CN203911823U - Ethernet-based electromotor controller and control system - Google Patents
Ethernet-based electromotor controller and control system Download PDFInfo
- Publication number
- CN203911823U CN203911823U CN201320682340.8U CN201320682340U CN203911823U CN 203911823 U CN203911823 U CN 203911823U CN 201320682340 U CN201320682340 U CN 201320682340U CN 203911823 U CN203911823 U CN 203911823U
- Authority
- CN
- China
- Prior art keywords
- control
- controller
- interface circuit
- electric machine
- circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 31
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Abstract
An Ethernet-based electromotor controller and an electromotor control system are disclosed. The electromotor controller comprises a communication interface circuit, a closed loop feedback interface circuit, an electromotor control interface circuit and a control circuit, wherein the communication interface circuit comprises an Ethernet interface and an on-site bus interface, the closed loop feedback interface circuit is used for receiving feedback information from an electromotor load, and the electromotor control interface circuit is used for transmitting control information of the electromotor; the control circuit is connected to the communication interface circuit, the closed loop feedback interface circuit and the electromotor control interface circuit and is used for controlling operation of all the interface circuits. The electromotor control system comprises a far-end device, an electromotor controller, an electromotor driving device and a feedback device, wherein the far-end device is connected with the electromotor controller through an Ethernet, the electromotor is used for sending control signals to the electromotor driving device, an electromotor is driven by the electromotor driving device, the feedback device is connected to the electromotor controller and therefore closed loop feedback is formed. According to the Ethernet-based electromotor controller and the electromotor control system, multi-shaft control, closed loop feedback and remote control based on Ethernet technologies can be provided; local or cascade control is also provided.
Description
Technical field
The utility model exemplary embodiment relates generally to Electric Machine Control, is specifically related to a kind of electric machine controller and control system based on Ethernet.
Background technology
Research and development at present and the electric machine controller of selling, for example two-phase hybrid stepping motor controller, generally adopts the interface modes such as field-bus interface RS-232, RS-485, USB and CAN, and single shaft control pattern is provided, and without closed loop feedback interface.This electric machine controller can not be realized the directly Long-distance Control based on Ethernet, and cannot meet the requirement of multiaxis control application scenario.In addition, due to without closed loop feedback interface, need the extra feedback interface that increases, cause complex structure, cost increases.
Need a kind of electric machine controller, multiaxis control, closed loop feedback and the Long-distance Control based on ethernet technology can be provided, this locality or cascade control are also provided simultaneously.
Summary of the invention
The utility model exemplary embodiment provides electric machine controller and the control system based on Ethernet.
According to the utility model embodiment, a kind of electric machine controller, comprising: communication interface circuit, comprises Ethernet interface and field-bus interface; Closed loop feedback interface circuit, for receiving the feedback information from the load of one or more motors; Electric Machine Control interface circuit, for transmitting the control information for one or more motors; And control circuit, be connected to communication interface circuit, closed loop feedback interface circuit and Electric Machine Control interface circuit, control the operation of each interface circuit, the information receiving via communication interface circuit and closed loop feedback interface circuit is processed, and transmit result via communication interface circuit and Electric Machine Control interface circuit, to control the operation of one or more motors.
Controller can also comprise: condition indication circuit, is used to indicate one or more in controller state, network state, motor status and load condition; And power circuit, for multiple power supply and the reference power source for each circuit is provided.
Each circuit of controller can be integrated on veneer.
Controller can be assigned IP address, and controller is via Ethernet interface access network based on ethernet, and remote equipment is set up TCP/IP by Ethernet and controller and is connected, to motor is carried out to Long-distance Control via controller.
Field-bus interface can comprise RS-485 fieldbus, for realizing this locality control or the cascade control to multiple controllers to controller.
Closed loop feedback interface circuit can comprise one or more in grating scale interface circuit, resistance scale interface circuit and limit switch interface circuit.Closed loop feedback interface circuit can be connected to corresponding external feedback device, receives the feedback information of load from feedback device.
Electric Machine Control interface circuit can be connected to outside motor driver, sends the control information from control circuit to motor driver, with the operation via motor driver control motor.
Controller can comprise many group closed loop feedback interface circuits and Electric Machine Control interface circuit, and corresponding multiple motors respectively, to provide multi-motor control simultaneously.
Controller can provide for the rotating speed control of stepping motor and stepping control, and for the control of linear electric motors.
Control circuit can carry out the required optional frequency of Synthetic motor control with finite state machine.
According to another embodiment of the utility model, a kind of electric machine control system based on Ethernet is provided, comprise remote equipment, electric machine controller, motor driver and feedback device.Remote equipment is connected with electric machine controller via Ethernet, send data to electric machine controller, electric machine controller receives the data from remote equipment, utilize described data produce corresponding control signal and send to motor driver, motor driver moves according to control signal drive motors, thereby the load running of drive motor, feedback device is connected to electric machine controller to form closed loop feedback, feedback device obtains the feedback information about load, and send feedback information to electric machine controller, and in the time producing control signal, electric machine controller also utilizes described feedback information.
According to the electric machine controller of the utility model embodiment and control system, can effectively meet flexibly the motion control demand of Accelerator control field about stepping motor etc., and cost performance is high, system constructing is flexible.For example, the utility model controller application serial ports turns ethernet technology, can be directly by controller access network based on ethernet, than carrying out access network based on ethernet by serial server or PC in remote control application, the control system that this controller builds is simple in structure, and cost reduces greatly.For this problems of open loop control such as stepping motors, the utility model controller has been equipped with the interface for feedback devices such as such as grating scale, resistance scale, limit switches, forms reliable and stable closed-loop system.The motor motion control system of building has thus formed a closed-loop control system, can accurately control rotating speed and the displacement of motor.Moreover, can, by multiaxis control integration on a control board, improve control efficiency, realize the multi-shaft interlocked integrated controllor for step-by-step motor based on Ethernet.The utility model electric machine controller can synthesize optional frequency with finite state machine, and this provides guarantee for realizing Motion Control Strategies.In addition, the utility model electric machine controller and system not only can control step motors, can also control linear electric motors, can be applied to multiple occasion.
Brief description of the drawings
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in further detail, wherein:
Fig. 1 is according to the schematic diagram of the electric machine control system based on Ethernet of the utility model embodiment;
Fig. 2 is according to the schematic block diagram of the electric machine controller of the utility model embodiment;
Fig. 3 is according to the screenshot capture of the synthetic Si of the electric machine controller of the utility model embodiment road square-wave signal;
Fig. 4 has schematically shown the stepping control curve in senior motion control;
In Fig. 5 (a) and (b) schematically shown the rotating speed control curve in senior motion control;
In Fig. 6 (a) and (b) schematically shown the rotating speed control curve in basic exercise control;
Fig. 7 is the flow chart that the electric machine controller of the utility model embodiment carries out motion control; And
Fig. 8 is the functional block diagram while adopting CPLD to realize the corresponding function of electric machine controller of the utility model embodiment.
Embodiment
Below in conjunction with accompanying drawing, example embodiment of the present utility model is described in detail.Below describe and comprise that various details are to assist understanding, but that these details should only be illustrated as is exemplary.Therefore, persons of ordinary skill in the art will recognize that and can in the situation that not departing from disclosure scope and spirit, make various changes and modifications each embodiment described herein.In addition, for clarity and conciseness, omitted the description of known function and structure.
The term and the word that below in description and claim, use are not limited to its literal meaning, but are only used for realizing clear consistent understanding of the present utility model by inventor.Therefore, it will be apparent to those skilled in the art that the following description of each example embodiment of the utility model is only provided for to illustration purpose, and be not intended to the utility model that restriction is limited by claims and equivalent thereof.
Fig. 1 is according to the schematic diagram of the electric machine control system based on Ethernet of the utility model embodiment.This control system comprises remote equipment, electric machine controller, motor driver and feedback device.Example using personal computer (PC) as remote equipment in Fig. 1, and additionally utilized switch to connect.Remote equipment is connected with electric machine controller with switch via Ethernet, send data to electric machine controller, electric machine controller receives the data from remote equipment, utilize data produce corresponding control signal and send to motor driver, motor driver moves according to control signal Driving Stepping Motor, thereby drive the load running of stepping motor, feedback device is connected to electric machine controller to form closed loop feedback, feedback device obtains the feedback information about load, and send feedback information to electric machine controller, thus in the time producing control signal, electric machine controller also utilizes this feedback information to determine Motion Control Strategies.For clarity sake, in the electric machine control system of Fig. 1, each device only shows one, but it is multiple to it will be understood by those skilled in the art that remote equipment, controller, driver, stepping motor, load and feedback device in the system of Fig. 1 all can have, realize multiaxis or interlock is controlled.
Fig. 2 is according to the schematic block diagram of the electric machine controller of the utility model embodiment.Each circuit of this controller can be integrated on veneer, forms a control board.This controller can be for control step motor and linear electric motors, and rotating speed control and the stepping control for stepping motor can be provided.Each controller can be assigned IP address, and with access network based on ethernet, remote equipment is set up TCP/IP by Ethernet and controller and is connected, and via controller, motor is carried out to Long-distance Control.As shown in Figure 2, electric machine controller can comprise: communication interface circuit, comprises Ethernet interface and field-bus interface; Closed loop feedback interface circuit, for receiving the feedback information from the load of one or more motors; Electric Machine Control interface circuit, for transmitting the control information for one or more motors; And control circuit, be connected to communication interface circuit, closed loop feedback interface circuit and Electric Machine Control interface circuit, control the operation of each interface circuit, the information receiving via communication interface circuit and closed loop feedback interface circuit is processed, and transmit result via communication interface circuit and Electric Machine Control interface circuit, to control the operation of one or more motors.Fig. 2 shows controller and can also comprise: condition indication circuit, is used to indicate one or more in controller state, network state, motor status and load condition; And power circuit, for multiple power supply and the reference power source for each circuit is provided.
According to the utility model embodiment, controller can comprise many group closed loop feedback interface circuits and Electric Machine Control interface circuit, and corresponding multiple motors respectively, to provide multi-motor control simultaneously.The controller of Fig. 2 comprises four groups of closed loop feedback interface circuits and Electric Machine Control interface circuit, and four tunnel Electric Machine Control can be provided.It will be understood by those skilled in the art that can be according to design requirement, and the multichannel control of arbitrary number is provided.
Illustrate each circuit of controller below.
Control circuit can be realized by single-chip microcomputer or PC+control card or ARM/DSP or CPLD/PFGA.In an example embodiment, in order to meet the requirement of motor in real-time and flexibility, reduce circuit volume, simplify circuit structure, reduce controller cost, improve circuit stability, be easy to High-speed Control, the control structure that adopts Net+MSP430+CPLD, acp chip is selected MSP430 and CPLD, as shown in Figure 2.In example embodiment, MSP430 is responsible for communication function, exchanges data, command analysis, resistance scale retaking of a year or grade, limit switch retaking of a year or grade and Motion Control Strategies etc.CPLD completes frequency synthesis, rotating speed control, stepping control, grating scale retaking of a year or grade, state instruction and Comprehensive Control etc.To further specifically introduce after a while MSP430 and CPID.
Communication interface circuit can comprise Ethernet interface and field-bus interface.Ethernet interface can be realized to the bidirectional embedding formula protocol conversion module of TCP/IP with RS232.For example, can adopt the embedded protocol conversion module of UA7000B, it provides the transparent transmission of RS232/RS485 to data between TCP/IP network, transmission rate reaches 10Mb/s, the RS232/485 serial port of a standard is provided downwards, 16Kbyte serial ports buffer memory (receiving and dispatching each 8KByte), serial ports baud rate has 29 kinds of conventional baud rates from 15～115200.This modular converter has large throughput (data maximum throughput is 22.5Kbyte/s) and high reliability (under 115200 baud rates, the file of two-way simultaneous transmission 1G size and do not lose a Byte) feature, can meet the error free transmission of real time data.
Field-bus interface can comprise RS-485 fieldbus, for realizing this locality control or the cascade control to multiple controllers to controller.RS-485 bus interface is a kind of bus interface of standard, for example, according in the controller of the utility model embodiment, utilizes a half-duplex, the RS485/422 transceiver of have ± 15KV esd protection realizes.This transceiver can transfer the serial ports of the MSP430 of control circuit to RS-485 interface.This transceiver can comprise driver and receiver, supports heat to disclose and pull out function, can eliminate and power on or the fault transient signal in bus when heat inserts, also has automatic direction controlling function, and this structure can simplified design, makes circuit more stable.
Closed loop feedback interface circuit can comprise one or more in grating scale interface circuit, resistance scale interface circuit and limit switch interface circuit.Closed loop feedback interface circuit can be connected to corresponding external feedback device (as shown in Figure 1), receives the feedback information of load from feedback device.In Fig. 2, closed loop feedback interface circuit comprises grating scale interface circuit 0～3, resistance scale interface circuit 0～3 and limit switch interface circuit 0～3 (comprising 0 left side, a left side～3 and 0 right side, the right side～3), be connected to respectively corresponding feedback device, i.e. grating scale, resistance scale and limit switch.Grating scale is a kind of accurate position feedback device, adopts increment type or absolute grating scale to realize the monitoring to load displacement, and precision can reach 1um.Resistance scale is a kind of load absolute position feedback device, and feedback accuracy can reach 50um, and cost performance is very high.Limit switch defines the range that motor can be passed by.
In example embodiment, grating scale outputting standard signal is that phase angle differs the 2 road square-wave signals of 90 °.Every road square-wave signal is again the RS-422 differential signal of standard.Therefore first to turn single-ended processing to this differential signal.Here use a RS-422/RS-485 receiver with three tunnels, ± 15KV esd protection, 32Mbps data rate to realize.All there are fault detect and fault output in the every road of this receiver, can be good at detecting the running status of current grating scale.When differential signal turns after single-ended processing, obtain the square-wave signal that two-way phase angle differs 90 °.To this square-wave signal segment debate to after, deliver to CPLD and count.A forward-backward counter can be set, by the pulse after segmentation sensing is counted and just can be drawn the displacement that grating scale is passed by CPLD inside.
Resistance scale has absolute linearity and very high repeatable accuracy, adds a voltage at the two ends of resistance scale, measures the tapped voltage of resistance scale and just can draw the displacement of resistance scale.MSP430 processor inside carries the Sigma-Delta ADC module on 16,4 tunnel, has the feature of High Speed General, can complete the retaking of a year or grade of Dui Si road resistance scale.
Limit switch has been determined the range of motor movement, after motor is encountered limit switch, must unconditionally stop.Limit switch is quantity of state, and every road motor needs two limit switches, therefore needs to gather 8 line state amounts.For MSP430, common I/O mouth can meet the demands.Because limit switch is 5V power supply, and MSP430 power supply is 3.3V, therefore needs to do level conversion.Level conversion for example can realize with electric resistance partial pressure.
The Electric Machine Control interface of controller can have many holding wires, for example four, is respectively+5V, pulse output, direction, enables.Electric Machine Control interface circuit is connected to outside motor driver, sends the control information from control circuit to motor driver, with the operation via motor driver control motor.
Condition indication circuit can adopt for example LED light or LED or LCD display to realize, and indicates such as system mode, network state, every road motor status, grating scale state etc.
Power circuit can comprise system power supply, resistance scale reference power source and master chip power supply.According to the utility model example embodiment, electric machine control system can have 5 kinds of power supplys, respectively :+5V ,+3.3V ,+12V ,-12V and+5Vref a reference source.+ 5V is external main power supply, is produced the civil power of input 220VAC, the direct current of output 5V/3A by Switching Power Supply.Adopt convert to+3.3V of LP3965 low pressure difference linear voltage regulator general+5V, by be converted to ± 12V of PUD-0512-3K pressurizer general+5V, MAX6350 is a low noise, linearity, high-accuracy voltage-reference, can provide+5Vref reference source.+ 3.3V is to MSP430 and CPLD power supply, and ± 12V, to the front-end amplifier power supply of resistance scale signal, such as AD713, realizes the front end decay of resistance scale feedback by amplifier chip, and acquisition meets MSP430 and carries the magnitude of voltage in ADC input range.+ 5Vref a reference source is powered to resistance scale.
In conjunction with Fig. 1 and 2, illustrate according to the connection between the each device of the control system of the utility model example embodiment.
1. connect controller and driver.For example, two-phase hybrid stepping motor driver Q2HB34MA, Q2HB44, Q2HB68, DQ278M, DM2722M etc.In example embodiment, the Electric Machine Control interface of controller has four holding wires, is respectively+5V, pulse output, direction, enables.Conventionally on driver, having three pairs of six roots of sensation holding wires altogether, is respectively that pulse input is positive and negative, direction is positive and negative, it is positive and negative to enable.By the positive pole of these three pairs of lines all receive controller+5V, the negative pole of pulse input is received to the pulse output end of controller, direction negative pole is connected to the direction end of controller, will enable negative pole and be connected to the Enable Pin of controller.The connection of controller and driver has just completed like this.According to the power reguirements of driver, general adopt power supply separately, connect supply line and current gear, segmentation shelves of driver etc. are set.
2. connect stepping motor and driver.For example, for two-phase stepping motor, this connection completes by four lines, is respectively A+, A-, and B+, B-, they are four wiring of two-phase stepping motor, arbitrarily the positive and negative motor reversal of exchanging.
3. connect stepping motor and load.According to actual needs, connect load and stepping motor.No matter in industry, military affairs, medical treatment, automobile or show business, as long as certain part object need to be moved to another position from a position, stepping motor uses surely with regard to one.Such as, the equipment such as printer, plotter, robot can be taking stepping motor as power core.
4. connect load and feedback device.Feedback device has grating scale, resistance scale, limit switch etc.
5. connect feedback device and controller.Grating scale interface adopts DB9 chieftain, and stitch definition is respectively: ground, 0V ,+5V, A ,/A, B ,/B, I ,/I.Resistance scale interface adopts needle gage three needle interfaces that are 5mm, be respectively+5Vref, centre tap.Limit switch interface adopts needle gage two needle interfaces that are 5mm, are respectively+5V, retaking of a year or grade line.
6. connect network.By the Ethernet interface on controller, adopt common RJ45 interface, controller is linked into local switch, and then access network based on ethernet, carry out Long-distance Control.
If 7. need local control or cascade control, need to use RS-485 interface to connect.RS-485 interface is a kind of bus interface of standard, and the half-duplex network of this interface composition, is generally two-wire system, adopts Shielded Twisted Pair transmission more.As a kind of fieldbus, general master-slave communication mode, the i.e. multiple slaves of main frame band of adopting in RS-485 communication network.When local control step motor, connect PC via RS-485 interface, also can be via RS-485 interface cascade controller, or other functional module of cascade, complete control requirement.
After connecting each device, power on.Controller is carried out to relevant configuration, such as IP address, subnet mask, port numbers etc.After whole control system is put up, long-range PC sends data to local switch by Ethernet, and data are delivered to controller by switch.Controller produces uniform pulse according to corresponding data and re-sends to driver.Driver is converted into current signal Driving Stepping Motor by pulse signal and rotates, and band dynamic load is rotated.Meanwhile, feedback device obtains load for information about and feeds back to controller, makes respective handling and action by controller.
Fig. 3 is according to the screenshot capture of the synthetic Si of the electric machine controller of the utility model embodiment road square-wave signal.
According to example embodiment, control circuit can carry out the required optional frequency of Synthetic motor control with finite state machine.The pulse frequency of sending according to the controller of the utility model embodiment can change arbitrarily within the scope of 0-60KHZ, and duty ratio is 50%.As shown in Figure 3, the signal of control step electric machine rotation is square-wave signal, is made up of high and low level.Can in CPLD device, adopt state machine to count synthesizing high and low level.For example, can in 0-65536HZ frequency range, change arbitrarily.When setting after low and high level value, at the inner 10MHZ that adopts of CPLD, low and high level value is counted.Such as synthesizing f=50KHZ frequency, first obtain its cycle t=l/f=0.00002s.Suppose high level th, low level tl, if duty ratio is 50%, th=tl=0.00001s.Due to proportion F=10MHZ counting, its cycle is T=0.1us, completes so th (or tl) and need to count N=1000.In other words, under the count frequency of 10MHZ, full 1000 times of every meter, level is made once inside out, and so repeatedly, just can obtain frequency is 50KHZ, the square-wave signal that duty ratio is 50%.This provides guarantee for realizing Motion Control Strategies.
Can provide multichannel (as shown in Figure 2, four tunnels) step motor control according to the controller of the utility model embodiment, point rotating speed control and stepping control simultaneously.These two kinds of control modes all possess basic exercise control and senior motion control.Senior motion control refers to have acceleration and deceleration function.Fig. 4 has schematically shown the stepping control song in senior motion control, in Fig. 5 (a) and (b) schematically shown the rotating speed control curve in senior motion control, in Fig. 6 (a) and (b) schematically shown the rotating speed control curve in basic exercise control.
Senior motion control is used in the occasion higher to motion requirement.It can effectively solve stepping motor and walk even stall and owing to stopping the too high stepping motor generation overshoot phenomenon that causes of frequency wink owing to starting too high the losing of frequency.For stepping control, this controller has been realized linear pattern acceleration and deceleration control.Stepping motor is first with constant acceleration accelerated motion, after speed is approached the desired speed that user sets, starts uniform motion, finally stops while decelerating to the position of appointment with constant deceleration again, as shown in Figure 4.For rotating speed control, in the time that user sets new velocity amplitude, stepping motor has the process of an even acceleration or even deceleration, as (a) in Fig. 5 with (b).
Basic exercise control mainly adapts to simple control system, does not possess acceleration and deceleration process.Basic exercise control is divided into again rotating speed control and stepping control.Rotating speed control refers to controls motor with certain speed motion, in the time that user sets new velocity amplitude, controls motor with new speed motion, as (a) in Fig. 6 with (b).Stepping control refers to that motor is with certain rotary speed movement, after the step-length that reaches user's setting, stops.
Basic exercise control and senior motion control depends on MSP430 and CPLD completes jointly.MSP430 receives frequency values and the step value that user sends, and after resolving, forms high and low level value and step value, then sends to CPLD, and CPLD completes frequency synthesis, rotating speed control and stepping control.Senior motion control acceleration and deceleration are to complete under the timer of MSP430, and the duration of timer can decide according to different motor characteristics.Stepping control can meet concrete step-length condition, makes motor can arrive like clockwork the position that user sets.The inner pulse that adopts finite state machine to produce optional frequency of CPLD.
Shown in Fig. 7 is the program flow diagram of MSP430 motion control part.MSP430 mixed-signal processor has powerful calculation process ability, can be good at meeting system requirement.As shown in Figure 7, MSP430 carries out poll, and in the time having control command, MSP430 progressively judges.First judgement is stepping control or rotating speed control, and then judgement is senior motion control or basic exercise control respectively.In stepping control situation, if senior motion control sends initial velocity, step value to CPLD, and opens timer, accelerate, and present speed value is sent to CPLD, judge whether to accelerate complete.If not complete, continue to accelerate, otherwise maintain desired speed.Then, judge whether to reduce speed now, if not, continue to maintain desired speed, otherwise reduce speed now under timer, then judge whether deceleration is complete, and if so, speed reaches zero, otherwise continue to slow down.In addition, if judgement is basic exercise control, speed, step value are sent to CPLD, step is after this identical from maintaining the subsequent step that this step of desired speed starts with senior motion control.The in the situation that of rotating speed control, judge whether it is senior motion control.If not, send desired speed to CPLD, and maintain desired speed.If senior motion control detects present speed, and compare desired speed and present speed.If desired speed is greater than present speed, under timer, accelerate, and present speed value is sent to CPLD, judge whether to accelerate complete.If not complete, continue to accelerate, otherwise maintain desired speed.If desired speed is not more than present speed, under timer, slow down, and present speed value is sent to CPLD, judge whether to slow down complete.If not complete, continue to slow down, otherwise maintain desired speed.
The program of CPLD can be used applicable hardware description language (such as Verilog HDL language etc.) arbitrarily to write, and adopts modular design philosophy.Fig. 8 is the functional block diagram while adopting CPLD to realize the corresponding function of electric machine controller of the utility model embodiment.
The inner pulse that adopts finite state machine to produce optional frequency of CPLD, adopt modular design philosophy, the module of its motion control part has frequency division module, initialization speed module, initialization step-length module, rate control module, stepping control module, indicating lamp module and comprehensive module.In addition, CPLD also comprises grating scale retaking of a year or grade module (Grating), and the output signal of the grating scale as feedback device is carried out to retaking of a year or grade.
Frequency division module (Clk_Div): the system clock of CPLD is 50MHZ, count frequency is that 10MHZ, indicator light frequency are 1HZ, frequency division module can be 10MHZ and 1HZ by 50MHZ frequency division of the frequency.
Initialization speed module (Init_Speed): MSP430 sends to CPLD by imitative SPI interface low and high level count value, and CPLD uses 16 bit shift register to receive these count values.When enabling to receive high level count value when high, in the time that enable bit is low, receive low level count value, thereby realize speed initialization.
Initialization step-length module (Init_Step): MSP430 sends to CPLD by imitative SPI interface step-length count value, and CPLD uses 16 bit shift register to receive this count value.Total step-length can be divided for two parts, a part is to accelerate step-length, and a part is deceleration step-length.How much and when CPLD just knows acceleration this deceleration like this.
Rate control module (Speed_Ctl): realize synthetic this function of optional frequency of finite state machine mentioned above.Rate control module obtains low and high level count value from firstization speed module, and then internal state machine overturns according to these initial values, the pulse frequency that output user sets.
Stepping control module (Step_Ctl): in stepping control, this module is counted the pulse frequency of rate control module output, in the time that counting reaches the step-length count value in initialization step-length module, stops counting.The speed control motor of so just setting with user has moved the step value that user sets, and has realized stepping control.After stepping control finishes, CPLD meeting automatic clear rate control module, makes it be output as low level.
Indicating lamp module (Indicator): except system indicator, each motor can be furnished with an indicator light and come the state of indication motor.Indicator light can glimmer with the real-time speed of motor.Because speed is all more than 100HZ conventionally, so naked eyes cannot be found out the flicker of lamp, in the time that motor stops, indicator light does not work, and therefore, shows that motor is in motion in the time that indicator light is bright.
Comprehensive module (SMC400): this module is carried out comprehensively the operation of other modules.Input, output and the element exampleization of system are all carried out in this module.For this module, for example, in the time that to select signal sel be low, represent rotating speed control, so comprehensive module is directly by the frequency output of rate control module; In the time that to select signal sel be high, represent stepping control, comprehensive module is by the frequency output of stepping control module.
Functional block diagram shown in Fig. 8 is only an example.Those skilled in the art can be according to application demand, carries out any applicable modularized design.
Although specifically describe each exemplary embodiment in detail with reference to the particular exemplary aspect of each exemplary embodiment, should be appreciated that can each obvious aspect amendment other embodiment of the present utility model and details thereof.As apparent to those skilled in the art, can carry out various variants and modifications deviation to some extent in remaining in spirit and scope of the present utility model.Correspondingly, above-mentioned open, description and accompanying drawing be only for illustrative purpose, the utility model that is not limited to only be defined by the claims.
Claims (10)
1. an electric machine controller, comprising:
Communication interface circuit, comprises Ethernet interface and field-bus interface;
Closed loop feedback interface circuit, for receiving the feedback information from the load of one or more motors;
Electric Machine Control interface circuit, for transmitting the control information for one or more motors; And
Control circuit, be connected to communication interface circuit, closed loop feedback interface circuit and Electric Machine Control interface circuit, control the operation of each interface circuit, the information receiving via communication interface circuit and closed loop feedback interface circuit is processed, and transmit result via communication interface circuit and Electric Machine Control interface circuit, to control the operation of one or more motors.
2. controller according to claim 1, also comprises:
Condition indication circuit, is used to indicate one or more in controller state, network state, motor status and load condition; And
Power circuit, for providing multiple power supply and the reference power source for each circuit.
3. controller according to claim 1, wherein, each circuit of controller is integrated on veneer,
Controller is assigned IP address, and controller is via Ethernet interface access network based on ethernet, and remote equipment is set up TCP/IP by Ethernet and controller and is connected, to motor is carried out to Long-distance Control via controller.
4. controller according to claim 1, wherein, field-bus interface comprises RS-485 fieldbus, for realizing this locality control or the cascade control to multiple controllers to controller.
5. controller according to claim 1, wherein, closed loop feedback interface circuit comprises one or more in grating scale interface circuit, resistance scale interface circuit and limit switch interface circuit,
Closed loop feedback interface circuit is connected to corresponding external feedback device, receives the feedback information of load from feedback device.
6. controller according to claim 1, wherein, Electric Machine Control interface circuit is connected to outside motor driver, sends the control information from control circuit to motor driver, with the operation via motor driver control motor.
7. controller according to claim 1, wherein, controller comprises many group closed loop feedback interface circuits and Electric Machine Control interface circuit, corresponding multiple motors respectively, to provide multi-motor control simultaneously.
8. controller according to claim 1, wherein, controller provides for the rotating speed control of stepping motor and stepping control, and for the control of linear electric motors.
9. controller according to claim 1, wherein, control circuit carrys out the required optional frequency of Synthetic motor control with finite state machine.
10. the electric machine control system based on Ethernet, comprises remote equipment, electric machine controller, motor driver and feedback device,
Remote equipment is connected with electric machine controller via Ethernet, sends data to electric machine controller,
Electric machine controller receives the data from remote equipment, utilizes described data produce corresponding control signal and send to motor driver,
Motor driver is according to the operation of control signal drive motors, thus the load running of drive motor,
Feedback device is connected to electric machine controller to form closed loop feedback,
Feedback device obtains the feedback information about load, and sends feedback information to electric machine controller, and in the time producing control signal, electric machine controller also utilizes described feedback information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320682340.8U CN203911823U (en) | 2013-10-30 | 2013-10-30 | Ethernet-based electromotor controller and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320682340.8U CN203911823U (en) | 2013-10-30 | 2013-10-30 | Ethernet-based electromotor controller and control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203911823U true CN203911823U (en) | 2014-10-29 |
Family
ID=51786066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320682340.8U Expired - Lifetime CN203911823U (en) | 2013-10-30 | 2013-10-30 | Ethernet-based electromotor controller and control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203911823U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104360617A (en) * | 2014-11-11 | 2015-02-18 | 杭州宇扬科技股份有限公司 | Motor control method |
| 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 |
| CN107783468A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six degree of freedom management platform remote operating control system |
| CN111146989A (en) * | 2019-12-26 | 2020-05-12 | 兰州空间技术物理研究所 | Main motor rotation angle acquisition method in main and standby double-step motors |
-
2013
- 2013-10-30 CN CN201320682340.8U patent/CN203911823U/en not_active Expired - Lifetime
Cited By (6)
| 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 |
| CN104360617A (en) * | 2014-11-11 | 2015-02-18 | 杭州宇扬科技股份有限公司 | Motor control method |
| CN104360617B (en) * | 2014-11-11 | 2015-12-30 | 杭州宇扬科技股份有限公司 | A kind of motor control method |
| CN107783468A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six degree of freedom management platform remote operating control system |
| CN111146989A (en) * | 2019-12-26 | 2020-05-12 | 兰州空间技术物理研究所 | Main motor rotation angle acquisition method in main and standby double-step motors |
| CN111146989B (en) * | 2019-12-26 | 2021-11-05 | 兰州空间技术物理研究所 | Main motor rotation angle acquisition method in main and standby double-step motors |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203911823U (en) | Ethernet-based electromotor controller and control system | |
| CN105242640B (en) | A kind of novel high-speed, high precision multiple-axis servo motion controller circuit | |
| CN201174041Y (en) | Full-digital general AC servo positioning control driver | |
| CN104589367B (en) | Modularization robot driver based on EtherCAT and control method | |
| CN107124412A (en) | A kind of BISS protocol datas coding/decoding method and interface system | |
| CN208985151U (en) | One kind being based on the cascade SSI data acquisition circuit of shift register | |
| CN201903440U (en) | High-speed wind tunnel angle attacking control system | |
| CN2927526Y (en) | Teaching multiaxis distributed control system based on Ethernet and CAN bus | |
| CN206224181U (en) | A kind of multiple-axis servo drive system position feedback data interface card based on FPGA | |
| CN107228952A (en) | A kind of high reliability rotating speed transducer module | |
| CN109541994A (en) | A kind of real-time acquisition system and its acquisition method of high anti-interference ability | |
| CN109968356A (en) | Mechanical arm force-feedback control system and method based on Embedded Motion | |
| CN201355804Y (en) | Four-dimensional ultrasonic probe motor control system | |
| CN201163363Y (en) | General multi-axis motion control system on numerical control machine | |
| CN104601061A (en) | Ethernet-based motor controller and control system | |
| CN202004710U (en) | Alternating-current servo controller using electronic transmission ratio | |
| CN102789205A (en) | Position information processing device with multiple interfaces and capable of supporting semi-closed loop control and entire closed-loop control | |
| CN104730274A (en) | Programmed multifunctional rotation speed signal conversion device | |
| CN1258124C (en) | Multishaft motion control card based on RS-232 serial bus | |
| CN109001628B (en) | Micro asynchronous motor set monitoring system and method based on synchronous phasor data | |
| CN202093336U (en) | Multi-interface information processing device capable of supporting semi-closed loop control and full-closed loop control | |
| CN104501791A (en) | Novel north seeker | |
| CN202694083U (en) | Signal processing apparatus compatible with a plurality of encoder and rotary transformer interface | |
| CN101860296A (en) | Servo motion control device based on floating-point DSP | |
| CN104330098B (en) | A kind of digitized receiver of CAN interface |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20141029 |
|
| CX01 | Expiry of patent term |