CN1936745A - Inlaid numerical control system based on ARM and DSP - Google Patents
Inlaid numerical control system based on ARM and DSP Download PDFInfo
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- CN1936745A CN1936745A CN 200610124742 CN200610124742A CN1936745A CN 1936745 A CN1936745 A CN 1936745A CN 200610124742 CN200610124742 CN 200610124742 CN 200610124742 A CN200610124742 A CN 200610124742A CN 1936745 A CN1936745 A CN 1936745A
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Abstract
The invention releases to a kind of embedded numerical control system that is based on ARM and DSP. It contains a main control that is micro-processor S3C44B0 slug and an interpolating control that is DSP slug and TMS2812 slug from the TI Company. The working process of the embedded numerical control system is that the G-code of the user inputting is transformed by ARM7 embedded micro-processor into orders that can control every electric motor by numerical control system. The orders contain G order, M order, S-order and T-order and so on. The orders are put into TMS2812 interpolating control by the micro-processor and than put out the clamp-pulse driven module. The invention has ARM+DSP configuration instead of original PC configuration. The advantages of the embedded numerical control system are strong calculation and low cost so as to reduce the volume and power consumption of the system and improve the dependability and reconfiguration of it.
Description
Technical field
The invention belongs to a kind of fields of numeric control technique of electromechanical integration, be specifically a kind of based on the ARM7 chip as master controller and dsp chip built-in digital control system based on ARM and DSP as interpolate controller.
Background technology
Current in order to realize digital control system in opening soft, hardware aspect, generally open systematic research is concentrated on soft, the hardware platform that makes full use of current very ripe Industrial PC Computer.All there is significant limitation in digital control system based on Industrial PC Computer on structure and performance:
(1) there is not definition independently to be suitable for the open architecture of digital control processing control.
Because what traditional digital control system adopted is the general-purpose industrial computer platform, the opening that is possessed all is the intrinsic opening flag of computing machine itself, not that characteristics at digital control processing define, this reference mode universal industrial PC computer organization System Framework that places one's entire reliance upon.Universal industrial PC computing machine as a general-purpose platform on bottom hardware design and the operating system environment all not to the consideration of digital control processing singularity, so can not fundamentally build digital control platform well.
(2) digital control system in open type of universal industrial PC computer patterns can not guarantee real-time and reliability well.
Industrial PC computer in when operation owing to adopt general operating system, taken very big system resource, with the irrelevant task of the digital control processing system's more work share that may account for, they are disturbing the timely response of system to in-situ processing, reduced the processing speed of system to the important control time, increased system's operation expense, these all can cause the instability of system.
(3) the digital control system cost of universal industrial PC computer patterns is too high.
Universal industrial PC computing machine that can satisfy the digital control processing rate request hardware aspect at least needs invest thousands of units, the cost aspect software is higher, mixes motion control card again, makes that cost is difficult to reduce.
Summary of the invention
The purpose of this invention is to provide a kind of with traditional digital control system and compare, improved real-time and reliability, reduced the built-in digital control system based on ARM and DSP of system bulk and cost, to overcome above-mentioned deficiency based on industrial PC computer.
To achieve these goals, the technical measures that the present invention takes are: digital control system adopts embedded 32 Feng. promise. and the ARM7 microprocessor S3C44B0 chip of complying with graceful structure is as master controller, and the dsp chip TMS2812 chip with Harvard structure that adopts TI company is as interpolate controller.In the ARM7 master controller, transplanted embedded real-time operating system U-cosii, so that the functions such as file management, network and man-machine interface, memory management and multiple task management in the digital control system to be provided; The core processing module of digital control system comprises soft PLC unit, I/O control module, position control unit, G code Interpretation unit and cutter and gap compensating unit etc., and the form with API in the ARM7 master controller provides; Digital control processing application program mode with graphic interface in ARM7 of developing according to various processing needs of the superiors provides to the user.In the DSP interpolate controller, utilize Fuzzy PID to realize servo-controlled obfuscation, fuzzy reasoning (comprising the storage of fuzzy rule), non-Defuzzication and pid parameter adjustment function, improved the real-time and the accuracy of digital control processing greatly.Wherein:
(1) 32 Feng of described 32 embedded microcontrollers. promise. the ARM7 microprocessor S3C44B0 chip of complying with graceful structure is as master controller, overcome control system based on the general purpose PC structure in the defective aspect the volume power consumption, realize file system management, memory management, man-machine interface, network interface, system management interface, emulation demonstration and G code compilation facility.
(2) interpolate controller of described built-in digital control system adopts the dsp chip TMS2812 chip with Harvard structure of TI company, realizes the interpolation algorithm of high-speed real-time.Two-stage interpolation scheme is adopted in system's interpolation, and the first step is divided into some straight-line segments with the machining profile of processing object according to sampled-data interpolation algorithm, to carry out rough interpolation; The mini line segment of second step to rough interpolation output carries out smart interpolation, output control pulse.
(3) digital servo controller of described built-in digital control system utilizes Fuzzy PID to realize servo-controlled obfuscation, fuzzy reasoning (comprising the storage of fuzzy rule), non-Defuzzication and pid parameter adjustment function in dsp chip.
Built-in digital control system based on ARM and DSP of the present invention, and just only more than 100 yuan of embedded microprocessor, the DSP interpolation chip that is adopted is only about dozens of yuan, add the real-time control operation system that the is adopted source code that opens for free, do not have the overhead that software copyright uses, these all make cost that reduction has significantly been arranged.The present invention can choose and dispose the flush bonding module of difference in functionality neatly at the feed shaft of different lathes, different processing objects, different numbers, different servomotors.Because the present invention has adopted above technical scheme, has improved real-time, reliability and the reusability of system, has reduced system bulk and cost.
Description of drawings
Fig. 1 is a hardware block diagram of the present invention.
Fig. 2 is a software configuration synoptic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is made further detailed explanation.
Fig. 1 is the hardware structure diagram of built-in digital control system, has comprised the embedded master controller of ARM7 of 32 S3C44B0 model, the DSP interpolate controller of TMS2812 model and digital servo control module.In the ARM7 master controller, Ucosii real time operating system, dsp interface, memory module and various peripheral interface module that G code explanation module, soft PLC examine, transplant have been comprised.The main task of ARM7 master controller is to realize man-machine interface, finishes the tasks such as analog simulation of input, precompile, track calculating, speed calculation and the processing parts figure of job sequence.The DSP interpolate controller then is responsible for handling some real-time lathe signals, and carries out hard real-time tasks such as Machine-Tool Control and interpolation operation according to the host computer instruction.In the ARM7 master controller, read in part program by man-machine interface, after compiling, track calculating and speed calculation, generation is used for the data (process data) of interpolation, and issue the DSP interpolate controller by certain mode, finish processing such as interpolation and servo output by the DSP interpolate controller, the Autonomous Control working table movement.The ARM7 master controller can also send various manual intervention information to the DSP interpolate controller simultaneously, changes the motion state of worktable.And the strict task of real-time, as the processing of position limit signal and time zero-signal, and some system's safety in operation inspections etc., then in the DSP interpolate controller, directly carry out.Information after the ARM7 master controller receives only and handles, and show, thereby the security of operation of the system of assurance.
The present invention is in the ARM7 master controller, and the G code explanation module is a nucleus module.Its course of work is: after the user imports G code, become digital control system can control the instruction of each motor code translation by code interpretative device, comprise G instruction, M instruction, S instruction, F instruction and T instruction etc.When carrying out the G instruction, system call interpolation algorithm module, compensating module and position control module are directly controlled the motion of feeding motor.M instruction in the G code program, S instruction and T instruction etc. belong to extra-instruction, are the critical functions that digital control system is implemented peripheral operation, as the start-stop of control spindle motor, the switch of liquid coolant, the pine folder of anchor clamps, lubricated work, the switch of protective door etc.When the G code interpreter is carried out extra-instruction, it delivers to PLC to control routine, deciphers the operation requirement of distinguishing numerical control program by PLC, carries out by PLC programmed control external circuit again, PLC module in the system realizes with software, can save cost and reduce volume.PLC also accepts signals such as some I/O signals on the control panel and the demonstration in the system, warning except carrying out M, T, S instruction.Modules such as interpolation, compensation and position control are the cores in the system, and its precision and real-time are the important indicators of digital control system performance.Servo unit amplifies, after the shaping, directly drives the unit of each motor the control signal of system output.Peripheral interface module is the interface of system and other peripherals, realizes friendly human-computer interaction interface.
The present invention adopts two-stage interpolation scheme in the DSP interpolate controller, the interpolation task was divided into for two steps finishes.The first step is divided into some straight-line segments with the machining profile of processing object according to sampled-data interpolation algorithm earlier by the ARM7 master controller, to carry out rough interpolation.The mini line segment that second step adopted the interpolation algorithm among the DSP that rough interpolation is exported carries out smart interpolation, output control pulse.The DSP module is made up of cpu i/f unit, data buffering processing unit, pulse generation unit and servo interface unit.Wherein the pulse generation unit is the core, and it uses the DDA interpolation principle, comprises the coordinate axis totalizer sum counter two parts that respectively link, and adopts frequency divider that frequency division is carried out in overflow pulse simultaneously, to improve the unevenness of overflow pulse.System adopts Fuzzy PID to realize servocontrol in the DSP interpolation module.At first determine a unit interval T as the sampling period, the actual speed to motor in each sampling period is sampled, with sampled value and specified rotating ratio after, obtain the steering order of reality again by differential and integral operation.Whole fuzzy control IP kernel is made up of 4 parts, and they are respectively obfuscation, fuzzy reasoning (comprising the storage of fuzzy rule), non-Defuzzication and pid parameter adjustment.
The above-mentioned a specific embodiment of the present invention that provided, the choosing and realize that multiple mode can be arranged of its each flush bonding module and IP kernel function, those skilled in the art can select suitable implementation according to actual conditions.
The content that is not described in detail in this instructions belongs to this area professional and technical personnel's known prior art.
Claims (4)
1, a kind of built-in digital control system based on ARM and DSP comprises 32 ARM embedded microcontroller module, 32 DSP control and interpolation module, wherein:
A, described built-in digital control system master controller adopt 32 Feng. promise. according to the ARM7 microprocessor S3C44B0 chip of graceful structure, realize man-machine interface, network interface, system management interface, emulation demonstration and G code compilation facility;
The interpolate controller of b, described built-in digital control system adopts the dsp chip TMS2812 chip with Harvard structure of TI company, realizes the interpolation algorithm of high-speed real-time;
The Fuzzy PID of the digital servo controller of C, described built-in digital control system utilizing in dsp chip realizes servo-controlled obfuscation, fuzzy reasoning, non-Defuzzication and pid parameter adjustment function.
2, built-in digital control system based on ARM and DSP as claimed in claim 1, it is characterized in that: in the ARM7 master controller, comprised the G code explanation module, soft PLC nuclear, the Ucosii real time operating system of transplanting, dsp interface, memory module and various peripheral interface module, wherein the G code explanation module course of work is: after the user imports G code, become digital control system can control the instruction of each motor code translation by code interpretative device, comprise the G instruction, the M instruction, the S instruction, F instruction and T instruction, when carrying out the G instruction, system call interpolation algorithm module, compensating module and position control module are directly controlled the motion of feeding motor.
3, the built-in digital control system based on ARM and DSP as claimed in claim 1, it is characterized in that: interpolate controller adopts two-stage interpolation scheme, the first step is divided into some straight-line segments with the machining profile of processing object according to sampled-data interpolation algorithm by microprocessor, to carry out rough interpolation; Second step adopted the DSP algorithm that the mini line segment of rough interpolation output is carried out smart interpolation, output control pulse.
4, the built-in digital control system based on ARM and DSP as claimed in claim 1 is characterized in that: master controller is the ARM microprocessor S3C44B0 of 32 risc architectures, based on the dsp chip TMS2812 of Harvard structure as interpolate controller with based on the DSP algorithm of fuzzy control.
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| CN 200610124742 CN1936745A (en) | 2006-10-12 | 2006-10-12 | Inlaid numerical control system based on ARM and DSP |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101819428A (en) * | 2010-04-19 | 2010-09-01 | 太原市优特奥科电子科技有限公司 | Intelligent electromechanical motion controller combined on single board |
| CN101598939B (en) * | 2008-06-04 | 2011-02-09 | 中国科学院自动化研究所 | Multiaxial motion servocontrol and protection system |
| CN102692892A (en) * | 2011-03-22 | 2012-09-26 | 西门子公司 | NC controller and NC machine tool |
| CN103197673A (en) * | 2012-01-05 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Robot motion track locating method and robot motion track locating device |
| CN103377157A (en) * | 2012-04-27 | 2013-10-30 | 沈阳高精数控技术有限公司 | Dual-core data communication method for embedded type numerical control system |
| WO2016127782A1 (en) * | 2015-02-11 | 2016-08-18 | 深圳配天智能技术研究院有限公司 | Numerical control system and numerical control machine tool |
| CN106802633A (en) * | 2015-11-26 | 2017-06-06 | 珠海市研泰电子科技有限公司 | A kind of complex milling machine tool digital control system |
| CN107678325A (en) * | 2017-08-21 | 2018-02-09 | 北京航天控制仪器研究所 | A kind of table servo control method based on real time operating system and FPGA |
| CN111381552A (en) * | 2018-12-29 | 2020-07-07 | 苏州灵猴机器人有限公司 | Driving and control integrated technical framework |
| CN112290856A (en) * | 2020-10-16 | 2021-01-29 | 宁波信智自动化有限公司 | BeagleBone-Black-based motor motion controller |
-
2006
- 2006-10-12 CN CN 200610124742 patent/CN1936745A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101598939B (en) * | 2008-06-04 | 2011-02-09 | 中国科学院自动化研究所 | Multiaxial motion servocontrol and protection system |
| CN101819428A (en) * | 2010-04-19 | 2010-09-01 | 太原市优特奥科电子科技有限公司 | Intelligent electromechanical motion controller combined on single board |
| CN102692892A (en) * | 2011-03-22 | 2012-09-26 | 西门子公司 | NC controller and NC machine tool |
| CN102692892B (en) * | 2011-03-22 | 2014-09-24 | 西门子公司 | NC controller and NC machine tool |
| CN103197673A (en) * | 2012-01-05 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Robot motion track locating method and robot motion track locating device |
| CN103377157A (en) * | 2012-04-27 | 2013-10-30 | 沈阳高精数控技术有限公司 | Dual-core data communication method for embedded type numerical control system |
| CN103377157B (en) * | 2012-04-27 | 2016-06-01 | 沈阳高精数控技术有限公司 | A kind of double-core data communications method for built-in digital control system |
| WO2016127782A1 (en) * | 2015-02-11 | 2016-08-18 | 深圳配天智能技术研究院有限公司 | Numerical control system and numerical control machine tool |
| CN106802633A (en) * | 2015-11-26 | 2017-06-06 | 珠海市研泰电子科技有限公司 | A kind of complex milling machine tool digital control system |
| CN107678325A (en) * | 2017-08-21 | 2018-02-09 | 北京航天控制仪器研究所 | A kind of table servo control method based on real time operating system and FPGA |
| CN111381552A (en) * | 2018-12-29 | 2020-07-07 | 苏州灵猴机器人有限公司 | Driving and control integrated technical framework |
| CN112290856A (en) * | 2020-10-16 | 2021-01-29 | 宁波信智自动化有限公司 | BeagleBone-Black-based motor motion controller |
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