CN105824270A - Multi-shaft motion controller and control method of closed-loop PWM pulse - Google Patents
Multi-shaft motion controller and control method of closed-loop PWM pulse Download PDFInfo
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- CN105824270A CN105824270A CN201610138140.4A CN201610138140A CN105824270A CN 105824270 A CN105824270 A CN 105824270A CN 201610138140 A CN201610138140 A CN 201610138140A CN 105824270 A CN105824270 A CN 105824270A
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- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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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
- G05B2219/20—Pc systems
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Abstract
The invention relates to a motion controller and a control method in a technical field of numerical control, particularly to a multi-shaft motion controller based on a dual-core controller and a control method of a closed-loop PWM pulse. The motion controller comprises a main processor core, an upper computer, and a servo driver; the upper computer and the main processor core are connected by a serial bus; and motion instruction data are transmitted to the main processor core. In addition, the invention also includes a co-processor core, an integrated multi-channel PWM controller, and a shared memory; and the PWM controller and the co-processor core complete position tracking jointly. The shared memory, the main processor core, the PWM controller, and the co-processor core are connected successively to form a closed loop. The controller and the control method have the following beneficial effects: firstly, with a single-path multi-core DSP, a problem of consistency of shared data between processor cores can be solved and the processing efficiency is improved; secondly, the closed-loop PWM pulse control method is applied to motion control; and thirdly, the provided technique is easy to extend and apply.
Description
Technical field
The present invention relates to motion controller and the control method of a kind of fields of numeric control technique, specifically refer to based on dual core processor, a kind of multi-axis motion controller and the control method of closed loop pwm pulse thereof.
Background technology
Motor control is an important branch of Numeric Control Technology, through development for many years, creates multiple technologies solution, suffers from respective pluses and minuses.At present, the solution generally used has: (1) CPU+FPGA scheme, and CPU carries out interpolation calculating process, the result that FPGA processes according to interpolation calculating, output control pulse, controls motor movement.Program rational division of labor, controls flexibly, however, it is desirable to keep data syn-chronization between CPU and FPGA, there is bigger delay time error, and output pulse precision is limited, causes control performance less desirable, and motion controller hardware cost is higher.(2) CPU+ special Interpolation scheme, CPU is responsible for the data of periphery and processes, and interpolation is completed by special Interpolation with pulse output.The advantages such as it is high that the program exists control accuracy, and peripheral control response is fast.But special Interpolation can't realize the three above interpolation algorithms of axle to be processed, and integrated cost is the highest, and cost performance is the lowest.(3) single CPU scheme, CPU is not only responsible for interpolation calculating and processes, is also responsible for output control pulse, furthermore, it is desirable to complete the response of all of external signal.The program has advantage with low cost.But when motor control, CPU is often under high load capacity or overload state, it is difficult to ensure that the timely responding to of various interrupt event, can not accomplish that high-precision pulse exports, High-speed Control ability, external signal response is relatively slow, is suitable only for simple, the motor control of low speed.The pluses and minuses of three kinds of schemes of summary, in line with low cost, in high precision, control target flexibly, the present invention devises based on dual core processor, a kind of multi-axis motion controller and closed loop pwm pulse control method.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, intend proposing a kind of new motion controller and control method, a kind of multi-axis motion controller and the control method of closed loop pwm pulse thereof in fields of numeric control technique.
The present invention is achieved through the following technical solutions, and including main processor core, host computer, servo-driver, is connected by universal serial bus between host computer with main processor core, and movement instruction data are sent to main processor core,
Also include that a co-processor core and the PWM controller of integrated multi-channel, and shared drive, described PWM controller and co-processor core jointly complete position and follow the tracks of；Described shared drive, main processor core, PWM controller, co-processor core are in turn connected to form closed loop.
Described main processor core and co-processor core concurrent working, have the most independent running memory space, and exchange data by shared drive；
The signal that main processor core produces, including synchronizing signal, numeral comparison signal, PWM FM signal etc., the pulse signal needed for making PWM controller generate；
Co-processor core receives the interrupt signal that PWM controller produces, and completes interrupt event and processes, and result is write shared drive；
Each passage of PWM controller produces pulse control signal, is respectively outputted to corresponding servo-driver by multichannel, controls motor movement.
The present invention includes following rate-determining steps:
Motion control instruction data are sent to main processor core by universal serial bus by step 1, host computer, and main processor core 1 is according to reading current location and the present speed of each kinematic axis from shared drive, and periodically carries out interpolation algorithm process；Calculate target velocity and target location that each axle should reach at current period, and be converted into the pwm pulse frequency of respective channel, update pulse frequency to the respective channel of PWM controller, meanwhile, export direction of motion signal to servo-driver；
The corresponding pwm pulse frequency that step 2, each passage of PWM controller calculate according to main processor core, exports satisfactory high accuracy Continuous Drive pulse, and servo-driver receives driving pulse, controls the motion of corresponding spindle motor；Correspondingly, PWM controller, when each pulse exports, produces the interrupt requests of and co-processor core respective channel simultaneously；
Step 3, receive the co-processor core of interrupt requests, perform the interruption service handler of respective channel, carry out position tracking, counting etc. and process, and result is write shared drive, for main processor core in next cycle；
Step 4, repetition step 1 are to step 3, and hardware device, from shared drive, sequentially passes through main processor core, PWM controller, co-processor core return shared drive, forms a complete process closed loop, perform the once motor control within the extremely short cycle；Periodically carry out above-mentioned calculating, it is achieved control movement executing mechanism and press desired trajectory motion.
It is an advantage of the current invention that:
1. use single channel multi-core DSP, relative to multi-chip solution, use single channel multi-core DSP data signal processor, decrease Master control chip quantity, simplify board peripheral circuit, reduce hardware holistic cost dramatically, meanwhile, be conducive to improving the stability of controller hardware；Data are exchanged by shared drive between main processor core and co-processor core, need not the slower external bus of Negotiation speed connect, there is no processor core communication overhead, there is not processor core shared data consistency problem in the heart, also improve treatment effeciency.
2. closed loop pwm pulse control method is applied in motor control.Each passage complete parallel work of multichannel PWM controller, it is possible to the output pulse frequency of each passage of flexible, can accomplish very high pulse frequencies, thus produce the output control pulse of High-precision high-frequency rate.
3. the technology of the present invention is prone to expanded application.By using the processor core of higher running frequency, and the PWM controller of more port number, can easily extend more kinematic axis, to be suitable for axle demand for control of doing more physical exercises the most widely, meanwhile, the most more can embody the advantage of low hardware cost.
Accompanying drawing explanation
Fig. 1 is hardware structure diagram of the present invention.
Fig. 2 is flow chart of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the preferred embodiments of the present invention are described further, see shown in accompanying drawing 1 to 2, the present invention is achieved through the following technical solutions, including main processor core 1, host computer 5, servo-driver 6, it is connected by universal serial bus between host computer 5 with main processor core 1, movement instruction data are sent to main processor core 1, also include the PWM controller 3 of a co-processor core 2 and integrated multi-channel, and shared drive 4, described PWM controller 3 and co-processor core 2 jointly complete position and follow the tracks of；Described shared drive 4, main processor core 1, PWM controller 3, co-processor core 2 are in turn connected to form closed loop.
Described main processor core 1 and co-processor core 2 concurrent working, have the most independent running memory space, and exchange data by shared drive 4；
The signal that main processor core 1 produces, including synchronizing signal, numeral comparison signal, PWM FM signal etc., makes PWM controller 3 generate required pulse signal；
Co-processor core 2 receives the interrupt signal that PWM controller 3 produces, and completes interrupt event and processes, and result writes shared drive 4；
Each passage of PWM controller 3 produces pulse control signal, is respectively outputted to corresponding servo-driver 6 by multichannel, controls motor movement.
The present invention includes following rate-determining steps:
Motion control instruction data are sent to main processor core 1 by universal serial bus by step 1, host computer 5, and main processor core 1 is according to reading current location and the present speed of each kinematic axis from shared drive 4, and periodically carries out interpolation algorithm process；Calculate target velocity and target location that each axle should reach at current period, and be converted into the pwm pulse frequency of respective channel, update pulse frequency to the respective channel of PWM controller 3, meanwhile, export direction of motion signal to servo-driver 6；
The corresponding pwm pulse frequency that step 2, each passage of PWM controller 3 calculate according to main processor core 1, exports satisfactory high accuracy Continuous Drive pulse, and servo-driver 6 receives driving pulse, controls the motion of corresponding spindle motor；Correspondingly, PWM controller 3, when each pulse exports, produces the interrupt requests of and co-processor core 2 respective channel simultaneously；
Step 3, receive the co-processor core 2 of interrupt requests, perform the interruption service handler of respective channel, carry out position tracking, counting etc. and process, and result is write shared drive 4, for main processor core 1 in next cycle；
Step 4, repetition step 1 are to step 3, hardware device is from shared drive 4, sequentially pass through main processor core 1, PWM controller 3, co-processor core 2 return shared drive 4, form a complete process closed loop, perform the once motor control within the extremely short cycle；Periodically carry out above-mentioned calculating, it is achieved control movement executing mechanism and press desired trajectory motion.
The most specifically citing includes, as a example by hardware configuration is based on TI28035DSP chip, this chip comprises main processor core 1, co-processor core 2, PWM controller 3, shared drive 4, and other memorizer of this chip internal and peripheral hardware are not described herein.Main processor core 1 dominant frequency 60MHz, co-processor core 2 dominant frequency is consistent with main processor core 1, and the clock frequency of PWM controller 3 is 30MHz, and shared drive 4 type is RAM, and capacity is 256 bytes.All by address bus and data bus communication between main processor core 1 and co-processor core 2 and shared drive 4, transmit and receive shared data.Main processor core 1 and, PWM controller 3 by peripheral bus carry out synchronizing signal, digital comparison signal mutual., interrupt signal is passed to co-processor core 2 by cpu bus by PWM controller 3.Main processor core 1 and host computer 5 are by serial bus interaction data.Co-processor core 2 can respond multiple interrupt processing task.PWM controller 3 also can produce multiplex pulse output, controls multiple stage servo-driver 6, pulses generation one tunnel, the most each road interrupt signal, and co-processor core 2 enters interrupting on this road of task and processes after responding each road interrupt signal.Main processor core 1 and co-processor core 2 exchange data by shared drive 4.Main processor core 1 receives the motion control instruction data that host computer 5 sends.
Software configuration is that the program parallelization of main processor core 1 and co-processor core 2 performs distributed treatment.The program of main processor core 1 comprises three tasks, task one receives the NC director data that host computer 5 issues, and these data are generated by number of axle mesh after interpolation algorithm processes interpolation distance and the target location of each interpolation cycle of each axle, interpolation distance and target location are saved in a round-robin queue relief area, each axle in this relief area preservation 20 or the interpolation distance of more interpolation cycle and target location simultaneously.Task two takes out next target location needing interpolation cycle to be processed from round-robin queue relief area, compares the direction of motion drawing next cycle with the upper interpolation cycle target location preserved, and is preserved next target cycle position.Task two reads the pulse position of current axis actual motion from shared drive 4 simultaneously, subtracts each other with a upper target cycle position and draws site error, generates the interpolation distance correction factor after this error is multiplied by a scale factor.Finally from round-robin queue relief area, take out next cycle interpolation distance, be multiplied by modifying factor, i.e. obtain next cycle interpolation distance of axle, this distance is drawn pulse frequency divided by interpolation cycle.The PWM controller depositor writing respective shaft passage after this pulse frequency is converted into the pulse period i.e. produces the output of next recurrent pulse.
Pulse position feedback and pulse frequency correction can use following equation to represent:
Pulse frequency=[next cycle interpolation distance × (current period target location actual feedback pulse position) × scale factor]/interpolation cycle
Task three controls stopping and the direction change of each road pulse.Task two produces the direction signal of next interpolation cycle, if the pulse period in next cycle is zero, task two produces and stops signal.Task three receives after stopping signal or commutation signal, and whether real-time judge current PRF terminates, if terminating, controlling pulse immediately and stopping；Or control impulse commutation immediately.
The present invention only uses a dual core processor, utilize processor internal main processor to complete interpolation algorithm and interpolation buffer data produces, pwm pulse produces and movement position correction, greatly reduce hardware cost, meet multiaxis high-speed, high precision exercise performance requirement simultaneously.On the TI28035 chip platform implemented, four axle interpolation cycles only need 400us, and output pulse frequency reaches 500KHz, and pulse period error is only 33ns.The processor using higher performance can realize that the interpolation number of axle is more and the cycle is shorter, and the performance exporting pulse is higher.
The innovative point of the present invention is:
1, single channel multi-core DSP is used.Relative to multi-chip solution, use single channel multi-core DSP data signal processor, decrease Master control chip quantity, simplify board peripheral circuit, reduce hardware holistic cost dramatically, meanwhile, be conducive to improving the stability of controller hardware；Data are exchanged by shared drive between main processor core 1 and co-processor core 2, need not the slower external bus of Negotiation speed connect, there is no processor core communication overhead, there is not processor core shared data consistency problem in the heart, also improve treatment effeciency.
Relative to one chip solution, use single channel multi-core DSP, not only have two processor cores, meanwhile, be integrated with multichannel PWM controller 3.Main processor core 1, co-processor core 2 are completely independent from one another with PWM controller 3, concurrent working, task distribution is rationally, the division of labor is cooperated again, fully excavate potential and the advantage of each performance element, farthest improve the handling capacity of motion controller, both can guarantee that timely responding to of each interrupt event, also can accomplish that high-precision pulse exports, meet high speed, the demand of high-frequency motion control.
2, closed loop pwm pulse control method is applied in motor control.Each passage complete parallel work of multichannel PWM controller 3, it is possible to the output pulse frequency of each passage of flexible, can accomplish very high pulse frequencies, thus produce the output control pulse of High-precision high-frequency rate.Owing to PWM controller 3 itself can not accomplish the tracking to movement position, but jointly completed position by PWM controller 3 and co-processor core 2 and follow the tracks of.Specifically, each passage of PWM controller 3 is when exporting pulse, interrupt requests can be sent to co-processor core 2, the association of high running frequency processes core 2 and can timely respond to and process each interrupt requests that PWM controller 3 sends, perform to interrupt service handler accordingly, complete position tracking, calculating etc. to process, and result is write shared drive 4, for main processor core 1, formed one from shared drive 4, sequentially pass through main processor core 1, PWM controller 3, co-processor core 2 finally return that the control closed loop of shared drive 4.Reach the motor control demand that high-precision pulse output is followed the tracks of with exact position.
3, the technology of the present invention is prone to expanded application.By using the processor core of higher motion frequency, and the PWM controller 3 of more port number, can easily extend more kinematic axis, to be suitable for axle demand for control of doing more physical exercises the most widely, meanwhile, the advantage that the most more can embody low hardware cost falls.
Claims (6)
1. multi-axis motion controller and the control method of closed loop pwm pulse thereof, including main processor core (1), host computer (5), servo-driver (6), it is connected by universal serial bus between host computer (5) with main processor core (1), movement instruction data are sent to main processor core (1), it is characterized in that
Also include that the PWM controller (3) of a co-processor core (2) and integrated multi-channel, and shared drive (4), described PWM controller (3) and co-processor core (2) jointly complete position and follow the tracks of；Described shared drive (4), main processor core (1), PWM controller (3), co-processor core (2) are in turn connected to form closed loop.
Multi-axis motion controller the most according to claim 1 and the control method of closed loop pwm pulse thereof, it is characterised in that:
Described main processor core (1) and co-processor core (2) concurrent working, and exchange data by shared drive (4).
Multi-axis motion controller the most according to claim 1 and the control method of closed loop pwm pulse thereof, it is characterised in that:
The signal that main processor core (1) produces makes the pulse signal needed for PWM controller (3) generation.
Multi-axis motion controller the most according to claim 1 and the control method of closed loop pwm pulse thereof, it is characterised in that:
Co-processor core (2) receives the interrupt signal that PWM controller (3) produces, and completes interrupt event and processes, and result writes shared drive (4).
Multi-axis motion controller the most according to claim 1 and the control method of closed loop pwm pulse thereof, it is characterised in that:
Each passage of PWM controller (3) produces pulse control signal, is respectively outputted to corresponding servo-driver (6) by multichannel, controls motor movement.
Multi-axis motion controller and the control method of closed loop pwm pulse thereof the most according to claim 1 or 5, it is characterised in that include following rate-determining steps:
Motion control instruction data are sent to main processor core (1) by universal serial bus by step 1, host computer (5), main processor core (1) basis reads current location and the present speed of each kinematic axis from shared drive (4), and periodically carries out interpolation algorithm process；Calculate target velocity and target location that each axle should reach at current period, and be converted into the pwm pulse frequency of respective channel, update pulse frequency to the respective channel of PWM controller (3), meanwhile, export direction of motion signal to servo-driver (6)；
The corresponding pwm pulse frequency that step 2, each passage of PWM controller (3) calculate according to main processor core (1), exports satisfactory high accuracy Continuous Drive pulse, and servo-driver (6) receives driving pulse, controls the motion of corresponding spindle motor；Correspondingly, PWM controller (3), when each pulse exports, produces the interrupt requests of and co-processor core (2) respective channel simultaneously；
Step 3, receive the co-processor core (2) of interrupt requests, perform the interruption service handler of respective channel, carry out position tracking, counting etc. to process, and result is write shared drive (4), for main processor core (1) in next cycle；
Step 4, repetition step 1 are to step 3, hardware device is from shared drive (4), sequentially pass through main processor core (1), PWM controller (3), co-processor core (2) return shared drive (4), form a complete process closed loop, perform the once motor control within the extremely short cycle；Periodically carry out above-mentioned calculating, it is achieved control movement executing mechanism and press desired trajectory motion.
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