CN1897450A - DC motor servo controlling card based on DSP - Google Patents
DC motor servo controlling card based on DSP Download PDFInfo
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- CN1897450A CN1897450A CNA2005100172649A CN200510017264A CN1897450A CN 1897450 A CN1897450 A CN 1897450A CN A2005100172649 A CNA2005100172649 A CN A2005100172649A CN 200510017264 A CN200510017264 A CN 200510017264A CN 1897450 A CN1897450 A CN 1897450A
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Abstract
In the invention, a DSP is used as the central processor; a programmable logic device is used for decoding and managing interruption; an asynchronous communication module is used to communicate with the RS422 external serial interface; the received data is processed by using calibration and compensation algorithms, and then a width modulated wave is outputted to drive the motor. The DSP reads the analog signals inputted from the external analog signal interface and implements the A/D conversion; the programmable logic device reads the state of control signals from the external I/O interface and implements the output protection of width modulated wave.
Description
Technical field:
The invention belongs to the servo control technique field, relate to a kind of DC motor servo controlling card based on DSP.
Background technology:
Servo control technique extensive application in industrial production of present DC motor, the development of modernization industry has proposed more and more higher requirement to servo control technique, and many companies have developed the supporting integrated circuit board of SCM Based servo controlling card or employing PC-94 industrial bus.
SCM Based servo controlling card has following shortcoming:
Operating frequency is low, makes that many servo control algorithm are difficult to realize, thereby is difficult to improve the precision of servo-control system;
Therefore single-chip microcomputer does not possess the ability with the complete interface of motor, need extend out many equipment, has increased the chance that unpredictable mistake takes place in system.
That adopts the PC-94 industrial bus has following shortcoming at servo-controlled mating plane jig:
Cost an arm and a leg, and use this series products also to need user oneself to make sole plate, increased cost for no reason;
Volume is big, complex interfaces;
In case break down, be difficult to debugging, maintenance.
Summary of the invention
The object of the invention provides a kind of DC motor servo controlling card based on DSP; adopt the processing of digital signal processor (DSP) servo control algorithm such as data are proofreaied and correct, compensation to receiving; output transfers wide ripple (PWM) that direct current machine is controlled; realize logic control and circuit protection by programmable logic device; system's control precision height, integrated level height, volume are little, are easy to debugging and maintenance.
The present invention includes power transfer module 1, digital signal processor 2, programmable logic device 3, line driver 4, long line transceiver module 5, asynchronous communication module 6, TTL/RS422 change-over circuit 7, current foldback circuit 8.Power transfer module 1 links to each other with digital signal processor 2, programmable logic device 3, asynchronous communication module 6 respectively, and the voltage of being responsible for the conversion external power source is to offer digital signal processor 2, programmable logic device 3, asynchronous communication module 6.Digital signal processor 2 links to each other with asynchronous communication module 6 by programmable logic device 3, long line transceiver module 5, and asynchronous communication module 6 links to each other with the RS422 external serial interface by TTL/RS422 change-over circuit 7, current foldback circuit 8; Digital signal processor 2 carries out communication by asynchronous communication module 6, TTL/RS422 change-over circuit 7, current foldback circuit 8 with the RS422 external serial interface, and programmable logic device 3 is used for interrupt management and decoded operation.Digital signal processor 2 links to each other with the external analog input interface, receives external analog signal.Digital signal processor 2 links to each other with line driver 4 by programmable logic device 3, and wide ripple drive motors is transferred in output; Programmable logic device 3 links to each other with exterior I/O interface, realizes exchanging the output protection of wide ripple by reading the control signal state that is entered by exterior I/O interface pin.
Beneficial effect: the present invention adopts digital signal processor as the center processing device; attachedly carry out logic control and protection with programmable logic device; level of integrated system height, volume are little; stability and antijamming capability are good; and duty ratio, frequency, Dead Time with PWM are adjustable; revising that design is convenient, adaptable characteristics, is the controller that is used for servo system that characteristics such as a kind ofly has at a high speed, is easy to debug, rich interface and valency with strong points, of fine quality are low.
Description of drawings
Fig. 1 is a structural representation of the present invention, also is the specification digest accompanying drawing.1 is power transfer module among the figure, 2 digital signal processors, 3 programmable logic devices; 4 line drivers; 5 long line transceiver modules, 6 asynchronous communication modules, 7 is the TTL/RS422 change-over circuit; 8 current foldback circuits; 9 interrupt management modules, 10 decoders, 11 position limitation protection circuit; 12 first order protective circuits, 13 second level protective circuits.
Embodiment
Asynchronous communication module 6 is made up of two asynchronous communication chips, and long line transceiver module 5 is made up of two length of a film line transceiver chips, and TTL/RS422 change-over circuit 7 is made of 4 TTL/RS422 conversion chips.
Programmable logic device 3 internal structures comprise interrupt management module 9; decoder 10; position limitation protection circuit 11; first order protective circuit 12; second level protective circuit 13; wherein position limitation protection circuit 11 is made up of two position limitation protection modules, and first order protective circuit 12 constitutes with door by two, and second level protective circuit 13 is made of two protection modules (each protection module constitutes with door and two not gates by four).Digital signal processor 2 links to each other with two asynchronous communication chips by interrupt management module 9, carries out real-time response and priority management by the interruption of 9 pairs of asynchronous communication chip inputs of interrupt management module; Digital signal processor 2 links to each other with two asynchronous communication chips by decoder 10, two length of a film line transceiver chips, realizes that by decoding the long line of two asynchronous communication chips is isolated.Exterior I/O links to each other with position limitation protection circuit 11, first order protective circuit 12 respectively; position limitation protection circuit 11, first order protective circuit 12 link to each other with second level protective circuit 13 respectively; the wide wave output terminal of the accent of digital signal processor 2 links to each other with line driver 4 by second level protective circuit 13; by reading control signal state and the spacing information that enters by exterior I/O pin, realize exchanging the output and the position limitation protection of wide ripple.
It is TMS320F2811 that digital signal processor 2 adopts model; the chip EPM3256 that programmable logic device 3 adopts altera corp to produce; the asynchronous communication chip TL16c554 that asynchronous communication module 6 adopts TI company to produce; the long line transceiver chip SN74ALS245A that long line transceiver module 5 adopts TI company to produce; the SN74HC244 that line driver 4 adopts TI company to produce; TTL/RS422 change-over circuit 7 adopts TTL/RS422 conversion chip SN75174 and SN75175, and current foldback circuit 8 adopts the TVS protective circuit of diode.
The GPIO pin of TMS320F2811 digital signal processor 2 transfers wide ripple input to link to each other with second level protective circuit 13; The external interrupt input pin links to each other with the interruption output pin of asynchronous communication chip by interrupt management module 9; The long line of 9 bit address (AD3-AD10) selects pin to link to each other by decoder 10 with control pin, the asynchronous communication chip sheet of long line transceiver chip; The long line of 8 bit data links to each other with asynchronous communication chip data I/O pin by long line transceiver chip; Reset pin links to each other with reset terminal, the asynchronous communication chip reset terminal of programmable logic device 3 respectively, if system works is unusual, the reset signal of house dog and button output is transferred to digital signal processor 2 by programmable logic device 3, realizes resetting of digital signal processor 2 and asynchronous communication chip.The serial communication interface of asynchronous communication chip links to each other with current foldback circuit 8 by TTL/RS422 conversion chip SN75174, SN75175; Current foldback circuit 8 links to each other with the RS422 external serial interface; Add current foldback circuit 8 and be in order to prevent that external signal from damaging circuit unusually.
The course of work of the present invention: the signal by the input of RS422 external serial interface is protected by current foldback circuit 8, becomes the Transistor-Transistor Logic level format signal to be transferred to asynchronous communication module 6 RS422 level format conversion of signals by TTL/RS422 change-over circuit 7.Digital signal processor 2 has only three external interrupt interfaces, and asynchronous communication module 6 produces eight interruption inputs, provide interrupt management module 9 managing this eight interruptions in the programmable logic device 3, the programming by interrupt management module 9 and digital signal processor 2 internal programs can realize the real-time response of interrupting and the management of priority.Decoded operation by decoder 10 in the programmable logic device 3 can be distributed to asynchronous communication module 6 to the long line in the address of digital signal processor 2 flexibly, realizes that digital signal processor 2 is by the exchanges data between long line transceiver module 5 and the asynchronous communication module 6; Digital signal processor 2 can receive external analog signal by the external analog input interface.Digital signal processor 2 by take to proofread and correct to receiving data, the processing output of servo control algorithm such as compensation transfers wide ripple, drives direct current machine work by line driver 4 enhancing signal driving forces and insulation blocking.The state of the GPIO pin by reading digital signal processor 2 can switch between the one pole of transferring wide ripple and twin-stage type of drive; By reading the control signal state that enters by exterior I/O pin, realize exchanging the protection that wide ripple is exported by first order protective circuit 12 and second level protective circuit 13, turn-off when for example deadlock or program are controlled and transfer wide ripple output; Judge by reading the spacing information that enters by exterior I/O pin whether controlled object enters spacing state, realize real-time taking measures to prevent that direct current machine from exceeding the position limitation protection zone by position limitation protection circuit 11 and second level protective circuit 13.
Because the long line voltage of data of TMS320F2811 digital signal processor is 3.3V; and the long line voltage of the data of asynchronous communication chip TL16c554 is about 5V, thus the TMS320F2811 digital signal processor with increase the effect that long line transceiver chip plays insulation blocking between the long line of asynchronous communication chip TL16c554 is connected.
The TMS320F2811 digital signal processor itself has 12 ADC, and the present invention has only selected 4 paths for use, and the analog signal input range is 0-3V.
Claims (5)
1, a kind of DC motor servo controlling card based on DSP, it is characterized in that comprising power transfer module (1), digital signal processor (2), programmable logic device (3), line driver (4), long line transceiver module (5), asynchronous communication module (6), TTL/RS422 change-over circuit (7), current foldback circuit (8); Power transfer module (1) links to each other with digital signal processor (2), programmable logic device (3), asynchronous communication module (6) respectively, and the voltage of being responsible for the conversion external power source is to offer digital signal processor (2), programmable logic device (3), asynchronous communication module (6); Digital signal processor (2) links to each other with asynchronous communication module (6) by programmable logic device (3), long line transceiver module (5), and asynchronous communication module (6) links to each other with the RS422 external serial interface by TTL/RS422 change-over circuit (7), current foldback circuit (8); Digital signal processor (2) carries out communication by asynchronous communication module (6), TTL/RS422 change-over circuit (7), current foldback circuit (8) with the RS422 external serial interface, and programmable logic device (3) is used for interrupt management and decoded operation; Digital signal processor (2) links to each other with the external analog input interface, receives external analog signal; Digital signal processor (2) links to each other with line driver (4) by programmable logic device (3), and wide ripple drive motors is transferred in output; Programmable logic device (3) links to each other with exterior I/O interface, realizes exchanging the output protection of wide ripple by reading the control signal state that is entered by exterior I/O interface pin.
2, the DC motor servo controlling card based on DSP according to claim 1, it is characterized in that asynchronous communication module (6) is made up of two asynchronous communication chips, long line transceiver module (5) is made up of two length of a film line transceiver chips, and TTL/RS422 change-over circuit (7) is made of 4 TTL/RS422 conversion chips.
3, the DC motor servo controlling card based on DSP according to claim 2, it is characterized in that programmable logic device (3) internal structure comprises interrupt management module (9), decoder (10), position limitation protection circuit (11), first order protective circuit (12), second level protective circuit (13), wherein position limitation protection circuit (11) is made up of two position limitation protection modules, first order protective circuit (12) constitutes with door by two, and second level protective circuit (13) is made of two protection modules; Digital signal processor (2) links to each other with two asynchronous communication chips by interrupt management module (9), by interrupt management module (9) real-time response and priority management is carried out in the interruption of asynchronous communication chip input; Digital signal processor (2) links to each other with two asynchronous communication chips by decoder (10), two length of a film line transceiver chips, realizes that by decoding the long line of two asynchronous communication chips is isolated; Exterior I/O links to each other with position limitation protection circuit (11), first order protective circuit (12) respectively; position limitation protection circuit (11), first order protective circuit (12) link to each other with second level protective circuit (13) respectively; the wide wave output terminal of accent of digital signal processor (2) links to each other with line driver (4) by second level protective circuit (13); by reading control signal state and the spacing information that enters by exterior I/O pin, realize exchanging the output and the position limitation protection of wide ripple.
4; DC motor servo controlling card based on DSP according to claim 1; it is characterized in that it is TMS320F2811 that digital signal processor (2) adopts model; the chip EPM3256 that programmable logic device (3) adopts altera corp to produce; the asynchronous communication chip TL16c554 that asynchronous communication module (6) adopts TI company to produce; the long line transceiver chip SN74ALS245A that long line transceiver module (5) adopts TI company to produce; the SN74HC244 that line driver (4) adopts TI company to produce; TTL/RS422 change-over circuit (7) adopts TTL/RS422 conversion chip SN75174 and SN75175, and current foldback circuit (8) adopts the TVS protective circuit of diode.
5, the DC motor servo controlling card based on DSP according to claim 4 is characterized in that the GPIO pin of TMS320F2811 digital signal processor (2) links to each other with the wide ripple input of second level protective circuit (13) accent; The external interrupt input pin links to each other with the interruption output pin of asynchronous communication chip by interrupt management module (9); The long line of 9 bit address (AD3-AD10) selects pin to link to each other by decoder (10) with control pin, the asynchronous communication chip sheet of long line transceiver chip; The long line of 8 bit data links to each other with asynchronous communication chip data I/O pin by long line transceiver chip; Reset pin links to each other with reset terminal, the asynchronous communication chip reset terminal of programmable logic device (3) respectively; The serial communication interface of asynchronous communication chip links to each other with the TVS protective circuit of diode by TTL/RS422 conversion chip SN75174, SN75175, and the TVS protective circuit of diode links to each other with the RS422 external serial interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100172649A CN100385786C (en) | 2005-11-04 | 2005-11-04 | DC motor servo controlling card based on DSP |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100172649A CN100385786C (en) | 2005-11-04 | 2005-11-04 | DC motor servo controlling card based on DSP |
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| Publication Number | Publication Date |
|---|---|
| CN1897450A true CN1897450A (en) | 2007-01-17 |
| CN100385786C CN100385786C (en) | 2008-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100172649A Expired - Fee Related CN100385786C (en) | 2005-11-04 | 2005-11-04 | DC motor servo controlling card based on DSP |
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| CN (1) | CN100385786C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100527593C (en) * | 2007-10-11 | 2009-08-12 | 中国科学院长春光学精密机械与物理研究所 | Miniature motor drive controller for light modulation focusing system of photoelectric tracking equipment |
| CN102213958A (en) * | 2010-04-12 | 2011-10-12 | 上海天浔智能科技有限公司 | Digital servo controller and corresponding servo control system |
| CN108279612A (en) * | 2018-03-19 | 2018-07-13 | 北京钢铁侠科技有限公司 | Servo-driver and robot with the driver |
| CN105630002B (en) * | 2014-10-30 | 2018-11-02 | 北京精密机电控制设备研究所 | A kind of liquid-propellant rocket engine change propulsive adjusting electromechanical coupling system |
| CN109462360A (en) * | 2018-09-17 | 2019-03-12 | 昆明物理研究所 | Two axis servomotor controller of thermal infrared imager |
| CN114578781A (en) * | 2020-11-30 | 2022-06-03 | 山东华阳众能动力科技有限公司 | Communication circuit and speed measuring and turbine mechanical control system of rotary mechanical equipment |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2508271Y (en) * | 2001-12-03 | 2002-08-28 | 中国人民解放军国防科学技术大学 | Multi-shaft multipurpose motion control card |
| US7348755B2 (en) * | 2003-12-18 | 2008-03-25 | The Boeing Company | Time sliced DSP operation for very high frequency pulse width modulated controllers |
| JP2005192346A (en) * | 2003-12-26 | 2005-07-14 | Hitachi Ltd | Matrix converter |
-
2005
- 2005-11-04 CN CNB2005100172649A patent/CN100385786C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100527593C (en) * | 2007-10-11 | 2009-08-12 | 中国科学院长春光学精密机械与物理研究所 | Miniature motor drive controller for light modulation focusing system of photoelectric tracking equipment |
| CN102213958A (en) * | 2010-04-12 | 2011-10-12 | 上海天浔智能科技有限公司 | Digital servo controller and corresponding servo control system |
| CN105630002B (en) * | 2014-10-30 | 2018-11-02 | 北京精密机电控制设备研究所 | A kind of liquid-propellant rocket engine change propulsive adjusting electromechanical coupling system |
| CN108279612A (en) * | 2018-03-19 | 2018-07-13 | 北京钢铁侠科技有限公司 | Servo-driver and robot with the driver |
| CN109462360A (en) * | 2018-09-17 | 2019-03-12 | 昆明物理研究所 | Two axis servomotor controller of thermal infrared imager |
| CN114578781A (en) * | 2020-11-30 | 2022-06-03 | 山东华阳众能动力科技有限公司 | Communication circuit and speed measuring and turbine mechanical control system of rotary mechanical equipment |
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| Publication number | Publication date |
|---|---|
| CN100385786C (en) | 2008-04-30 |
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