Multiaxial motion servocontrol and protection system

Abstract

The invention relates to a multiaxial motion servocontrol and protection system, belonging to the automation technology. The control system comprises an ARM controller, a CAN communication card, a CPLD device, an FPGA counter, a motor driver, a direct current or stepping motor, an optoelectronic code disc or an optical grading ruler, a sensor, and the like. The ARM controller receives a position or speed control command sent by a host computer through a CAN bus, calculates a controlled quantity by utilizing a built-in arithmetic, generates corresponding pulse-width signals or frequency signals through the CPLD device and drives the direct current or stepping motor to make motion through the motor driver; signals of the optoelectronic code disc or the optical grading ruler are processed bythe FPGA, and the processed signals are used as feedback signals to be sent to an ARM processor to realize servo control; and the sensor detects the running state of a mechanism and the motor, and the ARM processor controls the conditions of overload, limitation, and the like in time so as to protect the safe running of an actuating mechanism. The multiaxial motion servocontrol and protection system can simultaneously control an eight-axis motor and is convenient for the electric control for a multiaxial motion mechanism.

Description

technical field [0001] The invention relates to the field of information technology and automation control technology, relates to a multi-axis linkage motion control system and an electrical mechanism protection system, and is a new type of embedded multi-axis motion servo control and containment device composed of embedded software and hardware technology and field bus technology. A motion control device suitable for series-parallel mechanisms with multiple degrees of freedom and strong joint coupling is formed. Background technique [0002] Multi-axis motion control systems are widely used in automation equipment, especially in light industrial packaging machinery, printing machinery, special CNC processing equipment and series-parallel robots. It is characterized by a large number of control axes, a wide range of equipment layout, and high requirements for synchronization. For the control of this kind of motion axis, the distributed control technology based on field bus ...

AI Technical Summary

Problems solved by technology

However, in this way, the servo control devices of each axis are independent, and each motion axis needs to be composed of a servo controller, a motor driver, a motor, and a photoelectric code disc. For equipment with a large number of axes, the cost of hardware equipment is relatively high. , the system structure is complex

There is also a motion control system that uses a multi-axis motion control card to directly connect with the computer, and the multi-axis motion control card realizes the linkage and servo control of each axis. However, in this way, the multi-axis motion control card is not open. For special The control requirements cannot be met, and the current general motion control card is the linkage control of no more than four axes, which cannot meet the linkage control of more axes in the complex mechanism system, and cannot provide timely feedback on the operating status of the actuator

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