CN202433721U - Servo controller for tri-axial antenna test robot - Google Patents
Servo controller for tri-axial antenna test robot Download PDFInfo
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- CN202433721U CN202433721U CN201120459057XU CN201120459057U CN202433721U CN 202433721 U CN202433721 U CN 202433721U CN 201120459057X U CN201120459057X U CN 201120459057XU CN 201120459057 U CN201120459057 U CN 201120459057U CN 202433721 U CN202433721 U CN 202433721U
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Abstract
The utility model designs a servo controller for a tri-axial antenna test robot and belongs to the field of dynamo-electric control. The servo controller for a tri-axial antenna test robot is characterized by comprising a tri-axial motion control plate, and the periphery of the control plate is provided with a touch screen man-machine interface, a host computer interface, a tri-axial feedback channel, a tri-axial limit module and a tri-axial drive module; the touch screen man-machine interface enables the man-machine interaction function of the controller to be realized; the host computer interface is connected with the controller and a user host computer to control an antenna test robot in a remote manner; the tri-axial feedback channel is used for respectively collecting real-time angular position data of all axes of the antenna test robot; the tri-axial limit module is used for electrical limit for all axes of the antenna test robot; and the tri-axial drive module is used for driving each motor of the antenna test robot to move. According to the servo controller of the utility model, an effective and low-cost solution is provided for a tri-axial control system based on a permanent-magnet direct current moment motor, and the three axes can be controlled to move independently and also to move simultaneously in an associated manner.
Description
Technical field
The utility model designs a kind of triaxial antennas test machine people servo controller, belongs to the Electromechanical Control field.
Background technology
Triaxial antennas test machine people is a kind of equipment that is used for the test antenna performance.Triaxial antennas test machine people has three kinematic axiss: orientation kinematic axis, luffing axle and compensating motion axle, and wherein the orientation kinematic axis is regulated the position angle of tested antenna, and range of movement is 0 °～360 °, and is separate with two other motion.The luffing axle is regulated the angle of pitch of tested antenna; The movement warp of compensating motion axle compensation pitch axis; Phase center to guarantee tested antenna is constant, so the essential coordinate synchronization motion of luffing axle and compensating motion axle, the range of movement of the angle of pitch and offset angle is 0 °～90 °.
In the Electromechanical Control field, the element that makes up servo-control system has a lot, with regard to choosing of executive component; The employing AC servo motor that has, the employing stepper motor that has, the employing brshless DC motor that has; The employing that has has brush direct current generator etc., the different motor different driver of need arranging in pairs or groups; Just feed back choosing of measuring sensor, the employing photoelectric encoder that has, the employing grating chi that has, the employing rotary transformer that has, the employing Hall elements that have etc. according to the Different control needs, are selected different sensor.
Triaxial antennas test machine people is typical three servo-drive systems; This humanoid robot adopts the executive component of permanent magnetic DC torque motor as each kinematic axis; Require each kinematic axis position control accuracy greater than 0.1 °; Adopt 14 absolute optical encoders as each kinematic axis position measurement element, adopt the spacing detecting element of infrared type optoelectronic switch, adopt touch display screen as human-computer interaction interface as each kinematic axis.
Summary of the invention
The purpose of the utility model is that this scheme can also be applied in other three servo-control systems based on permanent magnetic DC torque motor for triaxial antennas test machine people provides effectively and controlling schemes cheaply.
The utility model discloses a kind of triaxial antennas test machine people controller, it is characterized in that: comprise that a three-axis moving control panel, control panel are with touch-screen man-machine interface, host computer interface, three feedback channels, three spacing modules and three driver modules outward.
The three-axis moving control panel serves as the control core with the PIC24HJ128GP506 single-chip microcomputer, and expansion a slice EEPROM is used for store operational parameters, expands three road RS485 interfaces and is used to connect feedback channel, expands one road CAN field-bus interface and is used for remote networking control.
The touch-screen man-machine interface is the RS232 interface, connects one 7 cun 64K RGB serial touch-screens.
The host computer interface is the RS232 interface, can directly connect the computing machine with RS232 interface the antenna measurement robot is implemented remote auto control.
Three feedback channels all are the RS485 interface, but the various angular position pick ups of connecting band RS485 interface.Sensor accuracy can confirm according to actual needs that when adopting 14 absolute optical encoders, the angular position measurement precision that can guarantee each is greater than 0.03 °, and the angular velocity measurement precision is greater than 0.1 °/S.
Three spacing modules all adopt photoelectricity to isolate input; Input current is 100mA to the maximum; Can connect the various switching value detecting sensors of supporting open collector output; Like: optoelectronic switch, near switch or travel switch etc., after control panel detects spacing brake signal, can make the motor emergency brake.
Three driver modules adopt PWM ripple H bridge-type power amplifier; Can drive permanent magnetic DC torque motor; Driver module carries emergency brake signaling interface and high speed PWM ripple drive signal photoelectricity isolating interface; The driver module maximum operation frequency is 20KHz, and maximum drive voltage is 28V, and maximum operating currenbt is 48A.
The advantage of the disclosed equipment of the utility model is described below:
(1) economy.Because the utility model has adopted homemade PWM ripple H bridge-type power amplifier module, not only can well accomplish each item performance index of triaxial antennas test machine people, and the whole cost of controller has been saved about 20% than employing conventional linear power amplifier module.
(2) accuracy.The working control precision of the utility model depends on the effective accuracy of sensor; Because controller has adopted the RS485 bus directly to communicate by letter with absolute optical encoder; So the collection to feedback signal does not almost have loss of significance, this makes the position control accuracy of controller to remain on the effective accuracy of sensor on the same magnitude.
(3) simplicity.Because the utility model adopts 7 cun 6K RGB touch display screens as Man Machine Interface, shows the method hommization more that adds the button input than traditional LED, makes user's manual operation more simple and convenient.In addition, also have the host computer interface on the controller, be used to connect computer-implemented remote auto control.The user can select any one mode to control triaxial antennas test machine people as required.
(4) reliability.The utility model has adopted the reliability of multiple measure raising control system, as adopting the antijamming capability of RS485 bus transfer feedback signal with enhanced system; Control panel can wide power voltage supply, has functions such as the overvoltage of preventing, under-voltage, power supply reversal connection and short circuit; Controller adopts multiple protection functions, and software protection can prevent that user's invalid data from importing and feedback data is unusual; Control panel and motor drive module all have electric position limitation protection, the dual electric spacing further reliability that strengthens control system.
Description of drawings
Fig. 1 is a triaxial antennas test machine people servo-control system overall construction drawing
Part in the frame of broken lines is a triaxial antennas test machine people servo controller.
Fig. 2 is a triaxial antennas test machine people servo controller control panel structural drawing
Control panel serves as the control core with the PIC24HJ128GP506 single-chip microcomputer; Have special-purpose reset circuit and supply module, expansion a slice EEPROM is used for store operational parameters, expands three road RS485 interfaces and is used to connect feedback channel; Expand one road CAN field-bus interface and be used for remote networking control; One road touch screen interface is provided, position machine interface on the way, three spacing modules and three road driver modules etc.
Fig. 3 is triaxial antennas test machine people servo controller driver module circuit theory diagrams
Triaxial antennas test machine people servo controller driver module is used to drive direct current torque motor (B1), and it forms a H type full bridge driving circuit by two half-bridge driven chip BTN7970 (U2 and U3).External input signal mainly contains two-way waveform complementary PWM ripple signal (PWMH and PWML) and one tunnel emergency brake signal (Break).The two-way pwm signal is isolated the back input through high speed photo coupling (U4), and brake signal is isolated the back input through low speed optocoupler (U1).
Fig. 4 is triaxial antennas test machine people servo controller man-machine interaction master interfacial effect figure
Man-machine interaction master interface is divided into three parts, and the part in the frame of broken lines 1 is three shaft angle degree set-points and value of feedback viewing area, and the part in the frame of broken lines 2 is system state and mode of operation viewing area, and the part in the frame of broken lines 3 is the touch key-press zone.
Embodiment
The utility model is intended to should be appreciated that for triaxial antennas test machine people provides effectively and controlling schemes cheaply the utility model can also be applied in other similar three servo-control systems.
Fig. 1 shows the general structure of triaxial antennas test machine people servo-control system; Part in the frame of broken lines is a triaxial antennas test machine people servo controller; Comprise a three-axis moving control panel; Be with touch-screen man-machine interface, host computer interface, three feedback channels, three spacing modules and three driver modules etc. outward, details are as follows:
The three-axis moving control panel serves as the control core with the PIC24HJ128GP506 single-chip microcomputer, and this type single-chip microcomputer is produced by Microchip company, is a 16 high-grade single-chip microcomputer, and dominant frequency is up to 40M, and sheet carries the ram space of 8K, can move small-sized embedded OS.The utility model has been developed all Control Software based on μ C/OS-II embedded OS.
Because power supply type is numerous on the control panel; Multiple power supplies such as 5V, 3.3V, 28V are arranged; Therefore on the control panel specialized designs power-supply system; Adopt the 28V Switching Power Supply as the controller primary power, through after the voltage stabilizing of LM2576-5V chip as the 5V power supply, again after the voltage stabilizing of ASM1117-3.3V chip as the 3.3V power supply.In addition, also adopting the MAX811-2.4V chip is that control panel makes up special-purpose reset circuit module.
Because the PIC24HJ128GP506 singlechip is not with EEPROM, so utilize I2C bus expansion a slice EEPROM of this single-chip microcomputer to be used for store operational parameters, the chip model is 24LC64, can store the 8K byte data at most.
In order to realize the extensibility of triaxial antennas test machine people control function; As: possibly increase some new functional modules future for control system; Or triaxial antennas test machine people brought in the bigger network system control; Institute thinks that controller expands one road CAN field-bus interface, and CAN transceiver model is PCA82C250.
One 7 cun 64K RGB serial touch-screens are adopted in the touch-screen man-machine interface; Model is DMT80480C070_01W; This type touch panel communication mode is the RS232 EBI; It is convenient to have exploitation, uses flexible characteristic, and the auxiliary development software that utilizes the touch-screen manufacturer to provide can easily be designed beautiful man-machine interface.Fig. 4 is triaxial antennas test machine people servo controller man-machine interaction master interfacial effect figure.
In order to alleviate staff's operation burden, triaxial antennas test machine people servo controller has been expanded position machine serial communication interface on the way, can directly connect the computing machine with RS232 interface the antenna measurement robot is implemented remote auto control.Controller inside has write communication protocol, and the user can develop PC control software as required voluntarily.
For simplified system design and enhanced system antijamming capability; The utility model utilizes the RS485 bus to make up the feedback data transmission channel; The PIC24HJ128GP506 single-chip microcomputer only has the dual serial mouth; And control system needs three road feedback channels altogether, so utilization and string conversion chip SC16C554 expand three road RS485 EBIs, control panel can directly connect all position transducer with RS485 interface or transmitters.Triaxial antennas test machine people adopts 14 absolute optical encoder E1042Ad6-14, and this type scrambler angular position measurement error is less than 0.03 °, and the angular velocity measurement error is less than 0.1 °/S.
Three spacing modules of controller all adopt photoelectricity to isolate input; Maximum input current is 100mA; Can connect the various switching value detecting sensors of supporting open collector output; Like: optoelectronic switch, near switch or travel switch etc., after control panel detects spacing brake signal, can realize the motor emergency brake.
The utility model has been developed motor drive module voluntarily to save cost of development, and Fig. 3 is the driver module circuit theory diagrams.This module adopts two half-bridge driven chip BTN7970 to form a H type full bridge driving circuit.The PWM ripple signal of two-way waveform complementation is isolated the back input through high speed photo coupling, imports after the light-coupled isolation of one tunnel emergency brake signal process low speed.This module can drive permanent magnetic DC torque motor, and maximum operation frequency is 20KHz, and maximum drive voltage is 28V, and maximum operating currenbt is 48A.
Concrete principle of work
Triaxial antennas test machine people servo controller is typical position closed loop feedback control system; Import three shaft position set-points by touch screen human-computer interface; Absolute optical encoder by band RS485 interface constitutes backfeed loop; After single-chip microcomputer collection position set-point and the value of feedback, call the pid control algorithm of having finished three shaft positions are implemented closed-loop control, wherein luffing axle and compensating motion axle synchro control.Three axis Position Control errors are all less than 0.1 °.
Claims (5)
1. triaxial antennas test machine people servo controller, it is characterized in that: comprise a three-axis moving control panel, control panel is with touch-screen man-machine interface, host computer interface, three feedback channels, three spacing modules and three driver modules outward.
2. triaxial antennas test machine people servo controller according to claim 1; It is characterized in that: said three-axis moving control panel serves as the control core with the PIC24HJ128GP506 single-chip microcomputer; Expansion a slice EEPROM is used for store operational parameters; Expand three road RS485 interfaces and be used to connect feedback channel, expand one road CAN field-bus interface and be used for remote networking control.
3. triaxial antennas test machine people servo controller according to claim 1, it is characterized in that: said touch-screen man-machine interface is the RS232 interface, is connected with one 7 cun 64K RGB serial touch-screens.
4. triaxial antennas test machine people servo controller according to claim 1 is characterized in that: said three feedback channels all are the RS485 interface, but the various angular position pick ups of connecting band RS485 interface.
5. triaxial antennas test machine people servo controller according to claim 1; It is characterized in that: said three driver modules adopt PWM ripple H bridge-type power amplifier; Can drive permanent magnetic DC torque motor, driver module carries emergency brake signaling interface and high speed PWM ripple drive signal photoelectricity isolating interface, and the driver module maximum operation frequency is 20KHz; Maximum drive voltage is 28V, and maximum operating currenbt is 48A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120459057XU CN202433721U (en) | 2011-11-18 | 2011-11-18 | Servo controller for tri-axial antenna test robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120459057XU CN202433721U (en) | 2011-11-18 | 2011-11-18 | Servo controller for tri-axial antenna test robot |
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| CN202433721U true CN202433721U (en) | 2012-09-12 |
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| CN201120459057XU Expired - Fee Related CN202433721U (en) | 2011-11-18 | 2011-11-18 | Servo controller for tri-axial antenna test robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103001549A (en) * | 2012-12-06 | 2013-03-27 | 河海大学 | Driving circuit for three-variable lens motor of intelligent camera |
| CN103123468A (en) * | 2011-11-18 | 2013-05-29 | 南京航空航天大学 | Servo controller for three-shaft antenna test robot |
| CN106707888A (en) * | 2017-02-16 | 2017-05-24 | 山东仕脉机器人技术有限公司 | Programmable control module, system provided with same and control method |
| CN114488984A (en) * | 2022-01-27 | 2022-05-13 | 华能(广东)能源开发有限公司海门电厂 | Control system and control method for multiple DCS (distributed control system) main machines of power plant |
-
2011
- 2011-11-18 CN CN201120459057XU patent/CN202433721U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103123468A (en) * | 2011-11-18 | 2013-05-29 | 南京航空航天大学 | Servo controller for three-shaft antenna test robot |
| CN103001549A (en) * | 2012-12-06 | 2013-03-27 | 河海大学 | Driving circuit for three-variable lens motor of intelligent camera |
| CN106707888A (en) * | 2017-02-16 | 2017-05-24 | 山东仕脉机器人技术有限公司 | Programmable control module, system provided with same and control method |
| CN106707888B (en) * | 2017-02-16 | 2019-01-25 | 山东仕脉机器人技术有限公司 | Programmable control module and system, control method with the control module |
| CN114488984A (en) * | 2022-01-27 | 2022-05-13 | 华能(广东)能源开发有限公司海门电厂 | Control system and control method for multiple DCS (distributed control system) main machines of power plant |
| CN114488984B (en) * | 2022-01-27 | 2023-02-03 | 华能(广东)能源开发有限公司海门电厂 | Control system and control method for multiple DCS (distributed control system) main machines of power plant |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120912 Termination date: 20131118 |