CN117234136A - Mixing control system and method for CAN bus type servo and impulse type servo - Google Patents
Mixing control system and method for CAN bus type servo and impulse type servo Download PDFInfo
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Abstract
The invention relates to a mixed-lap control system and a mixed-lap control method of CAN bus type servo and impulse type servo, wherein the mixed-lap control system comprises a CAN bus controller and a main board, a CAN (controller area network) to impulse module connected with the CAN bus controller, the CAN bus controller is connected with a plurality of CAN bus servo, the CAN to impulse module is connected with a plurality of impulse type servo, the CAN to impulse module converts CAN data of the CAN bus controller into impulse data, the impulse data is input to the impulse type servo, and the position of the impulse type servo and a motor is controlled. The beneficial effects of the invention are as follows: the bus type servo and the pulse type servo are controlled by the same controller, so that the manufacturing cost of mixing and lapping is reduced, convenience is provided for users, and the synchronization of interpolation position control of the bus type servo and the pulse type servo is realized. The track precision is ensured by an interpolation algorithm, and the track precision of the climbing and descending of the S curve can reach 0.02 millimeter.
Description
Technical Field
The invention relates to the technical field of industrial robot control, in particular to a mixed lap control system and method of CAN bus type servo and impulse type servo.
Background
The CAN bus servo system is connected with a plurality of CAN bus servo systems through a CAN bus controller to control. Because bus type wiring is extremely simple, the control wiring of tens or even hundreds of motors can be completed only by connecting out two wires, and wiring layout becomes easy and wires are saved. However, because the pulse type control end directly sends a pulse signal to the driving end through the cable, the step out exists in the pulse transmission process, and the signal delay is caused by limited pulse transmission speed, so that the possibility of multi-axis asynchronism is higher, the longer the cable is, the more synchronous motors are, and the worse the synchronism is.
The existing controllers, the bus type servo and the pulse type servo cannot be mixed in the same set of controllers and meet the requirement of the synchronous control of the interpolation positions of the two controllers. When the hybrid control is needed and the requirement of synchronism is met, two different controllers are needed, then motors to be synchronized are planned to the same controller, the manufacturing cost is increased, and the use of users is inconvenient. The bus type controller can only control bus type servo, the pulse type controller can only control pulse type servo, and can not store interpolation position data, and can not realize synchronous control with the interpolation position track of the bus type servo, and the bus type servo and the pulse type servo can not be controlled by the same set of controller in a mixed way.
The Chinese patent with publication number of CN102109836A discloses an expandable and cuttable multi-axis motion control system, which realizes the mixed control of bus type and impulse type servo, takes charge of the communication control of the internal bus of the system through an FPGA base plate and the communication control of the internal bus of the system through an FPGA chip, and obtains multi-axis servo impulse instructions in the form of impulse signals through the processing of the FPGA chip, and then sends the multi-axis servo impulse instructions to each servo driving shaft of the impulse type servo driving system through a multi-axis impulse servo driving slot so as to realize multi-axis motion control. However, through FPGA base plate control and signal transfer, not only is the cost high, but also the two kinds of data are difficult to realize synchronization. The patent does not technically realize that bus interpolation data are converted into pulse square waves, and when the bus interpolation data are converted into the pulse square waves, the real-time performance of the bus interpolation data and the real-time performance of the bus interpolation data are synchronous, so that the technical requirement is high.
Disclosure of Invention
The invention aims to realize a mixed-lap control system and method of CAN bus type servo and impulse type servo controlled by the same controller, reduce poor data synchronism and improve curve precision. The method is realized by the following technical scheme.
The mixed lap control system comprises a CAN bus controller, a main board, a CAN pulse conversion module connected with the CAN bus controller, wherein the CAN bus controller is connected with a plurality of CAN bus servos, the CAN pulse conversion module is connected with a plurality of pulse servos, the CAN pulse conversion module converts CAN data of the CAN bus controller into pulse data and inputs the pulse data into a pulse servo driver to perform position positioning control on the pulse servo driver and a motor.
A mixing and overlapping control method of CAN bus type servo and impulse type servo comprises the following steps:
step 1, accumulating by using scanning cycle time as a unit by a CAN bus controller, calculating by an acceleration and deceleration filter, and performing FIFO processing by two-stage filtering to form an S-curve motion track;
and step 2, in the process of sending the instruction of the interpolation communication line segment, adjusting the S curve according to the received feedback data.
Further, an interpolation line segment value y is obtained, then y is converted into 16-system data, and the 16-system data is transmitted to a main board, a CAN bus type servo driver and a CAN pulse generator module through a CAN bus.
Interpolation algorithm formula: y= ((((a x+b) x+c) x+d) x+e)
a = time unit;
b = speed unit;
c=speed difference ratio;
d = speed;
e = position;
x = interpolation time.
The beneficial effects are that: the bus type servo and the pulse type servo are controlled by the same controller, so that the manufacturing cost of mixing and lapping is reduced, convenience is provided for users, and the synchronization of interpolation position control of the bus type servo and the pulse type servo is realized. The track precision is ensured by an interpolation algorithm, and the track precision of the climbing and descending of the S curve can reach 0.02 millimeter.
Drawings
Fig. 1 is a block diagram of a mashup control system in an embodiment of the present invention.
Fig. 2 is a flowchart of a mashup control method in an embodiment of the present invention.
FIG. 3 is a graph of an adjusted external speed command in an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, a mixed-lap control system of a CAN bus type servo and a pulse type servo comprises a CAN bus controller, a main board, and a CAN pulse conversion module connected with the CAN bus controller, wherein the CAN bus controller is connected with a plurality of CAN bus servos, the CAN pulse conversion module is connected with a plurality of pulse type servos, the CAN pulse conversion module converts CAN data of the CAN bus controller into pulse data, the pulse data is input to the pulse type servos, and position positioning control is performed on the pulse type servos and motors.
The CAN bus controller is connected with the main board and the CAN pulse generator module in series. The CAN communication data originate from the CAN bus controller and are issued to the main board, the CAN bus servo driver and the CAN pulse conversion generator module from the CAN bus controller, and the CAN pulse conversion generator module receives the communication data issued by the CAN bus controller and converts the digital quantity of communication into analog quantity and issues the analog quantity to the pulse servo driver in the form of pulse square wave.
In the embodiment of the invention, the CAN interface circuit consists of a CAN transceiver TJA1042T/3, a CAN controller TJA1042T/3, HC32F460PETB, R5F562N8BDFB#V0 singlechip and other devices. TJA1042T/3 is used as an interface between the CAN controller and the physical bus, CAN provide differential transmission capability to the bus and differential receiving capability to the controller, and has high speed, instant interference resistance and bus protection capability.
The CAN controller selects TJA1042T/3 chip produced by Enzhi pump company, supports all functions of a physical layer and a data link layer of CAN-BUS, has multi-main structure, has grouping and broadcasting message functions, has strong error processing capability due to the fact that the BUS access priority depends on a message identifier, and is flexible in configuration and allows local area network expansion.
R5F562N8BDFB#V0 is the core of the servo control card, and it implements the application layer protocol of communication. The singlechip realizes communication with the CAN bus controller by accessing a register of TJA 1042T/3. The receiving register and the transmitting register of the CAN controller TJA1042T/3 are used for temporarily storing the received and transmitted data. The singlechip HC32F460PETB transmits data, the command register of TJA1042T/3 is set to transmit command bits, the data receiving is realized in an interrupt mode, and the CAN controller chip provides interrupt pins required by interrupt.
When the servo driver is operated in a position mode, a pulse sequence is required as a control signal. After the CAN bus servo driver receives communication data issued by the CAN bus controller, the position of the corresponding motor is controlled, the motor feeds back the current position to the CAN bus servo driver in real time, and the CAN bus servo driver feeds back the position feedback received by the CAN bus servo driver and transmits the feedback data to the CAN bus controller at the first time.
When the pulse servo driver receives the pulse square wave data issued by the CAN-to-pulse generator module, the corresponding motor CAN be subjected to position control, the motor CAN feed back the current position to the pulse servo driver in real time, the pulse servo driver feeds back the position feedback received by the pulse servo driver, the CAN-to-pulse generator module feeds back feedback data at the first time, and the CAN-to-pulse generator module also feeds back the feedback data to the CAN bus controller at the first time when receiving the feedback data.
The whole example process realizes the full closed loop control of the system and ensures the control of the position accuracy of the motor. The whole CAN bus control realizes strong anti-interference capability and strong signal.
To solve the problem of the mixing control of the bus type servo and the impulse type servo. The invention converts CAN data of the controller into pulse data through the CAN-to-pulse module, and then performs position location control on the pulse servo and the motor. The CAN bus type servo and the pulse type servo CAN be used for carrying out position positioning control on the same CAN bus controller, and the CAN bus type servo and the pulse type servo are very convenient and flexible to use and CAN be mixed and lapped at will.
As shown in fig. 2, a mixing control method of a CAN bus type servo and a burst type servo includes the following steps:
s1, a CAN bus controller CAN detect real-time positions fed back by a servo motor in the whole process, accumulate by taking scanning period time as a unit, calculate through an acceleration and deceleration filter, and perform FIFO processing through secondary filtering to form a motion track;
s2, subdividing the whole motion track into a plurality of small line segments, establishing position closed-loop control of a PID with an encoder of a servo motor, and adjusting the motion track by an interpolation algorithm according to received feedback data in the process of sending out an interpolation communication line segment instruction so that the motion track forms a smooth curve track.
In S1, the interpolation algorithm is used, and the accumulation (time interruption triggered by crystal oscillator frequency) in the unit of the scanning cycle time of the chip system is processed by the kernel code operation (S-word calculation process) of the acceleration/deceleration filter and the FIFO processing is performed by the two-stage filtering, so as to form the S-curve motion track.
In S2, in the process of sending the interpolation communication line segment instruction, corresponding adjustment of the S curve is carried out according to the received feedback data, so that a perfect S curve running track can be finally obtained. The technical difficulty is that the track precision of the climbing and descending of the S-shaped curve is controlled, so that the motor is very flexible in the starting and stopping processes.
The computational formula of the interpolation algorithm:
double a，b，c，d，e，x，y；
a = time unit; the method comprises the steps of carrying out a first treatment on the surface of the
b = speed unit;
c=speed difference ratio;
d = speed; the method comprises the steps of carrying out a first treatment on the surface of the
e = position; the method comprises the steps of carrying out a first treatment on the surface of the
x = interpolation time; the method comprises the steps of carrying out a first treatment on the surface of the
y＝(((a＊x+b)＊x+c)＊x+d)＊x+e；
In the embodiment of the invention, the specific implementation process of the interpolation algorithm is as follows:
calling an interpolation algorithm to obtain line segment values: segment value y= (((a x+b) x+c) x+d) x+e; before interpolation conversion, firstly obtaining:
target position tgt_pos;
an initial speed of 1 st_spd;
target speed tgt_spd;
initial acceleration 1 st_acc;
target acceleration tgt_acc.
Step S1: the calculation process of the value of the time unit a is as follows:
calculating the difference a= (V1-V0) between the next target speed V1 and the current interpolation time speed V0;
the algorithm formula of the conversion a process is as follows:
step S11, initial acceleration:
A0＝a＊(1st＿acc＊0.000001)；
step S12, target acceleration:
A1＝a＊(tgt＿acc＊0.000001)；；
X＝V1－V0－A0；；
Y＝A1－A0；；
a＝－2.0＊X+Y；；
step S13, obtaining a1 millimeter line segment speed value:
r＝1.0/t；
step S14, carrying out square operation on the speed r: rr=r×r;
step S15, finally, the value of a is converted:
a＊＝(1.0/4.0)＊rr＊r。
step S2: and (3) calculating to obtain: the value of the speed unit b, wherein the parameters X, Y and rr are already obtained in the step S1, is calculated as follows:
step s21, b=3.0X-Y;
step S22, finally converting the value of b:
b＊＝(1.0/3.0)＊rr。
step S3, calculating to obtain: the time unit speed difference ratio c value, the A0 and the r parameters are already obtained in the step S1, and the calculation process is as follows:
step S31, converting the algorithm formula of the c process is as follows:
c＝A0；
step S32, finally, the value of c is converted:
c＊＝(1.0/2.0)＊r。
step S4, calculating to obtain: the values of the velocity d, in which the V0 and X and a and b and c parameters have been found in the preceding steps, are calculated as follows:
step S41, converting the algorithm formula of the process d as follows: d=v0;
step S42, finally converting the value of d:
d＝a＊X＊X＊X＊X+b＊X＊X＊X+c＊X＊X+d＊X；
step S5, calculating to obtain: the position e values, X and a and b and c and d parameters have been found in the previous step and the calculation process is as follows:
e＝4＊a＊X＊X＊X+3＊b＊X＊X+2＊c＊X+d。
step S6, calculating to obtain: the interpolation time x value of the position e value is calculated as follows:
step S61, converting the algorithm formula of the x process as follows:
x＝V1－V0；
x＊＝((A0－A1)＊0.000001+6.0)；
step S62, finally converting the value of x:
x＊＝(1.0/12.0)；
wherein the V1 and V0 and A1 parameters are already obtained in the step S1.
And S7, finally converting the interpolation bit value y into an algorithm formula as follows:
y＝(((a＊x+b)＊x+c)＊x+d)＊x+e。
and obtaining an interpolation line segment value y, converting the value y into 16-system data, and transmitting the 16-system data to a main board, a CAN bus type servo driver and a CAN pulse generator module through a CAN bus. In the process of controlling the servo motor, the CAN bus controller CAN detect the real-time position fed back by the servo motor in the whole process, and then carries out corresponding interpolation adjustment according to the real-time position fed back, so that the track precision is ensured, and the climbing and descending track precision of the S curve CAN reach 0.02 millimeter, as shown in fig. 3.
The CAN bus controller obtains the interpolation position data obtained by the interpolation algorithm formula, and sends the interpolation position data to a data buffer zone of the bus type servo and CAN pulse generator module through the CAN bus, the CAN bus controller sends a synchronous command to the bus type servo and CAN pulse generator module according to the period of 8 milliseconds, the bus type servo and CAN pulse generator module receives the synchronous command at the same time, and simultaneously, the servo motor is subjected to one-time synchronous position control according to the data stored in the data buffer zone, so that the synchronous control of the bus type servo and pulse type servo interpolation position track is realized.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A mixing and overlapping control method of CAN bus type servo and impulse type servo is characterized in that a CAN bus controller is configured, and the CAN bus controller is connected with a plurality of CAN bus servo and impulse type servo, comprising the following steps:
step 1, a CAN bus controller CAN detect real-time positions fed back by a servo motor in the whole process, accumulate the real-time positions by taking scanning period time as a unit, calculate the accumulated positions by an acceleration and deceleration filter, and perform FIFO (first in first out) processing by two-stage filtering to form a motion track;
and 2, subdividing the whole motion track into a plurality of small line segments, establishing position closed-loop control of a PID (proportion integration differentiation) with an encoder of a servo motor, and adjusting the motion track by an interpolation algorithm according to received feedback data in the process of sending out an interpolation communication line segment instruction so that the motion track forms a smooth curve track.
2. The method for mixing and controlling the CAN bus type servo and the pulse type servo according to claim 1, wherein the interpolation position data obtained by the interpolation algorithm is issued to a data buffer area of the bus type servo and the CAN pulse generator module by the CAN bus controller, the CAN bus controller periodically issues a synchronous command to the bus type servo and the CAN pulse generator module, the bus type servo and the CAN pulse generator module receive the synchronous command at the same time, and simultaneously, the servo motor is subjected to one-time synchronous position control according to the data stored in the data buffer areas, so that the synchronous control of the interpolation position track between the CAN bus type servo and the pulse type servo is realized.
3. The method for controlling the mixing and lapping of the CAN bus type servo and the pulse type servo according to claim 1, wherein the interpolation line segment value y is obtained through an interpolation algorithm formula, then y is converted into 16-system data, and the 16-system data is transmitted to a main board, a CAN bus type servo driver and a CAN pulse generator module through a CAN bus.
4. The CAN bus type servo and burst type servo mixing control method according to claim 1, wherein the interpolation algorithm is calculated by adopting the following formula: double a, b, c, d, e, x, y;
obtaining the interpolated line segment value y= (((a x+b) x+c) x+d) x+e;
wherein: a = time unit;
b = speed unit;
c=speed difference ratio;
d = speed;
e = position;
x = interpolation time.
5. The mixing control system of the CAN bus type servo and the pulse type servo comprises a CAN bus controller and a main board, and is characterized by further comprising a CAN pulse conversion module connected with the CAN bus controller, wherein the CAN bus controller is connected with a plurality of CAN bus servos, the CAN pulse conversion module is connected with a plurality of pulse type servos, the CAN pulse conversion module converts CAN data of the CAN bus controller into pulse data and inputs the pulse data into the pulse type servos, the pulse type servos and a motor are subjected to position location control, the CAN bus servos and the CAN pulse conversion module simultaneously carry out position control on the servo motor after receiving a synchronous frame at the same moment, so that data synchronization is realized, the CAN bus controller CAN detect real-time positions fed back by the servo motor in a whole process, and then corresponding interpolation adjustment is carried out according to the fed back real-time positions.
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| CN202211366568.6A CN115685887A (en) | 2022-11-02 | 2022-11-02 | CAN bus type servo and pulse type servo mixed-matched control system and method |
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| CN202311443322.9A Pending CN117234136A (en) | 2022-11-02 | 2023-11-01 | Mixing control system and method for CAN bus type servo and impulse type servo |
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| CN100517149C (en) * | 2008-01-17 | 2009-07-22 | 上海交通大学 | Distributed soldering point quality monitoring system and method |
| CN102109836B (en) * | 2009-12-24 | 2013-07-17 | 广州市诺信数字测控设备有限公司 | Expandable and cuttable multi-shaft movement control system and method |
| CN202929431U (en) * | 2012-11-26 | 2013-05-08 | 沈阳职业技术学院 | Embedded type real time numerical control system |
| CN203366094U (en) * | 2013-07-03 | 2013-12-25 | 山东科技大学 | A single-axis servo motion controller based on a CAN bus |
| CN217689820U (en) * | 2022-06-13 | 2022-10-28 | 范德威尔（中国）纺织机械有限公司 | Multi-machine synchronous control system |
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