WO2013152674A1 - Double-closed-loop feedback positioning control system of sample applicator and control method - Google Patents
Double-closed-loop feedback positioning control system of sample applicator and control method Download PDFInfo
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- WO2013152674A1 WO2013152674A1 PCT/CN2013/073422 CN2013073422W WO2013152674A1 WO 2013152674 A1 WO2013152674 A1 WO 2013152674A1 CN 2013073422 W CN2013073422 W CN 2013073422W WO 2013152674 A1 WO2013152674 A1 WO 2013152674A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42075—Two position loops
Definitions
- the invention relates to a biochip spotting instrument, in particular to a double closed loop feedback positioning control system and a control method for a biochip spotting instrument, which are used for precise control of spotting needle positioning.
- biochip technology has revolutionized the fields of disease diagnosis and treatment, new drug development, molecular biology, forensic identification, food hygiene and environmental monitoring.
- the emergence of biochips has provided humans with the ability to At the same time, the development of biochip technology has spawned the continuous development of biochip spotting technology that plays an important role in the industry chain.
- spotting instruments are widely used in the preparation of biochips.
- the existing spotting instruments also have the following disadvantages:
- the degree of regularity that is, the degree of alignment of the points on the microarray, is an important indicator because it determines how easy it is to extract data from the microarray image. When the surface of the substrate and the preparation environment meet the requirements, it affects the regularity. The main factor of the degree is the accuracy of the spotter. At present, most of the spotting instruments have a positioning accuracy of ⁇ 10um, but with the influence of other factors, such as substrate placement, the positioning accuracy will be reduced, so this is not enough for high-quality microarray preparation.
- the applicant has made research and improvement on the above problems, and provided a double closed loop feedback positioning control system and control method for the spotting instrument, which improves the positioning accuracy of the spotting needle and improves the regularity of the spotted substrate microarray. degree.
- the present invention adopts the following technical solutions:
- a double closed loop feedback positioning control system for a biochip spotting instrument comprising an inner loop feedback compensation system and an outer loop feedback compensation system
- the inner loop feedback compensation system comprises an X-direction motion mechanism for driving the spot needle positioning, a Y-direction motion mechanism and The inner ring control system
- the X-direction servo motor is connected to the X-direction moving mechanism
- the Y-direction servo motor is connected to the Y-direction moving mechanism
- the X-direction servo motor and the Y-direction servo motor are respectively provided with encoders
- the encoder is connected to the inner ring control system.
- the outer loop feedback compensation system includes an X-direction grating connected to the X-direction moving mechanism, an X-direction grating read head, a Y-direction grating head connected to the Y-direction moving mechanism, a Y-direction grating read head, an X-direction grating read head, and a Y-direction grating
- the read head is connected to the outer ring control system; the encoder detects the X-direction servo motor and the Y-direction servo motor rotation number signal and feeds back to the inner loop control system to form an inner loop feedback signal; the X-direction grating read head and the Y-direction grating readout
- the head detects the actual positioning position signal of the sample needle and feeds back to the outer loop control system to form an outer loop feedback signal, an inner loop feedback signal and an outer loop feedback signal.
- the numbers together form a double closed loop control system.
- the control method of the double closed loop feedback positioning control system of the biochip spotting instrument, the X-direction servo motor and the Y-direction servo motor rotating circle number signal detected by the encoder of the inner loop feedback compensation system are fed back to the inner ring by the pulse number
- the inner loop control system calculates the difference between the number of pulses fed back and the set value of the inner loop of the target position of the sample needle.
- the inner loop control system calculates the compensation pulse value to be corrected and sends it to the servo drive of the X-direction servo motor and the Y-direction servo motor, and drives the X-direction servo motor and the Y-direction servo motor to correct the position of the sample needle, and the inner loop feedback compensation system
- the difference calculation is performed again until the difference is zero and the positioning completion signal is output; after receiving the positioning completion signal of the inner loop feedback compensation system, the X-direction grating read head and the Y-direction grating read head of the outer loop feedback compensation system will be spotted.
- the actual positioning position value of the needle is fed back to the outer ring control system, and the actual positioning position value and the spotting needle position of the spotting needle by the outer ring control system
- the outer ring set value of the target position is compared and the position error value of the sample pin is calculated. If the position error value exceeds the set position tolerance range, the feedback signal of the outer loop feedback compensation system is used to calculate the required compensation value.
- the compensation value is converted into a pulse number and sent to the inner loop feedback compensation system to recalibrate the positioning point sample. If the position error value is within the set position tolerance range, the needle positioning is completed.
- the double closed-loop feedback positioning control system and the control method of the spotting instrument disclosed by the invention are used for the initial positioning correction of the sample needle by the inner loop feedback compensation system, and the outer loop feedback compensation system corrects and compensates the spot needle positioning. Eliminate the positioning error of the spotting needle, improve the positioning accuracy of the spotting needle, and improve the point The regularity of the sample microarray is better, and the double-closed feedback positioning control ensures the success of the positioning judgment and improves the stability and reliability of the system.
- Figure 1 is a schematic view of the structure of the present invention.
- FIG. 2 is a flow chart of a control method of the present invention.
- the double closed loop feedback positioning control system of the spotting instrument comprises an inner loop feedback compensation system and an outer loop feedback compensation system
- the inner loop feedback compensation system comprises an X-direction motion mechanism 1 and a Y-direction motion mechanism 2, by X direction.
- the moving mechanism 1 and the Y-moving mechanism 2 drive the spotting needle to perform the X-direction and the Y-direction movement, and position the position of the spotting needle relative to the spotting substrate, and the X-direction servo motor 3 is connected to the X-direction moving mechanism 1, Y.
- the servo motor 4 is connected to the Y-direction moving mechanism 2, and the X-direction servo motor 3 and the Y-direction servo motor 4 are respectively provided with encoders (not shown), X-direction servo motor 3 and Y-direction servo motor 4
- the encoder at the shaft end is connected to the inner loop control system.
- the outer loop feedback compensation system includes an X-direction grating scale 5 connected to the X-direction motion mechanism 1, an X-direction grating read head 6 and a Y-direction grating scale 7 connected to the Y-direction motion mechanism 2, a Y-direction grating read head 8, and an X-direction grating scale.
- the setting direction of 5 is parallel to the moving direction of the X-direction moving mechanism 1
- the Y-direction grating 7 is set parallel to the moving direction of the Y-direction moving mechanism 2
- the X-direction grating reading head 6 and the Y-direction grating reading head 8 are used as the outer ring feedback.
- the positioning feedback sensor of the compensation system, the X-direction grating reading head 6 and the Y-direction grating reading head 8 are connected to the outer ring control system.
- the encoder detects the X-direction servo motor 3 and the Y-direction servo motor 4 rotation number signal feedback to the inner loop control system to form an inner loop feedback signal; the X-direction grating read head 6 and the Y-direction grating read head 8 detect the spot needle
- the actual positioning position signal is fed back to the outer loop control system to form an outer loop feedback signal.
- the inner loop feedback signal and the outer loop feedback signal together form a double closed loop control system.
- the inner loop control system and the outer loop control system are each provided by respective hardware. And software composition, manufactured according to the prior art design.
- the encoder acts as a sensor for the inner loop feedback, and the detected X-direction servo motor 3 and the Y-direction servo motor 4 rotate the number of turns signal.
- the pulse number is fed back to the inner loop control system.
- the inner loop control system calculates the number of pulses fed back, and then calculates the hardware difference value with the inner loop set value (pulse number) of the target position of the sample needle. If it is zero, the positioning completion signal is output to the outer loop feedback compensation system; if the difference is not zero, the inner loop control system calculates the compensation pulse value to be corrected and sends it to the X servo motor 3 and the Y servo.
- Servo motor 4 servo drive, X servo motor 3 and Y servo motor 4 rotate position pulse compensation, after the end of the rotation, the encoder again feedback the position signal to the inner loop control system by pulse number, inner loop control system The above difference calculation is performed again. If the difference is zero, the positioning completion signal is output, otherwise feedback compensation is performed again until the difference between the pulse value and the inner ring set value of the target position of the sample needle is zero.
- the feedback signals of the inner loop feedback compensation system during the positioning correction process are the number of pulses of the number of rotations of the X-direction servo motor 3 and the Y-direction servo motor 4 which indirectly represent the displacement of the sample needle, and are not directly obtained by the actual spotting needle.
- the inner loop feedback compensation system can compare the number of rotation pulses fed back by the encoder to the inner loop setting value of the target position of the sample needle in the inner loop control system, and send the difference directly.
- the drive X is position-compensated to the servo motor 3 and the Y-direction servo motor 4.
- the outer loop feedback compensation system When receiving the signal that the inner loop feedback compensation system is positioned, the outer loop feedback compensation system starts to work, and the X-direction grating read head 6 and the Y-direction grating read head 8 transmit the actual positioning position signal of the sample needle to the outer loop control system. After the hardware analysis of the signal, the outer loop control system finally obtains the actual position data of the sample needle, and the data is compared with the outer ring set value of the target position of the sample needle. If the difference is within the set tolerance range, If the difference is outside the set tolerance range, the outer loop control system calculates the displacement to be compensated, and converts the displacement into the number of pulses required to complete the compensation, and sends it to the inner loop feedback compensation system.
- the inner loop feedback compensation system performs positioning correction on the spotting needle; after the inner loop feedback compensation system is positioned and corrected, the outer loop feedback compensation system detects the actual positioning position of the spotting needle again, and the outer loop control system determines that the positioning is successful within the tolerance range. On the contrary, the above process is repeated.
- the outer loop feedback compensation system calculates the compensation value and sends it to the inner loop feedback compensation system again. The actual position of the positioning pin until spotted in the tolerance range of the set, the syringe positioning completion point.
- the sampling needle can obtain an accurate positioning accuracy, and the positioning is completed immediately, but if the outer ring If the actual positioning position error of the spotting needle detected and calculated by the feedback compensation system exceeds the set tolerance range, it is necessary to perform the positioning correction compensation by the inner loop feedback compensation system for the third or more times.
- the inner loop feedback compensation system and the outer loop feedback compensation system during the positioning process of the spotting needle, the inner loop setting value of the target needle target position of the inner loop feedback compensation system and the target position of the outer loop feedback compensation system The theoretical values of the outer ring set values are the same.
- the unit of the inner ring set value is the number of pulses, and the outer ring set value is the actual size. Both represent the same meaning and can be converted to each other.
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Abstract
A double-closed-loop feedback positioning control system of a sample applicator and a control method thereof. The system is formed by an inner-loop feedback compensation system and an outer-loop feedback compensation system. The inner-loop feedback compensation system comprises an X-direction moving mechanism driving positioning of a sample application needle, a Y-direction moving mechanism, and an inner-loop control system. The outer-loop feedback compensation system comprises an X-direction grating ruler and an X-direction grating read head that are connected to the X-direction moving mechanism, and a Y-direction grating ruler and a Y-direction grating read head that are connected to the Y-direction moving mechanism. The X-direction grating read head and the Y-direction grating read head are connected to an outer-loop control system. The double-closed-loop feedback positioning control system ensures the success of a positioning judgment, and improves the operation stability and reliability of the system.
Description
点样仪的双闭环反馈定位控制系统及控制方法 技术领域 Double closed loop feedback positioning control system and control method for spotting instrument
本发明涉及一种生物芯片点样仪，尤其是涉及一种生物芯片点样仪的双闭 环反馈定位控制系统及控制方法， 用于实现点样针定位的精确控制。 The invention relates to a biochip spotting instrument, in particular to a double closed loop feedback positioning control system and a control method for a biochip spotting instrument, which are used for precise control of spotting needle positioning.
背景技术 Background technique
生物芯片技术的应用一方面为疾病的诊断和治疗、新药开发、分子生物学、 司法鉴定、食品卫生和环境监测等领域带来一场革命， 生物芯片的出现为人类 提供了能够对个体生物信息进行高速、 并行采集和分析的强有力的技术手段， 与此同时，生物芯片技术的发展催生了在该产业链中扮演重要角色的生物芯片 点样技术的不断发展。 目前点样仪广泛用于生物芯片的制备， 现有的点样仪还 存在以下不足： The application of biochip technology has revolutionized the fields of disease diagnosis and treatment, new drug development, molecular biology, forensic identification, food hygiene and environmental monitoring. The emergence of biochips has provided humans with the ability to At the same time, the development of biochip technology has spawned the continuous development of biochip spotting technology that plays an important role in the industry chain. At present, spotting instruments are widely used in the preparation of biochips. The existing spotting instruments also have the following disadvantages:
1、 规整度不足。 规整度即微阵列上各点所在行列的对齐程度， 是一个很 重要的指标， 因为它决定从微阵列图像中提取数据的难易程度， 当基片表面及 制备环境达到要求时， 影响其规整度的主要因素就是点样仪的精度。 目前多数 的点样仪的定位精度为 ± 10um， 但加上其他因素的影响， 例如基片放置， 定位 精度将会有所降低， 因此这对于高质量的微阵列制备是不够的。 1. Insufficient regulation. The degree of regularity, that is, the degree of alignment of the points on the microarray, is an important indicator because it determines how easy it is to extract data from the microarray image. When the surface of the substrate and the preparation environment meet the requirements, it affects the regularity. The main factor of the degree is the accuracy of the spotter. At present, most of the spotting instruments have a positioning accuracy of ±10um, but with the influence of other factors, such as substrate placement, the positioning accuracy will be reduced, so this is not enough for high-quality microarray preparation.
2、 无反馈或者是单反馈点样针定位控制系统。 目前大多数的点样仪采用 的都是无反馈的步进电机， 定位精度差， 失步明显； 也有使用单反馈的伺服电 机模块， 依靠伺服电机可以一定程度上提高点样针的定位精度， 但是存在对机 械装配精度要求高、传动机构中旋转圈数同运行位移之间的换算误差、 重复定 位精度差、 伺服电机的编码器易丢脉冲等问题， 并且伺服控制单元的编码器只 能间接的依靠脉冲数来换算实际位移，存在理论上的定位位置与实际定位位置 的差异， 这种差异在机械上很难克服， 限制了单反馈系统的定位精度。 2. No feedback or single feedback point positioning control system. At present, most of the spotting instruments use stepping motors without feedback, which have poor positioning accuracy and obvious out-of-step. There are also servo motor modules that use single feedback. The servo motor can improve the positioning accuracy of the spotting needle to some extent. However, there are problems such as high requirements on mechanical assembly precision, conversion error between the number of revolutions in the transmission mechanism and the running displacement, poor repeat positioning accuracy, easy loss of the encoder of the servo motor, and the encoder of the servo control unit can only be indirectly Relying on the pulse number to convert the actual displacement, there is a difference between the theoretical positioning position and the actual positioning position. This difference is difficult to overcome mechanically, which limits the positioning accuracy of the single feedback system.
发明内容 Summary of the invention
本申请人针对上述的问题， 进行了研究改进， 提供一种点样仪的双闭环反 馈定位控制系统及控制方法， 提高点样仪点样针的定位精度， 提高点样基片微 阵列的规整度。
为了解决上述技术问题， 本发明采用如下的技术方案： The applicant has made research and improvement on the above problems, and provided a double closed loop feedback positioning control system and control method for the spotting instrument, which improves the positioning accuracy of the spotting needle and improves the regularity of the spotted substrate microarray. degree. In order to solve the above technical problem, the present invention adopts the following technical solutions:
一种生物芯片点样仪的双闭环反馈定位控制系统，包括内环反馈补偿系统 及外环反馈补偿系统， 内环反馈补偿系统包括驱动点样针定位的 X 向运动机 构、 Y向运动机构及内环控制系统， X向伺服电机连接 X向运动机构， Y向伺 服电机连接 Y向运动机构， X向伺服电机及 Y向伺服电机的轴端分别设有编 码器，编码器连接内环控制系统；外环反馈补偿系统包括连接 X向运动机构的 X向光栅尺、 X向光栅读数头及连接 Y向运动机构的 Y向光栅尺、 Y向光栅 读数头， X向光栅读数头及 Y向光栅读数头连接外环控制系统；所述编码器检 测 X向伺服电机及 Y向伺服电机旋转圈数信号并反馈至内环控制系统， 构成 内环反馈信号; X向光栅读数头及 Y向光栅读数头检测点样针所在的实际定位 位置信号并反馈至外环控制系统， 构成外环反馈信号， 内环反馈信号及外环反 馈信号共同构成双闭环的控制系统。 A double closed loop feedback positioning control system for a biochip spotting instrument, comprising an inner loop feedback compensation system and an outer loop feedback compensation system, wherein the inner loop feedback compensation system comprises an X-direction motion mechanism for driving the spot needle positioning, a Y-direction motion mechanism and The inner ring control system, the X-direction servo motor is connected to the X-direction moving mechanism, the Y-direction servo motor is connected to the Y-direction moving mechanism, the X-direction servo motor and the Y-direction servo motor are respectively provided with encoders, and the encoder is connected to the inner ring control system. The outer loop feedback compensation system includes an X-direction grating connected to the X-direction moving mechanism, an X-direction grating read head, a Y-direction grating head connected to the Y-direction moving mechanism, a Y-direction grating read head, an X-direction grating read head, and a Y-direction grating The read head is connected to the outer ring control system; the encoder detects the X-direction servo motor and the Y-direction servo motor rotation number signal and feeds back to the inner loop control system to form an inner loop feedback signal; the X-direction grating read head and the Y-direction grating readout The head detects the actual positioning position signal of the sample needle and feeds back to the outer loop control system to form an outer loop feedback signal, an inner loop feedback signal and an outer loop feedback signal. The numbers together form a double closed loop control system.
一种生物芯片点样仪的双闭环反馈定位控制系统的控制方法， 内环反馈补 偿系统的编码器检测的 X向伺服电机及 Y向伺服电机旋转圈数信号以脉冲数 的方式反馈给内环控制系统， 由内环控制系统将反馈的脉冲数与点样针目标位 置的内环设定值作差值计算， 差值如为零， 则输出定位完成信号； 差值如不为 零，则内环控制系统计算出需要校正的补偿脉冲数值并发送给 X向伺服电机及 Y向伺服电机的伺服驱动器， 驱动 X向伺服电机及 Y向伺服电机校正点样针 的位置， 内环反馈补偿系统再次作差值计算， 直至差值为零并输出定位完成信 号；接收到内环反馈补偿系统的定位完成信号后，外环反馈补偿系统的 X向光 栅读数头及 Y 向光栅读数头将点样针所在的实际定位位置值反馈给外环控制 系统， 由外环控制系统对点样针所在的实际定位位置值与点样针目标位置的外 环设定值作比较并计算出点样针的位置误差值，如果该位置误差值超出设定的 位置公差范围， 利用外环反馈补偿系统的反馈信号计算出需要的补偿值， 将该 补偿值转化为脉冲数发送给内环反馈补偿系统重新校正定位点样针，如果该位 置误差值在设定的位置公差范围之内， 点样针定位完成。 The control method of the double closed loop feedback positioning control system of the biochip spotting instrument, the X-direction servo motor and the Y-direction servo motor rotating circle number signal detected by the encoder of the inner loop feedback compensation system are fed back to the inner ring by the pulse number In the control system, the inner loop control system calculates the difference between the number of pulses fed back and the set value of the inner loop of the target position of the sample needle. If the difference is zero, the position completion signal is output; if the difference is not zero, then The inner loop control system calculates the compensation pulse value to be corrected and sends it to the servo drive of the X-direction servo motor and the Y-direction servo motor, and drives the X-direction servo motor and the Y-direction servo motor to correct the position of the sample needle, and the inner loop feedback compensation system The difference calculation is performed again until the difference is zero and the positioning completion signal is output; after receiving the positioning completion signal of the inner loop feedback compensation system, the X-direction grating read head and the Y-direction grating read head of the outer loop feedback compensation system will be spotted. The actual positioning position value of the needle is fed back to the outer ring control system, and the actual positioning position value and the spotting needle position of the spotting needle by the outer ring control system The outer ring set value of the target position is compared and the position error value of the sample pin is calculated. If the position error value exceeds the set position tolerance range, the feedback signal of the outer loop feedback compensation system is used to calculate the required compensation value. The compensation value is converted into a pulse number and sent to the inner loop feedback compensation system to recalibrate the positioning point sample. If the position error value is within the set position tolerance range, the needle positioning is completed.
本发明的技术效果在于： The technical effects of the present invention are:
本发明公开的一种点样仪的双闭环反馈定位控制系统及控制方法， 由内环 反馈补偿系统作点样针的初步定位校正， 由外环反馈补偿系统对点样针定位作 校正补偿， 消除了点样针的定位误差， 提高点样仪点样针的定位精度， 提高点
样基片微阵列的规整度， 点样效果的归一性较好； 同时， 双闭环反馈定位控制 确保定位判断的成功， 提高了系统的运行稳定性、 可靠性。 The double closed-loop feedback positioning control system and the control method of the spotting instrument disclosed by the invention are used for the initial positioning correction of the sample needle by the inner loop feedback compensation system, and the outer loop feedback compensation system corrects and compensates the spot needle positioning. Eliminate the positioning error of the spotting needle, improve the positioning accuracy of the spotting needle, and improve the point The regularity of the sample microarray is better, and the double-closed feedback positioning control ensures the success of the positioning judgment and improves the stability and reliability of the system.
附图说明 DRAWINGS
图 1为本发明的结构示意图。 Figure 1 is a schematic view of the structure of the present invention.
图 2为本发明的控制方法流程图。 2 is a flow chart of a control method of the present invention.
具体实施方式 detailed description
下面结合附图对本发明的具体实施方式作进一步详细的说明。 The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.
如图 1所示，点样仪的双闭环反馈定位控制系统包括内环反馈补偿系统及 外环反馈补偿系统，内环反馈补偿系统包括 X向运动机构 1及 Y向运动机构 2， 由 X向运动机构 1及 Y向运动机构 2驱动点样针作 X向及 Y向的运动， 并定 位确定点样针相对于点样基片的位置， X向伺服电机 3连接 X向运动机构 1， Y向伺服电机 4连接 Y向运动机构 2， X向伺服电机 3及 Y向伺服电机 4的轴 端分别设有编码器 （未在图中画出）， X向伺服电机 3及 Y向伺服电机 4轴端 的编码器连接内环控制系统。外环反馈补偿系统包括连接 X向运动机构 1的 X 向光栅尺 5、 X向光栅读数头 6及连接 Y向运动机构 2的 Y向光栅尺 7、 Y向 光栅读数头 8， X向光栅尺 5的设置方向平行于 X向运动机构 1的运动方向， Y向光栅尺 7设置方向平行于 Y向运动机构 2的运动方向， X向光栅读数头 6 及 Y向光栅读数头 8作为外环反馈补偿系统的定位反馈传感器， X向光栅读数 头 6及 Y向光栅读数头 8连接外环控制系统。 编码器检测 X向伺服电机 3及 Y向伺服电机 4旋转圈数信号反馈至内环控制系统， 构成内环反馈信号； X向 光栅读数头 6及 Y向光栅读数头 8检测点样针所在的实际定位位置信号并反馈 至外环控制系统， 构成外环反馈信号， 内环反馈信号及外环反馈信号共同构成 一个双闭环的控制系统， 内环控制系统及外环控制系统均由各自的硬件及软件 构成， 按现有技术设计计制造。 As shown in FIG. 1 , the double closed loop feedback positioning control system of the spotting instrument comprises an inner loop feedback compensation system and an outer loop feedback compensation system, and the inner loop feedback compensation system comprises an X-direction motion mechanism 1 and a Y-direction motion mechanism 2, by X direction. The moving mechanism 1 and the Y-moving mechanism 2 drive the spotting needle to perform the X-direction and the Y-direction movement, and position the position of the spotting needle relative to the spotting substrate, and the X-direction servo motor 3 is connected to the X-direction moving mechanism 1, Y. The servo motor 4 is connected to the Y-direction moving mechanism 2, and the X-direction servo motor 3 and the Y-direction servo motor 4 are respectively provided with encoders (not shown), X-direction servo motor 3 and Y-direction servo motor 4 The encoder at the shaft end is connected to the inner loop control system. The outer loop feedback compensation system includes an X-direction grating scale 5 connected to the X-direction motion mechanism 1, an X-direction grating read head 6 and a Y-direction grating scale 7 connected to the Y-direction motion mechanism 2, a Y-direction grating read head 8, and an X-direction grating scale. The setting direction of 5 is parallel to the moving direction of the X-direction moving mechanism 1, the Y-direction grating 7 is set parallel to the moving direction of the Y-direction moving mechanism 2, and the X-direction grating reading head 6 and the Y-direction grating reading head 8 are used as the outer ring feedback. The positioning feedback sensor of the compensation system, the X-direction grating reading head 6 and the Y-direction grating reading head 8 are connected to the outer ring control system. The encoder detects the X-direction servo motor 3 and the Y-direction servo motor 4 rotation number signal feedback to the inner loop control system to form an inner loop feedback signal; the X-direction grating read head 6 and the Y-direction grating read head 8 detect the spot needle The actual positioning position signal is fed back to the outer loop control system to form an outer loop feedback signal. The inner loop feedback signal and the outer loop feedback signal together form a double closed loop control system. The inner loop control system and the outer loop control system are each provided by respective hardware. And software composition, manufactured according to the prior art design.
如图 2所示， 内环反馈补偿系统在点样针定位校正过程中， 编码器作为内 环反馈的传感器， 其所检测到的 X向伺服电机 3及 Y向伺服电机 4旋转圈数 信号以脉冲数的方式反馈给内环控制系统， 内环控制系统将反馈回来的脉冲数 作运算， 再与点样针目标位置的内环设定值（脉冲数）作硬件差值计算， 差值 如为零， 则输出定位完成信号至外环反馈补偿系统； 差值如不为零， 则由内环 控制系统计算出需要校正的补偿脉冲数值并发送给 X向伺服电机 3及 Y向伺
服电机 4的伺服驱动器， X向伺服电机 3及 Y向伺服电机 4旋转作位置脉冲补 偿，旋转结束后，编码器再次将位置信号以脉冲数的方式反馈给内环控制系统， 内环控制系统再次作上述的差值运算， 如果差值这零， 则输出定位完成信号， 否则再一次作反馈补偿，直至脉冲数值与点样针目标位置的内环设定值的差值 为零。内环反馈补偿系统在定位校正过程中的反馈的信号均为间接代表点样针 位移的 X向伺服电机 3及 Y向伺服电机 4旋转圈数的脉冲数， 并不是直接获 取真实点样针的定位坐标，但内环反馈补偿系统可以将编码器反馈回来的旋转 脉冲数在内环控制系统中通过硬件的方式与点样针目标位置的内环设定值作 比较， 并将差值直接发送至 X向伺服电机 3及 Y向伺服电机 4的伺服驱动器， 驱动 X向伺服电机 3及 Y向伺服电机 4作定位补偿。 As shown in FIG. 2, in the inner loop feedback compensation system, in the process of the spot needle positioning correction, the encoder acts as a sensor for the inner loop feedback, and the detected X-direction servo motor 3 and the Y-direction servo motor 4 rotate the number of turns signal. The pulse number is fed back to the inner loop control system. The inner loop control system calculates the number of pulses fed back, and then calculates the hardware difference value with the inner loop set value (pulse number) of the target position of the sample needle. If it is zero, the positioning completion signal is output to the outer loop feedback compensation system; if the difference is not zero, the inner loop control system calculates the compensation pulse value to be corrected and sends it to the X servo motor 3 and the Y servo. Servo motor 4 servo drive, X servo motor 3 and Y servo motor 4 rotate position pulse compensation, after the end of the rotation, the encoder again feedback the position signal to the inner loop control system by pulse number, inner loop control system The above difference calculation is performed again. If the difference is zero, the positioning completion signal is output, otherwise feedback compensation is performed again until the difference between the pulse value and the inner ring set value of the target position of the sample needle is zero. The feedback signals of the inner loop feedback compensation system during the positioning correction process are the number of pulses of the number of rotations of the X-direction servo motor 3 and the Y-direction servo motor 4 which indirectly represent the displacement of the sample needle, and are not directly obtained by the actual spotting needle. Positioning coordinates, but the inner loop feedback compensation system can compare the number of rotation pulses fed back by the encoder to the inner loop setting value of the target position of the sample needle in the inner loop control system, and send the difference directly. To the servo drive of the X-direction servo motor 3 and the Y-direction servo motor 4, the drive X is position-compensated to the servo motor 3 and the Y-direction servo motor 4.
当接收到内环反馈补偿系统定位完成的信号， 外环反馈补偿系统开始工 作， X向光栅读数头 6及 Y向光栅读数头 8将点样针的实际定位位置信号传送 给外环控制系统， 外环控制系统经过对信号的硬件解析， 最终获取到点样针实 际位置数据， 该数据与点样针目标位置的外环设定值作比较， 如果差值在设定 的公差范围之内， 则定位成功； 如果差值在设定的公差范围之外， 外环控制系 统计算出需要补偿的位移， 并将该位移转化为完成补偿所需要的脉冲数， 发送 给内环反馈补偿系统， 由内环反馈补偿系统对点样针作定位校正； 内环反馈补 偿系统定位校正完成之后， 外环反馈补偿系统再次检测点样针的实际定位位 置， 外环控制系统判定在公差范围内则定位成功， 反之重复以上过程， 外环反 馈补偿系统计算出补偿值后再次发送给内环反馈补偿系统，直至点样针的实际 定位位置在设定的公差范围之内， 点样针定位完成。 When receiving the signal that the inner loop feedback compensation system is positioned, the outer loop feedback compensation system starts to work, and the X-direction grating read head 6 and the Y-direction grating read head 8 transmit the actual positioning position signal of the sample needle to the outer loop control system. After the hardware analysis of the signal, the outer loop control system finally obtains the actual position data of the sample needle, and the data is compared with the outer ring set value of the target position of the sample needle. If the difference is within the set tolerance range, If the difference is outside the set tolerance range, the outer loop control system calculates the displacement to be compensated, and converts the displacement into the number of pulses required to complete the compensation, and sends it to the inner loop feedback compensation system. The inner loop feedback compensation system performs positioning correction on the spotting needle; after the inner loop feedback compensation system is positioned and corrected, the outer loop feedback compensation system detects the actual positioning position of the spotting needle again, and the outer loop control system determines that the positioning is successful within the tolerance range. On the contrary, the above process is repeated. The outer loop feedback compensation system calculates the compensation value and sends it to the inner loop feedback compensation system again. The actual position of the positioning pin until spotted in the tolerance range of the set, the syringe positioning completion point.
在实际点样针定位校正过程中， 经过两次外环反馈补偿系统检测、运算并 经内环反馈补偿系统校正之后， 点样针能够得到一个准确的定位精度， 定位随 即完成，但是假如外环反馈补偿系统检测并计算出的点样针实际的定位位置误 差超出设定公差范围，则还需要进行第三次甚至更多次的由内环反馈补偿系统 作定位校正补偿。内环反馈补偿系统及外环反馈补偿系统在点样针的一次定位 过程中， 内环反馈补偿系统的点样针目标位置的内环设定值与外环反馈补偿系 统点样针目标位置的外环设定值的理论值相同， 内环设定值的单位是脉冲数， 而外环设定值为实际的尺寸， 两者代表同一个含义， 可以相互转换。
In the actual spot needle positioning correction process, after two outer loop feedback compensation system detection, calculation and correction by the inner loop feedback compensation system, the sampling needle can obtain an accurate positioning accuracy, and the positioning is completed immediately, but if the outer ring If the actual positioning position error of the spotting needle detected and calculated by the feedback compensation system exceeds the set tolerance range, it is necessary to perform the positioning correction compensation by the inner loop feedback compensation system for the third or more times. The inner loop feedback compensation system and the outer loop feedback compensation system during the positioning process of the spotting needle, the inner loop setting value of the target needle target position of the inner loop feedback compensation system and the target position of the outer loop feedback compensation system The theoretical values of the outer ring set values are the same. The unit of the inner ring set value is the number of pulses, and the outer ring set value is the actual size. Both represent the same meaning and can be converted to each other.
Claims
1 . 一种生物芯片点样仪的双闭环反馈定位控制系统， 其特征在于： 包括 内环反馈补偿系统及外环反馈补偿系统， 内环反馈补偿系统包括驱动点样针定 位的 X向运动机构、 Y向运动机构及内环控制系统， X向伺服电机连接 X向 运动机构， Y向伺服电机连接 Y向运动机构， X向伺服电机及 Y向伺服电机 的轴端分别设有编码器， 编码器连接内环控制系统； 外环反馈补偿系统包括连 接 X向运动机构的 X向光栅尺、 X向光栅读数头及连接 Y向运动机构的 Y向 光栅尺、 Y向光栅读数头， X向光栅读数头及 Y向光栅读数头连接外环控制系 统; 所述编码器检测 X向伺服电机及 Y向伺服电机旋转圈数信号并反馈至内 环控制系统，构成内环反馈信号； X向光栅读数头及 Y向光栅读数头检测点样 针所在的实际定位位置信号并反馈至外环控制系统， 构成外环反馈信号， 内环 反馈信号及外环反馈信号共同构成双闭环的控制系统。 1 . A double closed loop feedback positioning control system for a biochip spotting instrument, comprising: an inner loop feedback compensation system and an outer loop feedback compensation system, wherein the inner loop feedback compensation system comprises an X-direction motion mechanism for driving a spot needle positioning , Y-direction motion mechanism and inner ring control system, X-direction servo motor is connected to X-direction moving mechanism, Y-direction servo motor is connected to Y-direction moving mechanism, X-direction servo motor and Y-direction servo motor are respectively provided with encoders, coding The inner loop feedback compensation system includes an X-direction grating scale connected to the X-direction motion mechanism, an X-direction grating read head, a Y-direction grating scale connected to the Y-direction motion mechanism, a Y-direction grating read head, and an X-direction grating The read head and the Y-direction grating read head are connected to the outer ring control system; the encoder detects the X-direction servo motor and the Y-direction servo motor rotation number signal and feeds back to the inner loop control system to form an inner loop feedback signal; the X-direction grating reading The head and Y-direction grating read head detect the actual positioning position signal of the sample needle and feed back to the outer loop control system to form an outer loop feedback signal, and the inner loop is reversed. Signal and the feedback signal outer ring together form a double closed loop control system.
2. 一种权利要求 1所述的生物芯片点样仪的双闭环反馈定位控制系统的 控制方法，其特征在于： 内环反馈补偿系统的编码器检测的 X向伺服电机及 Y 向伺服电机旋转圈数信号以脉冲数的方式反馈给内环控制系统， 由内环控制系 统将反馈的脉冲数与点样针目标位置的内环设定值作差值计算， 差值如为零， 则输出定位完成信号； 差值如不为零， 则内环控制系统计算出需要校正的补偿 脉冲数值并发送给 X向伺服电机及 Y向伺服电机的伺服驱动器， 驱动 X向伺 服电机及 Y 向伺服电机校正点样针的位置， 内环反馈补偿系统再次作差值计 算， 直至差值为零并输出定位完成信号； 接收到内环反馈补偿系统的定位完成 信号后， 外环反馈补偿系统的 X向光栅读数头及 Y向光栅读数头将点样针所 在的实际定位位置值反馈给外环控制系统， 由外环控制系统对点样针所在的实 际定位位置值与点样针目标位置的外环设定值作比较并计算出点样针的位置 误差值， 如果该位置误差值超出设定的位置公差范围， 利用外环反馈补偿系统 的反馈信号计算出需要的补偿值，将该补偿值转化为脉冲数发送给内环反馈补 偿系统重新校正定位点样针， 如果该位置误差值在设定的位置公差范围之内， 点样针定位完成。 2. The control method of the double closed loop feedback positioning control system of the biochip spotting apparatus according to claim 1, wherein: the X-direction servo motor and the Y-direction servo motor detected by the encoder of the inner loop feedback compensation system are rotated. The lap signal is fed back to the inner loop control system by the number of pulses. The inner loop control system calculates the difference between the number of pulses fed back and the set value of the inner loop of the target position of the sample needle. If the difference is zero, the output is The positioning completion signal; if the difference is not zero, the inner loop control system calculates the compensation pulse value to be corrected and sends it to the servo drive of the X-direction servo motor and the Y-direction servo motor, and drives the X-direction servo motor and the Y-direction servo motor. Correct the position of the sample needle, and the inner loop feedback compensation system calculates the difference again until the difference is zero and outputs the positioning completion signal. After receiving the positioning completion signal of the inner loop feedback compensation system, the X direction of the outer loop feedback compensation system The grating read head and the Y-direction grating read head feed back the actual positioning position value of the sample needle to the outer loop control system, and the outer loop control system pairs the sample The actual positioning position value is compared with the outer ring setting value of the sampling target position and the position error value of the sampling needle is calculated. If the position error value exceeds the set position tolerance range, the outer loop feedback compensation system is utilized. The feedback signal calculates the required compensation value, converts the compensation value into a pulse number and sends it to the inner loop feedback compensation system to recalibrate the positioning point sample. If the position error value is within the set position tolerance range, the sampling needle The positioning is complete.
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| CN103217324B (en) * | 2013-04-10 | 2015-06-17 | 上海裕隆生物科技有限公司 | Biochip sample application instrument |
| CN103712956B (en) * | 2014-01-15 | 2016-05-11 | 中国科学院化学研究所 | A kind of microarray spot sample device |
| CN105785908B (en) * | 2016-03-24 | 2018-10-12 | 江苏科技大学 | A kind of DC generator angular displacement digital servo control system and control method |
| CN109613295A (en) * | 2018-12-14 | 2019-04-12 | 贵州大学 | A kind of high throughput droplet array microfluid point sample control device |
| CN111805301B (en) * | 2020-06-16 | 2022-06-10 | 深圳市裕展精密科技有限公司 | Measuring device and measuring method |
| CN115112047B (en) * | 2022-08-19 | 2022-12-20 | 南京木木西里科技有限公司 | Laser reciprocating scanning system and method thereof |
| CN117351077A (en) * | 2023-09-14 | 2024-01-05 | 广东凯普科技智造有限公司 | Visual correction method for dynamic prediction of sample application instrument |
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