CN212137570U - A vacuum multi-axis motor motion control system - Google Patents

Abstract

The utility model discloses a vacuum multiaxis motor motion control system, including singlechip, DC power supply, voltage conversion circuit, drive circuit, decoder, rotary transformer and a plurality of vacuum step motor. The direct current power supply is used for supplying power to the driving circuit, the decoder, the rotary transformer and each vacuum stepping motor, and the voltage conversion circuit is used for reducing the output voltage of the direct current power supply and then supplying power to the single chip microcomputer. The single chip microcomputer outputs pulse signals and direction signals to the driving circuit, and the driving circuit drives each vacuum stepping motor. The rotary transformer is used for acquiring rotating position signals of the vacuum stepping motors in real time, amplitude signals output by the rotary transformer are converted into digital signals through the decoder and then input into the signal end of the single chip microcomputer, and a closed-loop control loop is formed. The system improves the reliability of the device work, solves the technical problem that the control accuracy of the stepping motor to the object motion position is low, and has the advantages of simple structure and convenient operation.

Description

A vacuum multi-axis motor motion control system

technical field

The utility model relates to a motor control system, in particular to a vacuum multi-axis motor motion control system.

Background technique

The stepper motor is the control motor and acts as the "core execution device" in the control system. The difference between stepper motors and ordinary motors is mainly in the form of pulse drive. Because of this feature, stepper motors can be combined with modern digital control technology. Because the stepping motor has the characteristics of simple structure, high reliability and low cost, the stepping motor is widely used in various fields of production practice. However, the stepper motor is relatively insufficient in terms of control accuracy, speed variation range, and low-speed performance. In addition, most of the control of stepper motors on the market use open-loop control systems, which can be applied to motion control with general precision requirements, but cannot cope with motion control in a vacuum environment with higher precision requirements.

SUMMARY OF THE INVENTION

Purpose of the invention: In view of the above prior art, a vacuum multi-axis motor motion control system is proposed to realize the precise control of the multi-axis stepping motor in a vacuum environment.

Technical solution: a vacuum multi-axis motor motion control system, comprising a single-chip microcomputer, a DC power supply, a voltage conversion circuit, a driving circuit, a decoder, a resolver and several vacuum stepping motors; the DC power supply is used to supply the driving circuit, the decoder , resolver and each vacuum stepper motor to supply power, the voltage conversion circuit is used to step down the output voltage of the DC power supply to supply power to the single-chip microcomputer; the single-chip microcomputer outputs pulse signals and direction signals to the drive circuit, which is composed of The drive circuit drives each vacuum stepping motor; the rotary transformer is used to collect the rotation position signal of each vacuum stepping motor in real time, and the amplitude signal output by the rotary transformer is converted into a digital signal by the decoder and then input to the digital signal. The signal terminal of the single-chip microcomputer forms a closed-loop control loop.

Further, an optocoupler isolation is provided between the single chip microcomputer and the driving circuit.

Further, an EMI filter is arranged between the voltage conversion circuit and the DC power supply.

Further, the single-chip microcomputer is connected to the host computer through a USB to serial port module, and is connected to the button module through a GPIO interface.

Further, the voltage conversion circuit includes a 24V power supply signal interface CN2, a test interface CN3, a capacitor C3, a common mode inductor L2, a capacitor C4, a diode D2, a capacitor C6, a capacitor C8, a chip V1, a switch SW1, a diode D4, and an inductor L1. , capacitor C9, capacitor C10, fuse F1, diode D3, chip V2, capacitor C5, capacitor C7, diode D1, resistor R5; capacitor C3 is connected in parallel with the two terminals of the 24V power supply signal interface CN2; The two ends of 3 are connected in parallel with C3, the 2 and 4 terminals of the common mode inductor L2 are connected in parallel with the capacitor C4; the diode D2 is connected in series with the 4 terminals of the common mode inductor L2 and the input terminal of the chip V1; the model of the chip V1 is LM2596S-5.0, and the Terminals 3 and 5 are grounded; capacitor C6 is connected in series between diode D2 and ground; capacitor C8 is connected in series between diode D2 and ground; diode D4 is connected in series between terminal 2 of chip V1 and ground; inductor L1 is connected in parallel with terminal 2 of chip V1 terminal and terminal 4; capacitor C9 is connected in series between inductor L1 and ground; capacitor C10 is connected in parallel between terminal 4 of chip V1 and ground; fuse F1 is connected in series between terminal 4 of chip V1 and pin 3 of switch SW1; D3 diode model is SMAJ5.0A, used for transient voltage suppression, connected in series between the 2 terminals of switch SW1 and ground; chip V2 model is LD1117-3.3V, used to convert output 5V to 3.3V, IN terminal Connect 2 terminals of switch SW1, GND is grounded, OUT is connected in series with capacitor C5 to ground, and C7 is connected in series to ground; 2 terminals of switch SW1 are connected to 5V power supply signal, OUT of chip V2 is connected to 3.3V power supply signal; 3.3V power supply signal is connected in series The light-emitting diode D1 and the resistor R5 are grounded to detect whether the power conversion circuit works normally.

Beneficial effects: The utility model provides a multi-axis motor motion control system suitable for a vacuum environment, improves the reliability of the device operation, solves the technical problem that the stepper motor controls the movement position of the object with low accuracy, and has the advantages of The advantages of simple structure and convenient operation.

Description of drawings

Fig. 1 is the structural representation of this system;

FIG. 2 is a circuit diagram of a voltage conversion circuit.

Detailed ways

The present utility model will be further explained below in conjunction with the accompanying drawings.

As shown in Figure 1, a vacuum multi-axis motor motion control system includes a single-chip microcomputer, a DC power supply, a voltage conversion circuit, a drive circuit, a decoder, a resolver, a number of vacuum stepper motors, a key module, a USB-to-serial module, and a host machine. The single-chip microcomputer is connected to the host computer through the USB to serial port module, and is connected to the button module through the GPIO interface.

The DC power supply is used to power the drive circuit, decoder, resolver, and various vacuum stepper motors. An EMI filter is arranged between the voltage conversion circuit and the DC power supply, and the voltage conversion circuit is used to step down the output voltage of the DC power supply to supply power to the microcontroller. The voltage conversion circuit adds an EMI filter to the front end of the external power input, which can effectively reduce the common mode noise in the power supply and reduce the signal interference of the power supply clutter to the development board. After receiving the command signal from the host computer, the single-chip microcomputer converts the command signal into a pulse signal and a direction signal. The single-chip microcomputer and the driving circuit are set up with optocoupler isolation. The single-chip microcomputer outputs the pulse signal and the direction signal to the driving circuit, and the driving circuit drives each vacuum stepper. Motor, control stroke and acceleration and deceleration. The resolver is used to collect the rotation position signal of each vacuum stepping motor in real time. The amplitude signal output by the resolver is converted into a digital signal by the decoder and then input to the signal terminal of the single-chip microcomputer to form a closed-loop control loop. Using TB67S109A can achieve the effect of low vibration, low noise and high speed to drive the motor.

Units that can be used as motor controllers include industrial control computers, programmable controllers, digital signal processors, and the like. The industrial control computer is the most powerful, it has extremely high speed, powerful computing power and interface ability, but it is large in size and high in cost, and is mainly used in large-scale control systems. PLC is just the opposite. It is low cost and can only perform simple logic operations, so it is used for simple motor control. The single-chip microcomputer is between the industrial control computer and the programmable controller. It has strong control functions and low cost. Therefore, the single-chip microcomputer becomes the preferred controller of the present invention, which satisfies the complex arithmetic processing of parameters during the movement of the stepping motor.

In this embodiment, the model of the single-chip microcomputer is STM32F407, the main frequency is as high as 168MHz, it provides 210DMIPS/566CoreMark performance, and has a DSP instruction set. It can meet the complex motion calculation in the motion process. Has up to 17 timers, 12 16-bit timers, and 2 32-bit timers up to 168MHz, each with 4 input capture or output compare or PWM, or pulse counter with quadrature Encoder input. Can meet the control pulse transmission and reception of multiple interfaces. The DC power supply voltage is 24V, and the 5V power supply is obtained through the conversion of the DC-DC power supply chip to supply power, and the serial port to USB is realized through the CH340G chip to realize the communication function between the single-chip microcomputer and the host computer.

In the control system, the drive circuit adopts the stepper motor driver model TB67S109A, and the number of drivers is the same as the number of vacuum stepper motors to achieve one-to-one corresponding driving. The drive circuit is coupled with the single-chip microcomputer, and the optocoupler isolation only performs signal communication without direct electrical transmission, which can greatly avoid interference and increase the stability of the system. The host computer sends the acceleration and deceleration, speed, running steps and other parameters of the vacuum stepper motor movement to the microcontroller through USB-to-serial communication. After the microcontroller receives the above parameters, it is processed by the STM32F407 chip and the signal is converted into pulse frequency and transmitted to the drive circuit .

Photoelectric encoders are widely used measuring elements in the field of control systems. The photoelectric encoder directly outputs digital signals, and the processing circuit is simple, but the disadvantage is that it is not resistant to shock, high temperature, and is susceptible to radiation interference, so it is not suitable for use in a vacuum environment, such as space. Since the working environment of the multi-axis stepper motor control system of the present invention is to operate under vacuum, the resolver with the advantages of impact resistance, high temperature resistance, high reliability and long life becomes a better choice for measuring components.

The resolver sends the actual motion speed of the vacuum stepping motor, the number of running steps and other parameters to the decoder as signals of sine and cosine waves. The single-chip microcomputer receives the pulse signal decoded by the decoder, and parses the signal into parameters such as speed and running steps. , send the parameters to the host computer through the serial port to form a closed-loop multi-axis motion control system. When the difference between the actual rotation angle of the motor and the preset expected angle is greater than the preset value, the motor is controlled to revert to correction until the difference between the actual rotation angle of the resolver feedback and the preset expected angle is smaller than the preset value, that is, closed-loop control.

As shown in Figure 2, the voltage conversion circuit includes a 24V power signal interface CN2, a test interface CN3, a capacitor C3, a common mode inductor L2, a capacitor C4, a diode D2, a capacitor C6, a capacitor C8, a chip V1, a switch SW1, a diode D4, and an inductor. L1, capacitor C9, capacitor C10, fuse F1, diode D3, chip V2, capacitor C5, capacitor C7, diode D1, resistor R5. The capacitor C3 is connected in parallel with the two terminals of the 24V power supply signal interface CN2; the 1 and 3 terminals of the common mode inductor L2 are connected in parallel with C3, and the 2 and 4 terminals of the common mode inductor L2 are connected in parallel with the capacitor C4 to build an EMI filter circuit; the diode D2 It is connected in series with the 4 end of the common mode inductor L2 and the input end of the chip V1; the model of the chip V1 is LM2596S-5.0, the 3 and 5 ends of the chip V1 are grounded; the capacitor C6 is connected in series between the diode D2 and the ground; the capacitor C8 is connected in series with the diode D2 and ground; diode D4 is connected in series between terminal 2 and ground of chip V1; inductor L1 is connected in parallel between terminals 2 and 4 of chip V1; capacitor C9 is connected in series between inductor L1 and ground; capacitor C10 is connected in parallel with the chip Between the 4th terminal of V1 and the ground; the fuse F1 is connected in series with the 4th terminal of the chip V1 and the 3rd pin of the switch SW1; the D3 diode type is SMAJ5.0A, which is used for transient voltage suppression, and is connected in series with the 2nd terminal of the switch SW1 Between the chip V2 and the ground; the model of the chip V2 is LD1117-3.3V, which is used to convert the output 5V to 3.3V, the IN termination is connected to the 2 terminals of the switch SW1, the GND is connected to the ground, the OUT series capacitor C5 is connected to the ground, and the series connected C7 is connected to the ground; the switch The 2 terminal of SW1 is connected to the 5V power supply signal, and the OUT of the chip V2 is connected to the 3.3V power supply signal; the 3.3V power supply signal is connected in series with the LED D1 and the resistor R5 to ground, which is used to detect whether the power conversion circuit is working normally. The voltage conversion circuit also includes a test interface CN3. Terminals 1 and 2 of the test interface CN3 are connected to both ends of CN2, terminals 3 and 4 output ground, terminals 5 and 6 output 3.3V, and terminals 7 output 5V.

LM2596S-5.0 is a power supply chip, which can output a maximum current of 3A, with full driving force, suitable for power supply of multiple modules on the system. The diode SMAJ5.0A is used for transient voltage suppression, which can effectively avoid damage to the development board when the 5V external power supply or load is unstable, and can also prevent the external power supply from being reversed to a certain extent and damage to the development board. The LD1117-3.3V chip is used to convert the output 5V to 3.3V, which can be used by other modules of the system to use electricity.

In this embodiment, a 5-axis vacuum stepping motor is used, and the drive circuit drives the stepping motor to drive the X-axis guide rail, the Y-axis guide rail, the Z-axis guide rail, the R-axis hinge, and the V-axis spare shaft respectively. The stepper motor is connected with the slide rail, and is used to drive the slider on the slide rail to control the linear movement of the target moving object. The stepping motor is connected with the gear, and the gear drives the hinge to control the rotation of the target moving object. The limit switch SENSOR is installed on the X-axis guide rail, Y-axis guide rail, Z-axis guide rail, R-axis hinge, and V-axis spare shaft, which are used to limit the left and right limit of the motor movement and provide the origin reference, which improves the reliability of the motion system.

In this embodiment, the motor running parameters are set through the host computer or keys. The buttons are divided into 10 buttons that control the forward and reverse rotation of the 5-axis motor, the emergency stop button, and the knob for switching between the host computer and the button. The host computer interface is divided into display and control. The display interface displays the position and speed parameters of each motor in the current motion state. The control interface is the preset three spatial positions of the target object and the parameters such as the motion position and speed of each motor. This design can measure the speed through the resolver, feed back the measured value of the rotational speed to the single-chip microcomputer for closed-loop control, and transmit the actual measurement parameters to the host computer through the serial port of the single-chip microcomputer for display.

The specific process is as follows: the system first sets the initialization parameters of the STM32 series microcontroller, completes the initialization of the timer, the initialization of the system tick timer, the initialization of the button, the initialization of the external pins, the initialization of the LED lights, and the initialization of the serial port. After completion, configure the motion process through the STM32 series microcontroller. At the beginning of the motor movement, each axis is returned to the origin position through the limit switch SENSOR, and then the specific movement control command is carried out.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. These improvements and Retouching should also be regarded as the protection scope of the present invention.

Claims (5)

1. A vacuum multi-axis motor motion control system is characterized by comprising a single chip microcomputer, a direct-current power supply, a voltage conversion circuit, a driving circuit, a decoder, a rotary transformer and a plurality of vacuum stepping motors; the direct current power supply is used for supplying power to the driving circuit, the decoder, the rotary transformer and each vacuum stepping motor, and the voltage conversion circuit is used for reducing the output voltage of the direct current power supply and then supplying power to the single chip microcomputer; the single chip microcomputer outputs pulse signals and direction signals to the driving circuit, and the driving circuit drives each vacuum stepping motor; the rotary transformer is used for acquiring rotating position signals of the vacuum stepping motors in real time, amplitude signals output by the rotary transformer are converted into digital signals through the decoder and then input to the signal end of the single chip microcomputer to form a closed-loop control circuit.

2. The vacuum multi-axis motor motion control system of claim 1, wherein an optical coupling isolation is provided between the single chip and the driving circuit.

3. The vacuum multi-axis motor motion control system of claim 1, wherein an EMI filter is provided between the voltage conversion circuit and the dc power supply.

4. The vacuum multi-axis motor motion control system of claim 1, wherein the single chip microcomputer is connected to an upper computer through a USB-to-serial port module and connected to a key module through a GPIO interface.

5. The vacuum multi-axis motor motion control system of claim 1, wherein the voltage conversion circuit comprises a 24V power signal interface CN2, a test interface CN3, a capacitor C3, a common mode inductor L2, a capacitor C4, a diode D2, a capacitor C6, a capacitor C8, a chip V1, a switch SW1, a diode D4, an inductor L1, a capacitor C9, a capacitor C10, a fuse F1, a diode D3, a chip V2, a capacitor C5, a capacitor C7, a diode D1, a resistor R5; the capacitor C3 is connected in parallel with two terminals of the 24V power signal interface CN 2; two ends 1 and 3 of the common-mode inductor L2 are connected with the C3 in parallel, and two ends 2 and 4 of the common-mode inductor L2 are connected with the capacitor C4 in parallel; the diode D2 is connected in series between the 4 terminal of the common mode inductor L2 and the input terminal of the chip V1; the model of the chip V1 is LM2596S-5.0, and the 3 and 5 ends of the chip V1 are grounded; the capacitor C6 is connected in series between the diode D2 and the ground; the capacitor C8 is connected in series between the diode D2 and the ground; the diode D4 is connected in series between the 2 terminal of the chip V1 and the ground; the inductor L1 is connected in parallel with the 2 terminal and the 4 terminal of the chip V1; the capacitor C9 is connected in series between the inductor L1 and the ground; the capacitor C10 is connected in parallel between the 4 terminal of the chip V1 and the ground; the fuse F1 is connected in series with the 4 terminal of the chip V1 and the 3 pin of the switch SW 1; the D3 diode is SMAJ5.0A for transient voltage suppression and is connected between the 2 end of the switch SW1 and the ground in series; the model of the chip V2 is LD1117-3.3V, which is used for converting output 5V into 3.3V, IN is connected with the 2 end of the switch SW1, GND is grounded, OUT is connected with the capacitor C5 IN series and is grounded, and C7 is connected with the ground IN series; the 2 end of the switch SW1 is connected with a 5V power supply signal, and the OUT end of the chip V2 is connected with a 3.3V power supply signal; the 3.3V power signal is connected in series with the light emitting diode D1 and the resistor R5 to be grounded, and is used for detecting whether the power conversion circuit works normally or not.

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