CN202385050U - Motion control card based on FPGA (field programmable gate array) - Google Patents
Motion control card based on FPGA (field programmable gate array) Download PDFInfo
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- CN202385050U CN202385050U CN2012200009233U CN201220000923U CN202385050U CN 202385050 U CN202385050 U CN 202385050U CN 2012200009233 U CN2012200009233 U CN 2012200009233U CN 201220000923 U CN201220000923 U CN 201220000923U CN 202385050 U CN202385050 U CN 202385050U
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- fpga
- motion control
- control card
- modular converter
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Abstract
The utility model relates to a motion control card based on an FPGA (field programmable gate array), which is especially suitable for the motion control on a linear magnetic axis linear motor. The motion control card comprises the FPGA, a pulse voltage conversion module, an amplification module, a single-ended difference conversion module, an optical coupling isolation input module, an optical coupling isolation output module, a USB/serial port interface module, a power interface module and a clock module, wherein the FPGA is communicated with a main control machine through the USB/serial port interface module, the FPGA, the pulse voltage conversion module and the amplification module are sequentially connected by a standard signal interface, an output end of the amplification module is connected with a servo driver of a motor by the optical coupling isolation output module, the single-ended difference conversion module is connected with a grating encoder of a motor detection device through the optical coupling isolation input module, and the output end is connected with the FPGA. The motion control card provided by the utility model can rapidly accomplish the motion of the closed-loop-controlled linear magnetic axis linear motor in the speed mode, and has the advantages of low cost, high reliability, high speed and small volume. The control accuracy of the motion control card is 1 KHz, and the respond time of the motion control card is 3KHz.
Description
Technical field
The utility model belongs to automation control area, a kind of specifically linear magnetic axis linear electric motors motion control card based on FPGA (Field-Programmable Gate Array, field programmable gate array).
Background technology
In recent years, outside various industrial occasions, the application of linear magnetic axis motor in people's daily life more and more widely; Such as in fields such as medical treatment, automobile, manufacturings, with respect to existing linear electric motors, linear magnetic axis linear electric motors have high thrust; High rigidity; No magnetism attraction does not have the magnetism attraction during installation, force oscillation is little.Linear in addition magnetic axis motor configuration is simple, only is made up of magnetite and coil, does not rub; Zero dimension is protected, and noiseless does not produce dust; Nothing is because of error that thermal expansion causes, install simple and convenient, even magnetic axis and coil are not that concentric fenestra can not have influence on thrust when installing.The high thrust of what is more important (the highest 8000N), high accuracy (0.14nm), high speed transmission (6.5m/s), resistant structure is even also can move in water He in the vacuum, so the application prospect of linear magnetic axis motor is boundless.
But at present for the present technological means of control of linear magnetic axis formula linear electric motors be controller through specialty collocation realizes the control to magnetic axis formula linear electric motors with servo-driver, generally be that velocity mode through servo-driver drives linear electric motors and moves.On cost, professional servo-driver and controller are relatively more expensive, and need the parameter of regulation and control also a lot, are not easily to accomplish the controlled target of setting.On resource, professional servo-driver and controller resource are very limited, can not fine satisfied linear magnetic axis linear electric motors motion excellent control, and performance that can not the linear magnetic axis linear electric motors motion of fine performance.Spatially, need in industrial control equipment, divide a block space separately and be used to lay professional controller.This is for claiming on the industrial control equipment space layout, and the space resources of industrial control equipment is also very limited.Magnetic axis formula linear electric motors are in running, owing to there is electromagnetic field, magnetic energy consumption loss needs in real time a large amount of Control Parameter to be carried out Monitoring and Controlling, therefore need take many signalling channel resources.In addition on the one hand, there is electromagnetic field in magnetic axis formula linear electric motors, can be to the controller interference that generates an electromagnetic field, and general professional controller is but seldom considered this point.
FPGA develops and next product on the programming device basis; (16 * 1RAM) realize combinational logic to utilize small-sized look-up table; Each look-up table is connected to the input of a d type flip flop, trigger drives other logical circuits again or drives I/O, has constituted the basic logic unit module that not only can realize combination logic function but also can realize the sequential logic function thus; These intermodules utilize metal connecting line to connect mutually or are connected to the I/O module, and allow unlimited programming.The integrated embedded soft nuclear of present fpga chip, quick and convenient configuration internal hardware framework calls the chip internal resource, handles complex calculations more.Therefore FPGA has the ability fully to realize that motion is controlled to linear electric motors.
The utility model content
The utility model provides a kind of linear magnetic axis linear electric motors motion control card based on FPGA to the deficiency of prior art, and FPGA is after logic function is confirmed, and is just very reliable, is not subject to external interference.Its resource is very abundant in addition, and chip pin is up to up to a hundred, and the gate resource reaches 1,000,000, and processing speed is up to the hundreds of megahertz.Adopt SOPC (System on a Programmable Chip, programmable system on chip) technology, in the FPGA embedded processor; And integrated corresponding IP kernel; On the basis of realizing original functions, increase substantially performance and available resources, convenient debugging and function upgrading.And integrated a plurality of modules are on veneer, and minimizing takes up room.
For achieving the above object, the utility model adopts following technical scheme:
A kind of motion control card based on FPGA; Be specially adapted to the motion control of linear magnetic axis linear electric motors, comprise FPGA, pulse voltage modular converter, amplifier module, the single-ended modular converter of difference, light-coupled isolation input module, light-coupled isolation output module, USB/ serial interface module, power supply interface module and clock module; Described FPGA communicates through USB/ serial interface module and main control computer; FPGA, pulse voltage modular converter, amplifier module link to each other through standard signal interface successively; Amplifier module output links to each other with the servo-driver of motor through the light-coupled isolation output module; The single-ended modular converter of difference links to each other with motor checkout equipment grating encoder through the light-coupled isolation input module, and output links to each other with FPGA.
Above-mentioned FPGA is inner to adopt the embedded architecture bus that velocity pulse modular converter, main control module and pulse position modular converter is integrated through the SOPC technology; Three modules communicate with command signal through the embedded architecture bus and transmit.
Above-mentioned amplifier module comprises unidirectional bi-directional conversion module and strengthens driver module, is connected with servo-driver through the dual port random access memory.
The clock signal that above-mentioned clock module provides the FPGA main control module to use; Described power supply interface module connects external power source, is used to provide the power supply of whole motion control card.
The utility model has following outstanding advantage compared with prior art:
From cost, the cost of the utility model is low more than the controller of specialty, and has considered the signal electromagnet interference.From the space, the utility model adopts the single board design of embedded architecture, takes up room resource seldom.On resource, the utility model adopts and builds motion control card based on the FPGA that has kernel, and its pin resource and gate array resource are many more than professional controller, convenient debugging and function upgrading.
Description of drawings
Fig. 1 is the motion control card structural representation based on FPGA of the utility model.
Fig. 2 be the utility model based on FPGA embedded architecture internal frame diagram in the motion control card of FPGA.
Fig. 3 is the motion control card medium velocity pulses switch module frame chart based on FPGA of the utility model.
Fig. 4 be the utility model based on pulse position modular converter block diagram in the motion control card of FPGA.
Fig. 5 be the utility model based on pulse voltage modular converter circuit diagram in the motion control card of FPGA.
Fig. 6 be the utility model based on amplifier module circuit diagram in the motion control card of FPGA.
Fig. 7 be the utility model based on the single-ended modular converter block diagram of difference in the motion control card of FPGA.
Embodiment
To carry out more detailed explanation to the embodiment of the utility model below in conjunction with accompanying drawing:
As shown in Figure 1; A kind of motion control card based on FPGA; Be specially adapted to the motion control of linear magnetic axis linear electric motors, comprise FPGA, pulse voltage modular converter, amplifier module, the single-ended modular converter of difference, light-coupled isolation input module, light-coupled isolation output module, USB/ serial interface module, power supply interface module, clock module.Wherein FPGA communicates through USB/ serial interface module and main control computer.FPGA, pulse voltage modular converter, amplifier module link to each other through standard signal interface successively successively.Amplifier module output links to each other with the servo-driver of motor through the light-coupled isolation module.The single-ended modular converter of difference links to each other with motor checkout equipment encoder through the light-coupled isolation input module, and output links to each other with FPGA.
As shown in Figure 2, above-mentioned FPGA adopts the Cyclone II of altera corp Series FPGA chip.Adopt the SOPC technology to embed velocity pulse conversion functional module, the soft nuclear main control module of Nios II and pulse position conversion functional module, and have function according to the autonomous arbitration functions of feedback signal through embedded architecture bus Avalon bus.
As shown in Figure 3; Velocity pulse conversion functional module that above-mentioned FPGA is embedded is by input signal: divide ratio interface m, duty ratio coefficient interface n, reset signal interface reset, speed interface clock signal clk and output signal: pulse signal clkout; Form; This module can reach the branch yupin effect, accomplishes the velocity pulse translation function.
As shown in Figure 4, pulse position conversion functional module that above-mentioned FPGA is embedded is by input signal: ABZ three-phase pulse signal, clock input signal clk and zero clearing clear signal and output signal: position signalling speedtest forms.During the input of ABZ three-phase (Z is the control of control direction of rotation, and linear electric motors do not have direction of rotation control, so be input as zero), when detecting A in advance in the B pulse, the judgement linear electric motors are positive movement; When detecting A when lagging behind the B pulse, linear electric motors are counter motion, thereby obtain the absolute location information of linear electric motors.
As shown in Figure 5, above-mentioned pulse voltage modular converter adopts the AD650 chip, and the conversion accuracy error is at one of percentage.Can in real time that the input pulse conversion of signals is corresponding unidirectional voltage signal according to this module of peripheral circuit configuration.Its operation principle is following:
Input pulse F
InThrough C
4, R
5The differential circuit of forming is added to the inverting input of input comparator.When the trailing edge of input pulse arrives, input comparator output high level, the one-shot multivibrator output high level that is triggered, this moment, the 1mA current source was to integrating capacitor C
1Charge, the charging interval is by capacitor C
3Decision.The linear functional relation of incoming frequency and output voltage.The incoming frequency F of AD650
InWith output voltage V
OutRelation following:
V
out=7.5·F
in·C
3(R
1+R
2) (1)
Wherein:
R
1+?R
2=V
outmax/0.25mA (2)
C
3=10
-4F/(S·F
max) (3)
V in the formula
OutmaxBe maximum output voltage, F
MaxBe the full scale frequency, S is the intrinsic parameter of timing capacitor, R
1, R
2Refer to resistance in the peripheral circuit respectively, F refers to incoming frequency.
As shown in Figure 6, above-mentioned amplifier module is strengthened driver module and is formed by unidirectional bi-directional conversion voltage module.This module can be divided into the bi-directional voltage signal with the unidirectional voltage signal according to setting the voltage of voltage regulation value in real time under peripheral circuit, and under the effect of enhancing driver module, has increased its driving force.
Wherein unidirectional bi-directional voltage modular converter is made up of Voltage stabilizing module and subtracter amplifier module.
Voltage stabilizing module is made up of voltage stabilizing chip 7805, ground signalling.
Subtracter amplifier module is by outer meeting resistance R
11, R
22, R
Ff, R
33, amplifier chip LM324 and input and output voltage signal form.If via 7805 voltage stabilizing circuit input resistance R
11Voltage be V
I1, resistance R
22Input terminal voltage be V
I2, the output voltage of amplifier is V
0, have:
V
0=-
V
i1+
(1+
)?V
i2 (4)
For the error that the eliminate bias electric current causes, require the necessary balance of its all-in resistance of external circuit of operational amplifier two inputs, promptly
R
11∥R
ff=?R
22∥R
33 (5)
If R
11=R
22, R
Ff=R
33, then have:
V
0=
(?V
i2-?V
i1) (6)
Work as R
11=R
FfThe time, have:
V
0=?V
i2-?V
i1 （7）
V
I1Size is 5V, and V
I2Input voltage be 0-10V, thereby the output voltage V of subtraction circuit
0For-5-5V.What this subtracter amplifier modular circuit adopted is the single slice high-gain dual operational amplifier, can under the single supply of relative broad range, work, and its source current is very little and irrelevant with the supply voltage size.
The voltage follower module can reduce impedance simultaneously, thereby improve the load-carrying ability of original circuit guaranteeing that input voltage is identical with output voltage, with bi-directional voltage signal input servo-driver, presses the setting speed motion thereby drive linear electric motors.
As shown in Figure 7, the single-ended module of above-mentioned difference is to adopt the AM26LS chip, can convert ABZ three-phase differential pulse signal into single-ended three-phase pulse signal according to this module of peripheral circuit.
Should be understood that above-mentioned description to the utility model embodiment is comparatively detailed, can not therefore think the restriction to the utility model scope of patent protection, the scope of patent protection of the utility model should be as the criterion with accompanying claims.
Claims (4)
1. motion control card based on FPGA; Be specially adapted to the motion control of linear magnetic axis linear electric motors; It is characterized in that, comprise FPGA, pulse voltage modular converter, amplifier module, the single-ended modular converter of difference, light-coupled isolation input module, light-coupled isolation output module, USB/ serial interface module, power supply interface module and clock module; Described FPGA communicates through USB/ serial interface module and main control computer; FPGA, pulse voltage modular converter, amplifier module link to each other through standard signal interface successively; Amplifier module output links to each other with the servo-driver of motor through the light-coupled isolation output module; The single-ended modular converter of difference links to each other with motor checkout equipment grating encoder through the light-coupled isolation input module, and output links to each other with FPGA.
2. a kind of motion control card based on FPGA according to claim 1 is characterized in that, said FPGA is inner to adopt the embedded architecture bus that velocity pulse modular converter, main control module and pulse position modular converter is integrated through the SOPC technology; Three modules communicate with command signal through the embedded architecture bus and transmit.
3. a kind of motion control card based on FPGA according to claim 1 is characterized in that, described amplifier module comprises unidirectional bi-directional conversion module and strengthens driver module, is connected with servo-driver through the dual port random access memory.
4. a kind of motion control card based on FPGA according to claim 1 is characterized in that the clock signal that said clock module provides the FPGA main control module to use; Described power supply interface module connects external power source, is used to provide the power supply of whole motion control card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200009233U CN202385050U (en) | 2012-01-04 | 2012-01-04 | Motion control card based on FPGA (field programmable gate array) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200009233U CN202385050U (en) | 2012-01-04 | 2012-01-04 | Motion control card based on FPGA (field programmable gate array) |
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| Publication Number | Publication Date |
|---|---|
| CN202385050U true CN202385050U (en) | 2012-08-15 |
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ID=46633520
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200009233U Expired - Fee Related CN202385050U (en) | 2012-01-04 | 2012-01-04 | Motion control card based on FPGA (field programmable gate array) |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102825604A (en) * | 2012-09-18 | 2012-12-19 | 广西玉林正方机械有限公司 | Motion control programming system of six-DOF (degree of freedom) robot |
| CN103273489A (en) * | 2013-05-10 | 2013-09-04 | 上海大学 | Robot control system and method based on principal and subordinate teleoperation mechanical arm |
| CN106292472A (en) * | 2016-10-20 | 2017-01-04 | 哈尔滨工业大学 | A kind of motion control method and device |
| CN106444510A (en) * | 2016-10-20 | 2017-02-22 | 哈尔滨工业大学 | Data collection system based on optical gratings |
| CN108075692A (en) * | 2017-12-30 | 2018-05-25 | 南京工程学院 | A kind of servo control system based on FPGA |
| CN108429496A (en) * | 2018-05-15 | 2018-08-21 | 江苏冬庆数控机床有限公司 | Energy-saving conversion device for polymorphic type stepper motor application scenario |
| CN108594708A (en) * | 2018-04-24 | 2018-09-28 | 苏州赛腾精密电子股份有限公司 | I/O control cards and I/O method for transmitting signals |
| CN109874398A (en) * | 2017-01-04 | 2019-06-11 | 华为技术有限公司 | A kind of driving method and terminal of linear motor |
| CN111900904A (en) * | 2020-06-28 | 2020-11-06 | 重庆乐吧便捷科技有限公司 | Stepping motor drive control module |
| CN116338410A (en) * | 2023-05-26 | 2023-06-27 | 中诚华隆计算机技术有限公司 | Needle card control device, control system and control method for testing core particles |
-
2012
- 2012-01-04 CN CN2012200009233U patent/CN202385050U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102825604A (en) * | 2012-09-18 | 2012-12-19 | 广西玉林正方机械有限公司 | Motion control programming system of six-DOF (degree of freedom) robot |
| CN103273489A (en) * | 2013-05-10 | 2013-09-04 | 上海大学 | Robot control system and method based on principal and subordinate teleoperation mechanical arm |
| CN103273489B (en) * | 2013-05-10 | 2015-10-07 | 上海大学 | Based on robot control system and the method for principal and subordinate's remote operating mechanical arm |
| CN106292472A (en) * | 2016-10-20 | 2017-01-04 | 哈尔滨工业大学 | A kind of motion control method and device |
| CN106444510A (en) * | 2016-10-20 | 2017-02-22 | 哈尔滨工业大学 | Data collection system based on optical gratings |
| CN106292472B (en) * | 2016-10-20 | 2017-07-07 | 哈尔滨工业大学 | A kind of motion control method and device |
| CN109874398A (en) * | 2017-01-04 | 2019-06-11 | 华为技术有限公司 | A kind of driving method and terminal of linear motor |
| CN108075692A (en) * | 2017-12-30 | 2018-05-25 | 南京工程学院 | A kind of servo control system based on FPGA |
| CN108594708A (en) * | 2018-04-24 | 2018-09-28 | 苏州赛腾精密电子股份有限公司 | I/O control cards and I/O method for transmitting signals |
| CN108429496A (en) * | 2018-05-15 | 2018-08-21 | 江苏冬庆数控机床有限公司 | Energy-saving conversion device for polymorphic type stepper motor application scenario |
| CN111900904A (en) * | 2020-06-28 | 2020-11-06 | 重庆乐吧便捷科技有限公司 | Stepping motor drive control module |
| CN116338410A (en) * | 2023-05-26 | 2023-06-27 | 中诚华隆计算机技术有限公司 | Needle card control device, control system and control method for testing core particles |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120815 Termination date: 20130104 |