a digitized control program which, when executed by a processor, implements the steps of the digitized control method of a piezoelectric actuator as defined in any of the above.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the digital control method of the piezoelectric actuator, and will not be described in detail herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. With this understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a readable storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes several instructions for enabling a terminal (which may be a computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
The present invention is described in connection with the accompanying drawings, but the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make various changes without departing from the spirit and scope of the invention as defined by the appended claims, and all changes that come within the meaning and range of equivalency of the specification and drawings that are obvious from the description and the attached claims are intended to be embraced therein.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1.A digital control device for a piezoelectric actuator, comprising:
the device comprises a DSP microcontroller, a program online updating and data communication module, a strain gauge ADC acquisition module, a DAC analog output module and a piezoelectric execution structure module;
the DSP microcontroller is used for carrying out data interaction with each functional module so as to realize on-line updating of programs and a closed-loop controller GcThe closed loop correction of (3) and the analog output of the DAC control quantity;
the program online updating and data communication module is used for online updating and real-time data communication of the program;
the strain gauge ADC acquisition module is used for acquiring differential voltage signals of the strain gauge and sending the acquired signals to the DSP microcontroller;
the DAC analog output module is used for receiving the closed-loop control quantity output by the DSP microcontroller and converting the closed-loop control quantity into analog voltage for output;
and the piezoelectric execution structure module is used for amplifying the analog voltage output by the DAC analog output module at high voltage so as to realize the digital control of the power supply.
2. The piezoelectric actuator digitization control device of claim 1, wherein said DSP microcontroller is a TMS320C28346 chip; the program online updating and data communication module is an FT2232HL chip; the DAC analog output module is a DAC8544 chip.
3. The piezoelectric actuator digitization control device of claim 2, further comprising: a digital isolator;
the digital isolator is an ISO7220 chip and is used for providing signal connection for the TMS320C28346 chip and the FT2232HL chip.
4. The digital control device of a piezoelectric actuator according to claim 1, wherein the strain gauge ADC acquisition module comprises an ADC acquisition unit, a reference power supply and a differential voltage conditioning circuit amplifier;
the ADC acquisition unit is an LTC2440 chip and is used for acquiring differential voltage signals of the strain gauge and differential voltage signals output by the differential voltage conditioning circuit amplifier and performing data interaction with the DSP microcontroller by adopting an SPI (serial peripheral interface);
the reference power supply is an LT6658 chip and is used for supplying power to the LTC2440 chip and the differential voltage conditioning circuit amplifier with low noise and low ripple;
the differential voltage conditioning circuit amplifier is an LT1677 chip and is used for outputting differential voltage signals IN-and IN +.
5. The digital control of a piezoelectric actuator of claim 1, wherein said piezoelectric actuator structure module comprises a piezoelectric actuator, a power amplifier and a strain gauge;
the power amplifier is used for amplifying the analog voltage output by the DAC analog output module at high voltage so as to drive the piezoelectric actuator to operate;
and the strain gauge is used for detecting the displacement of the piezoelectric actuator and sending a detection signal to the DSP microcontroller.
6. A digital control method of a piezoelectric actuator, applied to the digital control apparatus according to claim 1, the digital control method of a piezoelectric actuator comprising:
reading signal data acquired by the strain gauge ADC acquisition module to obtain current data L of strain gauge displacement;
according to the data L and the reference position L of the main control computer*Computing closed-loop controller GcA desired error value;
according to the error value, a closed-loop controller GcAnd a wave trap for calculating to obtain the closed-loop control quantity required by closed-loop correction;
and converting the closed-loop control quantity into analog voltage, and carrying out high-voltage amplification on the analog voltage so as to realize digital control of the power supply.
7. The digital control method of a piezoelectric actuator according to claim 6,
the wave trap is specifically in the following form:
the formula I is as follows:
in the formula WSF(s) is the transfer function of the trap; w is aNFA notch frequency for the piezo actuator module; z is a radical ofZ、zPRespectively damping coefficients of a zero point and a pole of the wave trap; s is a complex variable of the transfer function.
8. The method of claim 6, wherein prior to said reading signal data collected by said strain gauge ADC acquisition module, the method further comprises:
when receiving a control instruction sent by a main control computer, carrying out on-line updating and data communication module on the closed-loop controller G through the program according to the control instructioncThe structure and the parameters of the program are adjusted online to realize the online updating of the program; and/or
And acquiring signal data according to the control instruction and through the strain gauge ADC acquisition module.
9. A digitized power control system, the digitized power control system comprising: a host computer and a digital control means of the piezoelectric actuator of any one of claims 1 to 5;
the main control computer is used for carrying out data interaction with the digital control device and realizing digital control of a power supply through the digital control device;
the digital control device is controlled by the main control computer to implement the steps of the digital control method of the piezoelectric actuator according to any one of claims 6 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a digitized control program which, when executed by a processor, implements the steps of the digitized control method of a piezoelectric actuator according to any of claims 6 to 8.
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