CN206946241U - A kind of Multi-axis motion control device for realizing dynamics and position-force control - Google Patents
A kind of Multi-axis motion control device for realizing dynamics and position-force control Download PDFInfo
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- CN206946241U CN206946241U CN201720562585.5U CN201720562585U CN206946241U CN 206946241 U CN206946241 U CN 206946241U CN 201720562585 U CN201720562585 U CN 201720562585U CN 206946241 U CN206946241 U CN 206946241U
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Abstract
The utility model discloses a kind of Multi-axis motion control device for realizing dynamics and position-force control, belong to movement control technology field, including servo electric jar, servo-driver and controller, electric servo cylinder includes lead screw transmission mechanism and servomotor, and the pressure sensor for gathering force signal and the cell encoder for acquisition pulse number are provided with servomotor；Servo-driver and servomotor signal communication；Controller is connected through pulse quadruple and phase demodulation module with servo-driver signal, and controller is also connected through D/A converter module with servo-driver signal, and the controller is also connected through analog-to-digital conversion module with pressure sensor signal.The utility model can realize position and the double-closed-loop control of force in operation is processed.
Description
Technical field
It the utility model is related to movement control technology field, and in particular to a kind of to realize the more of dynamics and position-force control
Axle motion control device.
Background technology
External motion controller research and development starting is more early, and development is very fast, and the country first intakes with foreign countries in this respect
It is flat very big gap to be also present.The control system realized both at home and abroad with motion controller is mainly using based on " PC+ is moved
The hardware and Software Architecture of controller ", complete mechanical position, the point position control of speed, the motion control function of INTERPOLATION CONTROL OF PULSE.With
The horizontal continuous improvement of China's equipment manufacturing, equipment manufacture develops towards NC postprocessing and intelligent direction, based on computer number
The motion controller of word control technology is applied in increasing field, and movement control technology fills from traditional lathe
It is standby to also extend to carpenter's process unit, glass processing equipment, food processing equipment, leather and clothing equipment, automobile making equipment
Etc. every field, control system also from original simple speed, the point position of position and INTERPOLATION CONTROL OF PULSE, is expanded to power control, position+power
A variety of observing and controlling functions such as control, on-position measure, and the complex controll requirement with power and position two close cycles is proposed, this is just to motion
The development of controller proposes new requirement.
For example, in automobile making equipment, the automatic production line of engine needs a kind of electrical servo automatic pressure (one
The lower electronic pressing machine of abbreviation), for completing the automatic pressure assembling of largely interference fit part on engine.In press fitting process
In, the formulation position that engine rigid body or cylinder cap are accurately pressed into by press fitting part is not required nothing more than, it is also tight during press fitting
The pressure of lattice control interference press fitting, to ensure the assembling quality of mating parts.Therefore, the control system of electronic pressing machine is being pressed
During in addition to it accurately can control the kinematic parameter of press-loading head, while can also accurately control the size of pressure assembling force, but mesh
Preceding motion controller is difficult to provide such control ability.
Utility model content
In view of the shortcomings of the prior art, the purpose of this utility model aims to provide one kind and realizes dynamics and position-force control
Multi-axis motion control device, realized in operation is processed position with force double-closed-loop control.
To achieve the above object, the utility model adopts the following technical scheme that：
A kind of Multi-axis motion control device for realizing dynamics and position-force control, including：
Servo electric jar, is provided with lead screw transmission mechanism on servo electric jar, lead screw transmission mechanism include drive lead screw and
The feed screw nut being set on drive lead screw, lead screw transmission mechanism are driven by servomotor, are provided with and are used on the servomotor
Gather the cell encoder of motor angle position umber of pulse；The application apparatus of feed screw nut and multi-axis motion controller connects, even
The place of connecing is provided with the pressure sensor of collection force signal；
Servo-driver, the servo-driver and servomotor signal communication；
Controller, the controller are connected through pulse quadruple and phase demodulation module with servo-driver signal, and controller also passes through
D/A converter module is connected with servo-driver signal, and the controller also connects through analog-to-digital conversion module and pressure sensor signal
Connect.
As it is of the present utility model it is a kind of improve, controller includes CPU core core and bottom plate, CPU core core be provided with by
The dual core processor and its basic circuit of ARM cores and DSP core composition；Bottom plate is provided with fpga chip and its base control circuit,
CPU core core is provided with the peripheral interface of connection CPU core core through EMIFA interface connecting bottom boards on bottom plate；Controller passes through
Pinboard connects servo-driver.
Further, peripheral interface includes RS232 interface, USB interface, LCD interfaces, network interface, jtag interface.
Further, 8 first interface terminals for connecting servo-driver are provided with pinboard and for signal
The second interface terminal of transmission.
As another improvement of the present utility model, contact pin type expansion interface, bottom plate are provided with CPU core core and bottom plate
With bus slot is provided with pinboard, the bus that CPU core core is removable installed in bottom plate through contact pin type expansion interface is inserted
On groove, bottom plate is removable installed on the bus slot of pinboard through contact pin type expansion interface, the CPU core core, bottom plate
Connection with pinboard is in the stacked structure of upper, middle and lower three.
The beneficial effects of the utility model are：In operation is processed, pass through the line between servo-driver and controller
Road connects to be controlled the position of servomotor with data transfer realization, passes through the connection between power detection module and controller
The pressure monitoring to servomotor is realized, so as to the overall double-closed-loop control for realizing position and pressure, processing can be effectively improved and made
The precision and intelligence degree of industry；Controller is removable installed in the bus slot of pinboard through contact pin type expansion interface
On, the controller and pinboard are in levels stacked structure, realize the close connection of controller and pinboard, are also beneficial to simultaneously
Reduce physical connection circuit；Using based on
The controller of " ARM+DSP+FPGA " multicore architecture, collect motion control, data acquisition, sensing, communication function in one
Body, multiaxis high speed, high-precision control can be realized, there is powerful, integrated level height, modularized design, high real-time, Gao Ke
By property, low-power consumption, the features such as software and hardware can be cut.
Brief description of the drawings
Fig. 1 is a kind of structural frames for the Multi-axis motion control device for realizing dynamics and position-force control of the utility model
Figure；
Fig. 2 is operational process block diagram of the present utility model；
Fig. 3 is the attachment structure schematic diagram of CPU core core, bottom plate and pinboard in the utility model；
Fig. 4 is the top view of fractional hardware in the utility model；
Fig. 5 is the structural representation of accurate digital control electrical servo pressing machine in embodiment 2.
Reference：01st, contact pin type expansion interface；02nd, hexagonal copper post；1st, CPU core core；2nd, bottom plate；3rd, pinboard；
31st, first interface terminal；32nd, second interface terminal；4th, external member；5th, wait to be pressed inclusive part；6th, press-loading head push rod；7th, press
Force snesor；8th, servo electric jar；9th, rotary encoder.
Embodiment
Below, with reference to accompanying drawing and embodiment, the utility model is described further：
Embodiment 1
As shown in FIG. 1 to 3, a kind of Multi-axis motion control device for realizing dynamics and position-force control, including servo
Electric cylinder, servo-driver, controller, pressure sensor, wherein, lead screw transmission mechanism, screw mandrel are provided with servo electric jar
Transmission mechanism includes drive lead screw and the feed screw nut being set on drive lead screw, and lead screw transmission mechanism is driven by servomotor,
The cell encoder for gathering motor angle position umber of pulse is provided with the servomotor；Feed screw nut and multiaxial motion control
The application apparatus connection of device processed, the pressure sensor for gathering force signal are arranged at junction；Servomotor and servo-drive
Device signal communication, servo-driver are connected to controller through pulse quadruple and phase demodulation module by signal, and controller is also respectively through number
Mould modular converter (D/A conversions) and numeral are connected with pulses switch module (numeral/pulses switch) with servo-driver signal, should
Controller is connected through analog-to-digital conversion module with pressure sensor signal, and controller is included at the double-core that is made up of ARM cores and DSP core
Device and its basic circuit are managed, the basic circuit includes power circuit, crystal oscillating circuit, jtag circuit, Flash, RAM etc., at double-core
Manage dual core processor and its base that the ARM cores inside device and DPS cores are made up of shared drive interactive information, ARM cores and DSP core
This circuit is arranged on CPU core core 1；Controller also includes the fpga chip and its base control circuit being arranged on bottom plate 2,
The base control circuit includes power circuit, crystal oscillating circuit, jtag circuit, DAC-circuit, adc circuit etc., and CPU core core 1 passes through
EMIFA interfaces connecting bottom board 2, controller connects servomotor through pinboard 3 and servo-driver, pinboard 3 are provided with coding
Device sample circuit, Impulsive Difference circuit, optical coupling isolation circuit, Impulsive Difference circuit, D/A change-over circuits, power drive amplification electricity
Road etc., the first interface terminals 31 of 8 connection servo-drivers are provided with pinboard 3 and (transmission is each for signal transmission
Kind of data signal and analog signal) second interface terminal 32, the ancillary equipment that connection CPU core core 1 is provided with bottom plate 2 connects
Mouthful, the peripheral interface includes RS232 interface, USB interface, LCD interfaces, network interface, jtag interface, and controller is through ancillary equipment
Interface connects ancillary equipment, and the ancillary equipment includes Double Data Rate synchronous DRAM, flash storage and liquid crystal
Display screen；ARM subsystems wherein in dual core processor provide system control and interface management function, and DSP subsystems are motion controls
The core of system, realize the motion control arithmetic including trajectory planning, speed prediction computing and rough interpolation computing, FPGA subsystems
System is the core of the module of data acquisition, is responsible for data acquisition, Fine interpolation computing and the control of speed and displacement.
The signal of cell encoder is sent to control by servomotor and servo-driver signal communication, servo-driver
Device, control target position feedback is obtained through pulse quadruple and phase demodulation module；Position is fed back compared with position command, is passed through
Position output signal is calculated in PID modules, changes backward servo with pulses switch module (numeral/pulses switch) through numeral and drives
Dynamic device sends pulse signal, realizes position-force control；Servomotor produces motion through transmission mechanism, and pressure sensor detects
Pressure caused by movement parts, controller is transmitted to after amplifying by signal transmitting device, controller is through analog-to-digital conversion module (A/D conversions)
Conversion obtains pressure feedback value, compared with pressure instruction, output pressure signal is calculated by PID modules, through digital-to-analogue conversion
The backward servo-driver of module (D/A conversions) sends Stress control analog signalses, realizes pressure closed loop control.
When the motion control such as control target carries out F.F., rewind, work are entered, position, controller only need to be performed position
The process of closed-loop control, it is possible to realize the control process of response.When control target carries out the motion controls such as pressure assembling,
There is ARM+DSP dual-core controllers system also to monitor in real time and controlled while pressure closed loop control is carried out for control system
The location feedback value of object, when location feedback value approaches the location of instruction, controller is calculated by speed prediction program and moved to
Time needed for the location of instruction, then control servomotor to decelerate to location of instruction stop motion by speed planning, realize position
With pressure double-closed-loop control, ensure the position of control target motion and the stress of motion process.The utility model application example
In the motion shaft position and pressure double-closed-loop control of most 8 passages can be provided, but be not limited to the control system of only 8 passages.
Switching of the servo-driver between position control mode to torque control pattern, can be by the RS232 serial line interfaces of controller
Mode of operation switching command is sent to servo-driver to realize.
As shown in figure 4, contact pin type expansion interface 01 is provided with CPU core core 1 and bottom plate 2, on bottom plate 2 and pinboard 3
Bus slot is provided with, CPU core core 1 is removable installed in through contact pin type expansion interface 01 on the bus slot of bottom plate 2, bottom
Plate 2 is removable installed in through contact pin type expansion interface 01 on the bus slot of pinboard 3, the CPU core core 1, the and of bottom plate 2
The connection of pinboard 3 is in the stacked structure of upper, middle and lower three, and the signal between each layer circuit board is by insertion slot type internal bus
Connection, each harden structure are fastened using hexagonal copper post 02.
Embodiment 2
Multi-axis motion control device is applied to the press fitting of accurate digital control electrical servo by the present embodiment on the basis of embodiment 1
In machine digital control system.As shown in figure 5, accurate digital control electrical servo pressing machine includes external member 4, waits to be pressed the inclusive (quilt of part 5
Control object), press-loading head push rod 6, the servo electric jar 8 containing servomotor, be provided with lead screw transmission mechanism in servo electric jar 8
And servomotor, rotary encoder 9, press-loading head push rod 6 and servo electric jar are provided with the servomotor of servo electric jar 8
8 junctions are also equipped with pressure sensor 7, and the pressure signal of pressure sensor 7 amplifies through signal transmitting and analog-to-digital conversion module
The pressure assembling force for waiting to be pressed inclusive part 5 is fed back to controller by (A/D conversions).The rotation set during work on servo electric jar 8
Turn encoder 9 and send pulse signal according to the motion state of servomotor to be sent to controller, controller through pulse quadruple and
Phase demodulation module, which is converted to, to be waited to be pressed the position feed back signal that inclusive part 5 moves, and controller is according to control instruction and position, pressure
Force feedback value control servo electric jar 8 transports work(.Interference workpiece press fitting process includes F.F., press fitting, adjustment, pressurize, rewind five
Step：
System meeting Automatic-searching mechanical zero during start, after setting the machined parameters such as pressure assembling force, press fitting position, it will wait to press
The inclusive part 5 of dress is enclosed on the front end of press-loading head push rod 6, and controller first sends finger by RS232 interface to servo-driver
Order, servo-driver is worked under position control mode, controller will carry digital command position signalling, by numeral with
Pulses switch module (numeral/pulses switch) sends pulse control signal to servo-driver, and servo is driven by servomotor
Electric cylinder 8 promotes press-loading head push rod 6 to drive and waits that be pressed inclusive part 5 approaches b points from a point F.F.s together, so as to realize to watching
The position control of electric cylinder 8 is taken, will then be controlled with slowing down and being adjusted to b points position after being pressed inclusive part 5 and approaching b points
Device processed sends control mode switch to servo-driver by RS232 interface and instructed, and servo-driver mode of operation is switched to
Torque control pattern, controller calculate the press-fiting pressure of press-loading head push rod 6 according to technological parameter, pass through D/A converter module
(D/A conversions) sends pressure signal with analog signalses to servo-driver, and control servomotor output torque pushes away press-loading head
Bar 6 is promoted by command pressure waits that being pressed inclusive part 5 is pressed into the hole of external member 4, realizes the press fitting process from b points to c points,
The pressure and location feedback value of controller real-time sampling pressure sensor 7 and rotary encoder 9 during press fitting, and pass through
PID modules keep the control accuracy of press-fiting pressure, and c points are approached when rotary encoder 9 feeds back the position of waiting to be pressed inclusive part 5
During position, press fitting process is transferred to packing stage, and at this moment the pressure assembling force of controller control press-loading head push rod 6 keeps steady, joins by technique
The set pressure pressurize of number, and encoder pulse count device numerical value is constantly read, detect and wait to be pressed what inclusive part 5 was pressed
Position, when wait be pressed the inclusive position of part 5 exceed setting c points approach position d when, packing stage terminates, at this moment controller
Control mode switch is sent to servo-driver to instruct, servomotor mode of operation is switched into position mould by RS232 interface
Formula, then send pulse signal and drive press-loading head push rod 6 to be back to set work zero with setting speed by servo electric jar 8
Point.So far a press fitting automatic cycle process is completed.By the closed-loop control to pressure assembling force and pushed position, effectively increase
Treat the press fitting precision of the inclusive part 5 of press fitting.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
Corresponding change and deformation, and all these changes and deformation should all belong to the protection of the utility model claims
Within the scope of.
Claims (5)
- A kind of 1. Multi-axis motion control device for realizing dynamics and position-force control, it is characterised in that including：Servo electric jar, lead screw transmission mechanism is provided with servo electric jar, and lead screw transmission mechanism includes drive lead screw and is arranged Feed screw nut on drive lead screw, the lead screw transmission mechanism are driven by servomotor, are provided with and are used on the servomotor Gather the cell encoder of motor angle position umber of pulse；The application apparatus of feed screw nut and multi-axis motion controller connects, even The place of connecing is provided with the pressure sensor of collection force signal；Servo-driver, the servo-driver and servomotor signal communication；Controller, the controller are connected through pulse quadruple and phase demodulation module with servo-driver signal, and controller is also through number Mould modular converter is connected with servo-driver signal, and the controller also connects through analog-to-digital conversion module and pressure sensor signal Connect.
- 2. Multi-axis motion control device as claimed in claim 1, it is characterised in that the controller include CPU core core and Bottom plate, the CPU core core are provided with the dual core processor and its basic circuit being made up of ARM cores and DSP core；The bottom plate is set It is equipped with fpga chip and its base control circuit, CPU core core is through EMIFA interface connecting bottom boards, the company of being provided with the bottom plate Connect the peripheral interface of CPU core core；Controller connects servo-driver through pinboard.
- 3. Multi-axis motion control device as claimed in claim 2, it is characterised in that the peripheral interface includes RS232 Interface, USB interface, LCD interfaces, network interface, jtag interface.
- 4. Multi-axis motion control device as claimed in claim 2, it is characterised in that 8 connections are provided with the pinboard The first interface terminal of servo-driver and the second interface terminal for signal transmission.
- 5. Multi-axis motion control device as claimed in claim 2, it is characterised in that set on the CPU core core and bottom plate There is contact pin type expansion interface, bus slot is provided with bottom plate and pinboard, CPU core core is detachable through contact pin type expansion interface Ground is arranged on the bus slot of bottom plate, and bottom plate is removable installed in the bus slot of pinboard through contact pin type expansion interface On, the connection of the CPU core core, bottom plate and pinboard is in the stacked structure of upper, middle and lower three.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720562585.5U CN206946241U (en) | 2017-05-19 | 2017-05-19 | A kind of Multi-axis motion control device for realizing dynamics and position-force control |
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| CN201720562585.5U CN206946241U (en) | 2017-05-19 | 2017-05-19 | A kind of Multi-axis motion control device for realizing dynamics and position-force control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113179051A (en) * | 2021-04-28 | 2021-07-27 | 一巨自动化装备（上海）有限公司 | Soft switching control method for parking actuator |
-
2017
- 2017-05-19 CN CN201720562585.5U patent/CN206946241U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113179051A (en) * | 2021-04-28 | 2021-07-27 | 一巨自动化装备（上海）有限公司 | Soft switching control method for parking actuator |
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