CN201163363Y - General multi-axis motion control system on numerical control machine - Google Patents
General multi-axis motion control system on numerical control machine Download PDFInfo
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- CN201163363Y CN201163363Y CNU2007201987092U CN200720198709U CN201163363Y CN 201163363 Y CN201163363 Y CN 201163363Y CN U2007201987092 U CNU2007201987092 U CN U2007201987092U CN 200720198709 U CN200720198709 U CN 200720198709U CN 201163363 Y CN201163363 Y CN 201163363Y
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Abstract
The utility model relates to a universal multispindle motion control system on a numerical control machine, comprising a microcontrol unit, a servo controller, a servo motor and a board level interface circuit which are arranged on the numerical control machine, wherein, the microcontrol unit is connected with the servo motor through the servo controller. The system also comprises a programmable logic device arranged on the numerical control machine, wherein, a control computer, the microcontrol unit and the board level interface circuit are connected with the programmable logic device respectively. The universal multispindle motion control system on the numerical control machine adopting the structure performs ASIC customization to a multispindle motion controller circuit by ingeniously using the advantage that an FPGA chip can program smartly, thereby meeting the requirements of multispindle coordination and high-speed high-precision complex motion control, simplifying the circuit design, improving the system reliability and reducing the manufacturing cost of the system; moreover, the universal multispindle motion control system has the advantages of simple structure, high system integration level, stable and reliable working performance and wide application range, and lays a steady foundation for further development of the numerical control machine motion control technology.
Description
Technical field
The utility model relates to the numerically-controlled machine field, and particularly numerically-controlled machine movement control technology field specifically is meant the general multi-shaft motion control system on a kind of numerically-controlled machine.
Background technology
Manufacturing industry is the basic industry of national economy, and manufacturing level just is to weigh the important symbol of an industrial development degree of country.The height of numerically-controlled machine quality level is concerning the height of national manufacturing industry level.
In numerically-controlled machine, most important system is exactly a kinetic control system, and it mainly is made of control computer, motion controller, drive unit, topworks and feedback assembly.Motion controller response closed signal is accepted the application program instructions of control system and is converted into movement instruction to give drive unit, converts these command signals to electric current to drive execution architecture by drive unit, realizes predetermined movement locus and destination apparatus.This shows that motion controller is the person that directly do not send of movement instruction, in kinetic control system, be in the status of core.The control performance of motion controller has determined the control accuracy and the response speed of system to a great extent.Motion controller is one of core link of kinematic system, as long as the occasion that has servomotor to use just be unable to do without motion controller.It makes many commercial production numerical control devices shine vitality with its distinctive dirigibility and excellent movement locus control ability.
In the prior art, the general low side of present motion controller adopts 8 single-chip microcomputers, 16 micro-control unit (MCU of high-end employing, MICRO CONTROLLER UNIT) or digital signal processing chip (DSP, DIGITAL SIGNALPROCESSOR), what ratio of precision was higher is the 1um level, and that acceleration ratio is higher is 2G～3G.
Because adopt precision that 8 single-chip microcomputers of tradition or dsp processor constitute control card and speed aspect can not satisfy that multiaxis is coordinated and at a high speed, the strict demand controlled of high-precision compound movement, thereby limited the range of application of numerically-controlled machine greatly, brought certain obstacle for people's production and work.
The utility model content
The purpose of this utility model is to have overcome above-mentioned shortcoming of the prior art, provide a kind of can satisfy that multiaxis is coordinated and the strict demand of high speed and super precision compound movement control, simple in structure, level of integrated system is high, cost is lower, stable and reliable working performance, the scope of application general multi-shaft motion control system on the numerically-controlled machine comparatively widely.
In order to realize above-mentioned purpose, the general multi-shaft motion control system on the numerically-controlled machine of the present utility model has following formation:
General multi-shaft motion control system on this numerically-controlled machine, comprise the micro-control unit, servo controller, servomotor and the plate level interface circuit that are arranged on the numerically-controlled machine, described micro-control unit is connected with described servomotor by servo controller, its principal feature is, described system also comprises the programmable logic device (PLD) that is arranged on the numerically-controlled machine, and described programmable logic device (PLD) is connected with a control computer, described micro-control unit and plate level interface circuit respectively.
Be provided with first address decoding unit, second address decoding unit and internal control circuit module in the programmable logic device (PLD) of the general multi-shaft motion control system on this numerically-controlled machine, described control computer is connected with described internal control circuit module by first address decoding unit, described micro-control unit is connected with described internal control circuit module by second address decoding unit, and described control computer, plate level interface circuit, servo controller and servomotor all directly are connected with described internal control circuit module.
The internal control circuit module of the general multi-shaft motion control system on this numerically-controlled machine comprises the A/D signaling control unit, I/O state deposit unit, the system identifier signaling control unit, the first handwheel A/B phase coding unit, FIFO (First Input FirstOutput) unit, multiple axes coding device capture unit at zero point, the 2nd A/B phase coding unit and multiaxis pulse generation control module, described A/D signaling control unit, I/O state deposit unit, the system identifier signaling control unit is connected with described plate level interface circuit respectively with the first handwheel A/B phase coding unit, described first address decoding unit and described A/D signaling control unit, I/O state deposit unit, the system identifier signaling control unit, the first handwheel A/B phase coding unit, cell fifo is connected with multiple axes coding device capture unit at zero point, described second address decoding unit and described the 2nd A/B be coding unit mutually, cell fifo is connected with multiaxis pulse generation control module, described servo controller is connected with described multiaxis pulse generation control module, and described servomotor is connected with described multiple axes coding device capture unit at zero point.
The cell fifo of the general multi-shaft motion control system on this numerically-controlled machine comprises that FIFO r/w cell and FIFO read the unit, described first address decoding unit is connected with described FIFO r/w cell, and described second address decoding unit is read the unit with described FIFO and is connected.
The control computer of the general multi-shaft motion control system on this numerically-controlled machine is connected with described first address decoding unit by ISA (industry-standardarchitecture) bus, and this control computer also directly is connected with described internal control circuit module by isa bus.
The control computer of the general multi-shaft motion control system on this numerically-controlled machine is connected with first address decoding unit by isa bus, bus signals isolated amplifier successively, and this control computer also is connected with the internal control circuit module by isa bus, bus signals isolated amplifier successively.
The bus signals isolated amplifier of the general multi-shaft motion control system on this numerically-controlled machine is the 74LS245 chip.
The programmable logic device (PLD) of the general multi-shaft motion control system on this numerically-controlled machine is FPGA (Field ProgrammableGateArray) chip.
The fpga chip of the general multi-shaft motion control system on this numerically-controlled machine is the A3P250 chip.
Adopted the general multi-shaft motion control system on the numerically-controlled machine of this utility model, because its mode that has adopted fpga chip to combine with traditional MCU constitutes The whole control system, and finish interface communication between PC and the MCU by FPGA, this fpga chip can also be finished pulse transmission simultaneously, functions such as driver pulse feedback and digital I/O mouth, thereby the ingenious fpga chip advantage of programming flexibly of having utilized is carried out ASIC (Application-SpecificIntegrated Circuit) customization to the multi-axis motion controller circuit, make it can satisfy the strict demand that multiaxis is coordinated and the high speed and super precision compound movement is controlled, and simplified circuit design to a great extent, improved the reliability of system, reduced the cost that system makes, and it is simple in structure, the level of integrated system height, stable and reliable working performance, the scope of application is comparatively extensive, for further developing of numerically-controlled machine movement control technology established solid foundation.
Description of drawings
Fig. 1 is the general multi-shaft motion control system overall architecture synoptic diagram on the numerically-controlled machine of the present utility model.
Fig. 2 is the circuit theory diagrams that the MCU of the general multi-shaft motion control system on the numerically-controlled machine of the present utility model is connected with fpga chip.
Fig. 3 is the circuit theory diagrams that the control computer of the general multi-shaft motion control system on the numerically-controlled machine of the present utility model is connected with fpga chip.
Embodiment
In order more to be expressly understood technology contents of the present utility model, describe in detail especially exemplified by following examples.
See also shown in Figure 1, general multi-shaft motion control system on this numerically-controlled machine, comprise the micro-control unit 1, servo controller 2, servomotor 3 and the plate level interface circuit 4 that are arranged on the numerically-controlled machine, described micro-control unit 1 is connected with described servomotor 3 by servo controller 2, wherein, described system also comprises the programmable logic device (PLD) 5 that is arranged on the numerically-controlled machine, and described programmable logic device (PLD) 5 is connected with a control computer, described micro-control unit 1 and plate level interface circuit 4 respectively.
Wherein, this programmable logic device (PLD) 5 can be fpga chip, and this fpga chip is the A3P250 chip, can certainly according to circumstances adopt the programmable logic device (PLD) chip of other type.Be provided with first address decoding unit 51, second address decoding unit 52 and internal control circuit module in this programmable logic device (PLD) 5, described control computer is connected with described internal control circuit module by first address decoding unit 51, described micro-control unit 1 is connected with described internal control circuit module by second address decoding unit 52, and described control computer, plate level interface circuit 4, servo controller 2 and servomotor 3 all directly are connected with described internal control circuit module.
Simultaneously, this internal control circuit module comprises A/D signaling control unit 53, I/O state deposit unit 54, system identifier signaling control unit 55, the first handwheel A/B phase coding unit 561, cell fifo, multiple axes coding device capture unit at zero point 58, the 2nd A/B phase coding unit and multiaxis pulse generation control module 59, described A/D signaling control unit 53, I/O state deposit unit 54, system identifier signaling control unit 55 is connected with described plate level interface circuit 4 respectively with the first handwheel A/B phase coding unit 561, described first address decoding unit 51 and described A/D signaling control unit 53, I/O state deposit unit 54, system identifier signaling control unit 55, the first handwheel A/B phase coding unit 561, cell fifo is connected with multiple axes coding device capture unit at zero point 58, described second address decoding unit 52 and described the 2nd A/B be coding unit 562 mutually, cell fifo is connected with multiaxis pulse generation control module 59, described servo controller 2 is connected with described multiaxis pulse generation control module 59, and described servomotor 3 is connected with described multiple axes coding device capture unit at zero point 58; Wherein said cell fifo comprises that FIFO r/w cell 571 and FIFO read unit 572, and described first address decoding unit 51 is connected with described FIFO r/w cell 571, and described second address decoding unit 52 is read unit 572 with described FIFO and is connected.
Moreover, this control computer is connected with described first address decoding unit 51 by isa bus, bus signals isolated amplifier successively, and this control computer also is connected with the internal control circuit module by isa bus, bus signals isolated amplifier successively; This bus signals isolated amplifier can be the 74LS245 chip.
In the middle of reality is used, see also shown in Figure 1ly, be a general fpga chip in the empty frame wherein, can adopt the A3P250 chip.It is in core status in total system for it, and main being responsible for communicated by letter with test computer (PC), communicates by letter with MCU and carries out interface with external digital I/O mouth.Wherein
1. host computer sends native system to by isa bus general's PC signal;
2. after the bus signals of PC is isolated and is amplified through 74LS245, driving FPGA;
3. behind the inner code translator of the address information of PC process FPGA, produce the chip selection signal of internal control circuit, internal control circuit comprises the AD controller, the IO status register, the system identifier information controller, the first handwheel A/B phase scrambler, FIFO r/w cell and multiple axes coding device catcher at zero point;
4. the FPGA internal control circuit produces the peripheral circuit control signal, is used for carrying out interface with peripheral circuit.Internal control circuit is as described in 3.; Peripheral interface circuit comprises digital I commonly used in the digital control system, DA controller, handwheel and storage system id information chip;
5. cell fifo can be connected PC by this circuit with MCU;
6. the direction signal of the address signal of MCU, data-signal, control signal and servo controller is directly connected on the peripheral pin of FPGA;
7. the address signal of MCU advanced the chip selection signal that the inner decoding of FPGA back produces internal signal, and these internal circuits comprise that FIFO reads the unit, pulse generation controller and the 2nd A/B phase scrambler;
8. MCU sends pulse and servomotor feedack according to PC, calculates the control cycle of impulse controller; Impulse controller is responsible for sending differential pulse signal to servo-driver;
9. servo controller produces the control signal of servomotor according to the pulse that receives, the rotating speed of control servomotor and turning to;
10. the A/B phase coded signal and the encoder zero-crossing signal of servomotor generation are connected on the FPGA, are used for position feedback and zero point feedback.
In sum, PC sends to fpga chip 5 by the isa bus interface with the exercise data of multiaxis, fpga chip 5 with the data buffering that receives in inner FIFO and the status information of upgrading FIFO notify MCU 1.MCU 1 detects the data that can initiatively read after the status information of cell fifo in the cell fifo, and controls FPGA internal pulses generator according to the position feed back signal of concrete exercise data and servomotor and make it to produce differential pulse and direction signal.
See also shown in Figure 2ly again, it is MCU 1 (can adopt the STC89C58 chip) and FPGA interface principle figure, and in the drawings, the data bus of MCU 1, address and read-write control line are directly connected on the fpga chip 5; For motor being realized direction control, MCU 1 also must provide direction signal to fpga chip 5.MD0～MD7 shown in the figure, MA0～MA7 and MRD and MWR are respectively data line, address wire and the bus read-write of MCU.XD, YD and ZD are used to the Directional Sign of X, Y and Z axle.MCU 1 is responsible for reading the motor position feedback information in total system, and reads the pulse data in the cell fifo, and send pulse transmitter according to each pulse data and the control cycle that calculates of site error.Be responsible for differential pulse signal is sent in the servo controller 2 by the pulse transmitter of fpga chip 5 inside.
See also shown in Figure 3 again, it is the interface circuit schematic diagram of PC and fpga chip, in the drawings, the ISA data bus, address and read-write control line are directly connected on the fpga chip 5 through bus signals isolated amplifier (can adopt the 74LS245 chip) or after isolating.SD0～SD7 as shown in the figure, SA0～SA9 and-IOW ,-IOR and AEN be respectively the data bus of ISA interface, the control bus of address bus and input/output space.
Adopted the general multi-shaft motion control system on the above-mentioned numerically-controlled machine, because its mode that has adopted fpga chip to combine with traditional MCU constitutes The whole control system, and finish interface communication between PC and the MCU by FPGA, this fpga chip can also be finished pulse transmission simultaneously, functions such as driver pulse feedback and digital I/O mouth, thereby the ingenious fpga chip advantage of programming flexibly of having utilized is carried out the ASIC customization to the multi-axis motion controller circuit, make it can satisfy the strict demand that multiaxis is coordinated and the high speed and super precision compound movement is controlled, and simplified circuit design to a great extent, improved the reliability of system, reduced the cost that system makes, and it is simple in structure, the level of integrated system height, stable and reliable working performance, the scope of application is comparatively extensive, for further developing of numerically-controlled machine movement control technology established solid foundation.
In this instructions, the utility model is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from spirit and scope of the present utility model.Therefore, instructions and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (9)
1, the general multi-shaft motion control system on a kind of numerically-controlled machine, comprise the micro-control unit, servo controller, servomotor and the plate level interface circuit that are arranged on the numerically-controlled machine, described micro-control unit is connected with described servomotor by servo controller, it is characterized in that, described system also comprises the programmable logic device (PLD) that is arranged on the numerically-controlled machine, and described programmable logic device (PLD) is connected with a control computer, described micro-control unit and plate level interface circuit respectively.
2, general multi-shaft motion control system on the numerically-controlled machine according to claim 1, it is characterized in that, be provided with first address decoding unit in the described programmable logic device (PLD), second address decoding unit and internal control circuit module, described control computer is connected with described internal control circuit module by first address decoding unit, described micro-control unit is connected described control computer by second address decoding unit with described internal control circuit module, plate level interface circuit, servo controller all directly is connected with described internal control circuit module with servomotor.
3, general multi-shaft motion control system on the numerically-controlled machine according to claim 2, it is characterized in that, described internal control circuit module comprises the A/D signaling control unit, I/O state deposit unit, the system identifier signaling control unit, the first handwheel A/B phase coding unit, cell fifo, multiple axes coding device capture unit at zero point, the 2nd A/B phase coding unit and multiaxis pulse generation control module, described A/D signaling control unit, I/O state deposit unit, the system identifier signaling control unit is connected with described plate level interface circuit respectively with the first handwheel A/B phase coding unit, described first address decoding unit and described A/D signaling control unit, I/O state deposit unit, the system identifier signaling control unit, the first handwheel A/B phase coding unit, cell fifo is connected with multiple axes coding device capture unit at zero point, described second address decoding unit and described the 2nd A/B be coding unit mutually, cell fifo is connected with multiaxis pulse generation control module, described servo controller is connected with described multiaxis pulse generation control module, and described servomotor is connected with described multiple axes coding device capture unit at zero point.
4, the general multi-shaft motion control system on the numerically-controlled machine according to claim 3, it is characterized in that, described cell fifo comprises that FIFO r/w cell and FIFO read the unit, described first address decoding unit is connected with described FIFO r/w cell, and described second address decoding unit is read the unit with described FIFO and is connected.
5, according to the general multi-shaft motion control system on each described numerically-controlled machine in the claim 2 to 4, it is characterized in that, described control computer is connected with described first address decoding unit by isa bus, and this control computer also directly is connected with described internal control circuit module by isa bus.
6, the general multi-shaft motion control system on the numerically-controlled machine according to claim 5, it is characterized in that, described control computer is connected with first address decoding unit by isa bus, bus signals isolated amplifier successively, and this control computer also is connected with the internal control circuit module by isa bus, bus signals isolated amplifier successively.
7, the general multi-shaft motion control system on the numerically-controlled machine according to claim 6 is characterized in that, described bus signals isolated amplifier is the 74LS245 chip.
According to the general multi-shaft motion control system on each described numerically-controlled machine in the claim 1 to 4, it is characterized in that 8, described programmable logic device (PLD) is a fpga chip.
9, the general multi-shaft motion control system on the numerically-controlled machine according to claim 8 is characterized in that, described fpga chip is the A3P250 chip.
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| CN102183921A (en) * | 2011-03-01 | 2011-09-14 | 上海维宏电子科技有限公司 | Method for realizing limit automatic releasing function in numerical control system |
| CN102857166A (en) * | 2012-08-03 | 2013-01-02 | 武汉理工大学 | 8-shaft coaction stepping motor control system based on serial communication |
| CN102929836A (en) * | 2012-08-17 | 2013-02-13 | 中国科学院空间科学与应用研究中心 | Special ASIC (Application Specific Integrated Circuit) chip system for spaceflight |
| 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 |
| CN103846732A (en) * | 2012-12-03 | 2014-06-11 | 苏州御能动力科技有限公司 | Servo control device and control method for thread milling machine |
| CN105573255A (en) * | 2016-02-19 | 2016-05-11 | 西安秦川数控系统工程有限公司 | Interface circuit of numerical control system for controlling servo drive |
| CN109254567A (en) * | 2018-07-11 | 2019-01-22 | 杭州电子科技大学 | A kind of multi-axis industrial robot's control system based on FPGA |
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| 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 |
| CN102183921A (en) * | 2011-03-01 | 2011-09-14 | 上海维宏电子科技有限公司 | Method for realizing limit automatic releasing function in numerical control system |
| CN102183921B (en) * | 2011-03-01 | 2012-09-12 | 上海维宏电子科技股份有限公司 | Method for realizing limit automatic releasing function in numerical control system |
| CN102857166A (en) * | 2012-08-03 | 2013-01-02 | 武汉理工大学 | 8-shaft coaction stepping motor control system based on serial communication |
| CN102857166B (en) * | 2012-08-03 | 2014-12-10 | 武汉理工大学 | 8-shaft coaction stepping motor control system based on serial communication |
| CN102929836A (en) * | 2012-08-17 | 2013-02-13 | 中国科学院空间科学与应用研究中心 | Special ASIC (Application Specific Integrated Circuit) chip system for spaceflight |
| CN102929836B (en) * | 2012-08-17 | 2015-06-10 | 中国科学院空间科学与应用研究中心 | Special ASIC (Application Specific Integrated Circuit) chip system for spaceflight |
| CN103846732A (en) * | 2012-12-03 | 2014-06-11 | 苏州御能动力科技有限公司 | Servo control device and control method for thread milling machine |
| CN103846732B (en) * | 2012-12-03 | 2016-09-28 | 上海英威腾工业技术有限公司 | A kind of method of servo-controlling for screw-thread miller |
| CN105573255A (en) * | 2016-02-19 | 2016-05-11 | 西安秦川数控系统工程有限公司 | Interface circuit of numerical control system for controlling servo drive |
| CN109254567A (en) * | 2018-07-11 | 2019-01-22 | 杭州电子科技大学 | A kind of multi-axis industrial robot's control system based on FPGA |
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