CN203658796U - Multi-axis movement control system development platform - Google Patents
Multi-axis movement control system development platform Download PDFInfo
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- CN203658796U CN203658796U CN201320615061.XU CN201320615061U CN203658796U CN 203658796 U CN203658796 U CN 203658796U CN 201320615061 U CN201320615061 U CN 201320615061U CN 203658796 U CN203658796 U CN 203658796U
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Abstract
The utility model relates to a multi-axis movement control system development platform which comprises a master control module, an ATmegal128 single-chip microcomputer, a feedback acquisition module, a special digital IO module, a general digital IO module, a communication module, a motor control signal output module and a power supply processing module. The master control module is connected with the general IO module, the communication module and the ATmegal128 single-chip microcomputer respectively. The ATmegal128 single-chip microcomputer is connected with the special digital IO module. The ATmegal128 single-chip microcomputer is connected with the motor control signal output module. The feedback acquisition module is connected with the ATmegal128 single-chip microcomputer. The general digital IO module is connected with a control panel, a hand wheel and a display through IO interfaces respectively. The feedback acquisition module is connected with an incremental encoder through an incremental encoder grating interface. The motor control signal output module is connected with a motor driver through a motor driver interface. The advantages are that the multi-axis movement control system development platform makes full use of conventional equipment to realize a multi-axis motion control function, helps to substantially reduce the development platform cost, and is particularly suitable for higher educational mechanism teaching and low-end product development demands.
Description
Technical field
The utility model relates to Platform for Motion Control, and particularly a kind of multi-shaft motion control system development platform, for college teaching and product development.
Background technology
At present, the Platform for Motion Control on market adopts embedded computer or DSP core more, although powerful, excellent performance, cost is higher, and most low cost products cannot use, and the demands such as college teaching also cannot large area be popularized.
And the low-cost chip that is master with single-chip microcomputer is not generally by the high-end applications such as motion control are accepted, be only used for being engaged in some logic controls.But, for complicated system, as space shuttle, still carry out related development work by Single Chip Microcomputer (SCM) system, to guarantee stability, and make it give play to maximum efficiency, illustrate that low-cost chip still can apply in complicated system.Therefore, application low-cost chip exploitation is for the Platform for Motion Control of college teaching, low-end product development field not only at the bottom of cost, and needs that can sufficient user.Occur on market and there is no at present this series products, in document, also have no relevant report.
Summary of the invention
The purpose of this utility model is exactly for overcoming the deficiencies in the prior art, a kind of low cost multi-shaft motion control system development platform is provided, utilize single-chip microcomputer to form main control module, by other circuit module of master control module controls, design and produce multi-shaft motion control system, system is provided with the interface with control panel, feedback signal, computing machine, limit switch, optoelectronic switch, scrambler and motor driver, make full use of existing equipment and realize multiaxial motion control function, in the hope of significantly reducing development platform cost, be suitable for college teaching, low-end product development requirement.
The utility model is to realize by such technical scheme: a kind of multi-shaft motion control system development platform, is characterized in that: development platform circuit comprises main control module, core algorithm module, feedback acquisition module, special digital IO module, general digital IO module, communication module, motor control signal output module and power supply processing module;
Described power supply processing module is connected with main control module, main control module is connected with general digital IO module, communication module, core algorithm module respectively, core algorithm module is connected with special digital IO module, core algorithm module is connected with motor control signal output module, and feedback acquisition module is connected with core algorithm module; General digital IO module is connected with control panel, handwheel, display respectively by IO interface, feedback acquisition module is connected with incremental encoder by incremental encoder grating interface, and motor control signal output module is connected with motor driver by motor driver interface; Described main control module is made up of ATmega128 single-chip microcomputer, for completing Comprehensive Control, logic control, communication function; Described core algorithm module is made up of an ATmega128 single-chip microcomputer; Described general digital IO module adopts 74HC595 chip, and 74HC595 chip is connected with the ATmega128 single-chip microcomputer that forms main control module by TLP521-4 photoelectric isolated chip.
Described special digital I/O module is by MCU(ATmega128), scrambler, travel limiting element, back to zero status signal circuit, amplifier enable circuits, relatively equate that output circuit, direction output circuit, motor driver and the amplifier circuit of makeing mistakes connects to form; Amplifier enable circuits input end is connected with an I/O port of ATmega128; Relatively equate that output circuit is connected with an I/O port, amplifier enable circuits output terminal, the direction output circuit of ATmega128 respectively; Direction output circuit is by relatively equating output circuit control, and its output terminal connects motor driver; The amplifier circuit of makeing mistakes comprises AD voltage acquisition chip, and AD voltage acquisition chip connects the operating voltage (test) of motor driver and holds.
Described communication module comprises RS232 module, CAN module, ethernet module, these three module parallel communications, and user can adopt any communication modes in these three kinds that host computer is connected with control system; Adopt RS232, CAN, three kinds of communication modes of Ethernet and host computer to carry out communication, communication module makes main control module and host computer carry out exchanges data; Described motor control signal output module is made up of HCPL2630 high speed optoelectronic isolating chip and its correlation filtering circuit; Described power supply processing module is made up of 7805 chips and 7812 chips and correlation filtering circuit thereof, for system provide 5V and ± 12V system power supply.
The beneficial effects of the utility model are, have the motion control development platform framework of standard, have multiaxis development ability, can on basis, most of kinetic control systems developed, verified and improve cheaply.System makes full use of existing equipment and realizes multiaxial motion control function, has significantly reduced development platform cost, particularly suitable college teaching, low-end product development requirement.
Accompanying drawing explanation
Fig. 1, be the block diagram of system of the present utility model;
Fig. 2, be core algorithm module controls schematic diagram of the present utility model;
Fig. 3, be the utility model system applies schematic diagram;
Fig. 4, Electric Machine Control schematic diagram;
Fig. 5, special digital IO module composition frame chart.
Embodiment
Understand the utility model for clearer, describe in conjunction with the accompanying drawings and embodiments the utility model in detail:
Specific embodiment: " the servo-actuated throttle platform " of simulator flight
In this project, adopt the utility model to carry out high precision control to two motors, in this project, two throttle forks of driven by motor carry out circular motion, throttle fork total kilometres are 120 degree, require control accuracy to reach 0.05 degree, in the time that throttle fork reaches 0 degree and 120 these two ends of degree, motor no longer travels forward.In the utility model, adopt the differential encoder of 6000 lines as feedback device, the utility model can carry out 4 frequency divisions to the differential signal of 6000 lines, thereby makes precision improve four times.Adopt optoelectronic switches to carry out at 0 degree and 120 degree two ends spacing, in the time that throttle fork moves to these two ends, touch " special I/O " stop motion, there will not be the super motion going beyond the scope.The utility model is carried out high precision control to motor, and control accuracy reaches 0.015 degree, and motor movement track is fed back to host computer, feedback speed information simultaneously, positional information.
Multi-shaft motion control system development platform, development platform circuit comprises main control module, core algorithm module, feedback acquisition module, special digital IO module, general digital IO module, communication module, motor control signal output module, power supply processing module;
Power supply processing module is connected with main control module, main control module is connected with general digital IO module, communication module, core algorithm module respectively, core algorithm module is connected with special digital IO module, core algorithm module is connected with motor control signal output module, and feedback acquisition module is connected with core algorithm module; General digital IO module is connected with control panel, handwheel, display respectively by IO interface, feedback acquisition module is connected with incremental encoder by incremental encoder grating interface, and motor control signal output module is connected with motor driver by motor driver interface;
Main control module is made up of ATmega128 single-chip microcomputer, for completing Comprehensive Control, logic control, communication function;
Described core algorithm module is made up of an ATmega128 single-chip microcomputer, is mainly used in feedback information, special I/O information and computing;
Feedback acquisition module is made up of high speed optoelectronic isolating chip and difference channel, then by difference channel, the information after isolating is carried out to difference, then sends into main control module, reduces the suffered environmental interference of feedback information;
General digital IO module adopts 74HC595 chip, and 74HC595 chip is connected with the ATmega128 single-chip microcomputer that forms main control module by TLP521-4 photoelectric isolated chip, realizes I/O and expands, and increases I/O quantity; Adopt the Information Monitoring of TLP521-4 photoelectric isolated chip, thus the steady operation of protection main control module;
Special digital I/O module is by MCU(ATmega128), scrambler, travel limiting element, back to zero status signal circuit, amplifier enable circuits, relatively equate that output circuit, direction output circuit, motor driver and the amplifier circuit of makeing mistakes connects to form;
Travel limiting element is used for triggering motor for spacing, the back to zero status signal circuit of motor, make it turn to zero point, amplifier is made mistakes circuit for gathering motor driver operating voltage, when current of electric excessive, the trigger amplifier circuit of makeing mistakes transmits error signal to system, and main control module sends instruction stops operating motor;
Amplifier enable circuits input end is connected with an I/O port of ATmega128, in the time that the I/O of ATmega128 port level is effective, triggers amplifier circuit and enables;
Relatively equate that output circuit is connected with an I/O port, amplifier enable circuits output terminal, the direction output circuit of ATmega128 respectively, level and default level to the circuit collection that makes mistakes from amplifier compare, as the level gathering equates with default level, trigger this function;
Direction output circuit is by relatively equating output circuit control, its output terminal connects motor driver, the direction of motion of motor is carried out logical operation by two I/O ports of ATmega128 with the output level of the circuit that relatively equates output, while being low level as the output level of relatively more equal output circuit, direction output circuit is not worked, as relatively equated, the output level of output circuit is high level, and the concrete outbound course of motor is by two I/O port controlling of ATmega128;
The amplifier circuit of makeing mistakes comprises AD voltage acquisition chip, AD voltage acquisition chip gathers the operating voltage of motor driver, operating voltage to motor driver is monitored, if motor driver operating voltage is abnormal, the amplifier circuit output low level of makeing mistakes, as normal in motor driver operating voltage, the amplifier circuit output high level of makeing mistakes;
The I/O information priority level of special digital I/O module is the highest, while being triggered as forward stroke restriction I/O, this information of system priority processing, make motor stop motion, even if host computer is assigned positive movement instruction again, this circuit part is still disregarded, and in the time that host computer is assigned negative movement instruction, this circuit part will unlock and be processed;
Communication module comprises RS232 module, CAN module, ethernet module, these three module parallel communications, and user can adopt any communication modes in these three kinds that host computer and control system foundation are contacted; Adopt RS232, CAN, three kinds of communication modes of Ethernet and host computer to carry out communication, communication module makes main control module and host computer carry out exchanges data, can be in the enterprising line parameter setting of host computer according to the information of exchange, and wave form analysis, image shows;
Described motor control signal output module is made up of HCPL2630 high speed optoelectronic isolating chip and its correlation filtering circuit, and because control signal output frequency is higher, this module adopts light at a high speed every chip;
Power supply processing module is made up of 7805 chips and 7812 chips and correlation filtering circuit thereof, for system provide 5V and ± 12V system power supply.
Utilize the step of multi-shaft motion control system development platform control machine operation:
(1) first according to mission requirements, to multi-shaft motion control system development platform issuing command, select project implementation by PC, industrial computer, control panel, handwheel or sensor,
(2) instruction that multi-shaft motion control system is assigned host computer is analyzed and is stored, and corresponding motor is assigned to movement instruction;
(3) corresponding feedback information when electric machine rotation, as encoder information, the size of electric current, send multi-shaft motion control system to, system is carried out analytic operation to institute's feedack, and according to stored host computer instruction, motor is assigned to secondary motion instruction, instruction is exported with pulse or analog voltage mode, servo period and feedback information that this secondary motion instruction meeting of assigning sets according to system carry out ceaselessly computing and modification, as primary movement instruction deficiency so that the actual motion of motor is level and smooth, or the actual speed of motor can not be according to the speed operation of envisioning in instruction, secondary motion instruction meeting is carried out ratio to output pulse or analog voltage, integration, three kinds of mode computings of differential, thereby reach motor according to the movement effects of envisioning in instruction, and inform track and the waveform that host computer motor moves,
(4) when external signal has triggered the special digital I/O module in system, now system stops computing, and priority processing this type of information stops motor or carries out back to zero motion.
According to the above description, can realize scheme of the present utility model in conjunction with art technology.
Claims (3)
1. a multi-shaft motion control system development platform, is characterized in that: development platform circuit comprises main control module, ATmega128 single-chip microcomputer, feedback acquisition module, special digital IO module, general digital IO module, communication module, motor control signal output module and power supply processing module;
Described power supply processing module is connected with main control module, main control module is connected with general digital IO module, communication module, ATmega128 single-chip microcomputer respectively, ATmega128 single-chip microcomputer is connected with special digital IO module, ATmega128 single-chip microcomputer is connected with motor control signal output module, and feedback acquisition module is connected with ATmega128 single-chip microcomputer; General digital IO module is connected with control panel, handwheel, display respectively by IO interface, feedback acquisition module is connected with incremental encoder by incremental encoder grating interface, and motor control signal output module is connected with motor driver by motor driver interface; Described main control module is made up of ATmega128 single-chip microcomputer, for completing Comprehensive Control, logic control, communication function; Described general digital IO module adopts 74HC595 chip, and 74HC595 chip is connected with the ATmega128 single-chip microcomputer that forms main control module by TLP521-4 photoelectric isolated chip.
2. a kind of multi-shaft motion control system development platform as claimed in claim 1, is characterized in that: described special digital I/O module is by MCU, scrambler, travel limiting element, back to zero status signal circuit, amplifier enable circuits, relatively equate that output circuit, direction output circuit, motor driver and the amplifier circuit of makeing mistakes connects to form; Amplifier enable circuits input end is connected with an I/O port of ATmega128; Relatively equate that output circuit is connected with an I/O port, amplifier enable circuits output terminal, the direction output circuit of ATmega128 respectively; Direction output circuit is by relatively equating output circuit control, and its output terminal connects motor driver; The amplifier circuit of makeing mistakes comprises AD voltage acquisition chip, and AD voltage acquisition chip connects the operating voltage end of motor driver.
3. a kind of multi-shaft motion control system development platform as claimed in claim 1, it is characterized in that: described communication module comprises RS232 module, CAN module, ethernet module, described motor control signal output module is made up of HCPL2630 high speed optoelectronic isolating chip and its correlation filtering circuit; Described power supply processing module is made up of 7805 chips and 7812 chips and correlation filtering circuit thereof, for system provide 5V and ± 12V system power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320615061.XU CN203658796U (en) | 2013-09-30 | 2013-09-30 | Multi-axis movement control system development platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320615061.XU CN203658796U (en) | 2013-09-30 | 2013-09-30 | Multi-axis movement control system development platform |
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| CN203658796U true CN203658796U (en) | 2014-06-18 |
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| CN201320615061.XU Expired - Fee Related CN203658796U (en) | 2013-09-30 | 2013-09-30 | Multi-axis movement control system development platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838522A (en) * | 2018-06-13 | 2018-11-20 | 上海柏楚电子科技股份有限公司 | The control system of laser cutting head based on the movement of EtherCAT bus multi-axial Simultaneous |
| CN115903634A (en) * | 2023-03-08 | 2023-04-04 | 宁波中控微电子有限公司 | Motion control chip supporting follow-up function and control method thereof |
-
2013
- 2013-09-30 CN CN201320615061.XU patent/CN203658796U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838522A (en) * | 2018-06-13 | 2018-11-20 | 上海柏楚电子科技股份有限公司 | The control system of laser cutting head based on the movement of EtherCAT bus multi-axial Simultaneous |
| CN108838522B (en) * | 2018-06-13 | 2020-07-03 | 上海柏楚电子科技股份有限公司 | Laser cutting head control system based on EtherCAT bus multi-axis synchronous motion |
| CN115903634A (en) * | 2023-03-08 | 2023-04-04 | 宁波中控微电子有限公司 | Motion control chip supporting follow-up function and control method thereof |
| CN115903634B (en) * | 2023-03-08 | 2023-05-30 | 宁波中控微电子有限公司 | Motion control chip supporting follow-up function and control method thereof |
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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: 20140618 Termination date: 20160930 |