CN113726226A - Combined control system of combined rotary table - Google Patents
Combined control system of combined rotary table Download PDFInfo
- Publication number
- CN113726226A CN113726226A CN202110887499.2A CN202110887499A CN113726226A CN 113726226 A CN113726226 A CN 113726226A CN 202110887499 A CN202110887499 A CN 202110887499A CN 113726226 A CN113726226 A CN 113726226A
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- Prior art keywords
- rotary table
- driver
- combined
- axis
- controller
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- 230000001360 synchronised effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
Abstract
A combined control system of a combined rotary table comprises an RTX controller, a DSP controller, a combined rotary table driver, a combined rotary table and a power supply module, wherein the combined rotary table driver comprises a three-axis rotary table driver, a two-axis rotary table driver and a translation rotary table driver; the RTX controller calculates the operation attitude angle of each shafting of the combined rotary table system after a control instruction sent by a user upper computer, and simultaneously sends a control signal and a control instruction to the three-axis rotary table driver and the DSP controller; after receiving a control instruction sent by the RTX controller, the DSP controller synchronously generates control signals of the two-axis turntable driver and the translation turntable driver through resolving and converting, so that synchronous operation of the three-axis turntable, the two-axis turntable and the translation turntable is realized. The system effectively solves the problem that multi-axis synchronous control of the combined rotary table is difficult.
Description
Technical Field
The invention relates to a combined control system of a combined rotary table.
Background
At present, a conventional turntable control system generally only adopts an RTX controller or a DSP controller as a control core, and cannot meet the use requirement of simultaneous movement of eight shafting due to the limitation of a control period. In order to solve the problem, a combined control system suitable for the combined rotary table system is needed to ensure that eight shafting operate simultaneously and meet the test requirement.
Disclosure of Invention
The present invention is directed to a joint control system for a combined turret, which solves the above-mentioned problems of the prior art.
The technical scheme adopted for achieving the purpose is that the combined control system of the combined rotary table comprises an RTX controller, a DSP controller, a combined rotary table driver, a combined rotary table and a power supply module; the combined rotary table driver comprises a three-axis rotary table driver, a two-axis rotary table driver and a translation rotary table driver; the combined rotary table comprises a three-axis rotary table motor, a two-axis rotary table motor and a translation rotary table motor; the RTX controller sends a control signal to a signal input end of a three-axis turntable driver, and simultaneously sends a control instruction to the DSP controller in real time; the DSP controller sends the resolved control signal to the signal input ends of the two-axis turntable driver and the translation table driver; and the three-axis turntable driver, the two-axis turntable driver and the translation turntable driver respectively send PWM driving signals to the three-axis turntable motor, the two-axis turntable motor and the translation turntable motor correspondingly.
Further, the RTX controller includes an RTX extension module; the RTX controller sends a control signal to a signal input end of the three-axis turntable driver through the RTX expansion module, and the RTX controller sends a control instruction to the DSP controller in real time through the RTX expansion module.
Further, the RTX controller is in communication connection with a user upper computer.
Further, the power module is respectively connected with the RTX controller, the DSP controller, the three-axis turntable driver, the two-axis turntable driver and the translation turntable driver.
Advantageous effects
Compared with the prior art, the invention has the following advantages.
The invention comprises the RTX controller, the DSP controller, the combined turntable driver and the combined turntable, has simple control structure, convenient use and strong universality, increases the number of real-time control shafts by the mutual cooperation of the RTX controller and the DSP controller, and effectively solves the problem of multi-shaft synchronous control of the combined turntable.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a functional block diagram of the present invention;
fig. 2 is a schematic structural diagram of a combined control system of the combined rotary table of the invention.
Detailed Description
The invention is further described with reference to the following examples and the accompanying drawings.
As shown in fig. 1 and 2, a joint control system for a combined turntable includes an RTX controller 1, a DSP controller 2, a combined turntable driver 3, a combined turntable 4, and a power module 5; the combined rotary table driver 3 comprises a three-axis rotary table driver 31, a two-axis rotary table driver 32 and a translation rotary table driver 33; the combined rotary table 4 comprises a three-axis rotary table motor 41, a two-axis rotary table motor 42 and a translation rotary table motor 43; the RTX controller 1 sends a control signal to a signal input end of the three-axis turntable driver 31, and simultaneously sends a control instruction to the DSP controller 2 in real time; the DSP controller 2 sends the resolved control signal to the signal input ends of the two-axis turntable driver 32 and the translation table driver 33; the three-axis turntable driver 31, the two-axis turntable driver 32 and the translation turntable driver 33 respectively send PWM driving signals to the three-axis turntable motor 41, the two-axis turntable motor 42 and the translation turntable motor 43.
The RTX controller 1 comprises an RTX extension module 11; the RTX controller 1 sends a control signal to a signal input end of the three-axis turntable driver 33 through the RTX expansion module 11, and the RTX controller 1 sends a control instruction to the DSP controller 2 in real time through the RTX expansion module 11.
And the RTX controller 1 is in communication connection with the user upper computer 6.
And the power supply module 5 is respectively connected with the RTX controller 1, the DSP controller 2, the three-axis turntable driver 31, the two-axis turntable driver 32 and the translation turntable driver 33.
The invention comprises an RTX controller 1, a DSP controller 2, a combined rotary table driver 3 and a combined rotary table 4, wherein the RTX controller 1 is used for sending a control signal to a signal input end of the combined rotary table driver 3 and sending a control instruction to the DSP controller 2 in real time; the DSP controller 2 is used for receiving a control instruction of the RTX controller 1 and sending a resolved control signal to a signal input end of the combined turntable driver 3; the power input end of the combined rotary table driver 3 is used for receiving alternating-current voltage, and the power output end of the combined rotary table driver is used for transmitting the direct-current voltage subjected to voltage inversion to the combined rotary table 4; and the combined rotary table 4 is used for driving all shafting of the rotary table to rotate.
The RTX controller consists of an industrial personal computer, a D/A board card, an I/O board card, a communication board card and an RTX expansion module and can send a control instruction to the DSP controller and the combined turntable driver.
The DSP controller comprises a DSP/FPGA circuit board, an RS422/485 interface module and a driving module, and can receive a control instruction of the RTX controller 1 and send a control signal of the combined turntable driver.
The combined rotary table driver 3 is composed of drivers of each shaft system of the three-shaft rotary table, the two-shaft rotary table and the translation rotary table, and can receive control signals of the RTX controller 1 and the DSP controller 2 and drive the combined rotary table 4.
The combined rotary table 4 comprises a three-axis rotary table, a two-axis rotary table and a driving motor for each axis of the translation rotary table, and can receive PWM driving signals of the combined rotary table driver 3 and drive each axis of the rotary table to move to a specified attitude.
The RTX controller 1 sends a control instruction to the DSP controller 2 in real time through the RTX expansion module 11, synchronously generates an analog quantity control signal of a three-axis turntable driver 31, and drives each shafting of the three-axis turntable to operate. And the DSP controller 2 synchronously generates analog quantity control signals of the two-axis turntable driver 32 and the translation turntable driver 33 through resolving and converting according to the received control instruction, and drives each shafting of the two-axis turntable and the translation turntable to run to a specified position. The joint control system takes an RTX controller 1 as a control core, calculates the operating attitude angles of eight shafting of the combined rotary table system according to a control instruction sent by a user upper computer 6, and completes the test of a user optical system through the cooperation with a DSP controller 2 and a corresponding shafting driver.
When the invention is implemented specifically, the RTX controller 1 and the DSP controller 2 are fixedly arranged in a control cabinet, the combined turntable driver 3 and the power supply module 5 are fixedly arranged in a power cabinet, and the combined turntable 4 comprises a three-axis turntable, a two-axis turntable and a driving motor of each axis of a translation turntable. And the RTX controller 1 and the DSP controller 2 send control signals to the combined rotary table driver 3 through connecting cables to drive the combined rotary table motor to operate, so that the operation attitude control of eight shafting of the combined rotary table system is completed, and the optical system test of a user is completed.
After receiving a control instruction sent by the user upper computer 6, the RTX controller 1 calculates the operating attitude angles of eight shafting of the combined rotary table system, and simultaneously sends a control signal and a control instruction to the three-axis rotary table driver 31 and the DSP controller 2 through the RTX expansion module 11. After receiving the control instruction sent by the RTX controller 1, the DSP controller 2 performs calculation and conversion to synchronously generate control signals of the two-axis turntable driver 32 and the translation turntable driver 33, so as to realize synchronous operation of the three-axis turntable, the two-axis turntable, and the translation turntable, and achieve a test posture required by a user.
Claims (4)
1. A combined control system of a combined rotary table comprises an RTX controller (1), a DSP controller (2), a combined rotary table driver (3), a combined rotary table (4) and a power supply module (5); the combined rotary table driver (3) is characterized by comprising a three-axis rotary table driver (31), a two-axis rotary table driver (32) and a translation rotary table driver (33); the combined rotary table (4) comprises a three-axis rotary table motor (41), a two-axis rotary table motor (42) and a translation rotary table motor (43); the RTX controller (1) sends a control signal to a signal input end of a three-axis turntable driver (31), and simultaneously sends a control instruction to the DSP controller (2) in real time; the DSP controller (2) sends the resolved control signals to signal input ends of a two-axis turntable driver (32) and a translation turntable driver (33); and the three-axis turntable driver (31), the two-axis turntable driver (32) and the translation turntable driver (33) respectively send PWM driving signals to the three-axis turntable motor (41), the two-axis turntable motor (42) and the translation turntable motor (43).
2. A joint control system of a combined turret according to claim 1, characterised in that said RTX controller (1) comprises an RTX extension module (11); RTX controller (1) sends control signal to the signal input part of triaxial revolving stage driver (33) through RTX expansion module (11), RTX controller (1) sends control instruction to DSP controller (2) through RTX expansion module (11) in real time.
3. Combined control system of a combined turret according to claim 1, characterised in that the RTX controller (1) is connected in communication with a user upper computer (6).
4. A combined turret control system according to claim 1, characterized in that said power supply module (5) is connected to the RTX controller (1), the DSP controller (2), the three-axis turret drive (31), the two-axis turret drive (32) and the translation turret drive (33), respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110887499.2A CN113726226B (en) | 2021-08-03 | Combined control system of combined turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110887499.2A CN113726226B (en) | 2021-08-03 | Combined control system of combined turntable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113726226A true CN113726226A (en) | 2021-11-30 |
| CN113726226B CN113726226B (en) | 2024-05-17 |
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| US20070046247A1 (en) * | 2005-08-29 | 2007-03-01 | Barie Walter G | Method of rotating a polyphase motor at less than rated speed |
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| KR20090044131A (en) * | 2007-10-31 | 2009-05-07 | 한국기계연구원 | Robot controller |
| CN104027218A (en) * | 2014-06-05 | 2014-09-10 | 电子科技大学 | Rehabilitation robot control system and method |
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| CN104811111A (en) * | 2015-04-10 | 2015-07-29 | 南阳市东福印务包装有限公司 | Permanent magnet synchronous motor control system for corrugated paperboard transverse cutting machine |
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| CN109189107A (en) * | 2018-11-30 | 2019-01-11 | 南京长峰航天电子科技有限公司 | A kind of composite control method and system of multimode turntable |
| CN112787552A (en) * | 2019-11-04 | 2021-05-11 | Lg电子株式会社 | Device for driving a plurality of electric motors and electric apparatus comprising the device |
| CN112781615A (en) * | 2020-12-23 | 2021-05-11 | 中国航空工业集团公司北京航空精密机械研究所 | Gyro signal data acquisition system |
| CN112985727A (en) * | 2021-04-20 | 2021-06-18 | 伸瑞科技（北京）有限公司 | Control method, control system, medium and equipment of linear vibration table |
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070046247A1 (en) * | 2005-08-29 | 2007-03-01 | Barie Walter G | Method of rotating a polyphase motor at less than rated speed |
| KR20090002398A (en) * | 2007-06-28 | 2009-01-09 | 한국과학기술원 | Device of pulse command generation for position reference and sensor data acquistion of human riding robot's joint actuator and its control device and method thereof |
| KR20090044131A (en) * | 2007-10-31 | 2009-05-07 | 한국기계연구원 | Robot controller |
| CN104027218A (en) * | 2014-06-05 | 2014-09-10 | 电子科技大学 | Rehabilitation robot control system and method |
| CN104239250A (en) * | 2014-09-22 | 2014-12-24 | 南京长峰航天电子科技有限公司 | PCI (Programmable Communication Interface) bus data synchronization method based on RTX (Real Time eXpert) real-time extending subsystem |
| CN104811111A (en) * | 2015-04-10 | 2015-07-29 | 南阳市东福印务包装有限公司 | Permanent magnet synchronous motor control system for corrugated paperboard transverse cutting machine |
| CN106094663A (en) * | 2016-08-22 | 2016-11-09 | 上海交通大学 | A kind of multi-axis motion controller communication system based on RTX+DSP |
| CN109189107A (en) * | 2018-11-30 | 2019-01-11 | 南京长峰航天电子科技有限公司 | A kind of composite control method and system of multimode turntable |
| CN112787552A (en) * | 2019-11-04 | 2021-05-11 | Lg电子株式会社 | Device for driving a plurality of electric motors and electric apparatus comprising the device |
| CN112781615A (en) * | 2020-12-23 | 2021-05-11 | 中国航空工业集团公司北京航空精密机械研究所 | Gyro signal data acquisition system |
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