CN105892413B - A kind of modular Multi-axis motion control device - Google Patents

Abstract

The invention discloses a modular simple multi-axis motion control device, which at least includes a first processor module, a second processor module and a base plate, and the modules are independent; the base plate at least includes a DSP bus expansion interface, a spindle interface, an auxiliary Encoder interface, motion axis interface, digital input interface, digital output interface, signal conditioning circuit 1, signal conditioning circuit 2, signal conditioning circuit 3, power management module, dial switch, motion axis interface, spindle interface, auxiliary coding Device interface, digital output interface, digital input interface and DSP bus expansion interface. The motion axis interface includes four motion axis interfaces, the spindle interface includes an analog spindle interface and a digital spindle interface, and the output value of the dial switch is used as the ID number of the multi-axis motion controller. The invention adopts a modular design concept, each module is independent of each other, has good maintainability, is convenient for future upgrades, and is suitable for multi-axis motion control.

Description

A modular multi-axis motion control device

technical field

The invention relates to a multi-axis motion control device, in particular to a modularized simple multi-axis motion controller, which belongs to the field of automation and advanced manufacturing.

Background technique

Multi-axis motion control technology is a motion control technology that controls multiple motors to coordinate and work simultaneously on multiple coordinate axes (including linear coordinates and rotational coordinates). With the wide application of multi-axis motion control technology in mechanical processing, aerospace, chemical industry, mining, military and other fields, various forms of multi-axis motion control systems have emerged. The motion controller is the core equipment of the multi-axis motion control system. It is a control device that coordinates and controls the target device or equipment driven by the motor to make it move according to the expected operation trajectory.

According to the demand for analog commands of servo drives in torque or speed control mode, multi-axis motion controllers on the market are generally designed with analog command output circuits. Aiming at the design of the analog command output circuit of the multi-axis motion controller, Zhang Baoquan adopted the dual-channel 16-bit serial DAC chip AD1866 and connected it to the DSP serial bus; , the serial DAC chip interface is implemented in the FPGA; Liu Zhiwei uses a four-channel 12-bit parallel DAC chip; the multi-axis motion controller in the above design generally uses a multi-channel DAC chip. Due to the internal structure of the multi-channel DAC chip, the multi-axis motion controller The timing of analog command output of each channel cannot be controlled independently. Shi Jianghua chose four single-channel 16-bit parallel DAC chips AD669, but this design still cannot adjust the timing relationship of the analog command output of each channel, and occupies more IO pins of the FPGA.

At present, the multi-axis motion controllers on the market all adopt the technical scheme of controlling all motion axes by only one core computing unit. Dealing with issues such as taking too long. In addition, the multi-axis motion controllers currently on the market do not have auxiliary encoder interfaces and spindle interfaces.

Contents of the invention

Aiming at the deficiency of multi-axis motion controllers in the current market, the proposal of the present invention aims to realize a multi-axis motion control device. It is based on DSP and FPGA, and only needs to control four motion axes and one spindle. When the number of motion axes is large, multiple devices of this type can be selected to be connected to the custom bus through the DSP bus expansion interface, and each device can communicate with the peripheral main control device through the custom bus, avoiding the need Most of the time, there are problems such as large amount of computation of the core computing unit, delay in feedback signal sampling delay, and too long processing time. In addition, in order to realize the control of the output timing of the analog instructions of each channel and avoid occupying too many IO pins of the FPGA, the present invention selects five single-channel 16-bit serial DAC chips, adopts the method of time-division multiplexing, and uses serial The data bus sends motion commands to the serial DAC chips for each axis of motion.

Technical scheme of the present invention is summarized as follows:

A modular simple multi-axis motion control device is characterized in that it includes at least a first processing module, a second processor module and a base plate; the base plate includes at least a signal conditioning circuit 1, a signal conditioning circuit 2, and a signal conditioning circuit 3 , power management module, dial switch, DSP bus extension interface, spindle interface, auxiliary encoder interface, motion axis interface, switch input interface and digital output interface; the first processor module and the second processor module respectively Independent, connected through IO pins.

The bidirectional input and output ports of the signal conditioning circuit 1 are respectively connected to the main shaft interface, the motion axis interface, the auxiliary encoder interface and the second processor module; the output end of the signal conditioning circuit 2 is connected to the second processor module, The input end is connected with the switch input interface; the output end of the signal conditioning circuit 3 is connected with the digital output interface on the base plate, and the input end is connected with the second processor module; one end of the DSP bus expansion interface is connected with the first processing module The other end is connected to the custom bus interface; the dial switch is connected to the first processing module; the input terminal of the power management module is connected to an external DC power supply, and the output terminal outputs the working voltage required by each module and the Each module is connected; one end of the motion axis interface is connected to the signal conditioning circuit 1, and the other end is connected to the peripheral motor drive device and the encoder of each motion axis; the spindle interface includes an analog spindle interface and a digital spindle interface; the One end of the analog spindle interface and the digital spindle interface are connected to the signal conditioning circuit 1, and the other end is connected to the peripheral motor drive device; one end of the switch input interface is connected to the signal conditioning circuit 2, and the other end receives the axis limit and origin signals; One end of the auxiliary encoder interface is connected to the signal conditioning circuit module 1, and the other end is connected to the encoder of the main shaft.

The motion axis interface includes four motion axis interfaces, which are A motion axis interface, B motion axis interface, C motion axis interface, and D motion axis interface; connected to the device.

The spindle interface includes an analog spindle interface and a digital spindle interface; the analog spindle interface is connected to the peripheral analog spindle drive device; the digital spindle interface is connected to the peripheral digital spindle drive device.

The DIP switch in the present invention is connected to the first processor module; when there are multiple multi-axis motion control devices connected to the custom bus, the DIP switch is used as a multi-axis motion control device The ID number enables the peripheral master controller to identify each multi-axis motion controller.

The first processor module of the present invention is at least made up of a DSP chip, an FPGA chip, an independent power supply chip, an independent crystal oscillator, a reset circuit and a JTAG/AS download port; the second processing module includes at least an FPGA chip , an independent power supply chip, an independent crystal oscillator, a reset circuit and a JTAG/AS download port; the DSP chip of the first processor module is connected to the FPGA chip. The FPGA in the first processor module stores data such as motion instructions and feedback information of each multi-axis motion control device, and is used for the peripheral main control device and the DSP in the first processor module and the second processing The communication of the processor module; the DSP in the first processor module is used as the core computing unit, receives the control instruction of the peripheral main control device and sends the control instruction to the second processor module; the second processor module is used for Manage the IO interface of the entire multi-axis motion control device.

The signal conditioning circuit 1 at least includes an analog command signal conditioning circuit module, a command pulse signal conditioning circuit module and an encoder signal conditioning circuit module; the analog command signal conditioning circuit module includes at least an optocoupler isolation circuit, a plurality of serial DAC chips and a power amplifying circuit; the instruction pulse signal conditioning circuit module at least includes an optocoupler isolation circuit and a single-ended differential circuit; the encoder signal conditioning circuit module includes at least an optocoupler isolation circuit, a single-ended differential circuit and a double-inversion circuit.

The single-channel clock signal and the single-channel serial data signal output by the second processor module pass through the optocoupler isolation circuit of the analog command signal conditioning circuit module, and are respectively connected with each channel in the analog command signal conditioning circuit module. The clock input terminal of the serial DAC chip is connected with the serial data signal input terminal, so that all serial DAC chips work in the same clock domain; the multiple control signals of the serial DAC chips of each channel output by the second processor module After passing through the optocoupler isolation circuit of the analog command signal conditioning circuit module, it is respectively connected with the control signal input end of the serial DAC chip of the corresponding channel of the analog command signal conditioning circuit module; The output ends of the serial DAC chips of each channel are respectively connected to the input ends of the power amplification circuits of the corresponding channels of the analog command signal conditioning circuit module.

The beneficial effects of the present invention are:

(1) The present invention is compatible with a custom bus and is flexible to use;

(2) The present invention adopts a modular design concept, which at least includes a first processing module, a second processing module, and a base plate; each module is independent of each other, has better maintainability and is convenient for future upgrades;

(3) The present invention adopts the dial switch, which is convenient for the peripheral main control device to identify the multi-axis motion control device;

(4) In the present invention, the division of labor between the first processor module and the second processor module is clear, the hardware architecture is reasonable, and the operating efficiency of the multi-axis motion control system is improved.

Description of drawings

Fig. 1 is a structural schematic diagram of a modularized simple multi-axis motion control device;

Fig. 2 is a schematic structural diagram of an analog command signal conditioning circuit module;

Fig. 3 is the structural representation of instruction pulse signal conditioning circuit module;

Fig. 4 is a schematic structural diagram of an encoder signal conditioning circuit module.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

The present invention is a modular simple multi-axis motion control device, as shown in Figure 1, the motion control device at least includes a first processor module, a second processor module and a base plate; the first processor module and the second The processor modules are independent and connected through IO pins; the first processor module and the second processor module are built on the base plate through slot interfaces.

The bottom board includes at least signal conditioning circuit 1, signal conditioning circuit 2, signal conditioning circuit 3, power management module, DIP switch, DSP bus expansion interface, spindle interface, auxiliary encoder interface, motion axis interface, digital input interface and digital quantity output interface; the bidirectional input and output ports of the signal conditioning circuit 1 are respectively connected to the main shaft interface, the motion axis interface, the auxiliary encoder interface and the second processor module; the output end of the signal conditioning circuit 2 is connected to the second processor module The device module is connected, and the input end is connected with the switch input interface; the output end of the signal conditioning circuit 3 is connected with the digital output interface on the base plate, and the input end is connected with the second processor module; one end of the DSP bus expansion interface is connected with the The first processing module is connected, and the other end is connected to a custom bus interface; the dial switch is connected to the first processing module; the input terminal of the power management module is connected to an external DC power supply, and the output terminal outputs the required work of each module respectively. The voltage is connected to the modules; one end of the motion axis interface is connected to the signal conditioning circuit 1, and the other end is connected to the peripheral motor drive device and encoder; the spindle interface includes an analog spindle interface and a digital spindle interface; the One end of the analog spindle interface and the digital spindle interface are connected to the signal conditioning circuit 1, and the other end is connected to the peripheral motor drive device; one end of the switch input interface is connected to the signal conditioning circuit 2, and the other end receives the axis limit and origin signals; One end of the auxiliary encoder interface is connected to the signal conditioning circuit module 1, and the other end is connected to the encoder of the main shaft.

The first processor module of the present invention is at least made up of a DSP chip, an FPGA chip, an independent power supply chip, an independent crystal oscillator, a reset circuit and a JTAG/AS download port; the second processing module includes at least an FPGA chip , an independent power chip, an independent crystal oscillator, a reset circuit and a JTAG/AS download port; the DSP chip of the first processor module is connected to the FPGA chip through an IO pin. The FPGA in the first processor module stores data such as motion instructions and feedback information of each multi-axis motion control device, and is used for the peripheral main control device and the DSP in the first processor module and the second processing The communication of the processor module; the DSP in the first processor module is used as the core computing unit, receives the control instruction of the peripheral main control device through the FPGA in the first processor module and sends the control instruction to the second processor module; the second processor module is used to manage the IO interface of the entire multi-axis motion control device.

The DIP switch of the present invention is connected to the first processor module; when multiple multi-axis motion devices of this type are connected to the custom bus, the output value of the DIP switch is used as the The ID number of the axis motion control device enables the peripheral main control device to identify each multi-axis motion device of this type.

Described motion axis interface comprises four motion axis interfaces, is A motion axis interface, B motion axis interface, C motion axis interface, D motion axis interface respectively; Quantitative encoder is connected.

The spindle interface includes an analog spindle interface and a digital spindle interface; the analog spindle interface is connected to the peripheral analog spindle drive device; the digital spindle interface is connected to the peripheral digital spindle drive device.

The present embodiment will be further described below in conjunction with the accompanying drawings.

Overall structure of the present invention as shown in Figure 1, to the first processor module, the present embodiment has adopted the FPGA chip EP1C12Q240C8 of the DSP chip of TMS320C67XX series of TI company and the Cyclone series of Altera company; The first processor module can adopt current any A mainstream processor of any model from the manufacturer replaces the processor module in the embodiment. For the second processor module, the present embodiment adopts the FPGA chip XC3S400A of Xilinx Company; the second processor module can adopt the mainstream processor of any model of any current manufacturer to replace the processor module in the embodiment. The switching value signal input interface is at least composed of an optocoupler isolation circuit and an inverter. One end of the optocoupler isolation circuit is connected to the inverter, and the other end receives the external axis origin and limit signals; one end of the inverter is connected to the optocoupler isolation circuit, and the other end is connected to the signal conditioning circuit 2. The digital output interface is at least composed of a power amplifier circuit, an optocoupler isolation circuit, and a Darlington tube circuit; one end of the power amplifier circuit is connected to the signal conditioning circuit module 3, and the other end is connected to the optocoupler isolation circuit; one end of the optocoupler isolation circuit is connected to the The power amplification circuit is connected, and the other end is connected with the Darlington tube circuit; one end of the Darlington tube circuit is connected with the optocoupler isolation circuit, and the other end is connected with the peripheral motor driver. The power management module is at least composed of a power management chip and a voltage stabilizing chip, and the power management chip is connected to the voltage stabilizing chip; wherein the input end of the power management chip is connected to an external power supply. The signal conditioning circuit 1 is at least composed of an analog command signal conditioning circuit module, a command pulse signal conditioning circuit module and an encoder signal conditioning circuit module.

As shown in Figure 2, the analog command signal conditioning circuit module is composed of an optocoupler isolation circuit, a serial DAC chip and a power amplifier; the single-channel clock signal CLK and the single-channel serial data signal SDI output by the second processor module pass through After the optocoupler isolation circuit, it is respectively connected with the clock input end and the serial data signal input end of the described serial DAC chip of each channel, so that all serial DAC chips work in the same clock domain; the second processor The multi-channel control signal CLX (X=1, 2, 3, 4, M) of each channel serial DAC chip output by the module corresponds to the axis number of the analog signal output: motion axis A, motion axis B, motion axis C, motion Axis D and main shaft) after passing through the optocoupler isolation circuit, are respectively connected with the control signal input terminals of the serial DAC chip of the corresponding channel; the serial DAC chip of each channel of the analog command signal conditioning circuit module The output terminals of the corresponding channels are respectively connected to the input terminals of the power amplifier circuit. One end of the serial DAC chip of each channel of the analog command signal conditioning circuit module is connected to the optocoupler isolation circuit, and one end is connected to the power amplifier circuit of each channel of the analog command signal conditioning circuit module; One end of the power amplification circuit of each channel of the analog command signal conditioning circuit module is connected to the serial DAC chip of each channel of the analog command signal conditioning circuit module, and the other end is connected to the motion shaft interface and the analog Spindle interface connection. In this embodiment, a single-channel serial DAC714 chip is used as the serial DAC chip.

As shown in Figure 3, the command pulse signal conditioning circuit module is at least composed of an optocoupler isolation circuit and a single-ended differential circuit; wherein one end of the optocoupler isolation circuit is connected to the direction signal output phydire[x] of the second processor module and the pulse The signal output phypulse[x] (x=0, 1, 2, 3, 4, respectively corresponding to the axis number of digital signal output: main shaft, motion axis A, motion axis B, motion axis C, and motion axis D) is connected, and the other One end is connected to the single-ended differential circuit; one end of the single-ended differential circuit is connected to the optocoupler isolation circuit, and the other end is connected to the motion axis interface and the digital spindle interface.

As shown in Figure 4, the encoder signal conditioning circuit module is at least composed of a single-ended variable differential circuit, an optocoupler isolation circuit and a double inverting circuit; one end of the single-ended variable differential circuit is connected to the optocoupler isolation circuit, and the other end is respectively connected to the optocoupler isolation circuit. The above-mentioned motion shaft interface is connected with the auxiliary encoder interface; one end of the optocoupler isolation circuit is connected to the single-ended variable differential circuit, and the other end is connected to the double inverting circuit; Connect with the second processor module. In the figure, A[x]± and B[x]± are the differential signal input of the AB two-phase encoder with a phase difference of 90 degrees on each axis, and Z[x]± is the differential signal input of the reference pulse of the encoder on each axis; x=0 , 1, 2, 3, 4, respectively corresponding to the axis number of the feedback signal input: main shaft, motion axis A, motion axis B, motion axis C, and motion axis D.

In this specification, it should be pointed out that the above embodiments are only representative examples of the present invention. Apparently, the present invention is not limited to the above-mentioned specific embodiments, and various modifications, transformations, and deformations can also be made. Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall be deemed to belong to the protection scope of the present invention.

Claims (5)

1. A modular multi-axis motion control device is characterized in that: it at least comprises a first processor module, a second processor module and a base plate; said base plate at least comprises a DSP bus extension interface, a main shaft interface, an auxiliary encoder Interface, motion axis interface, digital input interface, digital output interface, signal conditioning circuit 1, signal conditioning circuit 2, signal conditioning circuit 3, power management module, dial switch; The first processor module and the second processor module are independent, and the first processor module and the second processor module are connected through IO pins; the first processor module includes at least one DSP chip, an FPGA chip; The second processing module includes at least one FPGA chip; The DSP chip of the first processor module is connected to the FPGA chip of the first processor module by an IO pin; The DSP in the processor module is used as the core computing unit, and receives the control instruction of the peripheral main control device through the FPGA in the first processor module and sends the control instruction to the second processor module; The spindle interface includes an analog spindle interface and a digital spindle interface; the analog spindle interface is connected to a peripheral analog spindle drive device; the digital spindle interface is connected to a peripheral digital spindle drive device; The signal conditioning circuit 1 is connected to the motion axis interface, the main shaft interface, the auxiliary encoder interface and the second processor module; the signal conditioning circuit 2 is connected to the switch input interface and the second processor module; the signal conditioning circuit 3. Connect with the digital output interface and the second processor module; After the clock signal and the serial data signal output by the second processor module pass through the optocoupler isolation circuit of the analog command signal conditioning circuit module, they are respectively connected with the clock signals of each serial DAC chip of the analog command signal conditioning circuit module. It is connected with the serial data signal input end; the control signals of each serial DAC chip output by the second processor module pass through the optocoupler isolation circuit of the analog command signal conditioning circuit module, and are respectively connected with the analog command signal The control signal input terminals of the corresponding serial DAC chips of the conditioning circuit module are connected; the output terminals of each serial DAC chip of the analog command signal conditioning circuit module are respectively connected with the corresponding analog command signal conditioning circuit modules The input end of the power amplification circuit is connected; one end of the power amplification circuit of each channel of the analog command signal conditioning circuit module is connected with the serial DAC chip of each channel of the analog command signal conditioning circuit module, and the other end It is connected with the motion axis interface and the analog spindle interface. 2. A modular multi-axis motion control device according to claim 1, characterized in that: one end of the DSP bus expansion interface is connected to the first processor module, and the other end is connected to the peripheral main control device. 3. A modularized multi-axis motion control device according to claim 1, characterized in that: the motion axis interface includes four motion axis interfaces, which are A motion axis interface, B motion axis interface, and C motion axis interface respectively. Axis interface, D motion axis interface; each motion axis interface is connected to the peripheral servo drive. 4. A modular multi-axis motion control device according to claim 1, characterized in that: the output value of the dial switch is used as the ID number of the multi-axis motion controller, and its output terminal is connected to the first A processor module is connected. 5. A modular multi-axis motion control device according to claim 1, characterized in that: said signal conditioning circuit 1 at least includes an analog command signal conditioning circuit module, a command pulse signal conditioning circuit module and an encoder signal conditioning circuit module A circuit module; the analog command signal conditioning circuit module at least includes an optocoupler isolation circuit, multiple serial DAC chips, and a power amplifier circuit; the command pulse signal conditioning circuit module includes at least an optocoupler isolation circuit and a single-ended differential circuit; The encoder signal conditioning circuit module at least includes an optocoupler isolation circuit, a single-end to differential circuit and a double-inversion circuit.