CN103123468A - Servo controller for three-shaft antenna test robot - Google Patents
Servo controller for three-shaft antenna test robot Download PDFInfo
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Abstract
本发明设计一种三轴天线测试机器人伺服控制器，属于机电控制领域。其特征在于：包括一块三轴运动控制板，控制板外围有触摸屏人机接口、上位机接口、三轴反馈通道、三轴限位模块和三轴驱动模块。触摸屏人机接口实现控制器的人机交互功能；上位机接口连接控制器与用户上位机，实现天线测试机器人的远程控制；三轴反馈通道分别采集天线测试机器人各个轴的实时角位数据；三轴限位模块用于天线测试机器人各个轴的电气限位；三轴驱动模块驱动天线测试机器人的各个电机运动。本发明为基于永磁式直流力矩电机的三轴控制系统提供了一种有效且低成本的解决方案。本发明可以控制三个轴分时独立运动，也可以控制三个轴同时关联运动。本发明主要用于三轴天线测试机器人的控制，也可以应用在其它类似的三轴伺服控制系统中。
The invention designs a three-axis antenna testing robot servo controller, which belongs to the field of electromechanical control. It is characterized in that it includes a three-axis motion control board, and the periphery of the control board has a touch screen man-machine interface, a host computer interface, a three-axis feedback channel, a three-axis limit module and a three-axis drive module. The touch screen human-machine interface realizes the human-computer interaction function of the controller; the host computer interface connects the controller and the user's host computer to realize the remote control of the antenna test robot; the three-axis feedback channel collects the real-time angle data of each axis of the antenna test robot; three The axis limit module is used for the electrical limit of each axis of the antenna test robot; the three-axis drive module drives the movement of each motor of the antenna test robot. The invention provides an effective and low-cost solution for a three-axis control system based on a permanent magnet DC torque motor. The present invention can control the time-sharing independent movement of the three axes, and can also control the simultaneous associated movement of the three axes. The invention is mainly used for the control of a three-axis antenna testing robot, and can also be applied in other similar three-axis servo control systems.
Description
技术领域 technical field
本发明设计一种三轴天线测试机器人伺服控制器，属于机电控制领域。The invention designs a three-axis antenna testing robot servo controller, which belongs to the field of electromechanical control.
背景技术 Background technique
三轴天线测试机器人是用于测试天线性能的一种设备。三轴天线测试机器人有三个运动轴：方位运动轴、俯仰运动轴和补偿运动轴，其中方位运动轴调节被测天线的方位角，运动范围为0°～360°，与另外两个轴的运动相互独立。俯仰运动轴调节被测天线的俯仰角，补偿运动轴补偿俯仰轴的运动偏差，以保证被测天线的相位中心不变，所以俯仰运动轴和补偿运动轴必需协调同步运动，俯仰角和补偿角的运动范围为0°～90°。The three-axis antenna test robot is a kind of equipment used to test the performance of the antenna. The three-axis antenna test robot has three motion axes: azimuth motion axis, pitch motion axis and compensation motion axis, in which the azimuth motion axis adjusts the azimuth angle of the antenna under test, and the motion range is 0° to 360°. Independent. The pitch motion axis adjusts the pitch angle of the antenna under test, and the compensation motion axis compensates for the motion deviation of the pitch axis to ensure that the phase center of the antenna under test remains unchanged. Therefore, the pitch motion axis and the compensation motion axis must coordinate synchronous movements, and the pitch angle and compensation angle The range of motion is 0°～90°.
在机电控制领域，构建伺服控制系统的元件有很多，就执行元件的选取来说，有的采用交流伺服电机，有的采用步进电机，有的采用无刷直流电机，有的采用有刷直流电机等，不同的电机需要搭配不同的驱动器；就反馈测量元件的选取来说，有的采用光电编码器，有的采用光栅尺，有的采用旋转变压器，有的采用霍尔传感器等，根据不同的控制需要，选择不同的传感器。In the field of electromechanical control, there are many components to build a servo control system. As far as the selection of actuators is concerned, some use AC servo motors, some use stepper motors, some use brushless DC motors, and some use brushed DC motors. Motors, etc. Different motors need to be matched with different drivers; as far as the selection of feedback measurement components is concerned, some use photoelectric encoders, some use grating rulers, some use resolvers, and some use Hall sensors, etc., according to different According to the control needs, choose different sensors.
三轴天线测试机器人是一个典型的三轴伺服系统，该型机器人采用永磁式直流力矩电机作为各运动轴的执行元件，要求各运动轴位置控制精度大于0.1°，采用14位绝对式光电编码器作为各运动轴位置测量元件，采用红外式光电开关作为各运动轴的限位检测元件，采用触摸显示屏作为人机交互界面。The three-axis antenna test robot is a typical three-axis servo system. This type of robot uses a permanent magnet DC torque motor as the actuator of each motion axis. It requires the position control accuracy of each motion axis to be greater than 0.1°. It adopts 14-bit absolute photoelectric coding. The sensor is used as the position measuring element of each movement axis, the infrared photoelectric switch is used as the limit detection element of each movement axis, and the touch screen is used as the human-computer interaction interface.
发明内容 Contents of the invention
本发明的目的在于为三轴天线测试机器人提供有效且低成本的控制方案，该方案还可以应用在基于永磁式直流力矩电机的其它三轴伺服控制系统中。The purpose of the present invention is to provide an effective and low-cost control scheme for a three-axis antenna testing robot, which can also be applied to other three-axis servo control systems based on permanent magnet DC torque motors.
本发明公开一种三轴天线测试机器人控制器，其特征在于：包括一块三轴运动控制板，控制板外围有触摸屏人机接口、上位机接口、三轴反馈通道、三轴限位模块和三轴驱动模块。The invention discloses a three-axis antenna testing robot controller, which is characterized in that it includes a three-axis motion control board, and the periphery of the control board is provided with a touch screen man-machine interface, a host computer interface, a three-axis feedback channel, a three-axis limit module and three Shaft drive module.
三轴运动控制板以PIC24HJ128GP506单片机为控制核心，扩展一片EEPROM用于存储工作参数，扩展三路RS485接口用于连接反馈通道，扩展一路CAN现场总线接口用于远程组网控制。The three-axis motion control board uses PIC24HJ128GP506 single-chip microcomputer as the control core, expands a piece of EEPROM for storing working parameters, expands three RS485 interfaces for connecting feedback channels, and expands one CAN field bus interface for remote networking control.
触摸屏人机接口为RS232接口，连接一块7寸64K真彩色串行触摸屏，采用触摸屏生产商提供的人机界面辅助开发软件，结合C语言软件编程实现人机交互功能。The human-machine interface of the touch screen is RS232 interface, connected to a 7-inch 64K true-color serial touch screen, using the man-machine interface auxiliary development software provided by the touch screen manufacturer, combined with C language software programming to realize the human-computer interaction function.
上位机接口为RS232接口，可直接连接具有RS232接口的计算机对天线测试机器人实施远程自动控制。The upper computer interface is RS232 interface, which can be directly connected to a computer with RS232 interface to implement remote automatic control of the antenna test robot.
三轴反馈通道全部为RS485接口，可连接带RS485接口的各种角位置传感器，传感器精度根据实际需要确定，如采用14位绝对式光电编码器，可保证各个轴的角位置测量精度大于0.03°，角速度测量精度大于0.1°/S。The three-axis feedback channels are all RS485 interfaces, which can be connected to various angular position sensors with RS485 interfaces. The sensor accuracy is determined according to actual needs. If a 14-bit absolute photoelectric encoder is used, the angular position measurement accuracy of each axis can be guaranteed to be greater than 0.03° , The angular velocity measurement accuracy is greater than 0.1°/S.
三轴限位模块均采用光电隔离输入，输入电流最大为100mA，可连接支持集电极开路输出的各种开关量检测传感器，如：光电开关、接近开关或行程开关等，当控制板检测到限位制动信号后，可使电机紧急刹车。The three-axis limit modules all adopt photoelectric isolation input, the maximum input current is 100mA, and can be connected to various switch detection sensors that support open collector output, such as: photoelectric switch, proximity switch After the braking signal is activated, the motor can be braked urgently.
三轴驱动模块采用PWM波H桥式功放，可驱动永磁式直流力矩电机，驱动模块自带紧急刹车信号接口和高速PWM波驱动信号光电隔离接口，驱动模块最大工作频率为20KHz，最大驱动电压为28V，最大工作电流为48A。The three-axis drive module adopts PWM wave H-bridge power amplifier, which can drive permanent magnet DC torque motor. The drive module has an emergency brake signal interface and a high-speed PWM wave drive signal photoelectric isolation interface. The maximum operating frequency of the drive module is 20KHz, and the maximum drive voltage It is 28V and the maximum operating current is 48A.
本发明公开的设备的优点描述如下：The advantages of the device disclosed in the present invention are described as follows:
(1)经济性。由于本发明采用了自制的PWM波H桥式功放模块，不仅可以很好的完成三轴天线测试机器人的各项性能指标，而且使控制器的整体成本比采用传统线性功放模块节省了20％左右。(1) Economy. Since the present invention adopts the self-made PWM wave H-bridge power amplifier module, it can not only complete the performance indicators of the three-axis antenna test robot well, but also save the overall cost of the controller by about 20% compared with the traditional linear power amplifier module. .
(2)精确性。本发明的实际控制精度取决于传感器的有效精度，由于控制器采用了RS485总线直接与绝对式光电编码器通信，所以对反馈信号的采集几乎没有精度损失，这使得控制器的位置控制精度可以与传感器的有效精度保持在同一个量级上。(2) Accuracy. The actual control accuracy of the present invention depends on the effective accuracy of the sensor. Since the controller uses the RS485 bus to directly communicate with the absolute photoelectric encoder, there is almost no accuracy loss in the collection of the feedback signal, which makes the position control accuracy of the controller comparable to that of the absolute photoelectric encoder. The effective accuracy of the sensor remains on the same order of magnitude.
(3)简便性。由于本发明采用7寸6K真彩色触摸显示屏作为人机交互接口，比传统LED显示加按键输入的方法更加人性化，使用户手动操作更加简捷方便。除此之外，控制器上还带有上位机接口，用于连接计算机实施远程自动控制。用户可以根据需要选择任意一种方式控制三轴天线测试机器人。(3) Simplicity. Since the present invention adopts a 7-inch 6K true-color touch display screen as the human-computer interaction interface, it is more humanized than the traditional method of LED display and button input, and makes the user's manual operation more simple and convenient. In addition, the controller also has a host computer interface for connecting to a computer for remote automatic control. Users can choose any method to control the three-axis antenna test robot according to their needs.
(4)可靠性。本发明采用了多种措施提高控制系统的可靠性，如采用RS485总线传输反馈信号以增强系统的抗干扰能力；控制板可以宽电压供电，具有防止过压、欠压、电源反接和短路等功能；控制器采用多重保护功能，软件保护可以防止用户非法数据输入和反馈数据异常；控制板和电机驱动模块都具有电气限位保护，双重电气限位进一步增强了控制系统的可靠性。(4) Reliability. The present invention adopts a variety of measures to improve the reliability of the control system, such as adopting RS485 bus to transmit feedback signals to enhance the anti-interference ability of the system; the control board can supply power with wide voltage, and has the functions of preventing overvoltage, undervoltage, reverse connection of power supply and short circuit, etc. Function; the controller adopts multiple protection functions, software protection can prevent users from illegal data input and abnormal feedback data; both the control board and the motor drive module have electrical limit protection, and the double electrical limit further enhances the reliability of the control system.
附图说明 Description of drawings
图1为三轴天线测试机器人伺服控制系统总体结构图Figure 1 is the overall structure diagram of the three-axis antenna test robot servo control system
虚线框内的部分为三轴天线测试机器人伺服控制器。The part inside the dotted box is the servo controller of the three-axis antenna test robot.
图2为三轴天线测试机器人伺服控制器控制板结构图Figure 2 is the structural diagram of the three-axis antenna test robot servo controller control board
控制板以PIC24HJ128GP506单片机为控制核心，具有专用的复位电路和供电模块，扩展一片EEPROM用于存储工作参数，扩展三路RS485接口用于连接反馈通道，扩展一路CAN现场总线接口用于远程组网控制，提供一路触摸屏接口，一路上位机接口，三轴限位模块和三路驱动模块等。The control board takes PIC24HJ128GP506 microcontroller as the control core, has a dedicated reset circuit and power supply module, expands a piece of EEPROM for storing working parameters, expands three RS485 interfaces for connecting feedback channels, and expands one CAN field bus interface for remote networking control , providing one touch screen interface, one host computer interface, three-axis limit module and three-way drive module, etc.
图3为三轴天线测试机器人伺服控制器驱动模块电路原理图Figure 3 is the circuit schematic diagram of the three-axis antenna test robot servo controller drive module
三轴天线测试机器人伺服控制器驱动模块用于驱动直流力矩电机(B1)，它由两块半桥驱动芯片BTN7970(U2和U3)组成一个H型全桥驱动电路。外部输入信号主要有两路波形互补的PWM波信号(PWMH和PWML)和一路紧急刹车信号(Break)。两路PWM信号经过高速光耦(U4)隔离后输入，刹车信号经过低速光耦(U1)隔离后输入。The three-axis antenna test robot servo controller drive module is used to drive the DC torque motor (B1), which consists of two half-bridge drive chips BTN7970 (U2 and U3) to form an H-shaped full-bridge drive circuit. The external input signals mainly include two complementary PWM wave signals (PWMH and PWML) and one emergency braking signal (Break). The two-way PWM signal is input after being isolated by the high-speed optocoupler (U4), and the brake signal is input after being isolated by the low-speed optocoupler (U1).
图4为三轴天线测试机器人伺服控制器人机交互主界面效果图Figure 4 is the rendering of the main interface of the human-computer interaction of the three-axis antenna test robot servo controller
人机交互主界面分为三大部分，虚线框1内的部分为三轴角度给定值与反馈值显示区域，虚线框2内的部分为系统状态与操作状态显示区域，虚线框3内的部分为触摸按键区域。The main human-computer interaction interface is divided into three parts. The part in the dotted box 1 is the display area of the three-axis angle given value and feedback value. The part in the dotted
具体实施方式 Detailed ways
本发明旨在为三轴天线测试机器人提供有效且低成本的控制方案，应当理解，本发明还可以应用在其它类似的三轴伺服控制系统中。The present invention aims to provide an effective and low-cost control solution for a three-axis antenna testing robot. It should be understood that the present invention can also be applied to other similar three-axis servo control systems.
图1示出了三轴天线测试机器人伺服控制系统的总体结构，虚线框内的部分为三轴天线测试机器人伺服控制器，包括一块三轴运动控制板，外围有触摸屏人机接口、上位机接口、三轴反馈通道、三轴限位模块和三轴驱动模块等，详述如下：Figure 1 shows the overall structure of the three-axis antenna test robot servo control system. The part inside the dotted line box is the three-axis antenna test robot servo controller, including a three-axis motion control board, with touch screen man-machine interface and host computer interface on the periphery , three-axis feedback channel, three-axis limit module and three-axis drive module, etc., as detailed below:
三轴运动控制板以PIC24HJ128GP506单片机为控制核心，该型单片机由Microchip公司生产，是一款16位的高档单片机，主频高达40M，片载8K的RAM空间，可运行小型的嵌入式操作系统。本发明基于μC/OS-II嵌入式操作系统开发了所有的控制软件。The three-axis motion control board uses PIC24HJ128GP506 single-chip microcomputer as the control core. This type of single-chip microcomputer is produced by Microchip. It is a 16-bit high-end single-chip microcomputer with a main frequency of up to 40M and an 8K RAM space on the chip. It can run a small embedded operating system. The present invention develops all control software based on μC/OS-II embedded operating system.
由于控制板上电源类型众多，有5V、3.3V、28V等多路电源，因此控制板上专门设计了电源系统，采用28V开关电源作为控制器主电源，经过LM2576-5V芯片稳压后作为5V电源，再经ASM1117-3.3V芯片稳压后作为3.3V电源。此外，还采用MAX811-2.4V芯片为控制板构建专用的复位电路模块。Since there are many types of power supplies on the control board, including 5V, 3.3V, 28V and other multiple power sources, the power supply system is specially designed on the control board, using a 28V switching power supply as the main power supply of the controller, which is stabilized by the LM2576-5V chip as a 5V power supply. The power supply is used as a 3.3V power supply after being regulated by the ASM1117-3.3V chip. In addition, the MAX811-2.4V chip is also used to build a dedicated reset circuit module for the control board.
由于PIC24HJ128GP506单片机自身不带EEPROM，所以利用该单片机的I2C总线扩展一片EEPROM用于存储工作参数，芯片型号为24LC64，可最多存储8K字节数据。Since the PIC24HJ128GP506 MCU itself does not have an EEPROM, the I2C bus of the MCU is used to expand a piece of EEPROM to store working parameters. The chip model is 24LC64, which can store up to 8K bytes of data.
为了实现三轴天线测试机器人控制功能的可扩展性，如：未来可能为控制系统增加一些新的功能模块，或将三轴天线测试机器人纳入到一个更大的网络系统中进行控制，所以为控制器扩展一路CAN现场总线接口，CAN收发器型号为PCA82C250。In order to realize the scalability of the control function of the three-axis antenna test robot, for example, some new functional modules may be added to the control system in the future, or the three-axis antenna test robot may be incorporated into a larger network system for control, so for the control The device expands one CAN field bus interface, and the CAN transceiver model is PCA82C250.
触摸屏人机接口采用一块7寸64K真彩色串行触摸屏，型号为DMT80480C070_01W，该型触摸屏通信方式为RS232总线接口，具有开发方便，使用灵活的特点，利用触摸屏生产商提供的辅助开发软件可轻松设计出美丽的人机界面。图4为三轴天线测试机器人伺服控制器人机交互主界面效果图。The human-machine interface of the touch screen adopts a 7-inch 64K true-color serial touch screen, the model is DMT80480C070_01W. The communication mode of this type of touch screen is RS232 bus interface, which has the characteristics of convenient development and flexible use. It can be easily designed by using the auxiliary development software provided by the touch screen manufacturer. Create a beautiful man-machine interface. Figure 4 is the effect diagram of the main interface of the human-computer interaction of the servo controller of the three-axis antenna test robot.
为了减轻工作人员的操作负担，三轴天线测试机器人伺服控制器扩展了一路上位机串行通信接口，可直接连接具有RS232接口的计算机对天线测试机器人实施远程自动控制。控制器内部已编写好通信协议，用户可根据需要自行开发上位机控制软件。In order to reduce the operating burden of the staff, the servo controller of the three-axis antenna test robot is extended with a host computer serial communication interface, which can be directly connected to a computer with an RS232 interface to implement remote automatic control of the antenna test robot. The communication protocol has been written inside the controller, and the user can develop the upper computer control software by himself according to the needs.
为了简化系统设计和增强系统抗干扰能力，本发明利用RS485总线构建反馈数据传输通道，PIC24HJ128GP506单片机仅有两个串行口，而控制系统共需要三路反馈通道，所以利用并串转换芯片SC16C554扩展三路RS485总线接口，控制板可直接连接所有具有RS485接口的位置传感器或变送器。三轴天线测试机器人采用14位绝对式光电编码器E1042Ad6-14，该型编码器角位置测量误差小于0.03°，角速度测量误差小于0.1°/S。In order to simplify the system design and enhance the anti-interference ability of the system, the present invention uses the RS485 bus to construct the feedback data transmission channel. The PIC24HJ128GP506 single-chip microcomputer only has two serial ports, and the control system needs three feedback channels. Therefore, the parallel-serial conversion chip SC16C554 is used to expand Three-way RS485 bus interface, the control board can be directly connected to all position sensors or transmitters with RS485 interface. The three-axis antenna test robot uses a 14-bit absolute photoelectric encoder E1042Ad6-14. The angular position measurement error of this type of encoder is less than 0.03°, and the angular velocity measurement error is less than 0.1°/S.
控制器的三轴限位模块均采用光电隔离输入，最大输入电流为100mA，可连接支持集电极开路输出的各种开关量检测传感器，如：光电开关、接近开关或行程开关等，当控制板检测到限位制动信号后，可实现电机紧急刹车。The three-axis limit modules of the controller all adopt photoelectric isolation input, the maximum input current is 100mA, and can be connected to various switching value detection sensors that support open collector output, such as: photoelectric switch, proximity switch or travel switch, etc., when the control board After the limit brake signal is detected, the motor can be braked urgently.
本发明自行研制了电机驱动模块以节省开发成本，图3为驱动模块电路原理图。该模块采用两块半桥驱动芯片BTN7970组成一个H型全桥驱动电路。两路波形互补的PWM波信号经过高速光耦隔离后输入，一路紧急刹车信号经过低速光耦隔离后输入。该模块可驱动永磁式直流力矩电机，最大工作频率为20KHz，最大驱动电压为28V，最大工作电流为48A。The present invention has independently developed a motor drive module to save development costs, and Fig. 3 is a circuit schematic diagram of the drive module. The module uses two half-bridge driver chips BTN7970 to form an H-type full-bridge driver circuit. Two PWM wave signals with complementary waveforms are input after being isolated by high-speed optocouplers, and one emergency brake signal is input after being isolated by low-speed optocouplers. This module can drive a permanent magnet DC torque motor with a maximum operating frequency of 20KHz, a maximum driving voltage of 28V, and a maximum operating current of 48A.
具体工作原理Specific working principle
三轴天线测试机器人伺服控制器是典型的位置闭环反馈控制系统，由触摸屏人机界面输入三轴位置给定值，由带RS485接口的绝对式光电编码器构成反馈回路，单片机采集位置给定值和反馈值后，调用已编好的PID控制算法对三轴位置实施闭环控制，其中俯仰运动轴和补偿运动轴同步控制。三轴位置控制误差均小于0.1°。The three-axis antenna test robot servo controller is a typical position closed-loop feedback control system. The given value of the three-axis position is input by the touch screen human-machine interface, and the feedback loop is formed by an absolute photoelectric encoder with RS485 interface. The single-chip microcomputer collects the given position value. and the feedback value, call the programmed PID control algorithm to implement closed-loop control on the three-axis position, in which the pitching axis and the compensation axis are synchronously controlled. The three-axis position control error is less than 0.1°.
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