A zynq-based multi-axis multi-motor servo device and its control method

Abstract

The invention relates to the technical field of automatic control. The invention is a ZYNQ-based multi-axis multi-motor servo device and its control method, including a visual acquisition module, an interface module, a visual parallel segmentation module, a visual positioning processing module, a multi-processor coordination module, a control algorithm and a control command generation module , external application algorithm module, driving signal generation module and driving circuit board; ZYNQ chip includes PS0, PS1, DDR, FPGA and DSP; collects visual information through the camera, determines the relative position of the target through the visual parallel segmentation module and visual positioning processing module, According to the relative position signal of the target and the feedback current, speed, and displacement signals, the four-loop control command is generated, and the final control command is generated by receiving the external control signal, and then the drive signal is generated, and multiple motors are controlled and fed back through the drive circuit board to improve multiple motors. Accuracy and performance of an axis multi-motor servo with reduced size and easy 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...

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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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