ZYNQ-based multi-axis multi-motor servo device and control method thereof

Abstract

The invention relates to the technical field of automatic control. The invention provides a ZYNQ-based multi-axis multi-motor servo device and a control method thereof. The ZYNQ-based multi-axis multi-motor servo device comprises a vision collection module, an interface module, a vision parallel segmentation module, a vision positioning processing module, a multiprocessor cooperation module, a control algorithm, a control instruction generation module, an external application algorithm module, a driving signal generation module and a driving circuit board; a ZYNQ chip comprises PS0, PS1, DDR,FPGA and DSP; visual information is collected through a camera, and relative position of a target is determined by the vision parallel segmentation module and the vision positioning processing module,a four-loop control instruction is generated according to a relative position signal of the target, feedback current, speed, and a displacement signal, an external control signal is received to generate a final control instruction, and then a driving signal is generated, multiple motors are controlled through the driving circuit board and are fed back, so as to improve the accuracy and the performance of the multi-axis multi-motor servo device, reduce the volume and facilitate the communication.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a servo drive technology. Background technique [0002] At present, the servo system, as one of the important power sources of modern industrial production equipment, is an indispensable basic technology for industrial automation and robots. As an important part of industrial control devices, servo devices have always attracted attention. As the cost and volume requirements of products are getting higher and higher, servo drives that can support multi-axis and different types of motors are favored. [0003] In order to ensure the control accuracy of the servo system, higher requirements are put forward for the position sensor of the motor, while the conventional servo driver is composed of a power drive module, a position sensor, and a control module. The processor realizes the position, The three-loop control of speed and torque, the acquisition of position informati...

AI Technical Summary

Problems solved by technology

[0003] In order to ensure the control accuracy of the servo system, higher requirements are put forward for the position sensor of the motor, while the conventional servo driver is composed of a power drive module, a position sensor, and a control module. The processor realizes the position, The three-loop control of speed and torque, the acquisition of position information is single and the accuracy is limited. Even if the visual measurement technology is added to make the position control accuracy higher, but the visual information is processed by FPGA, and the PWM driving signal is generated by FPGA at the same time, the processing capacity is limited. Occupies a lot of resources, is not convenient for the realization of control algorithm and driver interface, and affects the performance of the driver

In addition, servo drives generally use separate multi-processor solutions such as DSP, ARM, and FPGA, which are not only too large in size, but also complex in communication. The bandwidth of chip-level interconnection is likely to become a bottleneck, and the development is difficult. The integration and expansion of system modules have certain limitations. limitation

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