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Method for implementing a variable parameter PID motion controller based on Ethernet Powerlink

A technology of motion controller and implementation method, applied in electric controllers, controllers with specific characteristics, program control, etc., can solve problems such as low real-time performance, high hardware implementation cost, and difficulty in adapting to complex environments, and achieve improved real-time performance. performance, reduce development costs, and speed up system adjustment

Inactive Publication Date: 2018-08-31
NANKAI UNIV
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Problems solved by technology

[0009] The purpose of the present invention is to solve the problem that the existing master-slave robot control system has low real-time performance, is difficult to adapt to complex environments and has high hardware implementation costs

Method used

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  • Method for implementing a variable parameter PID motion controller based on Ethernet Powerlink
  • Method for implementing a variable parameter PID motion controller based on Ethernet Powerlink
  • Method for implementing a variable parameter PID motion controller based on Ethernet Powerlink

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Embodiment 1

[0047] The above realization method of variable parameter PID motion controller based on Ethernet Powerlink, Powerlink module is used to run real-time Ethernet to realize data exchange with the master station. Its implementation block diagram is as follows figure 2 As shown, FLASH, SDRAM, JTAG, and GPIO drivers are implemented in FPGA with hardware description language, which is used to interface with peripheral devices, and MAC (MediaAccess Control) is implemented as the data link layer of real-time Ethernet, which is the connection The physical medium of the physical layer is connected to the network card chip. At the same time, two Ethernet physical layer interfaces are enabled to facilitate the networking of the control system. After obtaining the expected position information sent by the master station, through the parallel IO port of Powerlink, the information is sent to the variable parameter PID module in the FPGA in the interrupt of the Powerlink synchronization fun...

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Abstract

A method for implementing a variable parameter PID motion controller based on Ethernet Powerlink belongs to the technical field of combining Ethernet technology with motion control. A controller as anEthernet Powerlink slave station receives expected location information sent by a master station, meanwhile, actual location information is collected in the FPGA, and the difference between the actual location information and the expected location information is performed, the difference is sent to a variable parameter PID module, and a calculation result is sent to a PWM (Pulse Width Modulation)generation module. The PWM wave of the corresponding duty ratio is input to a servo motor driver, and a driving motor is rotated to an expected position. The method is implemented based on an FPGA device, and the feasibility of the proposed method is verified by design actual experiments. The method has the advantages of high real-time performance, strong interference resistance and low development cost, and is suitable the motion control field required for high real-time performance and high stability in complex environments.

Description

technical field [0001] The present invention relates to a method for implementing a variable parameter PID motion controller based on Ethernet Powerlink, in particular to a method for implementing a motion controller in a master-slave robot control system with high real-time performance and high stability requirements in a complex environment , belongs to the technical field of the combination of Ethernet technology and motion control. Background technique [0002] With the rapid development of robot technology, robots are gradually replacing humans to complete heavy tasks in fields such as medical care, automobiles, agriculture, and military affairs. Among them, master-slave robots are attracting more and more attention, especially when they need to complete relatively complex tasks in dangerous or complex environments that cannot be touched by humans, ordinary robots often cannot complete them. [0003] In terms of real-time: [0004] In different fields, the real-time r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42G05B19/042
CPCG05B11/42G05B19/0421G05B2219/2231G05B2219/25174
Inventor 张建勋史建超代煜刘杰
Owner NANKAI UNIV
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