CN1373400A - Both open-loop and closed-loop motion controller - Google Patents
Both open-loop and closed-loop motion controller Download PDFInfo
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- CN1373400A CN1373400A CN 01131583 CN01131583A CN1373400A CN 1373400 A CN1373400 A CN 1373400A CN 01131583 CN01131583 CN 01131583 CN 01131583 A CN01131583 A CN 01131583A CN 1373400 A CN1373400 A CN 1373400A
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Abstract
A movement controller for precisely controlling the position and speed of AC, DC or step motor is a feedback loop formed by connecting microprocessor via bus interface to relative unit circuits. Its movement feedback unit is formed by connecting the position feedback processor and the feedback by-pass of signal controller via selective switch to the position counter. Said signal controller is a pulse signal generator. Said microprocessor is a TMS320 DSP. Other circuits are integrated on two isp LS13256 chips. It has high integrated level.
Description
Technical field: the present invention relates to fields of numeric control technique, relate in particular to the technological improvement and the innovation of the motion controller of band feedback control loop.
Background technology: current, movement control technology is in the ascendant in the Numeric Control Technology, motion controller makes many equipments of industrial product shine vitality with its distinctive dirigibility and outstanding movement locus control ability, just be unable to do without motion controller as long as we can say the occasion of motor application.But present motion controller, control the movement locus of four motors simultaneously though can accomplish a card, but require all motors or for the AC/DC motor or for stepper motor, promptly or be closed loop/half-closed loop control pattern or open loop control mode, can not accomplish all-purpose card with close, two kinds of control models of open loop promptly: open-loop control system is used for stepper motor, is not with feedback; And the close-loop feedback control system is used for the AC/DC motor.Because above-mentioned difference, therefore, 1. traditional motion controller need design different software, hardware respectively, thereby construction cycle growth, cost of development are increased, and has improved the difficulty of user's grasp and use motion controller; 2. in the open loop motion controller of stepper motor, the normal middle large scale integrated circuit that adopts some special uses realizing the speed and the location positioning of stepper motor, but often exists pulse inadequately evenly or umber of pulse is inaccurate, the required peripheral devices of microprocessor is more so that influence the stability and the reliability of total system as gating pulse output frequencies such as 8253,8254 and pulse output number; 3. can not adopt servo filter to improve system performance in the open cycle system.
Summary of the invention: technical matters to be solved by this invention is will provide a kind of and can both make exact position and speed control, integrated level height to AC and DC and stepper motor, make switching easy to use and encircle universal motion controller.
For this reason, technical scheme of the present invention is: a kind of both open-loop and closed-loop motion controller, be by microprocessor, by the following feedback control loop that is connected to form of bus interface and relevant element circuit promptly: bus interface → signaling control unit circuit → motor driver → motor → photoelectric tracer → motion feedback element circuit → bus interface, it is characterized in that: described motion feedback element circuit, be to be connected with location counter by selector switch with the feedback bypass of signaling control unit circuit by the position feedback treatment circuit to constitute, that is: the input end of described position feedback treatment circuit connects the output circuit and the receiving position square-wave signal of the photoelectric tracer of AC/DC motor, and output terminal connects being subjected to the choosing end and exporting the commutation pulse signal of selector switch; Another of the feedback bypass connection selector switch of described signaling control unit circuit is subjected to choosing end and direct output motor control wave; The input end of described location counter connects selector switch main separation end and received pulse signal, by output terminal output count signal.
Described bus interface comprises: data selection circuit, address decoder, and wherein the data selection circuit inlet connects the output terminal of each location counter, and outlet connects the data bus of microprocessor; The address decoder inlet connects the address and the control bus of microprocessor, and outlet connects the gating end of each signaling control unit circuit and controlled mouthful of data selection circuit.
Described signaling control unit circuit is a pulse signal generator, its input end connects the data bus of microprocessor and receives servosignal, the address decoder outlet of its gating end junctor highway interface also receives the addressing signal, and its output terminal connects described feedback bypass and connects motor driver and output motor control wave.
The data selection circuit of described signaling control unit circuit, motion feedback element circuit, bus interface, address decoder all are to be combined by Programmable Logic Device; Wherein, every road signaling control unit circuit and motion feedback element circuit connect a motor, and described each selector switch also is connected with an outside selector switch.
Described signaling control unit circuit, motion feedback element circuit, the data selection circuit of bus interface, address decoder are to form at the inner sintering curing of the extensive logic circuit chip of In-System Programmable (ISP) that two models are ispLSI3256, wherein, the data selection circuit of described outside selector switch and bus interface, address decoder all connect four road signaling control unit circuit and motion feedback element circuit.
Described microprocessor, be that a slice model is the DSP chip (DSP) of TMS320, comprise four functional modules: wherein parameter storage block, trajectory planning piece, servocontrol piece are connected to form loop in proper order, and connect and compose with the interrupt management piece respectively.
Described both open-loop and closed-loop motion controller comprises that assemblies such as signaling control unit circuit, motion feedback element circuit, bus interface, microprocessor all install concentratedly at half long card (on the circuit board of 122mm * 185mm).
Owing to adopted above-mentioned improvement, the present invention has following advantage:
Because the bypass of a feedback of shunting is connected to the location counter input end from the signaling control unit circuit, gating pulse from the motor driver joint is passed through internal feedback, the same with square-wave signal from the photoelectric tracer of AC/DC motor, all can enter the feedback closed loop system, make producer design soft, hardware respectively at open loop and closed-loop control, and can be, thereby have shortened the construction cycle, reduced cost of development according to soft, the hardware of unified closed-loop control system design;
The above-mentioned circuit structure of introducing the interior location feedback in open cycle system, make the user can be as required, switching by outside selector switch realizes that same controller is common to closed-loop control and traditional two kinds of situations of open loop control, can control multiple servomotor, expanded the function of motion controller, and made things convenient for the user to grasp and use motion controller;
Can unify to adopt closed loop servo filtering and control circuit, some numerous and diverse unnecessary integrated circuit and peripheral devices in the open loop control have been saved, and improved the control performance of system, the servocontrol cycle can reach the 0.05ms/ axle, signal output circular error is 0.1us only, and maximum output pulse frequency can reach 1MHz;
But in-system programming, opening, interchangeability, portability and extendability are strong: can be by realize motion control through simple programming on PC, not necessarily need special numerical control software, also can carry out perfect track interpolation from software, the control linkage of high-level applications be can set up easily, high-performance and miniaturization realized equipment such as robot, lathes;
The concrete scheme that motion controller hardware using DSP, ISP combine, have that peripheral components is few, hardware configuration is simple, level of integrated system and degree of flexibility height, have multiple Planning Model (T type, S curve, single speed, electric tooth, directly defeated isotype) and cooperate advantages such as PID+ feedforward servo algorithm, can half long card (motion control circuit of four of integrating three kinds (AC/DC, stepping) or more motors on the circuit board of 122mm * 185mm), but and the type combination in any of motor adopt;
Based on said structure,, also both open-loop and closed-loop motion controller of the present invention can be connected and composed ISA or pci bus formula, parallel port formula, serial network formula motion controller according to different needs.
Description of drawings: the present invention is made an explanation below in conjunction with accompanying drawing:
Fig. 1 is the schematic block circuit diagram of the embodiment of the invention.
Fig. 2 is the internal circuit wiring diagram of two ISP chips of the embodiment of the invention.
Fig. 3 is the functional block diagram of the microprocessor dsp chip of the embodiment of the invention.
Embodiment: as shown in Figure 1: a kind of both open-loop and closed-loop motion controller, be by microprocessor 1, by the following feedback control loop that is connected to form of bus interface 2 and relevant element circuit promptly: bus interface 2 → signaling control unit circuit 3 → motor driver 5 → motor 6 → photoelectric tracer 7 → motion feedback element circuit 4 → bus interface 2, it is characterized in that: described motion feedback element circuit 4, be to be connected with location counter 4-3 by selector switch 4-2 with the feedback bypass 3-1 of signaling control unit circuit 3 by position feedback treatment circuit 4-1 to constitute, that is: the input end of described position feedback treatment circuit 4-1 connects the output circuit and the receiving position square-wave signal of the photoelectric tracer 7 of AC/DC motor, and output terminal connects being subjected to the choosing end and exporting the commutation pulse signal of selector switch 4-2; Another of the feedback bypass 3-1 connection selector switch 4-2 of described signaling control unit circuit 3 is subjected to choosing end and direct output motor control wave; The input end of described location counter 4-3 connects main separation end and the received pulse signal of selector switch 4-2, by output terminal output count signal.
Described bus interface comprises: data selection circuit 2-1, address decoder 2-2, and wherein data selection circuit 2-1 inlet connects the output terminal of each location counter 4-3, and outlet meets the data bus DD of microprocessor 1; Address decoder 2-2 inlet meets the address bus DA and the control bus DC of microprocessor 1, and address decoder 2-2 outlet connects the gating end of each signaling control unit circuit 3 and controlled mouthful of data selection circuit 2-1.
Described signaling control unit circuit 3 is pulse signal generators, its input end connects the data bus DD of microprocessor 1 and receives servosignal, the outlet of the address decoder 2-2 of its gating termination bus interface 2 also receives the addressing signal, and its output terminal connects described feedback bypass 3-1 and connects motor driver 5 and output motor control wave.
The data selection circuit 2-1 of described signaling control unit circuit 3, motion feedback element circuit 4, bus interface 2, address decoder 2-2 are combined by Programmable Logic Device; Wherein, every motor 6 connects one road signaling control unit circuit 3 and motion feedback element circuit 4, and described each selector switch 4-2 also is connected with an outside selector switch 8.
Described microprocessor 1 comprises four functional modules: wherein parameter storage block 1-1, trajectory planning piece 1-2, servocontrol piece 1-3 are connected to form loop in proper order, connect and compose with interrupt management piece 1-4 respectively again;
Described both open-loop and closed-loop motion controller comprises that assemblies such as signaling control unit circuit 3, motion feedback element circuit 4, bus interface 2, microprocessor 1 all install concentratedly at half long card (on the circuit board of 122mm * 185mm).
As shown in Figure 2: the data selection circuit 2-1 of described pulse signal generator 3, motion feedback element circuit 4, bus interface 2, address decoder 2-2 form at the inner sintering curing of the extensive logic circuit chip of In-System Programmable (ISP) that two models are ispLSI3256, wherein, described outside selector switch 8 connects the SO pin (one of them selector switch of only drawing among the figure) of four selector switch 4-2 respectively by 1,3,5,7 pin, switches four selector switch 4-2 to implement 7 controls of an external switch; The data selection circuit 2-1 of bus interface 2 connects the D pin (one of them location counter only draws among the figure) of four location counter 4-3 respectively by A, B, C, D pin, to handle four road position count signals simultaneously; Address decoder 2-2 connects No. four pulse signal generators 3 respectively by PULSE1,2,3,4 pin WR pin is with transmission addressing signal (wherein No. one pulse signal generator only draws among the figure), connect S0, S1, S2, the S3 pin of data selection circuit 2-1 with transmission of control signals by COUNTER1,2,3,4, pin.
Described motion feedback element circuit 4, be that feedback bypass 3-1 by position feedback treatment circuit 4-1 and pulse signal generator 3 is connected with selector switch 4-2 respectively, and selector switch 4-2 connects and composes with location counter 4-3 again, wherein: the input end A of described position feedback treatment circuit 4-1, B, the Z pin connects the output circuit A1 of the photoelectric tracer 7 of AC/DC motor 6, B1, the Z1 pin, and receiving position square-wave signal, output terminal PULSE, the UP/DN pin connects the choosing that is subjected to of selector switch 4-2 and holds BO, the B1 pin is also exported commutation pulse signal (four motors connect four photoelectric tracers 7 and four position feedback treatment circuit 4-1, one of them road of all respectively drawing among the figure); Another of the PULSE of the feedback bypass 3-1 of described pulse signal generator 3, DIR pin connection selector switch 4-2 is subjected to choosing end AO, A1 pin and direct output motor control wave; The input end UP/DN of described location counter 4-3, PULSE pin connect selector switch 4-2 main separation end ZO, Z1 pin and received pulse signal, by output terminal D pin output count signal.
Described bus interface 2 comprises: data selection circuit 2-1, address decoder 2-2, and wherein data selection circuit 2-1 inlet A, B, C, D meet the output terminal D of four location counter 4-3, and outlet DD meets the data bus DD of microprocessor 1; Address decoder 2-2 inlet DA and RD, WR pin meet the address bus DA and the control bus DC of microprocessor 1.
Described pulse signal generator 3, its input end DD pin connects the data bus DD of microprocessor 1 and receives servosignal, and its gating end WR pin connects outlet and the reception addressing signal of the address decoder 2-2 of bus interface 2; Its output terminal PULSE, DIR pin connect described feedback bypass 3-1, and connect motor driver 5 (totally four motor drivers 5, only draw among the figure one of them) and output motor control wave by joint J1, J2.
As shown in Figure 3: described microprocessor 1, be that a slice model is digital signal processor (DSP) chip of TMS320, comprise four functional modules: wherein parameter storage block 1-1, trajectory planning piece 1-2, servocontrol piece 1-3 are connected to form loop in proper order, connect and compose with interrupt management piece 1-4 respectively again; Its data bus DD, address bus DA, with control bus DC respectively with the address decoder 2-2 of bus interface 2 and data selection circuit 2-1 is corresponding is connected (ginseng Fig. 2).
Now further specify the course of work of the present invention in conjunction with above-mentioned accompanying drawing:
At the described half long joint JI that blocks four road motor drivers of circuit board, J2 ... on the J8, connect four friendships respectively, direct current or stepper motor 6, and set the position of outside selector switch 8 for closed loop or inner closed loop (corresponding stepper motor) according to the actual motor type that is connect on each road, after starting power supply, microprocessor 1 is promptly according to the trajectory planning and the servocontrol pattern of prior setting, pick up feedback signal from four tunnel motion feedback element circuits 4 respectively by bus interface 2, and send control command to each road signaling control unit circuit 3 respectively, to realize that a card is simultaneously to three class (AC/DCs, stepping) four motors are done accurately, motion control efficiently.
Claims (7)
1, a kind of both open-loop and closed-loop motion controller, be by microprocessor, by the following feedback control loop that is connected to form of bus interface and relevant element circuit promptly: bus interface → signaling control unit circuit → motor driver → motor → photoelectric tracer → motion feedback element circuit → bus interface, it is characterized in that: described motion feedback element circuit, be to be connected with location counter by selector switch with the feedback bypass of signaling control unit circuit by the position feedback treatment circuit to constitute, that is: the input end of described position feedback treatment circuit connects the output circuit and the receiving position square-wave signal of the photoelectric tracer of AC/DC motor, and output terminal connects being subjected to the choosing end and exporting the commutation pulse signal of selector switch; Another of the feedback bypass connection selector switch of described signaling control unit circuit is subjected to choosing end and direct output motor control wave; The input end of described location counter connects selector switch main separation end and received pulse signal, by output terminal output count signal.
2, both open-loop and closed-loop motion controller as claimed in claim 1, it is characterized in that: described bus interface comprises: data selection circuit, address decoder, wherein the data selection circuit inlet connects the output terminal of each location counter, and outlet connects the data bus of microprocessor; The address decoder inlet connects the address and the control bus of microprocessor, and outlet connects the gating end of each signaling control unit circuit and controlled mouthful of data selection circuit.
3, both open-loop and closed-loop motion controller as claimed in claim 1 or 2, it is characterized in that: described signaling control unit circuit is a pulse signal generator, its input end connects the data bus of microprocessor and receives servosignal, the address decoder outlet of its gating end junctor highway interface also receives the addressing signal, and its output terminal connects described feedback bypass and connects motor driver and output motor control wave.
4, both open-loop and closed-loop motion controller as claimed in claim 3 is characterized in that: the data selection circuit of described signaling control unit circuit, motion feedback element circuit, bus interface, address decoder all are to be combined by Programmable Logic Device; Wherein, every road signaling control unit circuit and motion feedback element circuit connect a motor, and described each selector switch also is connected with an outside selector switch.
5, both open-loop and closed-loop motion controller as claimed in claim 4, it is characterized in that: described signaling control unit circuit, motion feedback element circuit, the data selection circuit of bus interface, address decoder are to form at the inner sintering curing of the extensive logic circuit chip of In-System Programmable (ISP) that two models are ispLSI3256, wherein, the data selection circuit of described outside selector switch and bus interface, address decoder all connect four road signaling control unit circuit and motion feedback element circuit.
6, both open-loop and closed-loop motion controller as claimed in claim 5, it is characterized in that: described microprocessor, be that a slice model is the DSP chip (DSP) of TMS320, comprise four functional modules: wherein parameter storage block, trajectory planning piece, servocontrol piece are connected to form loop in proper order, and connect and compose with the interrupt management piece respectively.
7, both open-loop and closed-loop motion controller as claimed in claim 6 is characterized in that: described both open-loop and closed-loop motion controller comprises that assemblies such as signaling control unit circuit, motion feedback element circuit, bus interface, microprocessor all install concentratedly at half long card (on the circuit board of 122mm * 185mm).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01131583 CN1373400A (en) | 2001-12-03 | 2001-12-03 | Both open-loop and closed-loop motion controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01131583 CN1373400A (en) | 2001-12-03 | 2001-12-03 | Both open-loop and closed-loop motion controller |
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| CN1373400A true CN1373400A (en) | 2002-10-09 |
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| CN 01131583 Pending CN1373400A (en) | 2001-12-03 | 2001-12-03 | Both open-loop and closed-loop motion controller |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587327B (en) * | 2008-05-21 | 2010-12-15 | 深圳市先阳软件技术有限公司 | Universal motion control system and control method on industrial control platform |
| CN102664584A (en) * | 2012-05-23 | 2012-09-12 | 东南大学 | Design structure of universal three-phase motor controller |
| CN102904513A (en) * | 2012-09-27 | 2013-01-30 | 中国科学院长春光学精密机械与物理研究所 | Processing method of spacing switch signals in control system driven by stepping motor |
| CN106426167A (en) * | 2016-10-14 | 2017-02-22 | 深圳四博智联科技有限公司 | Control system and method for crawler belt type monitoring robot |
-
2001
- 2001-12-03 CN CN 01131583 patent/CN1373400A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101587327B (en) * | 2008-05-21 | 2010-12-15 | 深圳市先阳软件技术有限公司 | Universal motion control system and control method on industrial control platform |
| CN102664584A (en) * | 2012-05-23 | 2012-09-12 | 东南大学 | Design structure of universal three-phase motor controller |
| CN102904513A (en) * | 2012-09-27 | 2013-01-30 | 中国科学院长春光学精密机械与物理研究所 | Processing method of spacing switch signals in control system driven by stepping motor |
| CN102904513B (en) * | 2012-09-27 | 2015-04-22 | 中国科学院长春光学精密机械与物理研究所 | Processing method of spacing switch signals in control system driven by stepping motor |
| CN106426167A (en) * | 2016-10-14 | 2017-02-22 | 深圳四博智联科技有限公司 | Control system and method for crawler belt type monitoring robot |
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