Parallel connection equipment opening type motion control card based on two-stage DSP and control method thereof

Abstract

The invention discloses an open type movement control card based on two-stage DSP parallel device and the control method. The system employs the two-stage control structure with plural CPU parallel processing for separating the general control function and the specific control function of the motor; the control-class CPU as the core of the control card, controls and coordinates the entire system operation; employing programmable logic gate array FPGA to construct communication interface, connecting the control central-class processing unit and execute-class motor control unit with the FPGA chip, realizing high-speed transmission of data and synchronizing control of motor vial FPGA controlling FIFO and the synchronizing status signal. The control method includes central processing discrete control trace, resetting and taking velocity inversion with execute-class CPU, and PID controlling servo motor via changing parameter position.

Description

technical field [0001] The invention relates to an open motion control card and a control method for parallel equipment based on two-stage DSP, belonging to the technology of an open numerical control system. Background technique [0002] A parallel mechanism is a group of two or more branches connected in parallel. Its characteristic is that all branches can accept the driver input at the same time, and finally give the output together, which belongs to the multi-channel closed-loop mechanical system in terms of mechanism. Numerical control machine tools, robot manipulators and manufacturing units composed of parallel mechanisms as transmission and feed mechanisms are collectively referred to as parallel configuration equipment, which is a new type of manufacturing equipment developed in recent years with broad application prospects. [0003] The biggest feature of parallel configuration equipment is its simple structure and complex control. Since...

AI Technical Summary

Problems solved by technology

Due to the limitation of the interpolation period by the motion control card itself, in order to ensure the control accuracy of the parallel mechanism, its feed speed must be limited, so it is difficult to achieve the high-speed and high-precision requirements of parallel equipment;

[0006] 2. Since the motion control of the parallel mechanism must be coordinated by the PC and the control card, the frequent exchange of a large amount of data between the two CPUs will easily form a communication bottleneck, which will affect the high-speed operation of the entire system;

However, since most of the current motion control cards only provide open system interfaces, their core control strategies are still closed, and users cannot change their internal control algorithms, making it difficult to further improve the performance of parallel equipment

[0008] It can be seen that due to the large differences in control principles, the existing traditional motion control cards are not completely suitable for the control characteristics of parallel mechanisms, and the structures and scale parameters of different configurations of parallel equipment are not the same. Users should be able to It is very convenient to modify the kinematics model and control strategy, which requires the control system to have high flexibility and openness. Therefore, according to the characteristics of the parallel mechanism, a new type of motion control card with an open architecture is developed, which is very important for promoting the parallel mechanism. The practical and industrialization process of high-end equipment is of great significance

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