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Control and drive integrated system architecture of single processing chip

A system architecture, single-processing technology, applied in the field of control systems, which can solve the problems of low data bandwidth and high data delay

Active Publication Date: 2020-02-28
FOSHAN INST OF INTELLIGENT EQUIP TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the above problems and provide a system architecture, which solves the problems of high data delay and low data bandwidth caused by the decentralized "controller + driver" structure

Method used

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  • Control and drive integrated system architecture of single processing chip
  • Control and drive integrated system architecture of single processing chip

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0018] like figure 1 , 2 As shown, the integrated control and drive system architecture of a single-processing chip in this embodiment, the non-real-time task of the single-processing chip CPU and the real-time task of the CPU, the non-real-time task of the CPU and the real-time task of the CPU Data exchange is performed through shared memory. The single-processing chip also includes an FPGA array, and between non-real-time tasks of the CPU, real-time tasks of the CPU and the FPGA, data exchange is performed through a high-speed parallel bus inside the single-processing chip.

[0019] The single processing chip in this embodiment is the XC7020 chip, which controls the 4-axis control and drive integrated system. The non-real-time tasks of the CPU are processed by the A9Core0 processor, and the real-time tasks of the CPU are processed by the A9Core1 processor. The A9Core0 processor and the A9Core1 processor Data exchange between A9Core0 processors, A9Core1 processors and PFGA i...

Embodiment 2

[0021] like figure 1 , 2 As shown, the A9Core0 processor runs under the Linux kernel environment and runs non-real-time tasks, including application software and path planning. The A9Core1 processor runs in a real-time operating system environment and runs robot closed-loop control algorithms, including dynamics algorithms, kinematics algorithms and interpolation, position closed-loop control and speed closed-loop control. The FPGA sets the logic of the fixed-period driving algorithm of the shaft, and the logic of the shaft includes a shaft current closed-loop drive model, shaft drive signal output, shaft current signal input, and shaft encoder signal input.

[0022] In addition to the XC7020 chip, it also includes a peripheral auxiliary circuit. The shaft drive signal output is connected to a 4-axis power amplifier circuit for driving the motor. The specific 4-axis power amplifier circuit is an IGBT drive bridge circuit. The shaft current signal input is connected to a 4-ax...

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Abstract

The invention relates to the field of control systems, and particularly relates to a control and drive integrated system architecture of a single processing chip. The architecture single processing chip processes a non-real-time task of a CPU and a real-time task of the CPU; data exchange is carried out between the non-real-time task of the CPU and the real-time task of the CPU through a shared memory; data exchange is carried out between the non-real-time task of the CPU and an FPGA through a high-speed parallel bus in the single processing chip; the millisecond-level motion control limit isbroken through; and the bottleneck encountered in high-speed and high-precision occasions is broken through. In addition, the architecture limitation that control is completed by one chip and drive iscompleted by another chip in an original control system is broken through, the tasks are divided into the real-time tasks and the non-real-time tasks, the tasks are processed and completed by the single chip, control and drive integration is achieved, and the performance of the control and drive integrated system is improved.

Description

【Technical field】 [0001] The invention relates to the field of control systems, in particular to a single-processing chip control-drive integrated system architecture. 【Background technique】 [0002] In the past two decades, due to the strong industrial demand for general-purpose machine tools and special-purpose equipment, the controllers, drivers, user interfaces, and application software developed by suppliers of industrial control system components are based on an independent, multi-functional, multi-occasion Compatible design, this kind of freely combinable and flexible design, can meet the needs of users to quickly implement a relatively reliable control system for the machine to a certain extent. [0003] Until the advent of the era of industrial robots, unlike traditional machine tools, although the "controller + driver" method can provide real-time multi-axis linkage control for robots, this linkage is due to the data exchange between the controller and the driver t...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1602
Inventor 周星高萌宋科黄键张立群钟家明唐颖琦
Owner FOSHAN INST OF INTELLIGENT EQUIP TECH