CN101086664A - Multiple axle movement controller based on MPC5200 and its operation method - Google Patents
Multiple axle movement controller based on MPC5200 and its operation method Download PDFInfo
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Abstract
The invention relates to a multi-axial movement controller and its operation based on MPC5200.The movement controller comprises the outside SDRAM, outside FLASH, ERPROM and MPC5200 micro controller connected movement controller critical module, providing the basic environment for software running of the movement controller, going through serial communication interface configuration and top position specific serial communication protocol, connecting it with the top position machine through CAN, RS232, or USB interface for digital controlled data processing and instruction transmission, separating the controller with the top position machine, easy for distributional high performance control, through signal feedback channel and interface to make rectification, counting of the feedback signal of the motor coder, inputting to the MPC5200 micro controller for computation and sending out the result to the pulse driven motor driver through the PWM output interface.
Description
Technical field
The invention belongs to robotization and advanced manufacturing field, be specifically related to a kind of multi-axle motor motion controller and method of operating thereof based on the MPC5200 microcontroller.
Background technology
Motion controller is the core component of numerically-controlled machine coordinate axis kinetic control system, and the movement instruction of whole machine coordinates axle is all provided by motion controller.The main existence form of motion controller is based on the motion controller of PC STD bus at present.It adopts the integrated circuit board design on hardware design, and on connected mode, adopt " golden finger " to link to each other with PC, just integrated circuit board is inserted into the PC standard as ISA, perhaps in the PCI slot, the motion controller of the hard syndeton of this employing should not long-term work the abominable industry spot of environment (vibration, dust, greasy dirt etc. are arranged), and could work owing to only be inserted in the slot of PC standard, so host computer also is only limited to PC.Mainstream product has the PMAC movement sequence control card of U.S. Delta Tau DataSystem company release and the DMC movement sequence control card that U.S. Galil company releases.
Summary of the invention
The object of the present invention is to provide a kind of multi-axis motion controller and method of operating thereof based on MPC5200 that can overcome above-mentioned defective, it adopts the mode that is flexible coupling of universal serial bus, make motion control card to separate with host computer, it is easy to realize distributed high performance control, reduce cost, and improved reliability, opening, integration and the configuration of motion controller greatly.
For achieving the above object, the present invention adopts following technical proposals:
A kind of multi-axis motion controller based on MPC5200, MPC5200 embedded microcontroller, outside SDRAM, outside Flash, electricallyerasable ROM (EEROM) EEPROM, signal feedback passage and interface, PWM output and interface, I/O interface, serial communication interface, CAN interface, RS232 interface, USB interface and serial communication configuration interface have been comprised, it is characterized in that: outside SDRAM, outside FLASH and EEPROM and MPC5200 microcontroller are connected to form the nucleus module of motion controller, and the basic environment of motion controller running software is provided; The MPC5200 microcontroller disposes the serial communication protocol that communicates with host computer by serial communication interface by the wire jumper mode, by being flexible coupling between CAN interface or RS232 interface or USB interface and the host computer, carry out the transmission of digital control processing data and instruction; Signal feedback passage and interface carry out shaping, counting to the feedback signal of motor encoder, and input MPC5200 microcontroller; The MPC5200 microcontroller connects PWM output and interface, realizes the concrete umber of pulse of output motor operation, and the output pulse is isolated with drive motor driver; The MPC5200 microcontroller connects the I/O interface, realizes the switching value control that relevant lathe is auxiliary.
Described 32 embedded microcontroller MPC5200 have the good extended capability in the face of industry.Its low-power consumption, processing speed reach 760MIPS, and the integrated floating point unit (FPU) of a double precision have good extended capability, and external interface is reconfigurable.To reduce the quantity of components and parts parts, improve the reliability and the compatibility of hardware.
Described multi-axis motion controller based on MPC5200, because the inner integrated programmable serialization controller of MPC5200 microcontroller (PSC, Programmable Serial Controller), it realizes the optimization of serial communication by the PSC controller, and can dispose serial communication interfaces such as USB, RS232, CAN according to demand.Thereby can carry out standard configurations according to the requirement of extraneous interface, improve the opening of motion controller, realize the flexibility on the hardware.
Described multi-axis motion controller based on MPC5200, system interface dispensing unit (SIU, System Interface Unit) can be configured to data bus 8 or 16 or 32 s' width in the MPC5200 microcontroller.Therefore motion controller can support several 8 or 16 or 32 s' peripherals to be connected in simultaneously on the system bus, can be external 8 or 16 or 32 s' FLASH, SDRAM.
Described multi-axis motion controller based on MPC5200, MPC5200 provides 8 general purpose timer resources (GPT0～GPT7), all timers can be configured to following arbitrary pattern: timer internal, external counter, relatively output and PWM, except that first kind of pattern, each timer all has an I/O mouth corresponding with it.Motor of MPC5200 control need take two timer resources, and one of them is set to PWM output, adopts the mode of deciding pulsewidth frequency modulation to isolate output, drive motor driver by high speed photo coupling; Another is set to timer internal, is used for the pulse number of controlled motion controller output.MPC5200 can control 4 stepper motors or servomotor at most.Need to prove that after any one GPT was configured to timer internal, this mouth just can be used as a universaling I/O port and uses, the MPC5200 motion controller uses the direction control signal of every motor of this mouthful output.
Described multi-axis motion controller based on MPC5200, when servomotor is carried out FEEDBACK CONTROL, can be by the mode of external timer, pulse is counted to motor encoder.
Described multi-axis motion controller based on MPC5200,56 GPIO are provided, these GPIO great majority are multi-functional I/O mouths, the user can be input pattern, output mode or the special pattern switching value equipment in order to the control lathe according to demand with each port arrangement, concrete input/output control mode can be configured according to concrete numerically-controlled machine application.
Described based on the MPC5200 multi-axis motion controller, it is based on the real-time kernel of (SuSE) Linux OS and RTAI, and modularization mechanism that system provides and real-time task scheduling mechanism realization software motion controller realize that easily the bottom processing module of file system management relevant on the motion controller, memory management, realization digital control system comprises system initialization, communication task and real-time task processing.
By the software program among the MPC5200, that realizes kinetic control system mainly comprises following three functional module programs, and the step of concrete operation method is as follows:
1, system initialization
Carry out the hardware initialization of microprocessor, comprise the configuration of input/output interface, the configuration of concrete serial communication mode also has software arrangements such as servo-drive system PID interface parameters.
2, real-time task is handled
1) state-detection task: this task is to the detection of lathe running status, then lathe is respectively write, and responsible I/O device value of reading in each connection from the IO port, then the state write state is detected in the buffer zone, to lathe anxious stop, servo warning, limit signal judge, and handle accordingly, thereby realize the lathe operational process is monitored in real time.The security of the equipment operation of this task relation, so task priority is up to 1.
2) interpolation task: order obtains interpolation data from the decoding buffer zone, and according to being that straight line or circular arc carry out interpolation, interpolation obtains the theoretical coordinate value that the next cycle should arrive then.This task run priority is 2.
3) position control task: this task design becomes periodic real-time process, and each cycle is read the numerical value of scrambler in the counter, obtain actual position, and make comparisons with the theoretical position coordinate in the interpolator, according to the difference pid regulator parameters, and concrete pulse output number write in the umber of pulse register of corresponding PWM mouth.This task run priority is 3.
4) function control task: the function control task utilizes the real-time pipeline of RTAI to come the function of transferring command and status information, order by pipeline is provided with the visit of realization (SuSE) Linux OS to real-time part RTAI, thus state settings such as the operation of realization motion controller, time-out, speed of feed.This task run priority is 4.
3, communication task
1) motion control snaps into host computer
Transmit the I/O Interface status and the alarm condition of coordinate figure, velocity amplitude, digital control system;
2) host computer is to motion control card
Data link table after transmitting the digital control system operating instruction and deciphering also has relevant operational factor.
The present invention has conspicuous outstanding substantive distinguishing features and remarkable advantage down compared with prior art:
Multi-axis motion controller based on MPC5200 of the present invention, the operating system that is adopted is the source code that opens for free, therefore the cost of motion controller reduces significantly, and adopt the mode that is flexible coupling based on serial communication, help overcoming traditional motion controller abominable industry spot (vibration, dust, greasy dirt etc. are arranged) that can not conform, and be easy to realize distributed high performance control.The present invention can be directed to MPC5200 microprocessor integrated plenty hardware resources in the small pieces chip, thereby reduce the quantity of components and parts parts, compare two cpu modes of present motion controller, as the DSP+FPGA mode, be responsible for master control and computing by DSP, FPGA is responsible for realizing motion control, helps improving reliability on the motion controller hardware based on single cpu mode of the motion controller of MPC5200, can realize miniaturization and scene, and have better application oriented characteristic.Because MPC5200 is high performance microcontroller, it has floating-point processing power and high performance arithmetic capability, therefore the motion controller that is in front end can integrated various sensings, control and warning function, thereby no longer need too much signal adjustment, conversion and isolation, reduced the kind and the quantity of transmitter.Reduced on-the-spot use cost greatly.The present invention can control motor, choose flexibly and dispose different motion controller interface modules at different application demands, different processing objects, different number.Because the present invention has adopted above technical scheme, the reliability, integration, the configuration that have improved motion controller have realized distributed high performance control, reduce cost.
The invention will be further described below in conjunction with drawings and Examples:
Description of drawings
Fig. 1 is a theory structure block diagram of the present invention.
Fig. 2 is a kind of specific embodiment structured flowchart of the present invention.
Fig. 3 is a control program block diagram of the present invention.
Fig. 4 is the system initialization FB(flow block).
Fig. 5 is a system real time task processing module FB(flow block).
Fig. 6 is the communication module FB(flow block).
Embodiment
Details are as follows in conjunction with the accompanying drawings for a preferred embodiment of the present invention:
Referring to Fig. 1, this multi-axis motion controller based on MPC5200 comprises MPC5200 embedded microcontroller 1, outside SDRAM2, outside Flash3, electricallyerasable ROM (EEROM) EEPROM 4, signal feedback passage and interface 5, PWM output and interface 6, I/O interface 7, serial communication interface 8, CAN interface 9, RS232 interface 10, usb 11 and serial communication configuration interface 12.
MPC5200 embedded microcontroller 1 is as the master cpu of motion controller, integrated scheduling, control and computing function.The uBoot start-up routine, built-in Linux operating system, RTAI real-time kernel, system initialization routine, real-time task handling procedure, the signal procedure that mainly comprise transplanting on the software.It is responsible for the control of the closed-loop control of the interpolation of host computer machining code chained list and instruction and execution, realization position, lathe I/O equipment and with the communication of host computer.
Outside SDRAM2 realizes the high speed storing lot of data, comprises operating system data, network communication data, motion control process result of calculation.
The firmware program of outside Flash3 storage system operation comprises that uBoot start-up routine, (SuSE) Linux OS program, RTAI real-time kernel program, initialize routine, real-time task program also have signal procedure.
Electricallyerasable ROM (EEROM) EEPROM 4 is used for preserving pairing serial communication initiation parameter.
Signal feedback passage and interface 5 are finished the motor movement position signal acquisition by the impulse sampling of counter realization to motor encoder.
PWM output and interface 6 are finished the isolation output of pwm pulse direction signal, thus drive motor driver.
I/O interface 7 is finished the input and output of the auxiliary switching value control of lathe and is isolated and driving.
Serial communication interface 8 is finished Data Receiving, transmission with host computer.Its PSC module by MPC5200 inside can be configured to following three kinds of serial communication interface patterns.
(1) the CAN interface 9, and controller area net (CAN) is a kind of serial communication protocol.It adopts many principals and subordinates working method, and has outstanding reliability, real-time and dirigibility.
(2) the RS232 interface 10, and asynchronous serial communication (RS232) is a kind of with a long history and reliable standard for serial communication, and it is applicable to point-to-point communication mode, and transmission speed is slower, and the transmission restriction is more.
(3) usb 11, USB (universal serial bus) (USB) is a kind of speed serial communication bus standard, its basic topological structure is star-like, but can only there be a main frame in the USB network, in dcs, each submodule needs to be undertaken causing network congestion easily alternately by main frame.
Serial communication configuration interface 12, finish the interface configuration of the serial communication mode that adopts with host computer signal post, wherein the serial communication interface configuration need take two GPIO of MPC5200, can be provided with by the form of jumper cap, when the GPIO state is 00, be CAN bus interface transmission mode; Be 01 o'clock, be the transmission mode of RS232 bus interface; Be 10 o'clock, be the USB interface transmission mode.
The nucleus module that is also had the Embedded Motion that EEPROM4 forms among the present invention by MPC5200 embedded microcontroller 1, outside SDRAM2, outside FLASH3 provides the basic environment of motion controller running software.Communication interface according to host computer requires to dispose serial communication interface 12 by the wire jumper mode, the serial communication protocol that selection and host computer communicate, carry out encoder pulse count by signal feedback passage and interface 5, feedback signal by the motor encoder that obtains calculates physical location, calculating of the theoretical position input motion control module that the inner interpolation of physical location and MPC5200 is obtained, thus from amplify driver module and interface 6 the concrete umber of pulse of output motor operation.I/O interface 7 is realized the switching value control of relevant machine tool.
Referring to Fig. 2, below above-mentioned multi-axis motion controller is specified.
MPC5200 is a high performance microcontroller that Freescale company released in 2003, the integrated floating point processing unit (FPU) of a double precision, it has the pwm pulse output interface, communication interfaces such as Ethernet, CAN, USB, and external interface is reconfigurable, the integrated level height.It can satisfy the control algolithm requirement of the high integration of motion controller, distributed and high real-time.MPC5200 connects outside SDRAM by system bus, outside FLASH and EEPROM, outside SDRAM selects the MT48LC of MICRON company for use, outside FLASH selects the AM29LV0652D of AMD for use, EEPROM selects the PCF8582C of PHILPS company for use, FLASHAM29LV0652D is used for the firmware program of storage system operation, power among the FLASH AM29LV0652D of back firmware program the form of RAMDISK pack into and realize operation among the SDRAM MT48LC, EEPROMPCF8582C storing moving controller is in burned serial communication interface parameter of when exploitation, read in by MPC5200 at the initial phase of operation.
The present invention adopts the mode of serial communication to be flexible coupling with host computer and communicates by letter, thereby make up distributed digital control system by serial line interface easily, it can be according to the communicating requirement of host computer, in the serial communication deploy switch, adopt the form of wire jumper or selector switch to be provided with, when opening initialization by the on off state of MPC5200 according to correspondence, initialization USB or RS232 or CAN serial communication interface, and concrete serial communication protocol among the EEPROM PCF8582C that packs into.USB interface chip of the present invention is selected the ISP1107DH of PHILPS company for use, and the CAN transceiver adopts TJA1050T, and the RS232 interface chip adopts general Max3233E.
For satisfying the requirement of high-speed motion control, general purpose timer GPT0 from MPC5200, the pwm pulse of GPT2 port output and the GPT1 of responsible direction, GPT3 output, high speed photo coupling 6N136 by NEC Corporation isolates, its top speed can reach 2Mbit, isolates in the back input motor driver to drive the coordinate axis motor.
For satisfying high-speed coordinate axis motor movement position signal acquisition, this enforcement selects for use Intel 82C54 counter that the feedback pulse of the photoelectric code disk of coordinate axis motor is counted, and be input in the microcontroller by system bus, the count frequency of 82C54 can be up to 12MHz.Comprise 3 independently 16 counting channels in the sheet, each counting channel has 6 kinds of working methods, can be by program setting and change.
Lathe switching value input and output control all adopts common optocoupler 4N25 to isolate in this enforcement, to improve the antijamming capability of system.
The control program of this multi-axis motion controller such as Fig. 3 mainly also have signal procedure to constitute by initialization, real-time task handling procedure.
Initialize routine of the present invention when two GPIO connect low level 00 entirely, is CAN bus communication mode as shown in Figure 4, obtains the basic parameter configuration of CAN bus communication from EEPROM, gets in touch with host computer foundation after the initialization.First is that 0, the 2 of low level is a high level 1 as two GPIO, is 01 o'clock, is RS232 bus communication mode, obtains the basic parameter configuration of RS232 bus communication from EEPROM, gets in touch with host computer foundation after the initialization.First is that 1, the 2 of high level is a low level 0 as two GPIO, is 10 o'clock, is the usb bus communication mode, obtains the basic parameter configuration of usb bus communication from EEPROM, gets in touch with host computer foundation after the initialization.
The real-time working flow process of motion controller as shown in Figure 5, be divided into four real-time tasks, be that state-detection task, interpolation task, position control task also have the function control task, the cycle of operation of four tasks all is identical, in this enforcement, be taken as 8ms, the running priority level of state-detection task is for the highest, and promptly 1 grade, the priority of interpolation task are that 2 grades, the priority of position control task are that 3 grades, the priority of function control task are minimum 4 grades.Wherein, the state-detection task realizes the detection of lathe running status, then lathe is respectively write, and responsible I/O device value of reading in each connection from the IO port, then the state write state is detected in the buffer zone, to lathe anxious stop, servo warning, limit signal judge, and handle accordingly.The interpolation task realizes that order obtains interpolation data from the decoding buffer zone, according to being that straight line or circular arc carry out interpolation, obtains the theoretical coordinate value then.The position control task, carry out error analysis earlier, after first sampling period of system, begin to carry out, obtain physical location by the motor feedback, with the theoretical position of the interpolation task output input parameter as error analysis, system will call the Error Calculation strategy and carry out Error Calculation when carrying out error analysis, and the Error Calculation strategy can be the simple non-coupling algorithm towards single shaft, also can be complicated coupling algorithm, obtain the composition error value of each after the calculating towards profile processing; The tactful setting parameter of adjusting will call in system afterwards, and the strategy of adjusting can simply be set preset parameter for, also can adjust parameter as required in real time; At last composition error and parameter together are input to position control and partly calculate, obtain concrete pulse output valve, output to each servomotor.The function control task is responsible for realizing state settings such as the operation, time-out, speed of feed of motion controller.
The process flow diagram of signal procedure as shown in Figure 6, according to serial transmission protocol, the control of the realization different mode in the phase of the cycles requires decoding and data transmission.
An above-mentioned concrete example, the serial transmission application layer protocol of wherein pairing host computer and motion control card has multiple mode, and those skilled in the art can select suitable implementation according to actual conditions.
Claims (5)
1. multi-axis motion controller based on MPC5200, comprised MPC5200 embedded microcontroller (1), outside SDRAM (2), outside Flash (3), electricallyerasable ROM (EEROM) EEPROM (4), signal feedback passage and interface (5), PWM output and interface (6), I/O interface (7), serial communication interface (8), CAN interface (9), RS232 interface (10), USB interface (11) and serial communication interface (12), it is characterized in that: outside SDRAM (2), outside FLASH (3) and EEPROM (4) and MPC5200 microcontroller (1) are connected to form the nucleus module of motion controller, and the basic environment of motion controller running software is provided; MPC5200 microcontroller (1) is by the wire jumper mode of serial communication interface (8) by serial communication configuration interface (12), the concrete serial communication protocol that configuration and host computer communicate, thereby, carry out the transmission of digital control processing data and instruction by being flexible coupling between CAN interface (9) or RS232 interface (10) or USB interface (11) and the host computer; Signal feedback passage and interface (5) carry out shaping, counting to the feedback signal of motor encoder, and input MPC5200 microcontroller; MPC5200 microcontroller (1) connects PWM output and interface (6), realizes the concrete umber of pulse of output motor operation, and the output pulse is isolated with drive motor driver; MPC5200 microcontroller (1) connects I/O interface (7), realizes the switching value control that relevant lathe is auxiliary.
2. the multi-axis motion controller based on MPC5200 according to claim 1 is characterized in that: signal feedback passage and interface (5) are counted the encoder pulse feedback for adopting high-speed counter, and it has four tunnel signals collecting abilities; Serial communication interface (12) comprises CAN interface (9), RS232 interface (10) and USB interface, and concrete configuration realizes by the inner integrated programmable serialization controller of MPC5200 microcontroller (1).
3. the multi-axis motion controller based on MPC5200 according to claim 1, it is characterized in that the interior system interface dispensing unit of MPC5200 microcontroller (1) is configured to data bus 8 or 16 or 32 s' width, make multi-axis motion controller support several 8 or 16 or 32 s' peripherals to be connected in simultaneously on the system bus, external 8 or 16,32 s' FLASH, SDRAM.
4. the multi-axis motion controller based on MPC5200 according to claim 1, it is characterized in that MPC5200 provides 8 general purpose timer resource GPT0～GPT7, maximum 4 stepper motors of may command or servomotor, appoint watch a GPT and be configured to timer internal after, this mouth just uses as a general purpose I/O, and MPC5200 uses the direction control signal of every motor of this mouthful output.
5. one kind to the described method of operating based on the MPC5200 multi-axis motion controller of claim 1, it is characterized in that step is as follows:
1) system initialization
Carry out the hardware initialization of microprocessor, comprise the configuration of input/output interface, the configuration of concrete serial communication mode also has software arrangements such as servo-drive system PID interface parameters;
2) real-time task is handled
1. state-detection task: this task is to the detection of lathe running status, then lathe is respectively write, and be responsible for from the IO port read in, servo warning, limit signal judge, and handle accordingly, thereby realize the lathe operational process is monitored in real time; The security of the equipment operation of this task relation, so task priority is up to 1;
2. interpolation task: order obtains interpolation data from the decoding buffer zone, and according to being that straight line or circular arc carry out interpolation, interpolation obtains the theoretical coordinate value that the next cycle should arrive then; This task run priority is 2;
3. position control task: this task design becomes periodic real-time process, and each cycle is read the numerical value of scrambler in the counter, obtain actual position, and make comparisons with the theoretical position coordinate in the interpolator, according to the difference pid regulator parameters, and concrete pulse output number write in the umber of pulse register of corresponding PWM mouth; This task run priority is 3;
4. function control task: the function that the real-time pipeline of the sharp RTAI of function control task comes transferring command and status signal, order by pipeline is provided with the visit of realization (SuSE) Linux OS to real-time part RTAI, thus state settings such as the operation of realization motion controller, time-out, speed of feed; This task run priority is 4;
3) communication task
1. motion control snaps into host computer
Transmit the I/O Interface status and the alarm condition of coordinate figure, velocity amplitude, digital control system;
2. host computer is to motion control card
Data link table after transmitting the digital control system operating instruction and deciphering also has relevant operational factor.
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