Double-shaft motor driving system and method based on dual-core processing

Abstract

The invention discloses a double-shaft motor driving system based on dual-core processing. The system comprises an upper computer, two servo motors and a server driver, wherein the upper computer is used for transmitting a motion command; the servo driver comprises a dual-core DSP with two CPUs, the dual-core DSP is in communication with the upper computer through a CAN bus, the dual-core DSP is used for receiving the motion command sent by the upper computer, the CPUs and the servo motors establish communication in a one-to-one correspondence mode, the CPUs are used for controlling the servomotors to operate according to the motion command and obtaining feedback data of encoders of the servo motor, and single-shaft operation control or double-shaft alternate operation control or double-shaft synchronous operation control over the two servo motors is achieved through the two CPUs. According to the invention, the motion control strategy is flexible and diverse, the synchronous controlprecision of the system can be improved, the dynamic response capability and the data transmission capability are high, and the reliability of the system can be improved.

Description

technical field [0001] The invention relates to a servo motor control system, in particular to a dual-axis motor drive system and method based on dual-core processing. Background technique [0002] With the application of AC servo drives in industrial automation control more and more widely, and servo control technology is an important part of robots, CNC machine tools, mobile equipment, etc., the rapidly growing industrial control market has a great impact on the size, performance and cost of AC servo systems. Higher requirements have also been raised. In the process of industrial production, with the diversification and complexity of tasks, especially mobile robots, people gradually put forward higher requirements for their control accuracy and intelligence, and there are extremely high restrictions on their body structure, and the traditional servo The control signal of the servo driver in the system generally adopts analog voltage or pulse sequence, and a special motion...

AI Technical Summary

Problems solved by technology

In the process of industrial production, with the diversification and complexity of tasks, especially mobile robots, people gradually put forward higher requirements for their control accuracy and intelligence, and there are extremely high restrictions on their body structure, and the traditional servo The control signal of the servo driver in the system generally adopts analog voltage or pulse sequence, and a special motion controller is required when connecting with the robot host computer control device. Multiple parallel signal lines are used, the wiring is cumbersome, and it is difficult to realize the distributed control of the system, and difficult to maintain

[0003] At present, common servo drives on the market are basically single-axis structures, and most of them are based on the single-axis structure of "DSP+FPGA". DSP and FPGA coordinate to complete motor control, protection signal processing, input command response and output. In response to feedback processing, scanning button display and other functions, this design method using a servo drive system plus a motion control board has the following disadvantages: high system cost, large size, inconvenient use, and complicated maintenance. In addition, due to its peripheral There are many circuits and cables, and the wiring is complicated, which reduces the reliability of the system

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