CN100365531C - Multishaft motor controlled digital processing system - Google Patents
Multishaft motor controlled digital processing system Download PDFInfo
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- CN100365531C CN100365531C CNB031019013A CN03101901A CN100365531C CN 100365531 C CN100365531 C CN 100365531C CN B031019013 A CNB031019013 A CN B031019013A CN 03101901 A CN03101901 A CN 03101901A CN 100365531 C CN100365531 C CN 100365531C
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- 229910052751 metal Inorganic materials 0.000 description 2
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Abstract
The present invention relates to a universal digital control and drive system for multi-shaft motors, which is composed of a control circuit board, a drive circuit plate and a cooling plate. The present invention adopts a digital signal processing technique and a field programmable gate array technique which are most advanced at present to simultaneously control and drive three shafts connected by a DC servomotor, a permanent magnet DC brushless motor or a permanent magnet synchronous motor; the designed output power of the system is near 1 kilowatt (12 A x 85 V); the control frequency of a current loop is 20kHz and the control frequency of a position loop is 4kHz in a double loop digital control system; the system which is connected with a computer through an RS232 or RS485 port provides 4 routes of +/-10 V difference analog input with resolution of 12 bits, 6 routes of differential input and 4 routes of photoelectric isolation digital input, and 4 routes of photoelectric isolation output. A software operating platform is used for software and hardware installation debugging, performance control debugging, fault diagnosis, result analysis and all kinds of operation. DLL library function enables a user to develop user programs in visual C++ environment.
Description
Technical field
The present invention relates to electric numerical data and handle the digital control and drive system of universal multi-axle motor that especially multiple occasion can both be used.(G05B?19/18)
Background technology
The Numeric Control Technology development has had decades so far, existing unnumbered special use or universal numerical control disposal system.For example CN92102156, CN94244503 and CN01237549.No matter which kind of system all is made up of three parts, promptly instruct importation, data processing section and motion operating part.Novel computer is developed into by the most ancient perforated tape in the instruction importation, come outwardly at long last unified, but during actual the use various softwares also there are some compatible problems in what each other.The motion operating part develops into DC servo motor, alternating current generator or the like by stepper motor.So far various motors all also use at the same time.Though data processing section is become the circuit board of integrated circuit plug-in unit gradually by the circuit board of the large-scale plug-in unit in when beginning, but because the motion operating part can be the motor of various variety classeses and specification, and the not equal reason of range of application of using the machinery of native system, so still ever-changing so far.And the control circuit of data processing section and driving circuit can't be made of one, and will connect with cable between them.In addition, it is rare especially that drive part is also used the example of numerical control.
The consequence that can not be made of one on disunity and the structure in this design, the one, maintenance and renewal difficulty, because the maintenance personal will remember the different separately circuit of each machinery, and the spare part of laying in a large amount of different sizes.The 2nd, wasted unnecessary design effort and manufacturing cost, because the function result of each different design is similar, separately batch diminishes, cost increases and the result who makes respectively separately makes.The 3rd, the circuit board that designs of doing things in his own way cannot exchange or connect at all in real time, promptly when maintenance, both can't utilize the intact stand-by circuit plate of other mechanical usefulness, also can't connect into nine circuit board group to any three three circuit board group, business efficiency is further reduced.
Summary of the invention
The objective of the invention is to eliminate inconvenience and waste that prior art variation designing institute causes, provide a kind of under the condition that does not increase cost, can be used for multiple motor, unified design, interchangeability and internuncial, as can to replace most prior aries digital control and drive system of universal multiaxis arranged.
System, control circuit of the present invention and driving circuit all adopt numerical control, the motor that can drive different types easily simultaneously (for example, X-axis is a DC servo motor, and Y-axis is permanent-magnet brushless DC electric machine (DC brushlessmotor), and the Z axle is permagnetic synchronous motor (AC servo).Because system of the present invention is connected as a single entity control section and drive part, except volume dwindles greatly, also eliminated the problems such as the caused electromagnetic interference (EMI) of numerous cables of dividing body structure, improved precision.These characteristics are crucial for maintenance and renewal used equipment.
A kind of multi-axle motor numerical control disposal system provided by the invention, mainly comprise control section, drive part and radiator portion, wherein said control section, described drive part and described radiator portion are made of one, and described control section links to each other with the data address bus of described drive part by described control section.
According to described multi-axle motor numerical control disposal system, wherein said control section also includes I/O interface, RS232 interface, encoder interfaces; Described drive part includes high/low voltage source interface, Brake car interface, motor power interface, motor Hall element interface.
According to described multi-axle motor numerical control disposal system, wherein said control section is a 10G CPU Control Unit.
According to described multi-axle motor numerical control disposal system, the I/O interface of wherein said control section, by the RS232 interface be connected converter and signal converter is connected.
According to described multi-axle motor numerical control disposal system, the unidirectional input control section of wherein said encoder interfaces is delivered to the gate managers family chip again through signal converter, imports control section more two-wayly.
According to described multi-axle motor numerical control disposal system, the interface of wherein said drive part connects analogue-to-digital converters two-wayly.
According to described multi-axle motor numerical control disposal system, the interface of wherein said drive part connects a gate managers two-wayly, again by driver chip, directly connects each motor through power tube MOSFET again.
According to described multi-axle motor numerical control disposal system, the Hall interface of wherein said drive part handle is delivered to this gate managers family chip from the signal of judgement three phase positions of each motor.
According to described multi-axle motor numerical control disposal system, the field programmable gate array of wherein said drive part also uniaxially is given brake system control signal by MOSFET.
The objective of the invention is to reach by following measures:
1) physical dimension--the present invention is made of one controller and amplifier, has the characteristics of highly integrated and miniaturization.Native system is divided into three layers, and the upper strata is the control panel of 175 * 100mm.The middle level is the power amplification plate of 200 * 100mm.Two-layer up and down all is six layers of PCB (printed-wiring board (PWB)) designs, always has more than 500 components and parts.Bottom is a heat sink.Maximum physical dimension after the assembling is 215 * 100 * 40mm.
2) hardware characteristics--the present invention adopts present state-of-the-art DSP (digital signal processing) technology and FPGA (field programmable gate array) technology, can control and drive three that connect the multiclass motor simultaneously.The design output power is 1 kilowatt (12AX85V) nearly.The controlled frequency of dicyclo digital control system is electric current loop 20kHz and position ring 4kHz.
3) signal conveys--the present invention is connected with computing machine with RS232 or RS485 port, provide 4 the tunnel+/-input of 10V difference analogue, 12 bit resolutions; 6 tunnel difference and 4 road photoelectricity are isolated the numeral input; 4 road photoelectricity are isolated output.
4) that software features--software operation platform of the present invention is used for is soft, hardware Installation and Debugging, Properties Control debugging, fault diagnosis, interpretation of result and each generic operation.The DLL built-in function can allow the user call under vision C++ (Visual C++) environment.
Description of drawings
Fig. 1 is the process flow diagram of holding concurrently of the control panel primary clustering arrangenent diagram that is positioned at the upper strata in the system of the present invention;
Fig. 2 is the process flow diagram of holding concurrently of the power amplification that is positioned at the middle level (driving) the plate primary clustering arrangenent diagram in the system of the present invention;
Fig. 3 is the heat sink planimetric map that is positioned at bottom in the system of the present invention;
Fig. 4 is the front-view schematic diagram after the system assembles of the present invention, expresses the position of each main interface.
Embodiment
Details are as follows with reference to above-mentioned each accompanying drawing for embodiments of the invention.Embodiment shown in above-mentioned each figure is that the power that is designed for single motor is not more than 1 kilowatt occasion, though so big power enough is applied to the occasion of the overwhelming majority at present, if but ran into the more occasion of heavy-duty motor, thereby can using corresponding large power assembly instead by data disclosed in this invention easily, the professional and technical personnel would obtain effect of the present invention.
The control panel of the embodiment of the invention is six layers of wiring board of a 175 * 100mm as seen from Figure 1.With the position of box indicating assembly, represent the flow process of signal with arrow among the figure.(using the character narrate flow process).Can see a host CPU at the middle part of Fig. 1 by upper/lower positions, it is advanced at present ADSP218X family chip (for example ADSP2181), is used for storing the needed program of host CPU as the chip 29F200 of quick ROM (read-only memory) (Flash ROM).ADSP218X can read the information among the 29F200, also can revise the data among the 29F200.
The I/O of the upper right side among Fig. 1 (I/O) interface is to adopt RS232 (or RS485) interface, does two-way the connection with convenient with at present the most frequently used PC (personal computer) or other staff control device.The RS232 interface on I/O interface next door can be used for transmitting the various command informations that sent by computing machine and the information of control system is transmitted back to computing machine among Fig. 1.It is that PIC16C67 chip by giving as signal converter as the MAX232 chip that connects converter carries out that two-way signaling between it and the control panel CPU connects.
The signal of being sent here by scrambler is through delivering to the XC5200 family chip as field programmable gate array again as the DS26C32 chip of signal converter.This XC5200 family chip is accepted the control signal that ADSP218X sends, and gives this ADSP218X with interrelated data two-wayly.
Providing the power unit (LM2956) of all circuit required voltages in the system of the present invention owing to be prior art, just is that simple table illustrates in Fig. 1, no longer has been described in detail.
Second layer power amplification (driving) plate in the system of the present invention has been shown among Fig. 2, and it is six layers of wiring board of a 200 * 100mm.Also use the distribution of box indicating primary clustering among Fig. 2, represent the flow process of signal with arrow.The control panel that can see ground floor in Fig. 2 and this drive plate are done two-way the connection by the interface that is positioned at this figure bottom righthand side.The AD7891 chip is analogue-to-digital converters.After entering field programmable gate array XC5200 family chip from the signal of interface, control signal is just led to the chip I R2132 of three drivers, and the amplification of passing through power tube MOSFET (field effect transistor) again just directly transfers to each motor via motor interface.The signal of judgement three phase positions that transmitted by each motor is delivered to this XC5200 family chip by Hall (Hall) interface.This XC5200 family chip is also given braking (Brake) system the control signal of having amplified through MOSFET.The upper right corner of this figure is the access port of high and low pressure power supply, owing to belong to prior art, has not also here dwelt on.
Shown in Fig. 3 is the used heat sink planimetric map of system of the present invention.This plate is the aluminium sheet of 215 * a 100 * 4mm who makes with machining (thick).Because the working temperature of system of the present invention is predefined for 0--75 ℃, so when system of the present invention be installed in the less finite space and output power near 750 watt-hours, heat sink preferably directly is attached on the metal fuselage so that utilize metal fuselage to increase the efficiently radiates heat area.
Fig. 4 is the front schematic view after the system assembles of the present invention, expresses the position of each main interface.Form by three layers after the system assembles of the present invention as seen from Figure 4.Nethermost is that length is the heat radiator of 215mm, and the centre is that length is the drive part of 200mm, is that length is the control section of 175mm above.I/O interface, RS232 interface (pin of two interfaces is counted difference among the figure, so the length difference of interface), three encoder interfaces are housed respectively on uppermost control section from left to right.High/low voltage source interface, Brake car (Brake) interface, three motor power interfaces, three motor Halls (Hall) sensor interface are housed under the middle drive part from left to right.
Claims (9)
1. multi-axle motor numerical control disposal system, mainly comprise control section, drive part and radiator portion, it is characterized in that, described control section, described drive part and described radiator portion are made of one, and described control section links to each other with the data address bus of described drive part by described control section.
2. multi-axle motor numerical control disposal system as claimed in claim 1 is characterized in that described control section also includes I/O interface, RS232 interface, encoder interfaces; Described drive part includes high/low voltage source interface, brake interface, motor power interface, motor Hall element interface.
3. as claim 1,2 described multi-axle motor numerical control disposal systems, it is characterized in that described control section is a 10G CPU Control Unit.
4. multi-axle motor numerical control disposal system as claimed in claim 2 is characterized in that, the I/O interface of described control section, by the RS232 interface be connected converter and signal converter is connected.
5. multi-axle motor numerical control disposal system as claimed in claim 2 is characterized in that, the unidirectional input control section of described encoder interfaces is delivered to the gate managers family chip again through signal converter, imports control section more two-wayly.
6. multi-axle motor numerical control disposal system as claimed in claim 1 is characterized in that the interface of described drive part connects analogue-to-digital converters two-wayly.
7. multi-axle motor numerical control disposal system as claimed in claim 1 is characterized in that the interface of described drive part connects a gate managers two-wayly, again by driver chip, directly connects each motor through power tube MOSFET again.
8. multi-axle motor numerical control disposal system as claimed in claim 5 is characterized in that, the Hall interface handle of described drive part is delivered to this gate managers family chip from the signal of judgement three phase positions of each motor.
9. multi-axle motor numerical control disposal system as claimed in claim 1 is characterized in that the field programmable gate array of described drive part also uniaxially is given brake system control signal by MOSFET.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031019013A CN100365531C (en) | 2003-01-23 | 2003-01-23 | Multishaft motor controlled digital processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031019013A CN100365531C (en) | 2003-01-23 | 2003-01-23 | Multishaft motor controlled digital processing system |
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| Publication Number | Publication Date |
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| CN1519671A CN1519671A (en) | 2004-08-11 |
| CN100365531C true CN100365531C (en) | 2008-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB031019013A Expired - Fee Related CN100365531C (en) | 2003-01-23 | 2003-01-23 | Multishaft motor controlled digital processing system |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100445910C (en) * | 2006-09-27 | 2008-12-24 | 成都宁江机床（集团）股份有限公司 | Method for one digital control shaft controlling multiple servo shafts and shaft expansion control device |
| US8334669B2 (en) * | 2007-10-31 | 2012-12-18 | Thk Co., Ltd. | Multi-axis driver control method, multi-axis driver and multi-axis drive control system having the same |
| CN101598939B (en) * | 2008-06-04 | 2011-02-09 | 中国科学院自动化研究所 | Multiaxial motion servocontrol and protection system |
| CN101639676B (en) * | 2008-07-29 | 2011-09-28 | 上海梅山钢铁股份有限公司 | PLC single-channel multi-fault output device |
| WO2010054506A1 (en) * | 2008-11-11 | 2010-05-20 | 深圳航天科技创新研究院 | Control system of multi- shaft servo motor |
| CN101741295B (en) * | 2009-12-31 | 2013-07-17 | 陕西捷普控制技术有限公司 | Single FPGA chip-based driving system for multiple rear-earth permanent-magnet synchronous motors |
| CN103123468A (en) * | 2011-11-18 | 2013-05-29 | 南京航空航天大学 | Servo controller for three-shaft antenna test robot |
| CN105709342B (en) * | 2016-01-21 | 2019-02-26 | 南宁科伦新技术有限公司 | A kind of excitation of X-rays light power diagnosis and treatment deep tumor system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1076790A (en) * | 1992-03-24 | 1993-09-29 | 李惠盛 | Universal numerical control device for machine tool |
| CN2200833Y (en) * | 1994-11-09 | 1995-06-14 | 北京三爱福数控公司 | Full-function computer numerical control device |
| JPH0837117A (en) * | 1994-07-25 | 1996-02-06 | Fuji Electric Co Ltd | Tap switching device for transformer |
| JP2000353002A (en) * | 1999-06-09 | 2000-12-19 | Sony Corp | Control method and its device |
| CN2476390Y (en) * | 2001-04-26 | 2002-02-13 | 王玉琳 | Numerical control device used in numerical control machine |
| CN2508271Y (en) * | 2001-12-03 | 2002-08-28 | 中国人民解放军国防科学技术大学 | Multi-shaft multipurpose motion control card |
-
2003
- 2003-01-23 CN CNB031019013A patent/CN100365531C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1076790A (en) * | 1992-03-24 | 1993-09-29 | 李惠盛 | Universal numerical control device for machine tool |
| JPH0837117A (en) * | 1994-07-25 | 1996-02-06 | Fuji Electric Co Ltd | Tap switching device for transformer |
| CN2200833Y (en) * | 1994-11-09 | 1995-06-14 | 北京三爱福数控公司 | Full-function computer numerical control device |
| JP2000353002A (en) * | 1999-06-09 | 2000-12-19 | Sony Corp | Control method and its device |
| CN2476390Y (en) * | 2001-04-26 | 2002-02-13 | 王玉琳 | Numerical control device used in numerical control machine |
| CN2508271Y (en) * | 2001-12-03 | 2002-08-28 | 中国人民解放军国防科学技术大学 | Multi-shaft multipurpose motion control card |
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