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Motion Control System

A technology of motion control system and control module, which is applied in the field of numerical control, can solve problems such as poor flexibility, and achieve the effects of improving safety, saving communication links, and improving precision

Active Publication Date: 2019-03-26
湖南戈人自动化科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the present invention proposes a scheme of performing interpolation calculation and servo control at the same time as the position control cycle of servo control. Each time the motor control of each axis is executed, an interpolation calculation is performed first, which overcomes the shortcoming of poor flexibility of the compiled system , can further eliminate the bottleneck of high-speed and high-precision control

Method used

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  • Motion Control System

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Embodiment Construction

[0016] figure 1 It is a module structure diagram of an embodiment of the motion control system of the present invention. Including communication module, external storage module, instruction-code analysis execution module, bridge module, coprocessor module, interpolation calculation-motor control module, current loop control module, multiple motor power drive modules, encoder signal input module, IO (input and output port) control module;

[0017] In the present embodiment, each access module has a parallel port data exchange function; the coprocessor module accelerates part of the complex calculations required by the system and realizes part of the real-time control functions; the bridge module and the coprocessor module are integrated in an FPGA chip among.

[0018] In this embodiment, the interpolation calculation-motor control module is implemented by an independent processor chip, which is connected to the bridge chip through a parallel port; the interpolation calculatio...

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Abstract

The invention provides a motion control system. The motion control system is integrated with a motor controller function and is characterized in that interpolation calculation and motor control calculation are arranged in one module, one interpolation calculation-motor control module is shared by each shaft motor, each shaft motor control calculation is periodically carried out by the module one by one according to the sequential order, interpolation calculation is carried out according to signals fed back by a present servo motor and an encoder of a motor linked with the present servo motor, after an interpolation result is acquired, motor control calculation is carried out, after motor control calculation is accomplished, a calculation result is sent to a current loop control module for output, and thereby present-period control of the present motor is accomplished. The motion control system is advantaged in that high-speed motion higher-precision-control control is realized.

Description

technical field [0001] The invention relates to the technical field of numerical control, in particular to a motion control system for high-speed and high-precision control. Background technique [0002] Usually, the workflow of the motion control system of a machining center or a robotic arm is: first analyze the code program, execute the code command, perform motion interpolation, and send a pulse signal to the servo driver to perform motion control. Therefore, the program analysis ability, interpolation processing ability, motor driver communication cycle, and motor driver internal control cycle constitute the bottleneck of high-speed motion control in turn. For example, in a high-speed machining center, due to the lag of the motor driver, the performance of the servo driver cannot be fully utilized, resulting in increased trajectory errors. In the high-speed movement of the mechanical arm, due to the complexity of the dynamics of the arm, the control cannot achieve the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/414
CPCG05B19/4144G05B2219/33218
Inventor 胡小春
Owner 湖南戈人自动化科技有限公司