CN113726226B - Combined control system of combined turntable - Google Patents
Combined control system of combined turntable Download PDFInfo
- Publication number
- CN113726226B CN113726226B CN202110887499.2A CN202110887499A CN113726226B CN 113726226 B CN113726226 B CN 113726226B CN 202110887499 A CN202110887499 A CN 202110887499A CN 113726226 B CN113726226 B CN 113726226B
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- Prior art keywords
- turntable
- combined
- driver
- axis
- controller
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- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
Classifications
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position Or Direction (AREA)
- Machine Tool Units (AREA)
Abstract
The combined control system of the combined turntable comprises an RTX controller, a DSP controller, a combined turntable driver, a combined turntable and a power module, wherein the combined turntable driver comprises a three-axis turntable driver, a two-axis turntable driver and a translational turntable driver, and the combined turntable comprises a three-axis turntable motor, a two-axis turntable motor and a translational turntable motor; the RTX controller calculates the operation attitude angles of all shafting of the combined turntable 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 turntable driver and the DSP controller; after receiving the 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 turntable is difficult.
Description
Technical Field
The invention relates to a combined control system of a combined turntable.
Background
At present, the 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 situation, a joint control system suitable for the combined turntable system is needed to ensure that eight shafting systems run simultaneously, and the test requirement is met.
Disclosure of Invention
The present invention is directed to a combined control system for a combined turntable, so as to solve the above-mentioned problems in the prior art.
The technical scheme adopted for achieving the purpose is that the combined control system of the combined turntable comprises an RTX controller, a DSP controller, a combined turntable driver, a combined turntable and a power supply module; the combined turntable driver comprises a three-axis turntable driver, a two-axis turntable driver and a translation turntable driver; the combined turntable comprises a three-axis turntable motor, a two-axis turntable motor and a translation turntable motor; the RTX controller sends a control signal to a signal input end of the three-axis turntable driver, and simultaneously sends a control instruction to the DSP controller in real time; the DSP controller sends the resolved control signals to the signal input ends of the two-axis turntable driver and the translation table driver; the three-axis turntable driver, the two-axis turntable driver and the translation turntable driver respectively send PWM driving signals to correspond to the three-axis turntable motor, the two-axis turntable motor and the translation turntable motor.
Further, the RTX controller comprises an RTX expansion 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 connected with the RTX controller, the DSP controller, the three-axis turntable driver, the two-axis turntable driver and the translation turntable driver respectively.
Advantageous effects
Compared with the prior art, the invention has the following advantages.
The invention comprises an RTX controller, a DSP controller, a combined turntable driver and a combined turntable, and has the advantages of simple control structure, convenient use and strong universality.
Drawings
The present invention is described in further detail below with reference to the accompanying drawings.
FIG. 1 is a schematic block diagram of the present invention;
fig. 2 is a schematic structural diagram of a combined control system of the combined turntable.
Detailed Description
The invention is further described below with reference to examples and figures.
As shown in fig. 1 and 2, a combined control system of a combined turntable comprises an RTX controller 1, a DSP controller 2, a combined turntable driver 3, a combined turntable 4 and a power module 5; the combined turntable drive 3 comprises a three-axis turntable drive 31, a two-axis turntable drive 32 and a translation turntable drive 33; the combined turntable 4 comprises a three-axis turntable motor 41, a two-axis turntable motor 42 and a translation turntable motor 43; the RTX controller 1 sends a control signal to a signal input end of the three-axis table driver 31, and simultaneously sends a control command 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 transmit PWM driving signals corresponding 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 expansion module 11; the RTX controller 1 sends a control signal to the signal input end of the three-axis table driver 33 through the RTX expansion module 11, and the RTX controller 1 sends a control command to the DSP controller 2 in real time through the RTX expansion module 11.
The RTX controller 1 is in communication connection with a user upper computer 6.
The power module 5 is connected to 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, respectively.
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 control signals to a signal input end of the combined rotary table driver 3 and sending control instructions to the DSP controller 2 in real time; the DSP controller 2 is used for receiving the control instruction of the RTX controller 1 and sending the resolved control signal to the signal input end of the combined turntable driver 3; the power input end of the combined turntable driver 3 is used for receiving alternating voltage, and the power output end is used for converting the direct voltage after voltage inversion to the combined turntable 4; and the combined turntable 4 is used for driving each shaft system of the turntable 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 control instructions 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 control instructions of the RTX controller 1 and send control signals of the combined turntable driver.
The combined turntable driver 3 consists of drivers of each shafting of the three-axis turntable, the two-axis turntable and the translation turntable, and can receive control signals of the RTX controller 1 and the DSP controller 2 and drive the combined turntable 4.
The combined turntable 4 comprises a three-axis turntable, a two-axis turntable and a driving motor for translating each axis of the turntable, and can receive PWM driving signals of the combined turntable driver 3 and drive each axis of the turntable to move to a specified gesture.
The RTX controller 1 sends control instructions to the DSP controller 2 in real time through the RTX expansion module 11, synchronously generates analog quantity control signals of the three-axis turntable driver 31, and drives each axis of the three-axis turntable to operate. The DSP controller 2 generates analog control signals of the two-axis turntable driver 32 and the translation turntable driver 33 synchronously according to the received control command through resolving and converting, and drives each axis system of the two-axis turntable and the translation turntable to operate to a specified position. The combined control system takes an RTX controller 1 as a control core, calculates the operation attitude angles of eight shafting of the combined turntable system according to a control instruction sent by a user upper computer 6, and completes the test of the user optical system through the cooperation of the combined turntable system, the DSP controller 2 and a corresponding shafting driver.
In the implementation of the invention, the RTX controller 1 and the DSP controller 2 are fixedly arranged in a control cabinet, the combined turntable driver 3 and the power 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 for translating each axis system of the turntable. The RTX controller 1 and the DSP controller 2 send control signals to the combined turntable driver 3 through a connecting cable to drive the combined turntable motor to run, so that the running gesture control of eight shafting systems of the combined turntable system is completed, and the test of the optical system of a user is completed.
After receiving a control instruction sent by the user upper computer 6, the RTX controller 1 calculates the running attitude angles of eight shafting of the combined turntable system, and sends a control signal and a control instruction to the three-axis turntable driver 31 and the DSP controller 2 simultaneously through the RTX expansion module 11. After receiving the control command sent by the RTX controller 1, the DSP controller 2 synchronously generates control signals of the two-axis turntable driver 32 and the translation turntable driver 33 through resolving and converting, so that synchronous operation of the three-axis turntable, the two-axis turntable and the translation turntable is realized, and a test gesture required by a user is achieved.
Claims (3)
1. A combined control system of a combined turntable comprises an RTX controller (1), a DSP controller (2), a combined turntable driver (3), a combined turntable (4) and a power supply module (5); the combined turntable driver (3) is characterized by comprising a three-axis turntable driver (31), a two-axis turntable driver (32) and a translation turntable driver (33); the combined turntable (4) comprises a three-axis turntable motor (41), a two-axis turntable motor (42) and a translation turntable 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 signals to 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 correspond 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 expansion module (11); the RTX controller (1) sends a control signal to a signal input end of the three-axis turntable driver (31) 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).
2. The combined control system of a combined turntable according to claim 1, characterized in that the RTX controller (1) is in communication connection with a user host computer (6).
3. A combined turntable joint control system according to claim 1, characterized in that the power supply module (5) is connected to the RTX controller (1), the DSP controller (2), the three-axis turntable drive (31), the two-axis turntable drive (32) and the translation turntable drive (33), respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110887499.2A CN113726226B (en) | 2021-08-03 | 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 | 2021-08-03 | Combined control system of combined turntable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113726226A CN113726226A (en) | 2021-11-30 |
| CN113726226B true CN113726226B (en) | 2024-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110887499.2A Active CN113726226B (en) | 2021-08-03 | 2021-08-03 | Combined control system of combined turntable |
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| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7345449B2 (en) * | 2005-08-29 | 2008-03-18 | Benshaw, Inc. | Method of rotating a polyphase motor at less than rated speed |
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2021
- 2021-08-03 CN CN202110887499.2A patent/CN113726226B/en active Active
Patent Citations (10)
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| 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 |
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| CN113726226A (en) | 2021-11-30 |
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