CN102789205A - Position information processing device with multiple interfaces and capable of supporting semi-closed loop control and entire closed-loop control - Google Patents
Position information processing device with multiple interfaces and capable of supporting semi-closed loop control and entire closed-loop control Download PDFInfo
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- CN102789205A CN102789205A CN2011101277573A CN201110127757A CN102789205A CN 102789205 A CN102789205 A CN 102789205A CN 2011101277573 A CN2011101277573 A CN 2011101277573A CN 201110127757 A CN201110127757 A CN 201110127757A CN 102789205 A CN102789205 A CN 102789205A
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Abstract
The invention discloses a position information processing device with multiple interfaces and capable of supporting semi-closed loop control and entire closed-loop control. The device is characterized by comprising a position sensor interface, a sensor interface controller, an information acquisition distributor and an external communication interface, wherein the position sensor interface comprises a common incremental data interface, a high speed incremental data interface and an absolute value data interface; and the external communication interface is used for communicating externally. The device is compatible with the multiple interfaces and supports various position sensors; and the position information processing device with multi-interfaces and capable of supporting semi-closed loop control and entire closed-loop control is widely applied in a numerical control machine tool and an industrial controlling device.
Description
Technical field
The present invention relates to a kind of many interfaces and can support the position information process device of half-closed loop control and the control of full cut-off ring.
Background technology
Having the device that multiple interfaces can realize the control of semiclosed loop and full cut-off ring, is that signal with multiple interfaces focuses on the enterprising row of chip piece and handles, and through certain coordination system each interface is carried out cooperation management to realize semiclosed loop and full cut-off ring control function.
Current numerical control and the position transducer in the industrial control field are of a great variety, and its interface and communication form are various day by day, and the requirement of the control of semiclosed loop and full cut-off ring improves day by day.Existing position information process apparatus function is single, is difficult to fully satisfy the demand of numerical control and industrial control field.
Summary of the invention
The present invention is directed to the proposition of above problem, and develop the position information process device that a kind of many interfaces can be supported half-closed loop control and the control of full cut-off ring.The technological means that the present invention adopts is following:
A kind of many interfaces can be supported the position information process device of half-closed loop control and the control of full cut-off ring, it is characterized in that comprising:
The position transducer interface comprises common incremental data interface, high speed incremental data interface and absolute value data interface;
The sensor interface controller is used to realize the gating of position transducer interface, and the information of interface gating is passed to the information acquisition divider;
The information acquisition divider is used to realize the allocation process of positional information, afterwards rotary speed information and linear position information is delivered to external communication interface, and configuration interface adopts half-closed loop control processing mode or full cut-off ring control and treatment mode;
Externally communication interface is used for same external communication.
Common incremental data interface in the position transducer interface and high speed incremental data interface, through wave filter or highpass filter to A, B, R three phase input signals carry out filtering, accomplish the A of filtering, the B phase signals is given phase detector module and frequency multiplier module respectively; The phase detector module is passed through A, and the change in location direction of object to be detected is judged in the relative variation of B phase place, and gives add subtract counter with the corresponding one-tenth of change in location direction counter Directional Sign signal; The frequency multiplier module is according to A, and the phase change of B phase realizes 4 frequencys multiplication, and gives add subtract counter with the pulse increment signal that produces; The renewal that adds up in real time of plus-minus counting completing place value, the latching synchronously of synchrolock storage completing place value, positional value latched when Z phase latch accomplished the pulse of Z phase.
Absolute value data interface in the position transducer interface is the LVDS signal transmitting and receiving interface with the two-way 5V level of two-way, supports EnDat, the SPI agreement.
This device is the highly integrated equilibrium product cheaply of high-performance, and a lot of advantages are arranged.
1, compatible multiple interfaces can be supported multiple position transducer.
2, can support half-closed loop control, can support the control of full cut-off ring again, for the selection of using provides great facility.
3, with realizing on the chip piece that integrated degree is high, stability is strong.
Because more than, having the device that multiple interfaces can realize that semiclosed loop and full cut-off ring are controlled can be widely used at numerically-controlled machine and industrial control equipment.
Description of drawings
Fig. 1 is the structured flowchart of device according to the invention;
Fig. 2 is the schematic diagram that common increment signal according to the invention is handled;
Fig. 3 is the schematic diagram that high speed increment signal according to the invention is handled;
Fig. 4 is the schematic diagram of half-closed loop control mode I according to the invention;
Fig. 5 is the schematic diagram of half-closed loop control mode II according to the invention;
Fig. 6 is the schematic diagram of full cut-off ring control mode I according to the invention;
Fig. 7 is the schematic diagram of full cut-off ring control mode II according to the invention;
Embodiment
Be applied to position measurement, measurement of angle, motion control field, like numerically-controlled machine, industrial control equipment.
The objective of the invention is to overcome the limitation of prior art, provide a kind of comprehensive positional information collection to distribute and realize the device of the function that semiclosed loop and full cut-off ring are controlled.
This device mainly is divided into 4 parts, is respectively the position transducer interface, sensor interface controller, information acquisition divider and external communication interface.The position transducer interface section comprises two common incremental data interfaces, one high speed incremental data interface, two absolute value data interfaces.Its structure is as shown in Figure 1.
At first externally the communication interface part is configured sensor interface controller and information acquisition divider; The information that sensor interface controller sensors configured is selected for use is to the information (half-closed loop control processing mode or full cut-off ring control and treatment mode) of information acquisition distributor arrangement position information process.The sensor interface controller is realized the gating of position transducer interface, and the information of interface gating is passed to the information acquisition divider.The information acquisition divider is realized the allocation process of positional information, afterwards rotary speed information and linear position information is delivered to external communication interface part.
Position transducer interface section structure is following:
Two common incremental data interfaces (receiving signal is: have A, B, the R three-phase, frequency is no more than 5M, the LVDS signal of 5V level).Common increment signal is handled as shown in Figure 2:
A at first, B, R three phase input signals are separately through a wave filter (digital filter, but the filtered signal upper frequency is greater than the burr of 5M).Accomplish the A of filtering, the B phase signals is given phase detector module and frequency multiplier module respectively.The phase detector module is passed through A, and the change in location direction of object to be detected is judged in the relative variation of B phase place, and gives add subtract counter with the corresponding one-tenth of change in location direction counter Directional Sign signal.The frequency multiplier module is according to A, and the phase change of B phase realizes 4 frequencys multiplication, and gives add subtract counter with the pulse increment signal that produces.The renewal that adds up in real time of plus-minus counting completing place value, the latching synchronously of synchrolock storage completing place value, positional value latched when Z phase latch accomplished the pulse of Z phase.
One high speed incremental data interface (receiving signal is: have A, B, the R three-phase, frequency is no more than 20M, the LVDS signal of 5V level).The high speed increment signal is handled as shown in Figure 3:
A at first, B, R three phase input signals are separately through a highpass filter (digital filter, but the filtered signal upper frequency is greater than the burr of 20M).Accomplish the A of filtering, the B phase signals is given phase detector module and frequency multiplier module respectively.The phase detector module is passed through A, and the change in location direction of object to be detected is judged in the relative variation of B phase place, and gives add subtract counter with the corresponding one-tenth of change in location direction counter Directional Sign signal.The frequency multiplier module is according to A, and the phase change of B phase realizes 4 frequencys multiplication, and gives add subtract counter with the pulse increment signal that produces.The renewal that adds up in real time of plus-minus counting completing place value, the latching synchronously of synchrolock storage completing place value, positional value latched when Z phase latch accomplished the pulse of Z phase.
(the LVDS signal transmitting and receiving interface with the two-way 5V level of two-way is supported EnDat, the SPI agreement to the absolute value data interface.) two.
The information acquisition divider can realize that the information acquisition distribution of half-closed loop control processing mode and the information acquisition of full cut-off ring control and treatment mode distribute, and its structure and principle are following:
The half-closed loop control mode, like Fig. 4, shown in 5:
Motor encoder angles fed back positional information through an increment or absolute value data interface, is gathered the real-time angular position information that collects according to the cycle of speed ring and the cycle of position ring respectively in real time.With speed ring synchronization position information, if will carrying out M/T, increment information tests the speed, if will carrying out M, absolute value information tests the speed, the rotary speed information that obtains axle feeds back to speed ring.
The pulse most typical method that tests the speed has measured frequency (M method) and survey cycle (T method).M method, T method respectively have quality and accommodation, and scrambler line number can not infinitely increase, Measuring Time can not oversize (must consider real-time), time of day can not be infinitely small, so often M method, T method all can't be competent at the measurement in the full speed range.Therefore produced the M/T velocimetry that M method, T method combine: measured frequency when surveying cycle, high speed during low speed.
How " low speed ", " at a high speed " in the M/T method are confirmed
Suppose that receptible error range is 1%, to record umber of pulse be f to the M method, the T method time of recording is t.
M method: 2/f＜=1%==＞f＞=200
The minimum pulse number that is one-shot measurement is 200, and establishing the corresponding speed of this frequency is V1
T method: (1/ (t-1)-1/t)/(1/t)＜=1%==＞t＞=101
The time that is one-shot measurement is 101 units, and establishing corresponding speed of this cycle is V2
If time of day is mS, then t＞=101mS
This is a theoretical precision, and practical application also will be considered the delay of pulse signal acquisition, and software and hardware is handled the time of required cost.
If V1＜V2, then the M/T method can satisfy the velocity survey in the gamut.Before the system design, just need detailed calculating, make V1＜V2 or approaching as far as possible.Can not estimate definite high low speed, ratio of gear, line of codes number by rule of thumb by light.Very unfortunate then, V1＞V2 can appear in a lot of existing systems, will occur (V2, V1) this section speed M method still is the situation that the T method all can't cover, and the way of an alleviation is exactly in that (V2, V1) section is used M method and the measurement of T method simultaneously, averages then.
The put information synchronous with position ring, be with the angular position information of gathering according to cycle of position ring according to mechanical ratio, diameter or the leading screw pitch iso-variable velocity ratiometric conversion positional information that is in line, feed back to position ring.
Full cut-off ring control mode, like Fig. 6, shown in 7:
The control of full cut-off ring is to control to rectilinear motion, not only needs motor encoder angles fed back positional information, also needs the location measurement information on the rectilinear direction.Motor encoder angles fed back positional information, through an increment or absolute value data interface, with the real-time angular position information that collects according to cycle of speed ring with gather in real time.With speed ring synchronization position information, if will carrying out M/T, increment information tests the speed, if will carrying out M, absolute value information tests the speed, the rotary speed information that obtains axle feeds back to speed ring.Location measurement information on the rectilinear direction is gathered the cycle of opsition dependent ring in real time, and positional information is fed back to position ring.
The above; Be merely the preferable embodiment of the present invention; But protection scope of the present invention is not limited thereto; Any technician who is familiar with the present technique field is equal to replacement or change according to technical scheme of the present invention and inventive concept thereof in the technical scope that the present invention discloses, all should be encompassed within protection scope of the present invention.
Claims (3)
1. interface more than a kind can be supported the position information process device of half-closed loop control and the control of full cut-off ring, it is characterized in that comprising:
The position transducer interface comprises common incremental data interface, high speed incremental data interface and absolute value data interface;
The sensor interface controller is used to realize the gating of position transducer interface, and the information of interface gating is passed to the information acquisition divider;
The information acquisition divider is used to realize the allocation process of positional information, afterwards rotary speed information and linear position information is delivered to external communication interface, and configuration interface adopts half-closed loop control processing mode or full cut-off ring control and treatment mode;
Externally communication interface is used for same external communication.
2. a kind of many interfaces according to claim 1 can be supported the position information process device of half-closed loop control and the control of full cut-off ring; It is characterized in that common incremental data interface and high speed incremental data interface in the position transducer interface; Through wave filter or highpass filter to A, B, R three phase input signals carry out filtering; Accomplish the A of filtering, the B phase signals is given phase detector module and frequency multiplier module respectively; The phase detector module is passed through A, and the change in location direction of object to be detected is judged in the relative variation of B phase place, and gives add subtract counter with the corresponding one-tenth of change in location direction counter Directional Sign signal; The frequency multiplier module is according to A, and the phase change of B phase realizes 4 frequencys multiplication, and gives add subtract counter with the pulse increment signal that produces; The renewal that adds up in real time of plus-minus counting completing place value, the latching synchronously of synchrolock storage completing place value, positional value latched when Z phase latch accomplished the pulse of Z phase.
3. a kind of many interfaces according to claim 1 can be supported the position information process device of half-closed loop control and the control of full cut-off ring; It is characterized in that the absolute value data interface in the position transducer interface is the LVDS signal transmitting and receiving interface with the two-way 5V level of two-way; Support EnDat, the SPI agreement.
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Cited By (5)
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| CN105159205A (en) * | 2015-10-16 | 2015-12-16 | 东莞市海川数控技术有限公司 | Method and device for realizing high-speed position capture applied to motion controller |
| CN106647639A (en) * | 2016-12-26 | 2017-05-10 | 南京长峰航天电子科技有限公司 | Servo control real time position obtaining method and system based on incremental mode |
| CN108309687A (en) * | 2018-01-22 | 2018-07-24 | 重庆大学 | A kind of closed-loop control system of healing robot |
| CN111665019A (en) * | 2020-06-28 | 2020-09-15 | 中国科学院长春光学精密机械与物理研究所 | Electronics simulation test system of focusing mechanism |
| CN113783051A (en) * | 2020-12-24 | 2021-12-10 | 北京京东尚科信息技术有限公司 | Communication interface kit device, communication method and sensor kit device using the same |
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