CN113359616A - Motion control system - Google Patents
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- CN113359616A CN113359616A CN202110785294.3A CN202110785294A CN113359616A CN 113359616 A CN113359616 A CN 113359616A CN 202110785294 A CN202110785294 A CN 202110785294A CN 113359616 A CN113359616 A CN 113359616A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
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- 238000002955 isolation Methods 0.000 claims description 7
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- 230000000087 stabilizing effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 3
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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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
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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Abstract
The invention discloses a motion control system; the intelligent monitoring system comprises a control module, wherein a power supply module is electrically connected to the control module, a data interface module is electrically connected to the control module, a power module and a monitoring module are electrically connected to the data interface module, a switch control is electrically connected to the control module, an electromagnetic valve is electrically connected to the switch control, and the electromagnetic valve is electrically connected to the power module; according to the invention, a PLC control system is abandoned, so that the control system is very small and exquisite, resources are saved, the small motion system is controlled and adjusted through the single chip microcomputer, the control and adjustment of the whole system are completed, the control and adjustment of multiple groups of equipment are realized, the conversion of signals can be realized through the multiple groups of equipment, the stable control capability of a control module is ensured, the equipment to be controlled is stably monitored through monitoring equipment, and the running accuracy of the system is maintained.
Description
Technical Field
The invention belongs to the technical field of control systems, and particularly relates to a motion control system.
Background
When the mechanical equipment is used for motion control, a fuzzy control technology, a computer control technology and a network control technology are generally adopted, and the fuzzy control technology is a high-level strategy and a novel technology in modern control theory. The fuzzy control technology is based on a fuzzy mathematical theory, improves the controllability, the adaptability and the rationality of a control algorithm by simulating an approximate reasoning and comprehensive decision process of a human, becomes an important branch of an intelligent control technology, but for any control mode, a control system is required to control and regulate mechanical equipment, and generally, for the control of a motion system, such as the control of a servo motor, a direct current brushless motor and a pneumatic component, a PLC is adopted to control. However, for miniaturized devices or equipment, the PLC controller has a large volume and a high price, and cannot meet the use scenario of low cost and miniaturization.
For example, the motion control system disclosed in the publication No. CN106444633B, which implements the Lua virtual machine integrated in the instruction code analysis module, can execute both the conventional language code and the Lua code; codes such as robot language or G codes are embedded into Lua codes in character strings; the coordination program function of Lua language is used, each path of motion control has one coordination program corresponding to each other, and one path or multiple paths of motion control are controlled. The control system is suitable for being used for multi-path manipulator control needing complex control, but does not solve the problems that the control and the regulation of various mechanical devices cannot be realized, the operation of the mechanical devices cannot be monitored, the PLC control cannot be replaced, the miniaturization is realized, and the cost is reduced in the prior art, and therefore the motion control system is provided.
Disclosure of Invention
The present invention is directed to a motion control system to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme: a motion control system comprises a control module, wherein a power supply module is electrically connected to the control module, a data interface module is electrically connected to the control module, a power module and a monitoring module are electrically connected to the data interface module, a switch control is electrically connected to the control module, an electromagnetic valve is electrically connected to the switch control, and the electromagnetic valve is electrically connected to the power module;
the data interface module comprises a DFU interface, an RJ45 interface, an RS232 interface, an OC door, an Analog output interface Analog output, an air Cylinder control interface and a sensor In interface, wherein the DFU interface is a system program burning interface, the RJ45 interface is a reserved interface for upper computer control, the RS232 interface is a servo motor control interface, the OC door is a brushless direct current motor control interface, the Analog output interface Analog output is a rotating speed control interface of the brushless direct current motor, the air Cylinder control interface adopts a Cylinder control interface, the Cylinder control interface is used as an air Cylinder control interface, and the sensor In interface is an interface of a moving position monitoring sensor of the air Cylinder, the servo motor and the direct current motor;
the power module comprises the air cylinder, the servo motor and the brushless direct current motor;
control module adopts is STM32 ARM treater, last still electric connection of control module has communication module, storage module, download interface and supplementary module, what communication module adopted is industry ethernet chip W5500, communication module passes through RJ45 interface and SPI interface with control module electric connection.
Preferably, the power supply module includes a voltage reduction circuit, a rectification circuit, a DC-DC circuit and an LDO regulator, the power supply module is electrically connected to a utility grid, the voltage reduction circuit is electrically connected to the utility grid, the voltage reduction circuit is used to reduce high voltage of the utility grid to low voltage, the rectification circuit is used to convert ac voltage to DC voltage, the DC-DC circuit is used to regulate and convert voltage value, the LDO regulator is used to stabilize voltage, the DC-DC circuit converts direct current 24V voltage to direct current 5V voltage, and the LDO regulator is used to stabilize voltage and output 3.3V DC voltage.
Preferably, the auxiliary module comprises a control key, a display screen and an alarm device, the control key comprises a plurality of groups of switch keys, an adjusting key and an emergency stop key, and the alarm device adopts an audible and visual alarm.
Preferably, the storage modules include at least two groups, and the two groups of storage modules are respectively a ROM storage module for storing a system operation program body and a RAM storage module for storing a system operation log.
Preferably, the download interface is a download interface of system Firmware, the download interface of the system Firmware is electrically connected to the circuit board, and the download interface of the system Firmware downloads the latest Firmware of the upper computer to the control module by connecting a Mini-USB interface and a Mini-USB data line.
Preferably, servo motor adopts AC servo motor, the RS232 interface is realized servo motor with electric connection between the control module, the RS232 interface with electric connection has level conversion chip MAX3221 between the control module, level conversion chip MAX3221 will the USART1RX/USART1 TX signal conversion that the control module exported follows the RS232 interface signal that the servo motor interface matches, through control module's programming direct current passes through the state of RS232 interface is controlled servo motor's rotational speed, is turned to, and the moment of torsion does not need any other control interface.
Preferably, the OC gate realizes that the control module is electrically connected with the brushless dc motor, the output MCU _ OC 1-MCU _ OC4 of the control module is converted into OC 1-OC 4 output through two BJT transistors, the OC 1-OC 4 output is matched with the control of the positive and negative rotation of the brushless dc motor, the control module is in communication connection with a 4-channel DAC chip AD5664 through the SPI interface, the DAC chip AD5664 sets the output analog voltage, the output pin of the DAC chip AD5664 is amplified and output through an operational amplifier U7 TS321, and the output is provided to a speed regulation interface of the brushless dc motor, so as to realize the speed control of the brushless dc motor.
Preferably, the switch control includes a transistor BSS138 and a PMOS transistor AO4803A, the OUTPUT end MCU _ OUTPUT 1-4 of the control module controls the transistor BSS138, the transistor BSS138 thereby completes the switch control of the PMOS transistor AO4803A, the PMOS transistor AO4803A OUTPUTs a DO _ OUT 1-4 signal to the solenoid valve, the solenoid valve controls a pneumatic element, and the pneumatic element realizes the control and regulation of the cylinder.
Preferably, four external position sensor interfaces CONN _ SNS 1-4 for signal isolation are reserved on the control module, signals of the external position sensors are converted into MCU _ SENS 1-4 signals after passing through an optical coupling isolation device PS2801-4/SM, then the signals are transmitted to the control module, and a main control system program in the control module calculates and judges the movement position of the movement part.
Preferably, the control module is electrically connected with a reset circuit and a clock crystal oscillator circuit, and the industrial ethernet chip W5500 further integrates an ethernet data link layer MAC and a 10BaseT/100BaseTX ethernet physical layer PHY, and supports an auto-negotiation 10/100-Based full duplex/half duplex, a power down mode, and a network wake-up function.
Compared with the prior art, the invention has the beneficial effects that:
the invention abandons a PLC control system, so that the control system is very small and exquisite, saves resources, realizes the control and adjustment of a small-sized motion system through a single chip microcomputer, completes the control and adjustment of the whole system, realizes the control and adjustment of a plurality of groups of equipment, realizes the control of a servo motor, the control of a brushless direct current motor and the control of an air cylinder, realizes the conversion of signals through the plurality of groups of equipment, ensures the stable control capability of a control module, realizes the stable monitoring of the controlled equipment through monitoring equipment, and keeps the running accuracy of the system.
Drawings
FIG. 1 is a schematic block diagram of a system according to the present invention;
FIG. 2 is a block diagram of the system of the present invention;
FIG. 3 is a circuit diagram of a servo motor control circuit according to the present invention;
FIG. 4 is a diagram of an OC gate circuit of the present invention;
FIG. 5 is a circuit diagram of the SPI interface of the present invention;
FIG. 6 is a circuit diagram of the output port of the control module of the present invention;
FIG. 7 is an interface circuit diagram of the monitoring actuator of the present invention;
FIG. 8 is an interface circuit diagram of the control module host computer of the present invention;
FIG. 9 is a circuit diagram of a download interface of Firmware of the system of the present invention;
FIG. 10 is a circuit diagram of an STM32 ARM processor of the present invention;
fig. 11 is an actual layout of the PCBA of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 11, the present invention provides a technical solution: a motion control system comprises a control module, wherein a power supply module is electrically connected to the control module, a data interface module is electrically connected to the control module, a power module and a monitoring module are electrically connected to the data interface module, a switch control is electrically connected to the control module, an electromagnetic valve is electrically connected to the switch control, and the electromagnetic valve is electrically connected to the power module;
the data interface module comprises a DFU interface, an RJ45 interface, an RS232 interface, an OC door, an Analog output interface Analog output, a Cylinder control interface and a sensor In interface, the DFU interface is a system program burning interface, the RJ45 interface is a reserved interface for upper computer control, the RS232 interface is a servo motor control interface, the OC door is a brushless direct current motor control interface, the Analog output interface Analog output is a rotating speed control interface of the brushless direct current motor, the Cylinder control interface adopts a Cylinder control interface which is used as the Cylinder control interface, and the sensor In interface is an interface of a motion position monitoring sensor of the Cylinder, the servo motor and the brushless direct current motor;
the power module comprises an air cylinder, a servo motor and a brushless direct current motor;
control module adopts is STM32 ARM treater, and last still electric connection of control module has communication module, storage module, download interface and supplementary module, and communication module adopts industrial ethernet chip W5500, and communication module passes through RJ45 interface and SPI interface and control module electric connection.
In order to implement stable power supply operation of the system, in this embodiment, preferably, the power supply module includes a voltage reducing circuit, a rectifying circuit, a DC-DC circuit and an LDO regulator, the power supply module is electrically connected to a utility grid, the voltage reducing circuit is electrically connected to the utility grid, the voltage reducing circuit is configured to reduce a high voltage of the utility grid to a low voltage, the rectifying circuit is configured to convert an ac voltage to a DC voltage, the DC-DC circuit is configured to adjust and convert a voltage value, the LDO regulator is configured to stabilize the voltage, the DC-DC circuit converts a DC 24V voltage to a DC 5V voltage, and the LDO regulator stabilizes the voltage and outputs a 3.3V DC voltage.
In order to facilitate the system to operate, control and adjust, in this embodiment, preferably, the auxiliary module includes a control key, a display screen and an alarm device, the control key includes a plurality of groups of switch keys, an adjustment key and an emergency stop key, and the alarm device employs an audible and visual alarm.
In order to prevent the system from being confused, in this embodiment, it is preferable that the storage modules include at least two groups, and the two groups of storage modules are a ROM storage module for storing the system operation program body and a RAM storage module for storing the system operation log, respectively.
In order to upgrade the system, in this embodiment, it is preferable that the download interface is a download interface of system Firmware, the download interface of the system Firmware is electrically connected to the circuit board, and the download interface of the system Firmware downloads the latest Firmware of the upper computer to the control module by connecting the Mini-USB interface and the Mini-USB data line.
In order to realize stable control and adjustment of the servo motor and realize conversion of signals, in this embodiment, preferably, the servo motor is an AC servo motor, the RS232 interface realizes electrical connection between the servo motor and the control module, the RS232 interface and the control module are electrically connected with a level conversion chip MAX3221, the level conversion chip MAX3221 converts a USART1RX/USART1 TX signal output by the control module into an RS232 interface signal matched with the servo motor interface, and the states of the rotation speed, the rotation direction and the torque of the servo motor are controlled through the RS232 interface by the programmed direct current of the control module without any other control interface.
In order to realize the control and regulation of the brushless dc motor and the processing and amplification conversion of the signal, in this embodiment, preferably, the OC gate realizes that the control module is electrically connected to the brushless dc motor, outputs MCU _ OC1 to MCU _ OC4 of the control module are converted into outputs of OC1 to OC4 through two BJT transistors, outputs of OC1 to OC4 are matched with the control of the forward and reverse rotation of the brushless dc motor, the control module is in communication connection with the 4-channel DAC chip AD5664 through an SPI interface, the DAC chip AD5664 sets the output analog voltage, an output pin of the DAC chip AD5664 amplifies the output through an operational amplifier U7 TS321, and provides the output to a speed regulation interface of the brushless dc motor, thereby realizing the speed control of the brushless dc motor.
In order to realize control and regulation of the starting element and practice on-off switch control, in this embodiment, it is preferable that the switch control includes a transistor BSS138 and a PMOS transistor AO4803A, the OUTPUT end MCU _ OUTPUT 1-4 of the control module controls the transistor BSS138, the transistor BSS138 thereby completes the switch control of the PMOS transistor AO4803A, the PMOS transistor AO4803A OUTPUTs DO _ OUT 1-4 signals to the solenoid valve, the solenoid valve controls the pneumatic element, and the pneumatic element realizes control and regulation of the cylinder.
In order to realize the electrical connection of the external position sensor and the monitoring of the operation of the equipment, in this embodiment, preferably, four external position sensor interfaces CONN _ SNS 1-4 for signal isolation are reserved on the control module, signals of the external position sensor are converted into MCU _ SENS 1-4 signals after passing through the optical coupling isolation device PS2801-4/SM, and then the signals are transmitted to the control module, and the movement position of the moving part is calculated and judged by a main control system program in the control module.
In order to enable the control module to stably operate and to implement the reset operation, in this embodiment, it is preferable that the control module is electrically connected with a reset circuit and a clock crystal oscillator circuit, and the industrial ethernet chip W5500 further integrates an ethernet data link layer MAC and a 10BaseT/100BaseTX ethernet physical layer PHY, and supports 10/100-Based full duplex/half duplex, a power down mode, and a network wake-up function.
The working principle and the using process of the invention are as follows: when the system is used, the control module is powered and operated through a municipal power grid and a power supply module, a voltage reduction circuit, a rectifying circuit, a DC-DC circuit and an LDO voltage stabilizer are arranged in the power supply module, voltage can be stably transmitted, the power supply operation of the system is completed, then the control module drives and operates a power module through a data interface module, and detects the operation position through a monitoring module, a level conversion chip MAX3221 is electrically connected between an RS232 interface and the control module, the level conversion chip MAX3221 converts USART1RX/USART1 TX signals output by the control module into RS232 interface signals matched with the servo motor interface, the states of the rotating speed, the steering and the torque of the servo motor are controlled through the RS232 interface through the programming direct current of the control module, any other control interface is not needed, the outputs MCU _ OC 1-MCU _ OC4 of the control module are converted into OC 1-OC 4 through two BJT transistors for output, OC 1-OC 4 OUTPUT to match the control of the positive and negative rotation of the brushless DC motor, the control module is connected with a 4-channel DAC chip AD5664 through an SPI interface in a communication way, the DAC chip AD5664 sets the OUTPUT analog voltage, the OUTPUT pin of the DAC chip AD5664 is amplified and OUTPUT through an operational amplifier U7 TS321 and is provided for a speed regulation interface of the brushless DC motor to realize the speed control of the brushless DC motor, the OUTPUT end MCU _ OUTPUT 1-4 of the control module controls and controls a transistor BSS138, the transistor BSS138 completes the switch control of a PMOS transistor AO4803A, the PMOS transistor AO4803 OUTPUTs DO _ OUT 1-4 signals to a solenoid valve which controls a pneumatic element to realize the control and regulation of an air cylinder, four external position sensor interfaces CONN _ SNS 64-4 for signal isolation are reserved on the control module, the signals of the external position sensor pass through an isolator PS 391-4/SM, the MCU _ SENS 1-4 signal is converted, then the signal is transmitted to the control module, the main control system program in the control module calculates and judges the movement position of the movement part, the communication module is in communication connection with an upper computer, and the download interface is upgraded.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A motion control system comprising a control module, characterized in that: the control module is electrically connected with a power supply module, the control module is electrically connected with a data interface module, the data interface module is electrically connected with a power module and a monitoring module, the control module is electrically connected with a switch control, the switch control is electrically connected with an electromagnetic valve, and the electromagnetic valve is electrically connected with the power module;
the data interface module comprises a DFU interface, an RJ45 interface, an RS232 interface, an OC door, an Analog output interface Analog output, an air Cylinder control interface and a sensor In interface, wherein the DFU interface is a system program burning interface, the RJ45 interface is a reserved interface for upper computer control, the RS232 interface is a servo motor control interface, the OC door is a brushless direct current motor control interface, the Analog output interface Analog output is a rotating speed control interface of the brushless direct current motor, the air Cylinder control interface adopts a Cylinder control interface, the Cylinder control interface is used as an air Cylinder control interface, and the sensor In interface is an interface of a moving position monitoring sensor of the air Cylinder, the servo motor and the direct current motor;
the power module comprises the air cylinder, the servo motor and the brushless direct current motor;
control module adopts is STM32 ARM treater, last still electric connection of control module has communication module, storage module, download interface and supplementary module, what communication module adopted is industry ethernet chip W5500, communication module passes through RJ45 interface and SPI interface with control module electric connection.
2. A motion control system according to claim 1, wherein: the power supply module comprises a voltage reduction circuit, a rectification circuit, a DC-DC circuit and an LDO voltage stabilizer, wherein the power supply module is electrically connected with a mains grid, the voltage reduction circuit is electrically connected with the mains grid, the voltage reduction circuit is used for reducing high voltage of the mains grid into low voltage, the rectification circuit is used for converting alternating current voltage into direct current voltage, the DC-DC circuit is used for adjusting and converting voltage value, the LDO voltage stabilizer is used for stabilizing voltage, the DC-DC circuit converts direct current 24V voltage into direct current 5V voltage, and the voltage is stabilized and output into 3.3V direct current voltage through the LDO voltage stabilizer.
3. A motion control system according to claim 1, wherein: the auxiliary module comprises a control key, a display screen and an alarm device, the control key comprises a plurality of groups of switch keys, an adjusting key and an emergency stop key, and the alarm device adopts an audible and visual alarm.
4. A motion control system according to claim 1, wherein: the storage modules at least comprise two groups, and the two groups of storage modules are respectively a ROM storage module for storing a system operation program body and a RAM storage module for storing a system operation log.
5. A motion control system according to claim 1, wherein: the download interface is a download interface of system Firmware, the download interface of the system Firmware is electrically connected to the circuit board, and the download interface of the system Firmware downloads the latest Firmware of the upper computer to the control module by connecting a Mini-USB interface and a Mini-USB data line.
6. A motion control system according to claim 1, wherein: what servo motor adopted is AC servo motor, the RS232 interface is realized servo motor with electric connection between the control module, the RS232 interface with electric connection has level conversion chip MAX3221 between the control module, level conversion chip MAX3221 will the USART1RX/USART1 TX signal conversion of control module output follow the RS232 interface signal that the servo motor interface matches, through control module's programming direct current passes through the RS232 interface is controlled servo motor's rotational speed, is turned to, and the state of moment of torsion does not need any other control interface.
7. A motion control system according to claim 1, wherein: the OC door realizes the control module with brushless DC motor electric connection, control module's output MCU _ OC1 ~ MCU _ OC4 converts two BJT transistors into OC1 ~ OC4 output, OC1 ~ OC4 output is in order to match brushless DC motor's the control of just reversing, control module passes through SPI interface and 4 passageway DAC chip AD5664 communication connection, DAC chip AD5664 sets up the analog voltage of output, DAC chip AD 5664's output pin is through operational amplifier U7 TS321 enlargies the output to provide output for brushless DC motor's speed governing interface, the realization is right brushless DC motor's speed control.
8. A motion control system according to claim 1, wherein: the switch control comprises a transistor BSS138 and a PMOS transistor AO4803A, an OUTPUT end MCU _ OUTPUT 1-4 of the control module controls the transistor BSS138, the transistor BSS138 completes the switch control of the PMOS transistor AO4803A, the PMOS transistor AO4803A OUTPUTs DO _ OUT 1-4 signals to the electromagnetic valve, the electromagnetic valve controls a pneumatic element, and the pneumatic element controls and adjusts the cylinder.
9. A motion control system according to claim 1, wherein: the control module is provided with four external position sensor interfaces CONN _ SNS 1-4 for signal isolation, signals of the external position sensors are converted into MCU _ SENS 1-4 signals after passing through an optical coupling isolation device PS2801-4/SM, then the signals are transmitted to the control module, and a main control system program in the control module calculates and judges the movement position of the movement part.
10. A motion control system according to claim 1, wherein: the control module is electrically connected with a reset circuit and a clock crystal oscillator circuit, and an Ethernet data link layer MAC and a 10BaseT/100BaseTX Ethernet physical layer PHY, an automatic negotiation 10/100-Based full duplex/half duplex support, a power down mode and a network awakening function are integrated in the industrial Ethernet chip W5500.
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| CN209248315U (en) * | 2018-12-27 | 2019-08-13 | 厦门力研自动化科技有限公司 | A kind of fully-automatic intelligent parch beans machine control system based on PLC |
| CN209606814U (en) * | 2019-05-10 | 2019-11-08 | 黄河科技学院 | A kind of automation interactive movement controller |
| CN213364871U (en) * | 2020-08-11 | 2021-06-04 | 上海中安电子信息科技有限公司 | Current-voltage and Ethernet detection system |
| CN112083677A (en) * | 2020-09-28 | 2020-12-15 | 温州大学 | Send machine control system that detains based on little consumption treater |
| CN112526908A (en) * | 2020-12-02 | 2021-03-19 | 昆山鑫润利自动化科技有限公司 | A commonality PCB designs motion control system for tool production |
| CN112548833A (en) * | 2020-12-29 | 2021-03-26 | 南京波特光电有限公司 | Optical lens polishing control system |
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