CN102866707A - All-digital servo-control system for microcomputer mouse - Google Patents

Abstract

The invention discloses an all-digital servo-control system for a microcomputer mouse, which comprises a singlechip, a first load module (LM) 629 chip, a second LM629 chip, a first motor driver, a second motor driver, a first motor and a second motor, wherein the singlechip is respectively communicated with the first LM629 chip and the second LM629, the first LM629 chip sends out a control signal to the first motor driver, the second LM629 chip sends out a control signal to the second motor driver, the first motor is controlled by the first motor driver, and the second motor is controlled by the second motor driver. In the all-digital servo-control system for the microcomputer mouse, the dual-core processor based on the singlechip and the LM629 is formed, so that the singlechip is released from heavy workload to greatly enhance the anti-jamming capability.

Description

Microcomputer mouse full digital servo control system

technical field

The present invention relates to the technical field of micro-robots, and in particular to a full-digital servo control system for microcomputer mice.

Background technique

The microcomputer mouse is an intelligent walking robot composed of embedded microcontrollers, sensors and electromechanical moving parts. It has been competing abroad for nearly 30 years. Its principle can be transformed into a variety of practical industrial robots. It has only been introduced into China in recent years. , and gradually become a new competition project. The microcomputer mouse can automatically memorize and select paths in different "mazes", and use corresponding algorithms to quickly reach the set destination. An excellent microcomputer mouse must have good perception ability, good walking ability, and excellent intelligent algorithm. A complete microcomputer mouse can be roughly divided into the following parts:

1) Sensor: The sensor is the eyes of the microcomputer mouse, which is the basis for the microcomputer mouse to accurately obtain external environmental information, and then transmit the external information to the microprocessor for various condition judgments.

2) Motor: The executive motor is the power source of the microcomputer mouse, which executes the relevant actions of the microcomputer mouse when it walks in the maze according to the instructions of the microprocessor.

3) Algorithms: Algorithms are the soul of the microcomputer mouse. The microcomputer mouse must use a certain intelligent algorithm to find the end point, find the shortest path, and reach the end point in the shortest time.

4) Microprocessor: The microprocessor is the core part of the microcomputer mouse, and it is the brain of the microcomputer mouse. All the information of the microcomputer mouse, including wall information, position information, angle information and motor status information, etc. need to be processed by the microprocessor and make corresponding judgments.

The microcomputer mouse combines multi-disciplinary knowledge, which is very helpful for improving students' hands-on ability, teamwork ability and innovation ability, promoting students' digestion of classroom knowledge and expanding students' knowledge. In addition, the computer mouse maze is very interesting, easy to get the recognition and participation of students, and can well stimulate and guide students' interests and hobbies in this area. Its development will inevitably improve the technical level and application ability of the participants in related fields, and provide a platform for technological innovation. It can cultivate a large number of talents in related fields, and then promote the technological development and industrialization process in related fields.

Because domestic research and development of this robot is less, the reading level of international rules is relatively low, and the relative level is relatively backward. The microcomputer mouse full-digital servo control system in the prior art includes a single-chip microcomputer. Long-running discovery has many security issues, including:

(1) The eyes of the microcomputer mouse use ultrasonic or general infrared sensors, which makes the microcomputer mouse misjudge the surrounding maze when it sprints quickly;

(2) As the actuator of the microcomputer mouse, a stepper motor is used, which often encounters the problem of missing pulses, resulting in errors in the memory of the sprint position;

(3) Due to the use of stepping motors, the body heats up more seriously, which is not conducive to fast sprinting in large and complex mazes;

(4) Due to the use of relatively low-level algorithms, sprinting in the maze generally takes 15 to 30 seconds, which makes it impossible to win in real competitions;

(5) Due to the frequent braking and starting of the microcomputer mouse during the fast sprint process, the workload of the single-chip microcomputer is increased, and the single-chip signal processor cannot meet the requirements of the fast sprint of the microcomputer mouse;

(6) Relatively, some relatively large plug-in components are used, which makes the microcomputer mouse relatively large in size and cannot meet the requirements of fast sprinting;

(7) Due to the interference of unstable factors in the surrounding environment, especially the interference of some surrounding light, the microcontroller controller often appears abnormal, causing the microcomputer mouse to lose control and have poor anti-interference ability;

(8) For the microcomputer mouse with differential speed control, it is generally required that the control signals of the two motors should be synchronized, but it is difficult to do it for a single single-chip microcomputer, which makes the microcomputer mouse go back and forth when driving on a straight road. Compensation, especially for high-speed sprinting, the microcomputer mouse sometimes swings a lot in the maze;

(9) Due to the influence of the capacity and algorithm of the single-chip microcomputer, the microcomputer mouse does not store the information of the maze, and all the information will disappear when encountering a power failure, which makes the entire sprint process impossible to complete;

(10) During the operation of the microcomputer mouse, if it hits a wall, the motor will be blocked, which will cause the instantaneous current of the motor to be too large, and in severe cases, the motor will be burned out.

Therefore, it is necessary to redesign the existing all-digital servo control system of microcomputer mouse based on single-chip microcomputer control.

Contents of the invention

In view of the above problems, the object of the present invention is to provide a microcomputer mouse full digital servo control system, which solves the problem of poor anti-interference ability in the prior art.

In order to solve the above-mentioned technical problems, a technical solution adopted by the present invention is to provide a microcomputer mouse all-digital servo control system, including a single-chip microcomputer, a first LM629 chip, a second LM629 chip, a first motor driver, a second motor driver, a second A motor, a second motor, the single-chip microcomputer communicates with the first LM629 chip and the second LM629 chip respectively, the first LM629 chip sends a control signal to the first motor driver, and the second LM629 chip sends a control signal To the second motor driver, the first motor driver controls the first motor, and the second motor driver controls the second motor.

In a preferred embodiment of the present invention, a first encoder is connected between the first LM629 chip and the first motor, and a second encoder is connected between the second LM629 chip and the second motor. device.

In a preferred embodiment of the present invention, the first LM629 chip and the second LM629 chip also include a motion ladder diagram generator inside, and the motion ladder diagram generator is used to generate a speed motion ladder diagram, and the area included It is the distance that the two motors of the microcomputer mouse need to run.

In a preferred embodiment of the present invention, the first LM629 chip and the second LM629 chip further include a motor position decoder, and the motor position decoder is used to interpret the position data of the microcomputer mouse.

In a preferred embodiment of the present invention, the first LM629 chip and the second LM629 chip further include a closed-loop PID regulator, and the closed-loop PID regulator is used to adjust the driving power of the microcomputer mouse.

In a preferred embodiment of the present invention, an optical code disc is installed on the first motor and the second motor, and the optical code disc is used to output the position signal of the microcomputer mouse.

In a preferred embodiment of the present invention, the single-chip microcomputer also communicates with the sensor, and the sensor is used to judge the surrounding environment and send it to the single-chip microcomputer, and the single-chip microcomputer converts these environmental parameters into the distance that the left and right wheels of the microcomputer mouse will run , speed and acceleration.

In a preferred embodiment of the present invention, it is characterized in that the sensors include a front barrier sensor, a side barrier sensor and a voltage sensor.

In a preferred embodiment of the present invention, the single-chip microcomputer is an industrial grade C8051F120.

The microcomputer mouse all-digital servo control system of the present invention, in order to improve the calculation speed and ensure the stability and reliability of the microcomputer mouse all-digital servo control system, the present invention introduces a special LM629 chip for precise motion control into the control system based on the single-chip microcomputer, forming Based on the single-chip microcomputer + LM629 dual-core processor, the single-chip microcomputer is freed from the heavy workload, and the anti-interference ability is greatly enhanced.

Description of drawings

Fig. 1 is the structural block diagram of the microcomputer mouse all-digital servo control system of preferred embodiment of the present invention;

Fig. 2 is a hardware circuit diagram of a microcomputer mouse all-digital servo control system in a preferred embodiment of the present invention.

Detailed ways

The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.

Since the birth of single-chip microcomputer in the late 1970s, it has gone through three stages: single-chip microcomputer SCM, microcontroller MCU and system-on-chip SoC. The first two stages are represented by MCS-51 and 80C51 respectively. As the performance and function requirements of single-chip microcomputers in the embedded field are getting higher and higher, the previous single-chip microcomputers cannot meet the new design requirements in terms of operating speed and system integration. At this time, Silicon Labs launched the C8051F series Single-chip microcomputer has become a typical representative of SoC. C8051F has the characteristics of quick learning (full compatibility with 8051 instruction set), fast development (easy-to-use development tools, shortening the development cycle) and quick results (flexible debugging methods). Its performance advantages are specifically reflected in the following aspects: Based on the enhanced CIP- 51 core, whose instruction set is fully compatible with MCS-51, has a standard 8051 organizational structure, and can use standard 803x/805x assemblers and compilers for software development. CIP-51 adopts a pipeline structure, and 70% of the instruction execution time is 1 or 2 system clock cycles, which is 12 times the execution speed of standard 8051 instructions; its peak execution speed can reach 100MIPS (C8051F120, etc.), which is the fastest in the world at present. The fastest 8-bit microcontroller; increased interrupt sources. The standard 8051 has only 7 interrupt sources. The Silicon Labs C8051F series MCU has extended interrupt processing, which is very important for the processing of real-time multitasking systems. The extended interrupt system provides 22 interrupt sources to CIP-51, allowing a large number of analog and digital Peripheral interrupts An interrupt processing requires less CPU intervention but has higher execution efficiency; it integrates rich analog resources, most of the C8051F series microcontrollers integrate a single or two ADCs, and the role of the on-chip analog switch It can realize the acquisition and conversion of multi-channel analog signals; the sampling accuracy of the on-chip ADC can reach up to 24bit, and the sampling rate can reach up to 500ksps. Some models also integrate a single or two independent high-resolution DACs, which can meet most The application of most mixed-signal systems realizes the seamless interface with the analog electronic system; the on-chip temperature sensor can quickly and accurately monitor the ambient temperature and make corresponding processing through the program, which improves the reliability of the system operation. Selecting C8051F120 as the central processing unit of this system can fully meet the needs of the system.

The LM629 chip is a dedicated chip for precision motion control produced by National semiconductor. It has two surface-mounted packages, 24-pin and 28-pin. It integrates all the functions of digital motion control in one chip, making the design a fast, The task is made light and easy with an accurate motion control system that has the following features:

1) The working frequency is 6MHz and 8MHz, the working temperature range is -40℃~+85℃, and the power supply is 5V;

2) 32-bit position, speed and acceleration registers;

3) 8-bit resolution PWM pulse width modulation output;

4) 16-bit programmable digital PID controller;

5) Internal trapezoidal velocity generator;

6) The chip can modify the speed, target position and PID control parameters in real time;

7) Real-time programmable interrupt; programmable differential item sampling interval;

8) Quadruple the frequency of the incremental code disc signal;

9) It can be set in two working states of speed or position servo.

The above features make the LM629 chip especially suitable for servo motion control.

As shown in Fig. 1, it is a block diagram of a microcomputer mouse all-digital servo control system in a preferred embodiment of the present invention. In this embodiment, the microcomputer mouse full digital servo control system includes a single-chip microcomputer, a first LM629 chip, a second LM629 chip, a first motor driver, a second motor driver, a first motor, and a second motor. One LM629 chip communicates with the second LM629 chip, the first LM629 chip sends a control signal to the first motor driver, the second LM629 chip sends a control signal to the second motor driver, and the first motor driver The first motor is controlled, and the second motor driver controls the second motor.

Among the above, a first encoder is also connected between the first LM629 chip and the first motor; a second encoder is also connected between the second LM629 chip and the second motor; The data bus communicates with the first LM629 chip; the single-chip microcomputer communicates with the second LM629 chip through the control bus.

In the present invention, the first LM629 chip and the second LM629 chip both include an interface, a motion ladder diagram generator, a motor position decoder and a closed-loop PID regulator. Described interface is I/O mouth, is used for connecting data bus and control bus; Described motion ladder diagram generator is used for generating velocity motion ladder diagram, and the area that it comprises is exactly the distance that two motors of microcomputer mouse will run; So The motor position decoder is used to interpret the position data of the microcomputer mouse; the closed-loop PID regulator is used to adjust the driving power of the microcomputer mouse.

In the present invention, the single-chip microcomputer also communicates with the sensor, and the sensor is used to judge the surrounding environment and send it to the single-chip microcomputer, and the single-chip microcomputer converts these environmental parameters into the running distance, speed and acceleration of the left and right wheels of the microcomputer mouse. The sensors include front barrier sensors S1, S2, S3, S4, side barrier sensors and voltage sensors S5, S6, and the voltage sensor S7.

Please refer to Fig. 2, the full digital servo control system of the microcomputer mouse in the present invention also includes a battery, a processor unit, a first controller, a second controller, a first high-speed DC motor, a second high-speed DC motor and a microcomputer mouse. Wherein, the battery is a lithium-ion battery, which is a power supply device and provides working voltage for the operation of the whole system. The processor unit has a built-in control system, and the processor unit sends control signals to the first controller and the second controller, and the first controller controls the second high-speed DC motor and the second controller respectively. A high-speed DC motor, after the driving signals of the first high-speed DC motor and the second high-speed DC motor are synthesized by the signal processor, the speed of the microcomputer mouse is controlled by the first high-speed DC motor, and the second high-speed DC motor Control the direction of the microcomputer mouse. Wherein, the processor unit is a dual-core processor, including a single-chip microcomputer, a first LM629 chip and a second LM629 chip, and real-time data exchange and call are performed between the single-chip microcomputer and the LM629 chip.

In order to overcome the single-chip microcomputer that cannot meet the stability and rapidity requirements of the full-digital servo control system of the microcomputer mouse, the present invention abandons the working mode of the single-chip microcomputer used in the full-digital servo control system of the microcomputer mouse, and provides a system based on a single-chip microcomputer + LM629 chip new control mode. The processor unit uses the LM629 chip as the processing core to realize real-time processing of digital signals, free the single-chip microcomputer from complex work, realize part of the signal processing algorithm and the control logic of the LM629 chip, and respond to interrupts to realize real-time data communication and storage. Signal.

Concrete function of the present invention realizes as follows:

1) In order to be able to drive the microcomputer mouse to move, this control system introduces two LM629 chips, but enters real-time communication with the single-chip microcomputer through the I/O port, and the single-chip microcomputer controls its opening and closing;

2) The moment the power is turned on, the MCU will detect the battery voltage. If the voltage is low, the LM629 chip will be prohibited from working, and the motor will not be self-locking. At the same time, the voltage sensor S7 will work and prompt an alarm signal;

3) For the system based on LM629 chip, the detection of "busy" status is the primary part of the whole servo system design. After the processor writes commands to the LM629 chip or reads and writes numbers, the "busy" status bit will be set immediately , at this time, all command data transmission will be ignored until the "busy" status is reset, so check this status bit before each movement to determine whether it is "busy", if it is "busy", perform a software reset to make the system Data communication is possible;

4) For the system based on the LM629 chip, reset is also an important link in the operation of the LM629 chip servo system. After reset, check the status word of the LM629 chip. If it is not equal to 84H or C4H, it means that the hardware reset failed and must be reset again. Otherwise, the LM629 chip cannot work normally;

5) During the movement of the microcomputer, the sensors S1, S2, S3, S4, S5, and S6 judge the surrounding environment and send it to the single-chip microcomputer. The single-chip microcomputer converts these environmental parameters into the distance, speed and acceleration of the left and right wheels of the microcomputer mouse. The single-chip microcomputer Then communicate with the LM629 chip, transmit these parameters to the LM629 chip, and then the LM629 chip generates a speed motion ladder diagram. The area contained in this trapezoid is the distance that the two motors of the microcomputer mouse need to run;

6) During the exercise, if the microcomputer mouse finds that there is an infinite loop in the maze solution, it will send an interrupt request to the MCU, and the MCU will respond to the interruption at the first time. If the interrupt response of the MCU has not been processed in time, the first motor and the second The motor will self-lock in place;

7) The optical code disc installed on the first motor and the second motor will output its position signal A and position signal B. Every time the logic state of the position signal A pulse and B pulse of the optical code disc changes, the position register in the LM629 chip It will add 1 or subtract 1 according to the running direction of the left and right wheels;

8) When the position signal A pulse, B pulse and Z pulse of the optical code disc are at low level at the same time, an INDEX signal is generated to the LM629 chip to record the absolute position of the motor, and then converted into the specific position of the microcomputer mouse in the maze;

9) According to the specific position of the microcomputer mouse in the maze, the controller sends the corresponding acceleration, speed and position data to the ladder diagram generator of the LM629 chip as a reference value, and calculates the actual acceleration and speed of the microcomputer mouse to be updated from the ladder diagram. and position signals;

10) The closed-loop PID regulator determined by the motion ladder generator combined with the motor position decoder generates the PWM wave signal required by the power drive bridge and the forward and reverse signals of the motor, which are used to realize the servo of the first motor and the second motor of the microcomputer mouse system control;

11) If the microcomputer mouse encounters a fault and hits the wall during operation, the motor current will increase. When it exceeds the set value, the interrupt command LPES of the LM629 chip will send an interrupt request to the controller, and the controller will immediately Control the LM629 chip to stop working, thus effectively solving the problem of stalling.

12) The microcomputer mouse will constantly detect the battery voltage during operation. When the system has a low voltage, the sensor S7 will be turned on and an alarm will be issued, which effectively protects the lithium-ion battery.

In summary, the microcomputer mouse all-digital servo control system disclosed by the present invention, in order to improve the computing speed and ensure the stability and reliability of the microcomputer mouse all-digital servo control system, the present invention introduces the LM629 chip into the single-chip microcomputer of the processor unit , forming a dual-core processor based on single-chip microcomputer + FPGA, realizing the division of labor between single-chip microcomputer and LM629 chip, freeing the single-chip microcomputer from the heavy workload, and greatly enhancing the anti-interference ability.

The beneficial effects that the microcomputer mouse all-digital servo control system of the present invention has are:

1: In the process of exercise, the role of the battery in this system is fully considered. Based on the single-chip microcomputer + LM629 controller, the running state of the microcomputer mouse is monitored and calculated at all times to avoid the generation of large current, so it is fundamentally solved. Avoid the impact of high current on lithium-ion batteries, and avoid the occurrence of excessive aging of lithium-ion batteries caused by high-current discharge:;

2: The LM629 chip handles the independent servo control of the two motors of the microcomputer mouse, which makes the control relatively simple, greatly improves the calculation speed, solves the bottleneck of the slow operation of the single-chip software, shortens the development cycle, and has strong program portability ;

3: The present invention basically realizes the material of all chip components and single board control, which not only saves the space occupied by the control board, but also realizes the independent control of the speed and direction of the microcomputer mouse, which is beneficial to improve the stability of the microcomputer mouse and dynamic performance.

4: In order to improve the calculation speed and precision, this microcomputer mouse adopts the most widely used infrared sensor OPE5594A in the world, which greatly improves the calculation accuracy and prevents the microcomputer mouse from swinging in the maze;

5: Because this controller uses LM629 chip to process a large amount of data and algorithms, and fully considers the surrounding interference sources, and frees the single-chip microcomputer from the heavy workload, the anti-interference ability is greatly enhanced.

6: The PWM modulation signal and direction signal are output by the LM629 chip, and the motor can be directly driven through the drive circuit, which not only reduces the burden on the single-chip microcomputer, simplifies the interface circuit, but also saves the need to write position, speed control programs, and various PIDs inside the single-chip microcomputer The trouble of the algorithm makes the debugging of the system simple;

7: During the operation of the microcomputer mouse, the controller will identify the torque of the motor online and use the relationship between the motor torque and current to compensate, reducing the influence of motor torque jitter on the rapid exploration of the microcomputer mouse;

8: In the control, the single-chip microcomputer can adjust the PID parameters inside the LM629 chip according to the actual surrounding maze conditions, and easily realize segmented P, PD, PID control and nonlinear PID control, so that the system has a certain degree of self-adaptation;

9: The unique interrupt command LPES of the LM629 chip can solve the problem of the motor stalling when the microcomputer mouse encounters a collision with a wall during operation. Using the interrupt command LPES can immediately stop the output and issue an interrupt command when the output exceeds the set value. , thus effectively solving the stall problem;

10: Due to the storage function, the microcomputer mouse can easily retrieve the explored maze information after power-off, greatly reducing the time and path of the second exploration;

11: The PID control and motion control instructions of the LM629 chip adopt a double buffer structure, the data is first written into the first LM629 chip, and only after the relevant commands are written can the data in the main register be further loaded into the second LM629 chip, which is easy to implement The synchronization of the left and right wheels makes the left and right wheels have good synchronization;

12: Since the single-chip microcomputer adopted is an industrial-grade C8051F120, while satisfying the practicability, its core is the traditional 8051 core, so that programmers can perform secondary development very well.

The above is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description and drawings of the present invention, or directly or indirectly used in other related All technical fields are equally included in the scope of patent protection of the present invention.

Claims (9)

1. micro computer mouse Full Digitized Servo Control System, it is characterized in that, comprise single-chip microcomputer, the one LM629 chip, the 2nd LM629 chip, the first motor driver, the second motor driver, the first motor, the second motor, described single-chip microcomputer respectively with a LM629 chip and the 2nd LM629 chip communication, a described LM629 chip sends and controls signal to the first motor driver, described the 2nd LM629 chip sends and controls signal to the second motor driver, control the first motor by described the first motor driver, described the second motor driver is controlled the second motor.

2. micro computer mouse Full Digitized Servo Control System according to claim 1, it is characterized in that, also be connected with the first scrambler between a described LM629 chip and the first motor, also be connected with the second scrambler between described the 2nd LM629 chip and the second motor.

3. micro computer mouse Full Digitized Servo Control System according to claim 1, it is characterized in that, a described LM629 chip and the 2nd LM629 chip internal also comprise motion ladder diagram generator, described motion ladder diagram generator is used for formation speed motion ladder diagram, and its area that comprises is exactly the distance that two motors of micro computer mouse will move.

4. micro computer mouse Full Digitized Servo Control System according to claim 1, it is characterized in that, a described LM629 chip and the 2nd LM629 chip internal also comprise the motor position demoder, and described motor position demoder is used for understanding the position data of micro computer mouse.

5. micro computer mouse Full Digitized Servo Control System according to claim 1, it is characterized in that, a described LM629 chip and the 2nd LM629 chip internal also comprise closed loop PID regulator, and described closed loop PID regulator is used for regulating the driving power of micro computer mouse.

6. micro computer mouse Full Digitized Servo Control System according to claim 1 is characterized in that, on described the first motor and the second motor optical code disk is installed also, and described optical code disk is used for the position signalling of output micro computer mouse.

7. micro computer mouse Full Digitized Servo Control System according to claim 1, it is characterized in that, described single-chip microcomputer also with the sensor communication, environment around described sensor is used for judging is also given single-chip microcomputer, by single-chip microcomputer these environmental parameters is converted into distance, speed and the acceleration that micro computer mouse left and right wheels will be moved.

8. micro computer mouse Full Digitized Servo Control System according to claim 7 is characterized in that, described sensor comprises the place ahead keep in obscurity sensor, side keep in obscurity sensor and voltage sensor.

9. micro computer mouse Full Digitized Servo Control System according to claim 1 is characterized in that, described single-chip microcomputer is the C8051F120 of technical grade.

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