CN203849591U - Multi-shaft linkage motion control system - Google Patents
Multi-shaft linkage motion control system Download PDFInfo
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- CN203849591U CN203849591U CN201420107875.7U CN201420107875U CN203849591U CN 203849591 U CN203849591 U CN 203849591U CN 201420107875 U CN201420107875 U CN 201420107875U CN 203849591 U CN203849591 U CN 203849591U
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Abstract
The utility model relates to a multi-shaft linkage motion control system and belongs to the technical field of control systems. The multi-shaft linkage motion control system comprises a host computer, a lower computer, a dual-port RAM, a servo driver and a motor. A DSP (Digital Signal Processor) is connected with the dual-port RAM. The DSP is connected with the servo driver through an optoelectronic isolator, and the servo driver is connected with the motor. The multi-shaft linkage motion control system also comprises a PCI bus, a PCI chip, a grating scale, the optoelectronic isolator and an encoder. The lower computer is composed of a CPLD (Complex Programmable Logic Device) and the DSP. The dual-port RAM is connected with the PCI chip, and the PCI chip is connected with the host computer through the PCI bus. The DSP is connected with the CPLD through a control bus, and the CPLD is connected with the grating scale through the optoelectronic isolator. The motor is connected with the encoder, and the encoder is connected with the servo driver.
Description
Technical field
The utility model relates to a kind of kinetic control system, and specifically a kind of multi-shaft interlocked kinetic control system, belongs to control system technical field.
Background technology
Along with manufacturing development, for meeting the trend of private customization, small serial production, the versatility of numerically-controlled machine and flexibility are had higher requirement.The digital control system of traditional special-purpose closed system structure, in occupation of the most of market of manufacturing, as Siemens system, Fanuc system etc., but this type systematic needs special developing instrument at present, and function expansibility, maintenance etc. is subject to supplier's restriction.Develop rapidly along with computer technology, digital control system in open type because of its have portability, can concertedness, the advantage such as extensibility, the development trend that becomes digital control system just progressively, as the digital control system in open type of PC embedding NC structure, NC embedding PC structure, SOFT structure.But this type of digital control system in open type also needs larger raising at aspects such as high-speed communication, network function, many cpu buss structure system, intellectuality, reliabilities at present.
For a digital control system, its most important object is by motion controller, to receive and dispatch instruction to control each spindle motor and realize digital control processing according to performance index such as designated precision, speed.Common motion controller is to be the controller of core architecture based on large scale integrated circuit, microprocessor, special chip etc., but this type of controller soft work quantity is larger, precision is not high, for requiring the control of multi-shaft interlocked and high speed locus interpolation cannot realize.Fieldbus Basedly take the open-type motion that digital processing unit is core, because of features such as it have high-speed computation, integrated level is high, TRAJECTORY CONTROL is accurate, versatility is good, this quasi-controller has obtained paying close attention to comparatively widely and applying.But just at present, this quasi-controller is mostly expensive, and technology is also immature, and control accuracy is not high, message transmission rate is slow, interpolation mode is backward, therefore also do not form a kind of general, product that seriation is applied to market.
Summary of the invention
The problem existing for above-mentioned prior art, the utility model provides a kind of multi-shaft interlocked kinetic control system, data rate is fast, control accuracy is high, opening is good, reliability is high, can be good at meeting the requirement of most of users of present stage to multi-shaft interlocked motion digital control system, versatility is high.
To achieve these goals, a kind of multi-shaft interlocked kinetic control system of the utility model, comprises host computer, slave computer, dual port RAM, servo-driver and motor; Described digital signal microprocessor DSP is connected with dual port RAM with data bus by address bus, and described digital signal microprocessor DSP is isolated with servo-driver and is connected by photoelectricity, and servo-driver output terminal is connected with input end of motor; Also comprise pci bus, pci interface chip, grating scale, photoelectricity isolation and scrambler, described slave computer is comprised of complex programmable logic device (CPLD) and digital signal microprocessor DSP;
Described dual port RAM is connected with pci interface chip with data bus by address bus, and pci interface chip is connected with host computer by pci bus;
Described digital signal microprocessor DSP is connected with complex programmable logic device (CPLD) by control bus, and complex programmable logic device (CPLD) is isolated with grating scale and is connected by photoelectricity;
Described motor output end is connected with scrambler input end, and scrambler output terminal is connected with servo-driver output terminal.Motor, servo-driver and scrambler are provided with several and quantity is identical, and a corresponding servo-driver and the scrambler of connecting of each motor.
Further, digital signal microprocessor DSP is connected with expansion SPRAM.
Further, digital signal microprocessor DSP is connected with expansion JTAG.
Further, complex programmable logic device (CPLD) isolates by photoelectricity the I/O equipment that is connected with.
As preferably, I/O equipment is provided with general I/O interface.
The utlity model has following advantage:
(1) the utility model is usingd slave computer as master controller, in conjunction with the advantage of pci bus technology and dual port RAM memory technology, is making overall plans and coordinate the motion of each axle in digital control system; And using servo-driver as executive component, controlling the actual motion of each motor.Each performs its own functions for slave computer and servo-driver, cooperatively interacts, and makes strong point separately obtain fully playing.
(2) the utility model dual port RAM is the common storer of host computer and slave computer, has two groups of data buss and address bus, has realized data buffering and exchange at a high speed between pci bus and digital signal microprocessor DSP.
(3) the utility model is provided with grating scale, and the position of real-time testing platform also feeds back to slave computer, has realized the closed-loop control of this control system, has improved the precision and stability of system, thereby has improved production efficiency and quality.
(4) interpolation is carried out in the gating pulse instruction that the utility model servo-driver sends according to digital signal microprocessor DSP, the theoretical position being calculated by interpolation operation and the physical location of encoder feedback compare and draw tracking error simultaneously, then error is compensated the physical location of rear formation motor, and calculate speed value according to tracking error, finally produce pwm pulse and control motor operation, improved the degree of accuracy of TRAJECTORY CONTROL.
(5) the utlity model has high speed, high precision, opening is good, reliability is high feature, can be good at the requirement of most of users of satisfied present stage to multi-shaft interlocked motion digital control system, versatility is high, and simple in structure, and cost is low, and cost performance is high.
Accompanying drawing explanation
Fig. 1 is the utility model electricity theory diagram.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, a kind of multi-shaft interlocked kinetic control system of the utility model, comprises host computer, slave computer, dual port RAM, servo-driver and motor; Described digital signal microprocessor DSP is connected with dual port RAM with data bus by address bus, and described digital signal microprocessor DSP is isolated with servo-driver and is connected by photoelectricity, and servo-driver output terminal is connected with input end of motor; Also comprise pci bus, pci interface chip, grating scale, photoelectricity isolation and scrambler, described slave computer is comprised of complex programmable logic device (CPLD) and digital signal microprocessor DSP;
Described dual port RAM is connected with pci interface chip with data bus by address bus, and pci interface chip is connected with host computer by pci bus;
Described digital signal microprocessor DSP is connected with complex programmable logic device (CPLD) by control bus, and complex programmable logic device (CPLD) is isolated with grating scale and is connected by photoelectricity;
Described motor output end is connected with scrambler input end, scrambler output terminal is connected with servo-driver output terminal, described motor, servo-driver and scrambler are provided with several and quantity is identical, and a corresponding servo-driver and the scrambler of connecting of each motor.Servo-driver, as executive component, produces pwm pulse and is controlling each motor operation, and receive and process motor speed and the turn signal of encoder feedback, forms a local closed-loop control.
Improvement as the utility model to technique scheme, described digital signal microprocessor DSP is connected with expansion SPRAM, for the memory headroom that extends out of slave computer, the slack storage space of processing mass data while carrying out computing as digital signal microprocessor DSP, improved the arithmetic speed of data.
Improvement as the utility model to technique scheme, described digital signal microprocessor DSP is also connected with expansion JTAG, as the interface of debugging main control chip, is convenient to user's secondary development, make this multi-shaft interlocked kinetic control system have good opening, dirigibility is high.
As the utility model to technique scheme further, described complex programmable logic device (CPLD) isolates by photoelectricity the I/O equipment that is connected with, this input-output device is provided with general I/O interface, be convenient to User Exploitation, improved extensibility and the versatility of this control system, met the requirement of most of users of present stage to multi-shaft interlocked motion digital control system, the utility model is simple in structure simultaneously, low cost of manufacture, cost performance is higher, is conducive to promote.
During the utility model work, by the application software of moving on host computer, send various steering orders, after PC program decoding, pre-service etc. are processed, through pci interface chip, be sent in dual port RAM; The control program of programming in digital signal microprocessor DSP reading command or data from dual port RAM, and carry out real-time interpolation operation according to the instruction of reading in or data, then produce position control pulse and after photoelectricity isolation processing, be input to the servo-driver of each motor shaft.Interpolation is carried out in the gating pulse instruction that servo-driver sends according to digital signal microprocessor DSP again, the theoretical position being calculated by interpolation operation and the physical location of encoder feedback compare and draw tracking error simultaneously, then error is compensated the physical location of rear formation motor, and calculate speed value according to tracking error, finally produce pwm pulse and control motor operation.
Described pci bus is the passage of host computer and slave computer transmission steering order and exchanges data, has transmission speed soon and the large feature of data throughout, during 32 transmission, can reach 132MB/s, but also has the functions such as the hot plug of support, power management.Its interface chip is selected PCI9054 chip, 32 high-speed PCI buses can be converted to easy easy-to-use 8 active parallel interfaces that are similar to isa bus.
Described slave computer is mainly the control module as main control chip by complex programmable logic device (CPLD) and digital signal microprocessor DSP.It is mainly realized and processes PC control instruction and grating scale signal and inside and outside accident, completes interpolation operation, and sends position control pulse command to servo-driver.Also real-time each axle movable information and system related information are fed back to host computer, realize real-time man-machine interaction.
Described dual port RAM (Dual-PortRAM) is the common storer of host computer and slave computer, has two groups of data buss and address bus, realizes data buffering and exchange at a high speed between pci bus and digital signal microprocessor DSP.Native system adopts the dual port RAM IDT7025 of IDT company, dual port RAM is mapped to respectively to the XINTF region (effective address 2000H～3FFFH) of digital signal microprocessor DSP and the storage space (effective address 0000H～1FFFH) of pci interface chip PCI9054, thereby make both sides be all used as a part for own storer, guaranteed data communication reliably at a high speed.
The main control chip that described digital signal microprocessor DSP is slave computer, can realize the intelligent control algorithms such as adaptive control, fuzzy control and ANN, and its interpolator can be realized the algorithm of non-uniform rational B-spline (NURBS).The DSP-TMS320F281x chip that native system main control chip selects TI company to produce, can realize rapidly the functions such as handling interrupt, high-speed computation, fault handling, transceiving data.
Described CPLD is slave computer complex programmable logic control device, and major function is process grating scale feedback position signal and complete the expansion of I/O interface and read and write some other peripheral circuits such as logic.Native system is selected the EPM7064 product of altera corp, because it has the function of in-system programming, user can be as required to the reconfiguring of software and hardware, make this multi-shaft interlocked kinetic control system there is very large dirigibility.
Claims (5)
1. a multi-shaft interlocked kinetic control system, comprises host computer, slave computer, dual port RAM, servo-driver and motor; Digital signal microprocessor DSP is connected with dual port RAM with data bus by address bus, and described digital signal microprocessor DSP is isolated with servo-driver and is connected by photoelectricity, and servo-driver output terminal is connected with input end of motor;
It is characterized in that, also comprise pci bus, pci interface chip, grating scale, photoelectricity isolation and scrambler, described slave computer is comprised of complex programmable logic device (CPLD) and digital signal microprocessor DSP;
Described dual port RAM is connected with pci interface chip with data bus by address bus, and pci interface chip is connected with host computer by pci bus;
Described digital signal microprocessor DSP is connected with complex programmable logic device (CPLD) by control bus, and complex programmable logic device (CPLD) is isolated with grating scale and is connected by photoelectricity;
Described motor output end is connected with scrambler input end, and scrambler output terminal is connected with servo-driver output terminal; Described motor, servo-driver and scrambler are provided with several and quantity is identical, and a corresponding servo-driver and the scrambler of connecting of each motor.
2. a kind of multi-shaft interlocked kinetic control system according to claim 1, is characterized in that, described digital signal microprocessor DSP is connected with expansion SPRAM.
3. a kind of multi-shaft interlocked kinetic control system according to claim 2, is characterized in that, described digital signal microprocessor DSP is connected with expansion JTAG.
4. a kind of multi-shaft interlocked kinetic control system according to claim 3, is characterized in that, described complex programmable logic device (CPLD) isolates by photoelectricity the I/O equipment that is connected with.
5. a kind of multi-shaft interlocked kinetic control system according to claim 4, is characterized in that, described I/O equipment is provided with general I/O interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420107875.7U CN203849591U (en) | 2014-03-11 | 2014-03-11 | Multi-shaft linkage motion control system |
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| CN201420107875.7U CN203849591U (en) | 2014-03-11 | 2014-03-11 | Multi-shaft linkage motion control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103901822A (en) * | 2014-03-11 | 2014-07-02 | 中国矿业大学 | Multi-shaft linkage motion control system |
| CN106531269A (en) * | 2016-11-02 | 2017-03-22 | 中国核动力研究设计院 | Modular digital nuclear measuring apparatus |
| CN109324541A (en) * | 2018-09-10 | 2019-02-12 | 广东工贸职业技术学院 | Kinetic control system |
| CN110515314A (en) * | 2018-05-22 | 2019-11-29 | 上海优爱宝智能机器人科技股份有限公司 | Distributed Servo control system |
-
2014
- 2014-03-11 CN CN201420107875.7U patent/CN203849591U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103901822A (en) * | 2014-03-11 | 2014-07-02 | 中国矿业大学 | Multi-shaft linkage motion control system |
| CN106531269A (en) * | 2016-11-02 | 2017-03-22 | 中国核动力研究设计院 | Modular digital nuclear measuring apparatus |
| CN110515314A (en) * | 2018-05-22 | 2019-11-29 | 上海优爱宝智能机器人科技股份有限公司 | Distributed Servo control system |
| CN109324541A (en) * | 2018-09-10 | 2019-02-12 | 广东工贸职业技术学院 | Kinetic control system |
| WO2020051977A1 (en) * | 2018-09-10 | 2020-03-19 | 广东工贸职业技术学院 | Motion control system |
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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 |
Granted publication date: 20140924 Termination date: 20190311 |
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| CF01 | Termination of patent right due to non-payment of annual fee |