CN202512415U - ARM platform-based step-motor closed loop control system - Google Patents
ARM platform-based step-motor closed loop control system Download PDFInfo
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- CN202512415U CN202512415U CN2011205440457U CN201120544045U CN202512415U CN 202512415 U CN202512415 U CN 202512415U CN 2011205440457 U CN2011205440457 U CN 2011205440457U CN 201120544045 U CN201120544045 U CN 201120544045U CN 202512415 U CN202512415 U CN 202512415U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The utility model discloses an ARM platform-based step-motor closed loop control system and the system is a dispersion type control system. A host portion consists of a PC computer and a step motor control portion consists of an ARM 7 microprocessor which is taken as a core. The host portion is mainly responsible for user interface display and command control. The step motor control portion realizes a process of step motor driving, grating ruler input signal reading, limit switch signal input control, inching control and PC computer real time communication. The PC computer and the step motor controller carry out real time communication by a CAN bus interface.
Description
Technical field
The utility model relates to a kind of Closed-Loop Control of Stepping Motor system based on the ARM platform.Relate in particular to a kind of embedded Closed-Loop Control of Stepping Motor of real-time network system that connects based on the CAN network
Background technology
At present, the general stepper motor that adopts carries out drive controlling when the work transfer table is controlled.One of major advantage of stepper motor is in open cycle system, to guarantee certain control accuracy; But open cycle system also has some shortcomings: the raising speed stage step-out whether that can't know at the uniform velocity stage and the starting of stepper motor motion in some position; Superledge whether when stepping finishes; And the velocity variations that causes owing to load variations; Especially big and when impact phenomenon is arranged when load torque, step-out with lose the step phenomenon and just seem very outstanding, thereby make the application of the open loop control of stepper motor receive influence to a certain degree.
For realizing the accurate location of work transfer table; Adopted with the closed-loop control of grating chi as the position probing link, to be exactly the grating chi feed back to controller with the P-pulse of detected workbench to its essential method, and controller is according to detected actual displacement state; Come umber of pulse, the frequency of adjustment input in real time; Make stepper motor be stabilized in normal operating condition, and make physical location consistent, thereby reach pinpoint requirement with the location of instruction.
The utility model content
For realizing above-mentioned purpose, the utility model proposes a kind of Closed-Loop Control of Stepping Motor system based on the ARM platform, comprises host machine part and step motor control part; Host machine part is made up of a PC computer, mainly is responsible for user interface demonstration and order control; The step motor control part is that core is formed by the ARM7 microprocessor, comprises USB-CAN bus converter, electric machine controller, power supply, motorized stage, output power tunable arrangement and decay mode tunable arrangement; Said step motor control realizes that partly one tunnel step motor drive, grating chi input signal are understood, the limit switch signal input is controlled, crawl is controlled and PC computer real-time Communication for Power; ARM microprocessor and motor drive ic adopt buffer circuit; Carry out real-time Communication for Power through the CAN EBI between PC computer and the controllor for step-by-step motor.
Mainly be provided with ARM microprocessor, stepping motor control circuit, photoelectric isolating circuit, system reset circuit, memory circuitry, CAN bus interface circuit in this electric machine controller, usb circuit, RS232 interface circuit, wireless interface circuit, feedback control circuit, spacing control circuit and synchronizing signal output circuit; This motorized stage is connected with electric machine controller, and it mainly is provided with stepper motor, transfer table, grating chi and limit switch; Said PC computer expert crosses the USB-CAN bus converter and is connected with electric machine controller, and power supply is electrically connected electric machine controller; Said output power tunable arrangement links to each other with electric machine controller with decay mode tunable arrangement, is used for linear adjustment output power and different decay modes is set.
Further; Said stepping motor control circuit adopts ARM microprocessor AT91SAM7X256; According to the control command of software kit real-time Transmission on the PC computer, call and include address, direction, speed, stroke, circulation, the isoparametric operating scheme of resolution, accurately the control step motor movement.
Further; Said electric machine controller adopts THB6064H as motor drive ic; Traffic direction, speed, the segmentation pattern of stepper motor can be set through software kit on the PC computer; Can carry out multistage segmentation pattern such as 2/8/10/16/20/32/40/64, thus be implemented in low speed vibration minimum with higher accurate automatically controlled mobile of bearing accuracy.
Further, the buffer circuit of described stepping ARM microprocessor and motor drive ic adopts TLP2530 and TLP521-4, thereby the weak current part of the system of realization and strong power part isolation reach the inhibition system noise, eliminate the purpose of the interference of ground loop.
Further; Motion out-of-bounds when preventing operating mobile station; Extreme position in transfer table guide rail both sides is provided with limit switch respectively, can when platform exceeds range of movement, automatic trigger pip give controllor for step-by-step motor, makes its real-time response and stops motor movement.
Further; Said electric machine controller carries out real-time Communication for Power through the USB-CAN bus converter with the PC computer; Converter circuit adopts STM32F103RBT6 as master control protocol conversion chip; Through the CAN EBI can also with other electric machine controllers mutually cascade form accurately controlled step motor control system of a cover multidimensional position, its maximum dimension can be 15 dimensions.
Further; Said two the crawl control buttons that are used for controlling the motor moving direction that also are provided with based on ARM microprocessor platform Closed-Loop Control of Stepping Motor system; And be designed with de-twitter circuit, can under the prerequisite of not importing operating scheme, manually carry out the location that relative accuracy requires.
Further, said wireless interface circuit uses the ZIGBEE mode, and the parameter of electric machine controller can be set through wireless data transmission, and its circuit main control chip adopts CC2430, and its wave point mode can also be used the wave point mode of other frequencies.
Further; Said step motor control part has also designed output power tunable arrangement and decay mode tunable arrangement; They can be provided with the size and the decay mode of output power respectively, thereby make native system under the different application condition, to be used fully; Said electric machine controller also has indication mechanism flashing indicator light whether in proper working order.
Further, said synchronizing signal output circuit can be used for linking to each other with other equipment, is used for the work of other equipment synchronously, makes total system have application fields more.
Compared with prior art, the beneficial effect of the utility model is:
The control system of the utility model has increased the closed-loop control of grating chi as the position probing link; To be exactly the grating chi feed back to controller with the P-pulse of detected workbench to its essential method; Controller comes umber of pulse, the frequency of adjustment input in real time according to detected actual displacement state, makes stepper motor be stabilized in normal operating condition; And make physical location consistent, thereby reach pinpoint requirement with the location of instruction.
The control system of the utility model has also increased the CAN network connecting function, can communicate with remote termination, and make communication distance greatly promote, and can realize multistage interconnected control more flexibly, thereby can make the application of native system more extensive.
Motion out-of-bounds when preventing operating mobile station, the extreme position in transfer table guide rail both sides is provided with limit switch respectively, can when platform exceeds range of movement, automatic trigger pip give controllor for step-by-step motor, make its real-time response and stop motor movement.
Equally, the utility model has also adopted two crawl control buttons can manually controlling the transfer table shift position.Can under the prerequisite of not importing operating scheme, manually carry out the location that relative accuracy requires.
And owing to use the core of ARM microprocessor as circuit control system, the adequate space in the ARM microprocessor can reserve certain procedure space and external interface for other function on the native system, has greatly strengthened the extensibility of the utility model.
Description of drawings
Fig. 1 is the circuit block diagram of the utility model;
Fig. 2 is that each port section of ARM microprocessor of the utility model embodiment is electrically connected circuit diagram;
Fig. 3 is ARM microprocessor and the CAN bus interface circuit figure of the utility model embodiment;
Fig. 4 is ARM microprocessor and the usb circuit figure of the utility model embodiment;
Fig. 5 is ARM microprocessor and the RS232 interface circuit figure of the utility model embodiment;
Fig. 6 is ARM microprocessor and the wireless interface circuit figure of the utility model embodiment;
Fig. 7 is the stepping motor control circuit figure of the utility model embodiment;
Fig. 8 is the photoelectric isolating circuit figure of the utility model embodiment;
Fig. 9 is the synchronizing signal output circuit figure of the utility model embodiment;
Figure 10 is the top synoptic diagram of the utility model embodiment;
Figure 11 is the front schematic view of the utility model embodiment;
Figure 12 is the reverse side synoptic diagram of the utility model embodiment.
Each parts mark is following among Fig. 1-11:
1. ARM microprocessor; 2. CAN bus interface circuit; 3. usb circuit; 4. RS232 interface circuit; 5. wireless interface circuit; 6. system reset circuit; 7. memory circuitry; 8. synchronizing signal output circuit; 9. spacing control circuit; 10. flashing indicator light; 11. stepping motor control circuit; 12. photoelectric isolating circuit; 13. output power tunable arrangement; 14. decay mode tunable arrangement; 15 crawls control button; 16. stepper motor interface; 17. limit switch interface; 18. grating chi interface; 19. stepper motor; 20. transfer table; 21. limit switch; 22. grating chi; 23 electric machine controllers; 24.PC computer; 25. USB-CAN bus converter; 26. power supply.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described in further detail:
Shown in the circuit theory diagrams of Fig. 1, ARM microprocessor 1 and CAN bus interface circuit 2, usb circuit 3, RS232 interface circuit 4; Wireless interface circuit 5, system reset circuit 6, memory circuitry 7; Synchronizing signal output circuit 8, spacing control circuit 9, flashing indicator light 10; Stepping motor control circuit 11, crawl control button 15, limit switch interface 17 is electrically connected with grating chi interface 18;
Stepping motor control circuit 11 and photoelectric isolating circuit 12, output power tunable arrangement 13, decay mode tunable arrangement 14 is electrically connected with stepper motor interface 16;
Transfer table 20 and stepper motor 19, limit switch 21 is fixedly connected with grating chi 22; Stepper motor 19 is connected with stepper motor interface 16 cables; Limit switch 21 is connected with limit switch interface 17 cables; Grating chi 22 is connected with grating chi interface 18 cables;
USB-CAN bus converter 25 is connected with CAN bus interface circuit 2 cables; PC computer 24 is connected with USB-CAN bus converter 25 cables;
When need in input on the software interface of PC computer 24 operation control include address, direction, speed, stroke, circulation, the isoparametric operating scheme of resolution after; ARM microprocessor 1 is at first stored this scheme parameter through memory circuitry 7; So that still can be after the connection of breaking off PC computer 24 according to this scheme parameter operation; ARM microprocessor 1 will be exported control command to stepping motor control circuit 11; The latter outputs to stepper motor interface 16 via photoelectric isolating circuit 12 with control command, thereby drive stepping motor 19 work make transfer table 20 move to the position that is provided with in the operating scheme.
Native system adopts the position probing link of grating chi 22 as the transfer table displacement.Grating chi 22 output be electric signal, moving chi moves a pitch, the output electric signal just changes one-period, it be through the measurement of signal period of change is measured moving just with the relative displacement of taking office surely.The output signal of the grating chi 22 that uses at present generally has two kinds of forms, and the one, the phasing degree differs 90 ° 2 road square-wave signals, and the 2nd, phase place differs 90 ° 4 tunnel sinusoidal signals successively.Native system designs to the grating chi 22 of output square-wave signal, and for the grating chi of sine wave output signal, can be changed into square-wave signal output through shaping.The grating chi 22 of output square wave has A phase, B phase and Z three electric signal mutually, and the A phase signals is a main signal, and B is sub signal mutually, and two signal periods are identical, are W, 90 ° of phase differential.Signal is input to ARM microprocessor 1 through grating chi interface 18, need pass through the measurement and the processing of this signal: the exchanges data of filter rectification, segmentation sensing, counting, realization and system.ARM microprocessor 1 compares judgement to data that obtain from grating chi 22 and the scheme parameter that is provided with through PC computer 24, carries out error correction, thereby realizes the accurate closed-loop control of shift position.
The utility model has also designed output power tunable arrangement 13 and decay mode tunable arrangement 14 in electronic transfer table control; They can be provided with the size and the decay mode of output power respectively, thereby make native system under the different application condition, to be used fully.
The utility model increase has far and near two limit switches 21; This is equivalent to be provided with mobile scope for automatically controlled transfer table; When no matter the position of moving arrived any one of far and near two limit switches 20, limit switch 21 all can be through limit switch interface 17 to position signalling of ARM microprocessor 1 output.This means that transfer table has moved to a side pole value of position range, transfer table can not move in this direction again, can only move toward reverse direction.This will effectively guarantee the validity of automatically controlled transfer table shift position.
The utility model also is designed with cascade function, can pass through CAN EBI and the cascade mutually of other electric machine controllers, forms accurately controlled step motor control system of a cover multidimensional position, and its maximum dimension can be 15 dimensions.
The utility model has designed two crawl control buttons 15 can manually controlling the transfer table shift position.Can under the prerequisite of not importing operating scheme, manually carry out the location that relative accuracy requires.
Owing to use the core of ARM microprocessor as circuit control system, the adequate space in the ARM microprocessor can reserve certain procedure space and external interface for other function on the native system, has greatly strengthened the extensibility of the utility model.
It is to be noted and any distortion of making according to the embodiment of the utility model all do not break away from the spirit of the utility model and the scope of claim record.
Claims (8)
1. Closed-Loop Control of Stepping Motor system based on the ARM platform; Native system is a distributed control system; Host machine part is made up of a PC computer, mainly is responsible for user interface demonstration and order control, and the step motor control part is that core is formed by the ARM7 microprocessor; It is characterized in that: the step motor control part realizes that then one tunnel step motor drive, grating chi input signal are understood, the limit switch signal input is controlled, crawl is controlled and PC computer real-time Communication for Power; ARM microprocessor and motor drive ic adopt buffer circuit; Carry out real-time Communication for Power through the CAN EBI between PC computer and the controllor for step-by-step motor.
2. the Closed-Loop Control of Stepping Motor system based on the ARM platform as claimed in claim 1 is characterized in that: described stepping motor control circuit adopts ARM microprocessor AT91SAM7X256.
3. like the described Closed-Loop Control of Stepping Motor system based on the ARM platform of claim 1, it is characterized in that: described step motor drive chip adopts THB6064H.
4. the Closed-Loop Control of Stepping Motor system based on the ARM platform as claimed in claim 1 is characterized in that: the buffer circuit of described stepping ARM microprocessor and motor drive ic adopts TLP2530 and TLP521-4.
5. the Closed-Loop Control of Stepping Motor system based on the ARM platform as claimed in claim 1 is characterized in that: described USB-CAN bus converter circuit adopts STM32F103RBT6.
6. the Closed-Loop Control of Stepping Motor system based on the ARM platform as claimed in claim 1; It is characterized in that: described limit switch signal input is controlled to be the limit switch of transfer table guide rail both sides extreme position; Can when platform exceeds range of movement, automatic trigger pip give controllor for step-by-step motor, make its real-time response and stop motor movement.
7. the Closed-Loop Control of Stepping Motor system based on the ARM platform as claimed in claim 1 is characterized in that: described crawl is controlled to be crawl control button, can under the prerequisite of not importing operating scheme, manually carry out the location that relative accuracy requires.
8. the Closed-Loop Control of Stepping Motor system based on the ARM platform as claimed in claim 1 is characterized in that: the step motor control part also is designed with wireless interface circuit, and its circuit adopts CC2430.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205440457U CN202512415U (en) | 2011-12-23 | 2011-12-23 | ARM platform-based step-motor closed loop control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205440457U CN202512415U (en) | 2011-12-23 | 2011-12-23 | ARM platform-based step-motor closed loop control system |
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| CN202512415U true CN202512415U (en) | 2012-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011205440457U Expired - Lifetime CN202512415U (en) | 2011-12-23 | 2011-12-23 | ARM platform-based step-motor closed loop control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104601061A (en) * | 2013-10-30 | 2015-05-06 | 中国科学院近代物理研究所 | Ethernet-based motor controller and control system |
| CN107866811A (en) * | 2017-10-24 | 2018-04-03 | 北京镁伽机器人科技有限公司 | Superledge self-regulating method, control parts of motion, robot |
-
2011
- 2011-12-23 CN CN2011205440457U patent/CN202512415U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104601061A (en) * | 2013-10-30 | 2015-05-06 | 中国科学院近代物理研究所 | Ethernet-based motor controller and control system |
| CN107866811A (en) * | 2017-10-24 | 2018-04-03 | 北京镁伽机器人科技有限公司 | Superledge self-regulating method, control parts of motion, robot |
| CN107866811B (en) * | 2017-10-24 | 2019-12-27 | 北京镁伽机器人科技有限公司 | Over-step self-adjusting method, motion control component and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121031 |