CN212137570U - Vacuum multi-shaft motor motion control system - Google Patents
Vacuum multi-shaft motor motion control system Download PDFInfo
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- CN212137570U CN212137570U CN202021286656.1U CN202021286656U CN212137570U CN 212137570 U CN212137570 U CN 212137570U CN 202021286656 U CN202021286656 U CN 202021286656U CN 212137570 U CN212137570 U CN 212137570U
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Abstract
The utility model discloses a vacuum multiaxis motor motion control system, including singlechip, DC power supply, voltage conversion circuit, drive circuit, decoder, rotary transformer and a plurality of vacuum step motor. The direct current power supply is used for supplying power to the driving circuit, the decoder, the rotary transformer and each vacuum stepping motor, and the voltage conversion circuit is used for reducing the output voltage of the direct current power supply and then supplying power to the single chip microcomputer. The single chip microcomputer outputs pulse signals and direction signals to the driving circuit, and the driving circuit drives each vacuum stepping motor. The rotary transformer is used for acquiring rotating position signals of the vacuum stepping motors in real time, amplitude signals output by the rotary transformer are converted into digital signals through the decoder and then input into the signal end of the single chip microcomputer, and a closed-loop control loop is formed. The system improves the reliability of the device work, solves the technical problem that the control accuracy of the stepping motor to the object motion position is low, and has the advantages of simple structure and convenient operation.
Description
Technical Field
The utility model relates to a motor control system, concretely relates to vacuum multiaxis motor motion control system.
Background
The stepper motor is a control motor, and serves as a "core actuator" in the control system. The stepping motor is different from the ordinary motor mainly in the form of pulse driving, and due to the characteristic, the stepping motor can be combined with the modern digital control technology. Because the stepping motor has the characteristics of simple structure, high reliability and low cost, the stepping motor is widely applied to various fields of production practice. But the stepping motor is relatively insufficient in control precision, speed variation range and low-speed performance. In addition, an open-loop control system is mostly adopted for controlling the stepping motor in the market, so that the method can be suitable for motion control with general precision requirements, but cannot be used for motion control under a vacuum environment with higher precision requirements.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the prior art, the vacuum multi-axis motor motion control system is provided, and the accurate control of the multi-axis stepping motor under the vacuum environment is realized.
The technical scheme is as follows: a vacuum multi-shaft motor motion control system comprises a single chip microcomputer, a direct-current power supply, a voltage conversion circuit, a driving circuit, a decoder, a rotary transformer and a plurality of vacuum stepping motors; the direct current power supply is used for supplying power to the driving circuit, the decoder, the rotary transformer and each vacuum stepping motor, and the voltage conversion circuit is used for reducing the output voltage of the direct current power supply and then supplying power to the single chip microcomputer; the single chip microcomputer outputs pulse signals and direction signals to the driving circuit, and the driving circuit drives each vacuum stepping motor; the rotary transformer is used for acquiring rotating position signals of the vacuum stepping motors in real time, amplitude signals output by the rotary transformer are converted into digital signals through the decoder and then input to the signal end of the single chip microcomputer to form a closed-loop control circuit.
Further, an optical coupler is arranged between the single chip microcomputer and the driving circuit in a communicating mode.
Further, an EMI filter is disposed between the voltage conversion circuit and the dc power supply.
Furthermore, the single chip microcomputer is connected with an upper computer through a USB-to-serial port module and connected with a key module through a GPIO interface.
Further, the voltage conversion circuit comprises a 24V power signal interface CN2, a test interface CN3, a capacitor C3, a common mode inductor L2, a capacitor C4, a diode D2, a capacitor C6, a capacitor C8, a chip V1, a switch SW1, a diode D4, an inductor L1, a capacitor C9, a capacitor C10, a fuse F1, a diode D3, a chip V2, a capacitor C5, a capacitor C7, a diode D1, and a resistor R5; the capacitor C3 is connected in parallel with two terminals of the 24V power signal interface CN 2; two ends 1 and 3 of the common-mode inductor L2 are connected with the C3 in parallel, and two ends 2 and 4 of the common-mode inductor L2 are connected with the capacitor C4 in parallel; the diode D2 is connected in series between the 4 terminal of the common mode inductor L2 and the input terminal of the chip V1; the model of the chip V1 is LM2596S-5.0, and the 3 and 5 ends of the chip V1 are grounded; the capacitor C6 is connected in series between the diode D2 and the ground; the capacitor C8 is connected in series between the diode D2 and the ground; the diode D4 is connected in series between the 2 terminal of the chip V1 and the ground; the inductor L1 is connected in parallel with the 2 terminal and the 4 terminal of the chip V1; the capacitor C9 is connected in series between the inductor L1 and the ground; the capacitor C10 is connected in parallel between the 4 terminal of the chip V1 and the ground; the fuse F1 is connected in series with the 4 terminal of the chip V1 and the 3 pin of the switch SW 1; the D3 diode is SMAJ5.0A for transient voltage suppression and is connected between the 2 end of the switch SW1 and the ground in series; the model of the chip V2 is LD1117-3.3V, which is used for converting output 5V into 3.3V, IN is connected with the 2 end of the switch SW1, GND is grounded, OUT is connected with the capacitor C5 IN series and is grounded, and C7 is connected with the ground IN series; the 2 end of the switch SW1 is connected with a 5V power supply signal, and the OUT end of the chip V2 is connected with a 3.3V power supply signal; the 3.3V power signal is connected in series with the light emitting diode D1 and the resistor R5 to be grounded, and is used for detecting whether the power conversion circuit works normally or not.
Has the advantages that: the utility model provides a multiaxis motor motion control system under suitable vacuum environment has improved the reliability of device work, has solved step motor to the lower technical problem of object motion position's control accuracy, has simple structure, convenient operation's advantage.
Drawings
FIG. 1 is a schematic diagram of the present system;
fig. 2 is a circuit diagram of the voltage conversion circuit.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1, a vacuum multi-axis motor motion control system includes a single chip, a dc power supply, a voltage conversion circuit, a driving circuit, a decoder, a rotary transformer, a plurality of vacuum stepping motors, a key module, a USB serial port module, and an upper computer. The single chip microcomputer is connected with the upper computer through the USB-to-serial port module and connected with the key module through the GPIO interface.
The DC power supply is used for supplying power to the drive circuit, the decoder, the rotary transformer and each vacuum stepping motor. An EMI filter is arranged between the voltage conversion circuit and the direct current power supply, and the voltage conversion circuit is used for reducing the output voltage of the direct current power supply and then supplying power to the single chip microcomputer. The voltage conversion circuit is additionally provided with an EMI filter at the input front end of an external power supply, so that common-mode noise in the power supply can be effectively reduced, and signal interference of power supply clutter on a development board is reduced. The single chip microcomputer receives the instruction signal from the upper computer and converts the instruction signal into a pulse signal and a direction signal, an optical coupler is arranged between the single chip microcomputer and the driving circuit for isolation, the single chip microcomputer outputs the pulse signal and the direction signal to the driving circuit, and the driving circuit drives each vacuum stepping motor to control stroke and acceleration and deceleration. The rotary transformer is used for acquiring rotating position signals of the vacuum stepping motors in real time, amplitude signals output by the rotary transformer are converted into digital signals through the decoder and then input into the signal end of the single chip microcomputer, and a closed-loop control loop is formed. The TB67S109A can achieve the effects of low vibration, small noise and high speed to drive the motor.
Units that may serve as motor controllers include industrial control computers, programmable controllers, digital signal processors, and the like. The industrial control computer has the most powerful functions, has extremely high speed, powerful calculation capacity and interface capacity, but has large volume and high cost, and is mainly used for large-scale control systems. In contrast, PLC is inexpensive, can perform only simple logic operations, and is therefore used for simple motor control. The single chip is between the industrial control computer and the programmable controller, and has strong control function and low cost. Therefore, the singlechip becomes the utility model discloses a preference controller has satisfied the complicated operation processing of step motor parameter when moving.
In the embodiment, the single chip microcomputer is STM32F407, the main frequency is up to 168MHz, 210DMIPS/566 CoreMark performance is provided, and a DSP instruction set is provided. The complex motion calculation in the motion process can be satisfied. There are up to 17 timers, 12 16 bit timers, and 2 32 bit timers with frequencies up to 168MHz, each with 4 inputs capture or output compare or PWM, or pulse counter and quadrature encoder input. The control pulse transmitting and receiving of a plurality of interfaces can be satisfied. The voltage of the direct-current power supply is 24V, a 5V power supply is obtained through conversion of a DC-DC power supply chip to supply power, serial port conversion to USB is achieved through a CH340G chip, and the communication function between the single chip microcomputer and the upper computer is achieved.
In the control system, a drive circuit adopts a stepping motor driver with the model number of TB67S109A, the number of the drivers is consistent with that of the vacuum stepping motors, and one-to-one corresponding drive is realized. The drive circuit is coupled with the single chip microcomputer, and the optical coupling isolation only carries out signal communication and does not directly carry out electric transmission, so that the interference can be greatly avoided, and the stability of the system is improved. The upper computer sends parameters such as acceleration and deceleration, speed and running steps of the vacuum stepping motor to the single chip microcomputer through USB-to-serial port communication, and the single chip microcomputer receives the parameters, processes the parameters through the STM32F407 chip and converts signals into pulse frequency and transmits the pulse frequency to the driving circuit.
The photoelectric encoder is a measurement element which is widely applied in the field of the current control system. The photoelectric encoder directly outputs digital signals, and the processing circuit is simple, but has the defects of no impact resistance, no high temperature resistance and easy radiation interference, so the photoelectric encoder is not suitable for being used in a vacuum environment such as space. Because multiaxis step motor control system operational environment move under for the vacuum, so have shock-resistant, high temperature resistant, high reliable, the resolver of advantages such as long-life become better measuring element and select.
The rotary transformer sends parameters such as the actual motion speed, the operation step number and the like of the vacuum stepping motor to the decoder as sine and cosine wave signals, the single chip microcomputer receives the pulse signals decoded by the decoder, analyzes the parameters such as the speed, the operation step number and the like of the signals, and sends the parameters to the upper computer through a serial port to form a closed-loop multi-axis motion control system. And when the difference value between the actual rotation angle of the motor and the preset expected angle is larger than the preset value, controlling the motor to perform recovery correction until the difference value between the actual rotation angle fed back by the rotary transformer and the preset expected angle is smaller than the preset value, namely performing closed-loop control.
As shown in fig. 2, the voltage conversion circuit includes a 24V power signal interface CN2, a test interface CN3, a capacitor C3, a common mode inductor L2, a capacitor C4, a diode D2, a capacitor C6, a capacitor C8, a chip V1, a switch SW1, a diode D4, an inductor L1, a capacitor C9, a capacitor C10, a fuse F1, a diode D3, a chip V2, a capacitor C5, a capacitor C7, a diode D1, and a resistor R5. The capacitor C3 is connected in parallel with two terminals of the 24V power signal interface CN 2; the two ends 1 and 3 of the common-mode inductor L2 are connected in parallel with the C3, and the ends 2 and 4 of the common-mode inductor L2 are connected in parallel with the capacitor C4, so that an EMI filter circuit is built; the diode D2 is connected in series between the 4 terminal of the common mode inductor L2 and the input terminal of the chip V1; the model of the chip V1 is LM2596S-5.0, and the 3 and 5 ends of the chip V1 are grounded; the capacitor C6 is connected in series between the diode D2 and the ground; the capacitor C8 is connected in series between the diode D2 and the ground; the diode D4 is connected in series between the 2 terminal of the chip V1 and the ground; the inductor L1 is connected in parallel with the 2 terminal and the 4 terminal of the chip V1; the capacitor C9 is connected in series between the inductor L1 and the ground; the capacitor C10 is connected in parallel between the 4 terminal of the chip V1 and the ground; the fuse F1 is connected in series with the 4 terminal of the chip V1 and the 3 pin of the switch SW 1; the D3 diode is SMAJ5.0A for transient voltage suppression and is connected between the 2 end of the switch SW1 and the ground in series; the model of the chip V2 is LD1117-3.3V, which is used for converting output 5V into 3.3V, IN is connected with the 2 end of the switch SW1, GND is grounded, OUT is connected with the capacitor C5 IN series and is grounded, and C7 is connected with the ground IN series; the 2 end of the switch SW1 is connected with a 5V power supply signal, and the OUT end of the chip V2 is connected with a 3.3V power supply signal; the 3.3V power signal is connected in series with the light emitting diode D1 and the resistor R5 to be grounded, and is used for detecting whether the power conversion circuit works normally or not. The voltage conversion circuit further comprises a test interface CN3, wherein terminals 1 and 2 of the test interface CN3 are connected with two ends of CN2, terminals 3 and 4 output ground, terminals 5 and 6 output 3.3V, and terminals 7 output 5V.
LM2596S-5.0 is a power supply chip, can output 3A current to the maximum, the driving force is very sufficient, suitable for the power supply of many modules on the system. The diode SMAJ5.0A is used for transient voltage suppression, can effectively avoid the damage to the development board when a 5V external power supply or a load is unstable, and can also prevent the damage to the development board caused by reverse connection of the external power supply to a certain extent. The LD1117-3.3V chip is used for converting the output 5V into 3.3V, and can be used for other modules of the system.
In this embodiment, a 5-axis vacuum stepping motor is adopted, and a driving circuit drives the stepping motor to respectively drive an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail, an R-axis hinge, and a V-axis standby shaft. The stepping motor is connected with the slide rail and used for driving the slide block on the slide rail to control the target moving object to move linearly. The stepping motor is connected with the gear, and the gear drives the hinge to control the target moving object to rotate. The X-axis guide rail, the Y-axis guide rail, the Z-axis guide rail and the R-axis hinge are connected with the V-axis standby shaft through the limit switch SENSOR, and the limit switch SENSOR is used for limiting the left limit and the right limit of the motor motion and providing an original point reference, so that the reliability of a motion system is improved.
In this embodiment, the motor operating parameters are set by the upper computer or the keys. The keys are divided into 10 keys for respectively controlling the positive and negative rotation of the 5-shaft motor, an emergency stop key and a knob for controlling the switching between the upper computer and the keys. The upper computer interface is divided into display and control, the display interface displays parameters such as the position, the speed and the like of each motor in the current motion state, and the control interface is preset parameters such as three spatial positions of a target object and the motion position and the speed of each motor. This design can be measured the speed through the rotary transformer, carries out closed-loop control with rotational speed measured value feedback to the singlechip, and the actual measurement parameter passes through the singlechip serial ports and conveys to the host computer and show.
The specific process is as follows: the system firstly sets the initialization parameters of the STM32 series single chip microcomputer to complete the initialization of the timer, the initialization of the system tick timer, the initialization of the key, the initialization of the external pin, the initialization of the LED lamp and the initialization of the serial port. After completion, the movement process is configured through an STM32 series single chip microcomputer. Each axis is returned to the origin position by a limit switch SENSOR at the beginning of the motor movement, after which a specific movement control command is made.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A vacuum multi-axis motor motion control system is characterized by comprising a single chip microcomputer, a direct-current power supply, a voltage conversion circuit, a driving circuit, a decoder, a rotary transformer and a plurality of vacuum stepping motors; the direct current power supply is used for supplying power to the driving circuit, the decoder, the rotary transformer and each vacuum stepping motor, and the voltage conversion circuit is used for reducing the output voltage of the direct current power supply and then supplying power to the single chip microcomputer; the single chip microcomputer outputs pulse signals and direction signals to the driving circuit, and the driving circuit drives each vacuum stepping motor; the rotary transformer is used for acquiring rotating position signals of the vacuum stepping motors in real time, amplitude signals output by the rotary transformer are converted into digital signals through the decoder and then input to the signal end of the single chip microcomputer to form a closed-loop control circuit.
2. The vacuum multi-axis motor motion control system of claim 1, wherein an optical coupling isolation is provided between the single chip and the driving circuit.
3. The vacuum multi-axis motor motion control system of claim 1, wherein an EMI filter is provided between the voltage conversion circuit and the dc power supply.
4. The vacuum multi-axis motor motion control system of claim 1, wherein the single chip microcomputer is connected to an upper computer through a USB-to-serial port module and connected to a key module through a GPIO interface.
5. The vacuum multi-axis motor motion control system of claim 1, wherein the voltage conversion circuit comprises a 24V power signal interface CN2, a test interface CN3, a capacitor C3, a common mode inductor L2, a capacitor C4, a diode D2, a capacitor C6, a capacitor C8, a chip V1, a switch SW1, a diode D4, an inductor L1, a capacitor C9, a capacitor C10, a fuse F1, a diode D3, a chip V2, a capacitor C5, a capacitor C7, a diode D1, a resistor R5; the capacitor C3 is connected in parallel with two terminals of the 24V power signal interface CN 2; two ends 1 and 3 of the common-mode inductor L2 are connected with the C3 in parallel, and two ends 2 and 4 of the common-mode inductor L2 are connected with the capacitor C4 in parallel; the diode D2 is connected in series between the 4 terminal of the common mode inductor L2 and the input terminal of the chip V1; the model of the chip V1 is LM2596S-5.0, and the 3 and 5 ends of the chip V1 are grounded; the capacitor C6 is connected in series between the diode D2 and the ground; the capacitor C8 is connected in series between the diode D2 and the ground; the diode D4 is connected in series between the 2 terminal of the chip V1 and the ground; the inductor L1 is connected in parallel with the 2 terminal and the 4 terminal of the chip V1; the capacitor C9 is connected in series between the inductor L1 and the ground; the capacitor C10 is connected in parallel between the 4 terminal of the chip V1 and the ground; the fuse F1 is connected in series with the 4 terminal of the chip V1 and the 3 pin of the switch SW 1; the D3 diode is SMAJ5.0A for transient voltage suppression and is connected between the 2 end of the switch SW1 and the ground in series; the model of the chip V2 is LD1117-3.3V, which is used for converting output 5V into 3.3V, IN is connected with the 2 end of the switch SW1, GND is grounded, OUT is connected with the capacitor C5 IN series and is grounded, and C7 is connected with the ground IN series; the 2 end of the switch SW1 is connected with a 5V power supply signal, and the OUT end of the chip V2 is connected with a 3.3V power supply signal; the 3.3V power signal is connected in series with the light emitting diode D1 and the resistor R5 to be grounded, and is used for detecting whether the power conversion circuit works normally or not.
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| CN202021286656.1U CN212137570U (en) | 2020-07-03 | 2020-07-03 | Vacuum multi-shaft motor motion control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113746384A (en) * | 2021-09-02 | 2021-12-03 | 中国科学院合肥物质科学研究院 | Multi-motor synchronous control device, multi-motor system and optical system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113746384A (en) * | 2021-09-02 | 2021-12-03 | 中国科学院合肥物质科学研究院 | Multi-motor synchronous control device, multi-motor system and optical system |
| CN113746384B (en) * | 2021-09-02 | 2023-09-22 | 中国科学院合肥物质科学研究院 | Multi-motor synchronous control device, multi-motor system and optical system |
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