CN111487902A - Testing machine system and multi-channel control equipment thereof - Google Patents
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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Abstract
The invention discloses a multi-channel control device, comprising: the master control board and through N a plurality of slave control module that N buses are connected with the master control board, slave control module includes: a sensor; a signal input circuit; the slave logic control circuit is used for uploading signals of all the sensors and driving the actuators; a signal output circuit; an actuator; the main control panel includes: a main logic control circuit; and the processor is used for carrying out automatic control on the multi-channel control device, reading signals of the sensors by reading data of corresponding registers in the main logic control circuit, and driving the actuators by writing data into the corresponding registers in the main logic control circuit. By applying the scheme of the application, the method and the device can be flexibly applied to application occasions with different control channel numbers, and hardware development, upgrading and maintenance are facilitated. The application also discloses a testing machine, has corresponding effect.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a testing machine system and a multi-channel control device thereof.
Background
In the mechanical, material, etc. industries, the fatigue life of mechanical components and materials is typically tested by a testing machine system, the main components of which are controllers, sensors, actuators, frames, clamps, etc.
The actuator may receive the control signal from the controller, and may change a physical quantity of the controlled object, such as displacement, load, deformation, etc., after power amplification. The actuators can be classified into electric, hydraulic and pneumatic actuators according to their energy forms. The commonly used actuators include electro-hydraulic servo valves and hydraulic cylinders, servo motors, electromagnetic valves, power switches, and the like. The main functions of the controller are to collect data from the sensors, control and process the data, and control the output of the actuators. For the commonly adopted closed-loop control, the controller can operate a closed-loop control algorithm in the controller according to a target value of the controlled object and a feedback value acquired from the sensor, calculate a control signal and output the control signal to the actuator, and after power amplification, the physical quantity of the controlled object can be quickly and accurately close to the target value.
In conventional schemes, the circuit structure can be generally divided into a single board design and a modular design. The single board design integrates the main functions of the controller on one circuit board, and is simple and easy to design, but subsequent hardware maintenance and upgrading are difficult, so that the application occasion is small. The main functions of the controller are respectively designed on different circuit boards in a modularized design, and the main functions are used in a splicing mode, so that hardware maintenance and flexible upgrading are facilitated, for example, the schemes of fig. 1 and fig. 2. However, due to the limited pins and the limited number of addresses of the processors such as PIC and DSP, it is still difficult to flexibly expand the channels in the application of multiple channels, i.e. the supported hardware resources still easily reach the upper limit. With the development of fatigue tests from static tests to dynamic tests, dynamic loads and environmental simulation tests, the demand for multi-channel controllers is increasing at present, and the controllers are required to be conveniently applied to application occasions with different control channel numbers.
In summary, how to make the control device flexibly applicable to the application occasions with different control channel numbers and facilitate hardware upgrade and maintenance is a technical problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
The invention aims to provide a testing machine system and a multi-channel control device thereof, so that the control device can be flexibly applied to application occasions with different control channel numbers, and hardware upgrading and maintenance are convenient.
In order to solve the technical problems, the invention provides the following technical scheme:
a multi-channel control device comprising: the system comprises a main control panel and N slave control modules connected with the main control panel through N buses, wherein N is a positive integer not less than 1, and each slave control module comprises:
one or more sensors for signal detection;
the signal input circuit is connected with each sensor of the control module;
the slave logic control circuit is connected with the signal input circuit and the master logic control circuit in the master control board and is used for sending each sensor signal received by the signal input circuit to the master logic control circuit and outputting the signal sent by the master logic control circuit to the signal output circuit so as to drive the corresponding actuator;
the signal output circuit is connected with the slave logic control circuit;
one or more actuators connected to the signal output circuit;
the main control board includes: the main logic control circuit;
and the processor is connected with the main logic control circuit and used for automatically controlling the multi-channel control equipment, reading signals of the sensor by reading data of a corresponding register in the main logic control circuit in the automatic control process, and driving the actuator by writing data into the corresponding register in the main logic control circuit.
Preferably, the main logic control circuit is a main FPGA; and each slave logic control circuit is a slave FPGA.
Preferably, the method further comprises the following steps:
and the upper computer is connected with the processor and is used for carrying out data interaction with the processor.
Preferably, buses between the master logic control circuit and the N slave logic control circuits are CPCI buses.
Preferably, the processor is a DSP processor.
Preferably, a bus between the main logic control circuit and the DSP processor is an XINTF bus.
Preferably, the master logic control circuit is connected with the N slave logic control circuits through a backplane.
Preferably, the connection mode among the master control board, the N slave control modules and the backplane is any one of a horizontal slot type, a vertical slot type and a wire connection type.
A tester system comprising a multi-channel control device as claimed in any preceding claim.
In the scheme of this application, set up the master control board and through N that N buses are connected with the master control board from control module, the master control board includes main logic control circuit and the treater of being connected with main logic control circuit, the treater can carry out multichannel controlgear's automatic control, and at the in-process that carries out automatic control, realize reading the signal of sensor through reading the data of the corresponding register in the main logic control circuit, realize the drive to the actuator through carrying out data write-in to the corresponding register in the main logic control circuit. That is, the processor achieves automatic control of the multi-channel control device of the present application by reading/writing to the corresponding registers in the main logic control circuit. The N slave control modules are matched with the main control panel to complete the whole automatic control process. Specifically, the slave logic control circuits in the N slave control modules are all connected with the master logic control circuit, and can send each sensor signal received by the signal input circuit to the master logic control circuit, and output the signal sent by the master logic control circuit to the signal output circuit to drive the corresponding actuator, so as to realize automatic control of the multi-channel control device. In the scheme of the application, the main control board is connected with the N slave control modules through the N buses, so that the situation that supported hardware resources are trapped in a bottleneck can be avoided, and if the hardware resources need to be increased, one bus and the corresponding slave control module can be added. Moreover, because the scheme of the application adopts a modularized design, when the control channel needs to be added/deleted, the control channel can be added/deleted on any slave control module, or the control channel can be added/deleted by adding/deleting one control module, and the master-slave function is layered and clear, so that the scheme of the application can be flexibly applied to application occasions with different control channel numbers, and is convenient for hardware development, upgrading and maintenance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a conventional control apparatus;
fig. 2 is a schematic structural view of another conventional control apparatus;
FIG. 3 is a schematic diagram of a multi-channel control device according to the present invention;
fig. 4 is a schematic structural diagram of a multi-channel control device in another embodiment of the invention.
Detailed Description
The core of the invention is to provide a multi-channel control device which can be flexibly applied to application occasions with different control channel numbers and is convenient for hardware development, upgrade and maintenance.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a multi-channel control device according to the present invention, the multi-channel control device includes: the system comprises a main control board and N slave control modules connected with the main control board through N buses, wherein N is a positive integer not less than 1. Of course, in practical applications, N may be a positive integer greater than or equal to 2. Each slave control module includes:
one or more sensors 10 for signal detection;
a signal input circuit 20 connected to each sensor 10 of the control module;
a slave logic control circuit 30 connected to both the signal input circuit 20 and the master logic control circuit 60 in the master control board, for transmitting the signals of the respective sensors 10 received through the signal input circuit 20 to the master logic control circuit 60, and outputting the signals transmitted from the master logic control circuit 60 to the signal output circuit 40 to drive the corresponding actuators 50;
a signal output circuit 40 connected to the slave logic control circuit 30;
one or more actuators 50 connected to the signal output circuit 40;
the main control panel includes: a main logic control circuit 60;
and the processor 70 is connected with the main logic control circuit 60 and is used for carrying out automatic control on the multi-channel control device, reading signals of the sensor 10 is realized by reading data of corresponding registers in the main logic control circuit 60 in the process of carrying out automatic control, and driving the actuator 50 is realized by writing data into corresponding registers in the main logic control circuit 60.
Specifically, each slave control module includes one or more sensors 10 for detecting signals, but it should be noted that the number of the sensors 10 in each slave control module may be set arbitrarily and does not affect each other. For example, 3 sensors 10 are provided in the slave control module No. 1, 8 sensors 10 are provided in the slave control module No. 2, and 5 sensors 10 are provided in the slave control module No. 3.
The type of each sensor 10 may also be set and adjusted according to actual needs, and may be, for example, a displacement sensor 10, a load sensor 10, a deformation sensor 10, a strain sensor 10, an acceleration sensor 10, a temperature sensor 10, and the like.
In addition, in practical applications, for any one slave control module, the sensor 10 and the rest of the devices other than the actuator 50 in the slave control module are usually disposed in the same board, which can be referred to as "slave control board 1", slave control board 2 and slave control board 3 "in fig. 3.
The signal input circuit 20 is connected to each sensor 10 of the control module where the signal input circuit is located, and is configured to send a signal of each sensor 10 to the slave logic control circuit 30 in the control module where the signal input circuit is located, and then the slave logic control circuit 30 may send the sensor signal to the master logic control circuit 60 to be stored in a corresponding register in the master logic control circuit 60, so that the processor 70 may perform data reading. For example, 3 sensors 10 are provided in the slave control module No. 1, wherein the data of the sensor No. 1 10 is stored in the register No. 75 in the master logic control circuit 60, the data of the sensor No. 2 10 is stored in the register No. 76 in the master logic control circuit 60, and the data of the sensor No. 3 10 is stored in the register No. 77 in the master logic control circuit 60. Generally, the signal uploaded by one of the sensors 10 is stored in a corresponding register set in advance for the signal data of the sensor 10, and the corresponding relationship may be adjusted as needed.
For any slave control module, the signal input circuit 20 in the slave control module may generally include a signal input conditioning unit connected to each sensor 10 in the slave control module, and an AD conversion unit connected to the signal input conditioning unit and the slave logic control circuit 30 in the slave control module, respectively.
The AD conversion unit, i.e., an analog-to-digital conversion circuit, can convert an analog signal into a digital signal. The specific circuit configuration of the signal input conditioning unit depends on the type of sensor 10 in a specific situation and the actual requirements, for example, the signal input conditioning unit can be an amplifying circuit, a filtering circuit, a following circuit, a driving circuit, etc. Since the signal detected by the sensor 10 is usually an analog quantity, the signal is usually transmitted to the slave logic control circuit 30 through the signal input conditioning unit and the AD conversion unit, and certainly, if the signal output by the sensor 10 is a digital signal, the signal can be transmitted to the slave logic control circuit 30 through the signal input conditioning unit without passing through the AD conversion unit, and the implementation of the present application is not affected.
Since the signal of any one of the sensors 10 can be written into the master control board through the corresponding slave control module, specifically, into the register in the master logic control circuit 60 corresponding to the sensor 10, the processor 70 of the present application can read the signal of the corresponding sensor 10 by reading the data of the corresponding register in the master logic control circuit 60 in the process of performing automatic control. For example, in the foregoing example, the processor 70 reads register number 77 to learn the signal uploaded by sensor number 3 10.
The processor 70 is used for realizing automatic control, and a specific algorithm of the automatic control can be set and adjusted according to actual needs, for example, the specific algorithm can be any one of a PID algorithm, a sliding mode algorithm, a state space algorithm and an adaptive algorithm. The type of the processor 70 can also be set and adjusted as required, and can be any one of 8051, AVR, PIC, ARM, DSP, FPGA, and ASIC, for example. In one embodiment of the present invention, the processor 70 may be selected as the DSP processor 70 in consideration of the wide application of DSP and the increasing dominant frequency and computing power.
In some cases, the automatic control algorithm may be provided in the master logic control circuit 60 according to actual needs, that is, the master logic control circuit 60 may implement the functions of the processor 70, or the automatic control algorithm may be provided in each slave logic control circuit 30 in a distributed manner, which does not affect the implementation of the present invention.
During the automatic control, the processor 70 reads the signals by reading the data of the corresponding register in the main logic control circuit 60 to realize the signal reading of the sensor 10, as described above. When the actuators 50 are driven, the respective actuators 50 are driven by writing data into the respective registers in the main logic control circuit 60.
For example, when the processor 70 needs to drive the actuator 50 # 2 in the slave control module # 1 during the execution of the automatic control, the processor 70 writes the calculated data into, for example, the register # 89 in the master logic control circuit 60, and then the master logic control circuit 60 transmits the data written into the register # 89 to the corresponding slave control module, in this case, the slave logic control circuit 30 in the slave control module # 1. The slave logic control circuit 30 can output the driving signal to the actuator No. 2 50 through the signal output circuit 40, and the automatic control process is completed.
It should be noted that in fig. 3 of the present application, only 1 sensor 10 and 1 actuator 50 are shown in each slave control module, in practical applications, it is common to perform closed-loop control of 1 actuator 50 based on detection signals of multiple sensors 10, and there may be one or more actuators 50 in 1 slave control module, and the sensors 10 and the actuators 50 belonging to the same functional unit are generally divided into the same slave control module. If a channel needs to be added, a slave control module is added in the scheme generally adopted, and if a channel needs to be deleted, a slave control module is left unused in the scheme generally adopted, so that the implementation is very simple and convenient, the flexibility is very high, and each slave control module is connected with the main control board through respective buses, so that the conditions of address limitation and pin limitation cannot occur.
Similar to the signal input circuit 20, for any one slave control module, the signal output circuit 40 in the slave control module may generally include a signal output conditioning unit connected to each actuator 50 in the slave control module, and a DA conversion unit connected to the signal output conditioning unit and the slave logic control circuit 30 in the slave control module, respectively.
The DA conversion unit, i.e., a digital-to-analog conversion circuit, can convert a digital signal into an analog signal. The specific circuit configuration of the signal output conditioning unit also depends on the type of actuator 50 in a specific application and the actual requirements, for example, the signal output conditioning unit can be an electric power amplifying circuit, a level converting circuit, a current converting circuit, a frequency converting circuit, an I/O circuit, etc.
In addition, most input interfaces of the actuator 50 need to receive analog quantity, so that the signal is usually transmitted to the actuator 50 through the DA conversion unit and the signal output conditioning unit, and of course, when the input interface of the actuator 50 needs to receive digital quantity, the signal can be directly output to the actuator 50 from the logic control circuit 30 and the signal output conditioning unit without passing through the DA conversion unit.
In addition, in practical applications, due to multiplexing of part of components and integration of circuits, a signal output conditioning unit and a signal input conditioning unit are generally integrated, and referring to fig. 4, the integrated circuits are referred to as signal conditioning circuits, and the sensor 10 and the actuator 50 are not shown in fig. 4. In practice, the number of input interfaces of any one of the sensors 10 in the slave control board can be generally any value from 1 to 1024, and the number of output interfaces of the actuator 50 can also be any value from 1 to 1024.
The specific type of the actuator 50 may be set and adjusted as needed, and may be any of, for example, an electro-hydraulic servo valve and a hydraulic cylinder, a motor driver and a motor, a solenoid valve switch, a hydraulic pump switch, and a power switch.
The FPGA (field programmable gate array) belongs to a semi-custom circuit in an application-specific integrated circuit, is a programmable logic array, and has the characteristics of rich wiring resources, repeatable programming, high integration level, parallel operation and low cost, so that the master logic control circuit 60 of the application can be a master FPGA generally, and each slave logic control circuit 30 can be a slave FPGA so as to utilize the strong parallel processing capability of the FPGA and the characteristics of multi-pin resources, so that the application can flexibly support application occasions with different control channel numbers.
Communication interface or bus in this application scheme can set up to any one in CPCI, PCIE, PCI, USB, WIFI, removal wireless, I2C, SPI, XINTF, EMIFA, serial ports, parallel port, bluetooth, infrared, HDMI, ethernet. Further, considering that the CPCI (compact PCI) has the advantages of hot-pluggable performance, high openness, high reliability, and the like, the buses between the master logic control circuit 60 and the N slave logic control circuits 30 may all adopt the CPCI bus, and the protocol may be selected as the SPI. In addition, the bus between the main logic control circuit 60 and the processor 70 may be generally selected as the XINTF bus.
In practical applications, considering that a plurality of cards can be inserted into the backplane, the number of the cards that can be inserted into the backplane can be any value from 1 to 1024. The present embodiment has a master control board and N slave control boards, and therefore, in an embodiment of the present invention, the master logic control circuit 60 can be connected to the N slave logic control circuits 30 through the backplane. That is, the backplane assumes the functions of fixing the master control board to the slave control board in the slave control module and communication between the master control board and the slave control module. The connection mode among the main control board, the N slave control modules and the back board can be any one of a transverse slot type, a vertical slot type and a wire connection type, and can be selected according to actual needs. In addition, if desired, in embodiments where a backplane is provided, the main logic control circuit 60 in the main control board may be removed from the main control board and placed on the backplane.
In an embodiment of the present invention, the method may further include:
and the upper computer is connected with the processor 70 and is used for carrying out data interaction with the processor 70. So that the upper computer can monitor the control state and process the test data.
In the scheme of this application, set up the master control board and through N that N buses are connected with the master control board from control module, the master control board includes main logic control circuit and the treater of being connected with main logic control circuit, the treater can carry out multichannel controlgear's automatic control, and at the in-process that carries out automatic control, realize reading the signal of sensor through reading the data of the corresponding register in the main logic control circuit, realize the drive to the actuator through carrying out data write-in to the corresponding register in the main logic control circuit. That is, the processor achieves automatic control of the multi-channel control device of the present application by reading/writing to the corresponding registers in the main logic control circuit. The N slave control modules are matched with the main control panel to complete the whole automatic control process. Specifically, the slave logic control circuits in the N slave control modules are all connected with the master logic control circuit, and can send each sensor signal received by the signal input circuit to the master logic control circuit, and output the signal sent by the master logic control circuit to the signal output circuit to drive the corresponding actuator, so as to realize automatic control of the multi-channel control device. In the scheme of the application, the main control board is connected with the N slave control modules through the N buses, so that the situation that supported hardware resources are trapped in a bottleneck can be avoided, and if the hardware resources need to be increased, one bus and the corresponding slave control module can be added. Moreover, because the scheme of the application adopts a modularized design, when the control channel needs to be added/deleted, the control channel can be added/deleted on any slave control module, or the control channel can be added/deleted by adding/deleting one control module, and the master-slave function is layered and clear, so that the scheme of the application can be flexibly applied to application occasions with different control channel numbers, and is convenient for hardware development, upgrading and maintenance.
Corresponding to the above embodiment of the multi-channel control device, the embodiment of the present invention further provides a testing machine system, which can be mutually and correspondingly referred to with the above described multi-channel control device, and the description is not repeated here.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The principle and the implementation of the present invention are explained in the present application by using specific examples, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. A multi-channel control device, comprising: the system comprises a main control panel and N slave control modules connected with the main control panel through N buses, wherein N is a positive integer not less than 1, and each slave control module comprises:
one or more sensors for signal detection;
the signal input circuit is connected with each sensor of the control module;
the slave logic control circuit is connected with the signal input circuit and the master logic control circuit in the master control board and is used for sending each sensor signal received by the signal input circuit to the master logic control circuit and outputting the signal sent by the master logic control circuit to the signal output circuit so as to drive the corresponding actuator;
the signal output circuit is connected with the slave logic control circuit;
one or more actuators connected to the signal output circuit;
the main control board includes: the main logic control circuit;
and the processor is connected with the main logic control circuit and used for automatically controlling the multi-channel control equipment, reading signals of the sensor by reading data of a corresponding register in the main logic control circuit in the automatic control process, and driving the actuator by writing data into the corresponding register in the main logic control circuit.
2. The multi-channel control device of claim 1, wherein the master logic control circuit is a master FPGA; and each slave logic control circuit is a slave FPGA.
3. The multi-channel control device of claim 1, further comprising:
and the upper computer is connected with the processor and is used for carrying out data interaction with the processor.
4. The multi-channel control device of claim 1, wherein the buses between the master logic control circuit and the N slave logic control circuits are CPCI buses.
5. The multi-channel control device of claim 4, wherein the processor is a DSP processor.
6. The multi-channel control device of claim 5, wherein the bus between the main logic control circuit and the DSP processor is an XINTF bus.
7. The multi-channel control device of claim 1, wherein the master logic control circuit is connected to the N slave logic control circuits through a backplane.
8. The multi-channel control device of claim 7, wherein the connection manner between the master control board, the N slave control modules, and the backplane is any one of a horizontal slot type, a vertical slot type, and a wire connection type.
9. A tester system comprising a multi-channel control device according to any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010259325.7A CN111487902A (en) | 2020-04-03 | 2020-04-03 | Testing machine system and multi-channel control equipment thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010259325.7A CN111487902A (en) | 2020-04-03 | 2020-04-03 | Testing machine system and multi-channel control equipment thereof |
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| Publication Number | Publication Date |
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| CN111487902A true CN111487902A (en) | 2020-08-04 |
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Application publication date: 20200804 |