CN1752879A - Flexible digital type motion control system - Google Patents
Flexible digital type motion control system Download PDFInfo
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- CN1752879A CN1752879A CNA2005100962676A CN200510096267A CN1752879A CN 1752879 A CN1752879 A CN 1752879A CN A2005100962676 A CNA2005100962676 A CN A2005100962676A CN 200510096267 A CN200510096267 A CN 200510096267A CN 1752879 A CN1752879 A CN 1752879A
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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]
Abstract
The present invention relates to a flexible digital motion control system. It includes DSP processor and CPLD connected with DSP processor, CPLD includes bus control module connected with DSP processor, the bus control module is connected with IPC industrial control machine, and the bus control module is connected with digital motion pulse processor and embedded double-end RAM by means of internal bus, and the output end of the digital motion pulse processor is connected with servo motion control system. Said invention also provides the working principle of said system and its concrete application method.
Description
Technical field
The present invention relates to a kind of kinetic control system, particularly a kind of flexible digital type motion control system.
Background technology
At present the kinetic control system that adopts has: 1) IPC+NC is the approach that realizes that digital control system openingization is relatively more real, and will be the main flow that digital control system develops based on the motion controller IPC type digital control system in open type of computer standard bus wherein.Strong and open good characteristics and the TRAJECTORY CONTROL ability of motion controller effectively are grouped together this tactic pattern with the information processing capability of IPC machine, have that information processing capability is strong, degree of opening is high, motion control is accurate, universal good feature; 2) kinetic control system in the market, mostly be based on DSP, though it has very strong data-handling capacity, make kinetic control system reach higher motion control precision and speed, and and PC motion interface eaily is provided, but, because its design feature can't be accomplished opening truly.There are two shortcomings in it: the one, and the encapsulation immobilization of control algolithm: based on the kinetic control system of DSP, no matter be that analog quantity is output, still pulsed quantity is output, its motion control arithmetic (interpolating method) all is that the form with function is encapsulated in the dsp system program, IPC can realize and the communicating by letter and then realize macro-control such as linear interpolation to moving of DSP by two-port RAM or FIFO, circular interpolation etc., by these macro-control functions, the user can't understand the details of motion control arithmetic, be difficult to carry out the research of motion temporal properties, also be difficult under the high-speed motion situation, realize the interpolation of arbitrary curve.The 2nd, be difficult to be deep into the bottom control algorithm: further investigate the influence of control algolithm to the high-speed, high precision Position Tracking, the output port of necessary direct control motion control, but because the encryption of these system softwares, the user is difficult to find the port address of motion controller bottom, even known port address, also must be familiar with structure and the programming language of DSP, make very difficulty of research motion control arithmetic and high-speed, high precision motion control.
Summary of the invention
The objective of the invention is to overcome the shortcoming of above-mentioned prior art, a kind of flexible digital type motion control system is provided, with the degree of opening of raising kinetic control system and the dirigibility of use.
For achieving the above object, the technical solution used in the present invention is: comprise dsp processor and the complex programmable logic device (CPLD) that is connected with dsp processor, be characterized in, said complex programmable logic device (CPLD) comprises the bus control module that is connected with dsp processor, bus control module is connected with the IPC industrial computer, and bus control module also is connected with embedded both-end RAM with the digital moving pulse processor by internal bus, and the output terminal of digital moving pulse processor is connected with the servo motion control system.
Complex programmable logic device (CPLD) of the present invention also comprises output latch, input buffer, keyboard controller and the WDT controller that is connected with bus control module by internal bus; Said digital moving pulse processor comprises the read-write controller that is connected with internal bus, the output terminal of read-write controller and pulse restriction controller, position detector and speed/command pulse correcting register is connected, speed/command pulse correcting register is connected with the input end of motion impulse generator by speed heavy duty controller, speed/command pulse corrector, speed heavy duty controller and motion impulse generator are connected with the pulse output modulator by gauge tap K respectively, another output terminal of motion impulse generator also is connected with time clock, the pulse restriction controller, pulse output modulator and position detector also are connected with the servo motion control system respectively.
The present invention is a core with complex programmable logic device (CPLD) (Complex Programmable LogicDevice), realized that the IPC industrial computer is to the digital moving pulse processor, dsp processor is to the digital moving pulse processor, reach the data communication between IPC industrial computer and dsp processor and the peripheral hardware between IPC industrial computer and the dsp processor, it is fixing to have overcome existing kinetic control system algorithm encapsulation, be difficult to be deep into the shortcoming of motion control arithmetic inside, improve the degree of opening of kinetic control system greatly and used dirigibility, realized kinetic control system opening truly.
Description of drawings
Fig. 1 is the schematic diagram of compliant motion digital control system of the present invention;
Fig. 2 is the structure principle chart of digital moving pulse processor 4 of the present invention.
Embodiment
Below in conjunction with accompanying drawing structural principle of the present invention and principle of work are described in further detail.
Referring to Fig. 1, the complex programmable logic device (CPLD) 2 that the present invention includes dsp processor 1 and be connected with dsp processor 1, said complex programmable logic device (CPLD) 2 comprises the bus control module 5 that is connected with dsp processor 1, bus control module 5 is connected with IPC industrial computer 12, and bus control module 5 also is connected with embedded both-end RAM6 with digital moving pulse processor 4 by internal bus 3, the output terminal of digital moving pulse processor 4 is connected with servo motion control system 11, and complex programmable logic device (CPLD) 2 also comprises the output latch 7 that is connected with bus control module 5 by internal bus 3, input buffer 8, keyboard controller 9 and WDT controller 10.
Dsp processor 1 of the present invention and IPC industrial computer 12 are upper and lower computers of system, are used for programming and coordinate the operation of total system; Complex programmable logic device (CPLD) 2 utilizes hardware description language to make up functional modules such as internal bus 3, digital moving pulse processor 4, bus control module 5, embedded both-end RAM storer 6, output latch 7, input buffer 8, keyboard controller 9, WDT controller 10, not only realized the integrated function that just can finish of multiple hardwares circuit in the past, and simplified circuit, strengthened the antijamming capability of system.
The present invention can realize following five courses of work:
One, 12 pairs of bus control modules 5 of IPC industrial computer enable, and obtain internal bus 3 controls, by embedded both-end RAM6 numerical control program are downloaded in the dsp processor 1 then;
Two, 1 pair of bus control module 5 of dsp processor enables, and obtains internal bus 3 controls, then by digital moving pulse processor 4, realizes the independent control to servo motion control system 11;
Three, 12 pairs of bus control modules 5 of IPC industrial computer enable, and obtain internal bus 3 controls, then by digital moving pulse processor 4, realize the independent control to servo motion control system 11;
Four, 12 pairs of bus control modules 5 of dsp processor 1 and IPC industrial computer enable respectively, obtain internal bus 3 controls, by digital moving pulse processor 4, realize the thick control of 12 pairs of servo motion control system 11 of IPC industrial computer and the essence control of 1 pair of servo motion control system 11 of dsp processor then;
Five, 12 pairs of bus control modules 5 of dsp processor 1 or IPC industrial computer enable, and obtain internal bus 3 controls, can carry out information interchange to other merit module such as output latch 7, input buffer 8, keyboard controller 9, WDT controller 10.
Referring to Fig. 2, digital moving pulse processor 4 of the present invention comprises the read-write controller 17 that is connected with internal bus 3, the output terminal of read-write controller 17 and pulse restriction controller 15, position detector 16 and speed/command pulse correcting register 18 is connected, speed/command pulse correcting register 18 is connected with the input end of motion impulse generator 13 by speed heavy duty controller 19, speed/command pulse corrector 18, speed heavy duty controller 19 and motion impulse generator 13 are connected with pulse output modulator 14 by gauge tap K respectively, another output terminal of motion impulse generator 13 also is connected with time clock 20, pulse restriction controller 15, pulse output modulator 14 and position detector 16 also are connected with servo motion control system 11 respectively.
Digital moving pulse processor 4 is cores of kinetic control system, its course of work is: the speed command that motion impulse generator 13 sends by read-write controller 17 according to digital control system (CPU), system clock pulse 20 is carried out handling by frequency division, produce the motion impulse of setpoint frequency, motion impulse of every generation, automatically the frequency divider to motion impulse generator 13 loads automatically by speed heavy duty controller 19, to produce next motion impulse, pulse outputs to the A that again that pulse width is the very narrow command pulse of modulator 14 is converted into 90 ° of quadratures then, the pulse of B phase is controlled servo motion control system 11.Its medium velocity/command pulse correcting register 18 is used for guaranteeing the accurate of motion impulse number.When the collection position feedback signal, position detector 16 is used for stored counts, and latchs the positional value in a certain moment, when multi-coordinate links, with same signal a plurality of latchs is carried out latch operation, the error that causes to avoid reading asynchronism(-nization) successively; And pulse restriction controller 15 is the output that limits pulse in the single interpolation cycle when being used for the closed loop interpolation, the overshoot that causes when being limited in acceleration and deceleration greatly.
Claims (3)
1, a kind of flexible digital type motion control system, comprise dsp processor [1] and the complex programmable logic device (CPLD) [2] that is connected with dsp processor [1], it is characterized in that: said complex programmable logic device (CPLD) [2] comprises the bus control module [5] that is connected with dsp processor [1], bus control module [5] is connected with IPC industrial computer [12], and bus control module [5] is also by internal bus [3] and digital moving pulse processor [4] and embedded both-end RAM[6] be connected, the output terminal of digital moving pulse processor [4] is connected with servo motion control system [11].
2, flexible digital type motion control system according to claim 1 is characterized in that: said complex programmable logic device (CPLD) [2] also comprises output latch [7], input buffer [8], keyboard controller [9] and the WDT controller [10] that is connected with bus control module [5] by internal bus [3].
3, flexible digital type motion control system according to claim 1, it is characterized in that: said digital moving pulse processor [4] comprises the read-write controller [17] that is connected with internal bus [3], the output terminal of read-write controller [17] and pulse restriction controller [15], position detector [16] and speed/command pulse correcting register [18] is connected, speed/command pulse correcting register [18] is connected with the input end of motion impulse generator [13] by speed heavy duty controller [19], speed/command pulse corrector [18], speed heavy duty controller [19] and motion impulse generator [13] are connected with pulse output modulator [14] by gauge tap K respectively, another output terminal of motion impulse generator [13] also is connected with time clock [20], pulse restriction controller [15], pulse output modulator [14] and position detector [16] also are connected with servo motion control system [11] respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100962676A CN100370383C (en) | 2005-10-31 | 2005-10-31 | Flexible digital type motion control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100962676A CN100370383C (en) | 2005-10-31 | 2005-10-31 | Flexible digital type motion control system |
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| CN1752879A true CN1752879A (en) | 2006-03-29 |
| CN100370383C CN100370383C (en) | 2008-02-20 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354162A (en) * | 2011-07-22 | 2012-02-15 | 江俊逢 | Motion control interface and interface controller |
| CN103279062A (en) * | 2013-06-08 | 2013-09-04 | 南京理工大学 | Alternating current position servo system control device |
| CN104135212A (en) * | 2014-07-21 | 2014-11-05 | 华南理工大学 | Flexibility motion control IP (Intellectual Property) core and implementation method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2700022Y (en) * | 2004-04-08 | 2005-05-18 | 武汉楚天激光（集团）股份有限公司 | Control circuit for digit controlled punch feeding device based on DSP |
| CN100511959C (en) * | 2004-06-10 | 2009-07-08 | 武汉理工大学 | DPS based intellectual high speed magnetic suspension control and analog power amplifying device |
| CN1655080A (en) * | 2005-01-19 | 2005-08-17 | 三一重工股份有限公司 | Arm rack motion controller of concrete pump truck |
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2005
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354162A (en) * | 2011-07-22 | 2012-02-15 | 江俊逢 | Motion control interface and interface controller |
| CN103279062A (en) * | 2013-06-08 | 2013-09-04 | 南京理工大学 | Alternating current position servo system control device |
| CN104135212A (en) * | 2014-07-21 | 2014-11-05 | 华南理工大学 | Flexibility motion control IP (Intellectual Property) core and implementation method thereof |
| CN104135212B (en) * | 2014-07-21 | 2017-04-19 | 华南理工大学 | Flexibility motion control IP (Intellectual Property) core and implementation method thereof |
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| CN100370383C (en) | 2008-02-20 |
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