CN104898466B - A kind of communication control circuit of laser tracker - Google Patents
A kind of communication control circuit of laser tracker Download PDFInfo
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- CN104898466B CN104898466B CN201510112528.2A CN201510112528A CN104898466B CN 104898466 B CN104898466 B CN 104898466B CN 201510112528 A CN201510112528 A CN 201510112528A CN 104898466 B CN104898466 B CN 104898466B
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Abstract
The invention discloses a kind of communication control circuits of laser tracker, including digital signal processor, acquisition module, communication module and signal driver module, communication control circuit DSP CONTROL part only undertakes outermost layer position-force control in algorithm, speed and closed-loop current control and realizes in external servo-drive via the communication module.In addition, communication control circuit of the invention also uses modularized design, Testability Design and expansible design are introduced.Circuit of the present invention has complete integrated function, and wherein control section only undertakes outermost layer position-force control in algorithm, and operand and real-time decrease after decomposition, to have established hardware foundation using advanced control algorithm and raising control frequency；Each module and whole running state monitoring are reinforced, and debugging and malfunction elimination efficiency are improved；For the not high servo-system of requirement of real-time, can be used directly as electric current, speed, three closed loop overall-in-one control schema of position and communication unit.
Description
Technical field
The present invention relates to Communication Control Technology fields, relate more specifically to a kind of communication control circuit of laser tracker,
The circuit is mainly used for the tracing positional closed-loop control of laser tracker and the communication with servo drive unit and host computer, can also
For other accurate electrical communication control systems.
Background technique
Laser tracker has the characteristics that measurement range is big, precision is high, dynamic property is good, real-time live measurement, in aviation
The high-end intelligence manufacture industry such as space flight, rail traffic, shipbuilding is widely applied.It not only can to space static object into
Row high precision three-dimensional measurement, but also tracking measurement can be carried out to moving target.
Core cell one of of the communication control circuit as laser tracker Servo System Based, major function are to complete
Precision tracking position-force control, switch of the power supply module and logic control, PMW pulsewidth modulation, CanOPEN communication and DA output,
With host computer TCP/IP communication and with the parallel communications of data acquisition unit.Communication control circuit design should consider for
The specificity of track instrument, takes into account the versatility generally debugged, communicated for circuit again, and the quality of design directly affects tracking control
Performance, communication reliability and debugging efficiency processed.
The Servo System Based of laser tracker is hard real time control system, and control strategy and algorithm is more complex, controls frequency
Rate is high, data traffic is big, and communication control circuit, which relies on single digital signal processor (DSP) module, cannot achieve bi-motor
Electric current, speed, three closed loop overall-in-one control schema of position and real time communication.To mitigate computational burden, while considering circuit unit
Stability, flexibility and functional completeness, usually will control closed loop in embody and determine control precision outermost layer closed loop with
Communication function is incorporated as standalone module and is researched and developed.But currently, SERVO CONTROL in the laser tracker of domestic independent research
Circuit still has the following deficiencies: (1) without the integrated communication control function of CANopen, TCP/IP, parallel communications and DA；(2)
It is lower that control frequency is influenced by hardware and control algolithm；(3) not to the sequence start and stop of servo-system power module or logic control
Function processed；(4) circuit Testability Design is short of, and debugging and malfunction elimination are inconvenient；(5) versatility extension function is insufficient.
Summary of the invention
In view of this, the main purpose of the present invention is to provide a kind of communication control circuit of laser tracker, with enhancing
Communication control function and/or improvement circuit scalability.
To achieve the goals above, the present invention provides a kind of communication control circuits of laser tracker, including number letter
Number processor, AD acquisition module, hall signal acquisition module, communication module, signal driver module, which is characterized in that described logical
The DSP CONTROL part of letter control circuit only undertakes outermost layer position-force control in algorithm, and speed is closed with electric current
Ring control is being realized in external servo-drive via the communication module.
Wherein, the communication control circuit reads the number in synchronous data collection and communication unit register by XINTF
According to obtaining servo motor relevant information by CANopen bus, and upload to host computer by TCP/IP.
Wherein, the communication control circuit further includes testability module, the testability module reserved power supply, when
Clock, control, input signal test point, reserved status indicator lamp monitoring circuit submodule and overall operation state, reserve
Logic analyser test module Simultaneous Monitoring data, address and control sequential signal.
Wherein, the communication control circuit further includes photoelectric isolation module, for realizing to tracker servo unit power supply
The timing control of module and other subsystem power modules, control sequential are preset in the software program of circuit, and program opens
It is executed automatically after dynamic or closing, while host computer being supported directly to carry out operation control.
Wherein, the communication control circuit be divided into XINTF parallel communications, TCP/IP communication module, IO and state instruction,
ECan communication, DA output control, power supply time-sequence control module, each module is relatively independent, and reserves and carry out unified state instruction
Signal.
Wherein, the communication control circuit has stronger extension function, reserved PWM modulation, encoder data capture,
AD acquisition, hall signal acquisition, RS232 communication module.
Wherein, when the communication control circuit is for requirement of real-time not high servo unit directly as electric current, speed,
Three closed loop overall-in-one control schema of position and communication unit.
It can be seen that the present invention compared with previous pure communications or control system, has complete integrated function,
Wherein control section only undertakes outermost layer position-force control in algorithm, and operand and real-time decrease after decomposition, to adopt
Hardware foundation has been established with advanced control algorithm and raising control frequency；Communication form is abundant, both multidiameter delay is supported to communicate,
Support serial communications and TCP/IP, CANopen network communications such as RS232；16 D/A modules are devised, 6 can be controlled simultaneously
Road driver driving motor；Using modularized design, circuit carries out module division by function, reduces influence to each other；It introduces
Testability Design improves debugging and malfunction elimination efficiency to reinforce each module and whole running state monitoring；For tracking
The feature of instrument electric-control system power-supply system complexity, devises power logic control module, the automatic switch control for realizing power module
System；In view of the resource of DSP is compared with horn of plenty, to take into account versatility, multiple interfaces and extension function is reserved, real-time has been wanted
Not high servo-system is sought, can be used directly as electric current, speed, three closed loop overall-in-one control schema of position and communication unit.
Detailed description of the invention
Fig. 1 is the schematic diagram of laser tracker drive control circuit of the invention；
Fig. 2 is DSP pin configuration and jtag interface design diagram of the invention；
Fig. 3 is interrupt processing synchronizing clock signals schematic diagram of the invention；
Fig. 4 is the parallel data read/write circuit design diagram of the invention with synchronous data collection and telecommunication circuit；
Fig. 5 is AD Acquisition Circuit design diagram of the invention；
Fig. 6 is the power supply sequencing control circuit schematic diagram that the present invention uses photoelectric isolation module；
Fig. 7 is the configuration schematic diagram of main testability interface of the invention；
Fig. 8 is the network communication interface schematic diagram of the invention with host computer；
Fig. 9 is the structural schematic diagram of the invention with the serial communication circuit of host computer；
Figure 10 is angle capture circuit diagram of the invention；
Figure 11 is double eCAN communication interface circuit schematic diagrams of the invention；
Figure 12 is DA output control interface schematic diagram of the invention；
Figure 13 is the network communication interface schematic diagram of the invention with host computer.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in further detail.
Communication control circuit of the invention include: digital signal processor (DSP) and AD acquisition module, network module,
The periphery such as signal driver module, testability module supplementary module.Communication control circuit of the invention includes following designing points:
(1) communication control circuit reads the data in synchronous data collection and communication unit register by XINTF, passes through
CANopen bus obtains servo motor relevant information, and uploads to host computer by TCP/IP.Meanwhile receiving the finger of host computer
It enables, parameter more new information and send synchronous data collection and communication unit and other units.Communication control unit by obtaining in real time
The angle that takes, miss distance information combination related control strategies carry out data operation and send servo drive by D/A module for result
Moving cell.Communication control unit triggers a communication control process by external signal.
(2) communication control circuit specially devises testability module, has reserved power supply, clock, control, input signal
Test point has reserved status indicator lamp monitoring circuit submodule and overall operation state, has reserved logic analyser test module
Simultaneous Monitoring data, address and control sequential signal.
(3) communication control circuit specially designs photoelectric isolation module, realizes to tracker servo unit power module and its
The timing control of his subsystem power module.Control sequential is preset in the software program of circuit, program starting or closing
It is automatic afterwards to execute, while host computer being supported directly to carry out operation control.
(4) communication control circuit is divided into XINTF parallel communications, TCP/IP communication module, IO and state instruction, eCan leads to
The modules such as letter, DA output control, power supply timing control, each module is relatively independent, and the reserved signal for carrying out unified state instruction.
(5) communication control circuit has stronger extension function, reserved PWM modulation, encoder data capture, AD is acquired,
Hall signal acquisition, RS232 communication module can be directly as electric currents, speed for the not high servo unit of requirement of real-time
Degree, three closed loop overall-in-one control schema of position and communication unit.
Explanation is further elaborated to a preferred embodiment of the invention with reference to the accompanying drawings of the specification.
Communication control circuit of the invention, mainly by the matched periphery such as DSP and network chip, driving chip, D/A module
Device collectively constitutes, and organization plan and signal flow block diagram are as shown in Figure 1.
As shown in Figure 2,3, circuit of the invention is independently completed the initial configuration work of chip and circuit, communication by DSP
Interrupt processing process is controlled to be started by synchronous data collection and the triggering of communication board difference synchronization signal.DSP example of the invention
Such as using TMS320F28335 as master chip, each pin line is as shown in Figure 2.
As shown in figure 4, circuit of the invention is by DSP external interface XINTF by the register mappings of data acquisition circuit plate
To ZONE0, directly register is written and read by bus transceiving driver SN74LVC164245, realizes parallel communications.
As shown in figure 5, ADS8556 is mapped to ZONE7 by the external interface XINTF of DSP by circuit of the invention, pass through
CONVST signal triggers 6 road signal synchronized samplings, is read by sequence of the RD signal enabling to 6 channel datas.
Laser tracker is opened as shown in fig. 6, circuit of the invention is realized by the GPIO and photoelectric isolation module of DSP
Dynamic and closed stage encoder, driver, motor, femtosecond ranging data processing unit, phase ranging, PSD detection, limit etc. are electric
The orderly control of source module.
Circuit of the invention uses Testability Design, has reserved 5V, 3.3V, 1.8V test point and indicator light, reserves
It is logical to have reserved the monitoring such as I/O port and indicator light interruption, data acquisition, TCP/IP communication, CANopen for logic analyser test interface
Believe working condition.As shown in fig. 7, being the configuration schematic diagram of main testability interface of the invention.
As shown in figure 8, the data buffer zone of W5300 is mapped to by circuit of the invention by DSP external interface XINTF
ZONE6 realizes the TCP/IP communication with host computer.As shown in figure 9, circuit of the invention passes through serial port drive chip
MAX3232CSE is realized to be communicated with the RS232 of host computer.Wherein, it for reading and writing data, is connect using the parallel bus peripheral hardware of DSP
Mouth XINTF realizes the communication with synchronous data collection plate, and direct read/write is mapped to data and life in data acquisition board register
It enables.For data upload and command reception, then ICP/IP protocol chip is extended out using DSP, realized logical with the network of host computer
Letter.
As shown in Figure 10, circuit of the invention is realized the inspection to code device signal by peripheral hardware capturing unit in the piece of DSP
It surveys and angle-data latches, since encoder is usually 5V or differential signal, level conversion is realized by 74HC245.
As shown in figure 11, peripheral hardware eCAN unit and bus transceiver in the piece that circuit of the invention passes through DSP
SN65HVD232 realizes the communication with drive control circuit.
As shown in figure 12, DAC7744 is mapped to ZONE7 by the external interface XINTF of DSP by circuit of the invention.DSP is logical
The operation for crossing position control closed loop obtains the corresponding digital quantity of motor speed, is transmitted to drive control circuit by analog-to-digital conversion
Or the synchronously control to up to 6 road drivers may be implemented in servo-driver, DA7744.
As shown in figure 13, circuit of the invention is by peripheral hardware PWM module in the piece of DSP and load driving chip
SN74ALVC164245 is realized to the PWM waveform output control that level is 5V.
By practical probation, communication control circuit of the invention have the characteristics that and the utility model has the advantages that
1, the integrated communication control function to TCP/IP, CANopen, parallel communications and DA is realized.Improve servo
The position-force control performance and communicative flexibility of motor.Wherein, it for reading and writing data, is connect using the parallel bus peripheral hardware of DSP
Mouth XINTF realizes the communication with synchronous data collection plate, and direct read/write is mapped to data and life in data acquisition board register
It enables.For data upload and command reception, then ICP/IP protocol chip is extended out using DSP, realized logical with the network of host computer
Letter.In addition, obtaining electric current, torque and the safeguard protection information of motor by CANopen by DA output speed signal.
2, breach using advanced control algorithm and improve the hardware restriction of control frequency.The tracing control of laser tracker
Dynamic performance requirements are high, thus need using filtering and prediction algorithm and Feed-forward Control Strategy.Element circuit of the invention
Plate only realizes position closed loop, and speed is realized in the driving circuit with current closed-loop, to improve the renewal frequency of speed command.
3, the Testability Design of circuit board is carried out, debugging and malfunction elimination efficiency are improved.Circuit of the invention is reserved
Power supply, IO, state instruction test point, reservation logic analyzer test interface, to facilitate malfunction elimination and software debugging.
4, realize to the power supply of tracker electric-control system servo unit (first encoder, again drive, rear motor) and tracker
Other subsystems, such as the orderly control that laser, PSD, femtosecond ranging, phase ranging power module power on.
5, circuit has carried out modularized design.When a module when something goes wrong, reduce its shadow to other modules as far as possible
It rings, to enhance the independence of each module.
6, the general sexual function of system is enhanced.PWM modulation function, angle-data capture, serial ports, I/O interface etc. are reserved
It is spare.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in protection of the invention
Within the scope of.
Claims (6)
1. a kind of communication control circuit of laser tracker, including the acquisition of digital signal processor, AD acquisition module, hall signal
Module, communication module, signal driver module, which is characterized in that the DSP CONTROL portion of the communication control circuit
Point only undertaking outermost layer position-force control in algorithm, speed and closed-loop current control is watching via the communication module in outside
It is realized in clothes driving；
Wherein, the communication control circuit reads the data in synchronous data collection and communication unit register by XINTF, leads to
It crosses CANopen bus and obtains servo motor relevant information, and host computer is uploaded to by TCP/IP；
The communication control circuit further includes D/A module, and the communication control circuit is by the angle, the miss distance information that obtain in real time
Data operation is carried out in conjunction with related control strategies and the external servo-drive is sent by D/A module by result.
2. the communication control circuit of laser tracker as described in claim 1, which is characterized in that
The communication control circuit further includes testability module, the testability module reserved power supply, clock, control,
The test point of input signal has reserved status indicator lamp monitoring circuit submodule and overall operation state, has reserved logic analysis
Instrument test module Simultaneous Monitoring data, address and control sequential signal.
3. the communication control circuit of laser tracker as described in claim 1, which is characterized in that the communication control circuit is also
Including photoelectric isolation module, for realizing the timing control to tracker servo unit power module and other subsystem power modules
System, control sequential are preset in the software program of circuit, are executed automatically after program starting or closing, while supporting host computer
Directly carry out operation control.
4. the communication control circuit of laser tracker as described in claim 1, which is characterized in that the communication control circuit is drawn
It is divided into XINTF parallel communications, TCP/IP communication module, IO and state instruction, eCan communication, DA output control, power supply timing control
Molding block, each module is relatively independent, and the reserved signal for carrying out unified state instruction.
5. the communication control circuit of laser tracker as described in claim 1, which is characterized in that the communication control circuit tool
Standby stronger extension function has reserved PWM modulation, encoder data capture, AD acquisition, hall signal acquisition, RS232 communication mould
Block.
6. the communication control circuit of laser tracker as described in claim 1, which is characterized in that the communication control circuit pair
Directly as electric current, speed, three closed loop overall-in-one control schema of position and communication unit when requirement of real-time not high servo unit.
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| CN104897056B (en) * | 2015-03-13 | 2018-02-23 | 中国科学院光电研究院 | A kind of synchronous data collection and telecommunication circuit |
| CN105390918A (en) * | 2015-12-01 | 2016-03-09 | 苏州中兴鼎工业设备有限公司 | General laser controller |
| CN106730325A (en) * | 2016-12-03 | 2017-05-31 | 潍坊大地医疗器械有限公司 | A kind of electronic channel therapeutic equipment of accurate identification waveform |
| CN113124756B (en) * | 2021-05-07 | 2022-11-15 | 江南造船(集团)有限责任公司 | Cabin size measuring method based on laser tracker |
| CN113267867A (en) * | 2021-05-26 | 2021-08-17 | 上海理工大学 | Dynamic focusing system based on dual-motor synchronous control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2613937B2 (en) * | 1989-01-30 | 1997-05-28 | 富士通株式会社 | Servo circuit |
| CN103457478A (en) * | 2012-06-05 | 2013-12-18 | 林桂 | Cascading type multi-level frequency converter control system based on DSP and FPGA |
| CN103633905A (en) * | 2013-11-18 | 2014-03-12 | 沈阳工业大学 | DSP (digital signal processor) 28335-based direct current brushless motor control device |
| CN204076264U (en) * | 2013-12-30 | 2015-01-07 | 北京配天技术有限公司 | A kind of motion control card and robot |
| CN104199465B (en) * | 2014-07-16 | 2016-09-21 | 北京遥测技术研究所 | A kind of highly integrated High Accuracy Flat self-tracking antenna servo-control system |
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Effective date of registration: 20200814 Address after: 100190, No. 19 West Fourth Ring Road, Beijing, Haidian District Patentee after: Research Institute of aerospace information innovation, Chinese Academy of Sciences Address before: 100094, No. 9 Deng Nan Road, Beijing, Haidian District Patentee before: Academy of Opto-Electronics, Chinese Academy of Sciences Effective date of registration: 20200814 Address after: 100029 Beijing city Chaoyang District Beitucheng West Road No. 3 Patentee after: Institute of Microelectronics, Chinese Academy of Sciences Address before: 100190, No. 19 West Fourth Ring Road, Beijing, Haidian District Patentee before: Research Institute of aerospace information innovation, Chinese Academy of Sciences |