A displacement device control system and control method

Abstract

The present invention relates to the field of motor control technology, and in particular to a displacement device control system and control method, wherein the displacement device control system comprises: a driving module, the driving module is connected to a plurality of displacement devices; a sampling module, the sampling module obtains initial position data and initial temperature data from the displacement device, and outputs the position data and temperature data; a main control module, the main control module is respectively connected to the driving module and the sampling module; wherein the control signal comprises a motion control signal and an enable signal, the main control module controls the driving module to output the motion control signal based on the position data and the external instruction, and the displacement device receives the motion control signal to move; the main control module controls the driving module to output the enable signal based on the temperature data, and the displacement device receives the enable signal and enters the shutdown state. The present invention is at least conducive to realizing the miniaturization, integration and localization of the control system.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and in particular relates to a displacement device control system and a control method. Background Art

[0002] As a motor that uses direct transmission to generate displacement, linear motors eliminate the energy loss and friction loss in the intermediate links caused by traditional indirect mechanical transmission methods, can achieve high-precision displacement adjustment, and have high stability and reliability. In addition, linear motors can be flexibly arranged according to actual usage scenarios and are easy to install. Therefore, linear motors are widely used in military, transportation, CNC machine tools and other fields due to their excellent performance.

[0003] Currently, if multiple linear motors are to be controlled, multiple displacement device controllers are usually required, which have many components and are inconvenient to control and operate. Summary of the invention

[0004] In view of this, the present invention aims to provide a displacement device control system and control method, which are at least conducive to the miniaturization, integration and localization of the control system.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0006] The invention provides a displacement device control system, comprising: a driving module, the driving module is connected to a plurality of displacement devices, the driving module is used to send a control signal to the displacement device to drive the displacement device to move or shut down; a sampling module, the sampling module obtains initial position data and initial temperature data from the displacement device, and outputs the position data and temperature data; a main control module, the main control module is respectively connected to the driving module and the sampling module; wherein the control signal comprises a motion control signal and an enable signal, the main control module controls the driving module to output the motion control signal based on the position data and the external instruction, and the displacement device receives the motion control signal to move; the main control module controls the driving module to output the enable signal based on the temperature data, and the displacement device receives the enable signal to enter the shutdown state.

[0007] Furthermore, the main control module controls the driving module to output an enable signal based on the temperature data, including: the main control module judges the received temperature data, and if the temperature represented by the temperature data is greater than a first preset value or less than a second preset value, the main control module controls the driving module to send an enable signal to the displacement device.

[0008] Furthermore, the displacement device control system also includes a human-computer interaction module, which is connected to the main control module. The main control module communicates with the host computer through the human-computer interaction module to receive external instructions sent by the host computer and to feed back the working status parameters of the displacement device to the host computer; wherein the external instructions include at least update program instructions and motion instructions.

[0009] Furthermore, the human-computer interaction module communicates with the host computer via an RS422 interface.

[0010] Furthermore, the driving module has N output ends, and each output end of the driving module is connected to a corresponding displacement device; the sampling module has 2N sampling channels, the 2N sampling channels include N sampling channels for collecting initial position data, and include N sampling channels for collecting initial temperature data, and the resolution of the sampling module is at least 16 bits; wherein N is an integer greater than 2.

[0011] Furthermore, the driving module integrates a decoder, an internal undervoltage lockout circuit, an overcurrent protection circuit and an overheat shutdown protection circuit.

[0012] Furthermore, the displacement device control system also includes a power supply module, which includes a first power supply unit and a second power supply unit that are isolated from each other; the first power supply unit is connected to the main control module and is used to provide a weak voltage to the main control module; the second power supply unit is connected to the driving module and is used to provide a strong voltage to the driving module.

[0013] Another aspect of the present invention provides a displacement device control method, comprising: providing the above-mentioned displacement device control system, the displacement device control system comprising a driving module, a sampling module and a main control module; using the driving module to drive multiple displacement devices to make the corresponding displacement devices move or shut down; using the sampling module to obtain the initial position data and initial temperature data of each displacement device, and output the position data and temperature data; using the main control module to control the driving module, and using the main control module to receive the position data, temperature data and external instructions sent by the host computer; based on the position data and the external instructions, the driving module is controlled to output a motion control signal, and the corresponding displacement device receives the motion control signal to move, and based on the temperature data, the driving module is controlled to output an enable signal, and the corresponding displacement device receives the enable signal to enter a shutdown state.

[0014] Furthermore, controlling the drive module to output an enable signal based on temperature data includes: acquiring the initial temperature data of the displacement device in real time, generating corresponding temperature data, and judging the temperature data; if the temperature represented by the temperature data is greater than a first preset value or less than a second preset value, the control drive module sends an enable signal to the corresponding displacement device.

[0015] Furthermore, the displacement device control method further includes: using the host computer to send a program update instruction, if the main control module receives the program update instruction sent by the host computer, the main control module performs a program update operation.

[0016] Compared with the prior art, the invention can achieve the following beneficial effects: the displacement device control system provided by the invention can control multiple displacement devices respectively through different output ends of the driving module, and can realize online program update, thereby realizing the miniaturization and integration of the displacement device control system. In addition, the displacement device control system can automatically control the operating state of the displacement device according to the temperature, thereby protecting the displacement device, which is beneficial to extending the service life of the displacement device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of a displacement device control system according to an embodiment of the present invention;

[0019] Figure 2 A flow chart of a displacement device control method according to an embodiment of the present invention;

[0020] Figure 3 A circuit diagram of a sampling module according to an embodiment of the present invention;

[0021] Figure 4 A circuit diagram of a driving module according to an embodiment of the present invention.

[0022] Description of reference numerals: 10, driving module; 20, sampling module; 30, main control module;

[0023] 40. Human-computer interaction module; 50. Power module. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0025] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0026] In the description of the invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0027] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0028] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0029] refer to Figure 1 and Figure 2 On the one hand, the present invention provides a displacement device control system, including: a driving module 10, the driving module 10 is connected to a plurality of displacement devices, and the driving module 10 is used to send a control signal to the corresponding displacement device to drive the displacement device to move or shut down; a sampling module 20, the sampling module 20 obtains initial position data and initial temperature data from the displacement device, and outputs the position data and temperature data; a main control module 30, the main control module 30 is respectively connected to the driving module 10 and the sampling module 20; wherein the control signal includes a motion control signal and an enable signal, the main control module 30 controls the driving module 10 to output the motion control signal based on the position data and the external instruction, and the corresponding displacement device receives the motion control signal to move; the main control module 30 controls the driving module 10 to output the enable signal based on the temperature data, and the corresponding displacement device receives the enable signal to enter the shutdown state.

[0030] The displacement device control system provided by the invention can provide stable displacement drive for multiple displacement devices and perform temperature monitoring on each displacement device, which is beneficial to ensure that the displacement device achieves high-precision displacement.

[0031] It should be noted that the displacement device may be a linear motor.

[0032] Furthermore, the main control module 30 controls the driving module 10 to output an enable signal based on the temperature data, including: the main control module 30 judges the received temperature data, and if the temperature represented by the temperature data is greater than a first preset value or less than a second preset value, the main control module 30 controls the driving module 10 to send an enable signal to the displacement device.

[0033] The reason for this arrangement is that when the temperature of the displacement device is too high, if the displacement device continues to operate, it may cause overheating and damage to the displacement device or create other safety hazards. When the temperature of the displacement device is too low, the displacement device may not be able to operate. If a control signal is continuously sent to the displacement device to control its movement, the displacement device may also be damaged. Therefore, the displacement device control system provided by the present invention detects the temperature of the displacement device in real time, and sends an enable signal to the displacement device when the temperature is too low or too high, so that the displacement device enters a shutdown state, which is beneficial to extending the service life of the displacement device.

[0034] It should be noted that the first preset value and the second preset value can be determined according to the temperature resistance performance of the displacement device. The first preset value can be the upper temperature resistance value of the displacement device, and the second preset value can be the lower temperature resistance value of the displacement device.

[0035] In some embodiments of the present invention, the main control module 30 is an embedded system including a DSP (Digital Signal Processing) chip and an FPGA (Field Programmable Gate Array) chip. The DSP chip is responsible for the complex logic control of the main control module 30, and the FPGA chip is responsible for the peripheral circuit construction and the underlying logic design. Among them, the model of the DSP chip can be AVP32F069, and the model of the FPGA chip can be PGL22G-MBG324. The DSP chip and the FPGA chip use a data bus to exchange information.

[0036] In some embodiments of the present invention, the main control module 30 also includes a peripheral circuit, which includes a power conversion circuit for powering the DSP chip and the FPGA chip. In addition, the peripheral circuit may also include some interface circuits that play a logical connection role.

[0037] Furthermore, the displacement device control system also includes a human-computer interaction module 40, which is connected to the main control module 30. The main control module 30 communicates with the host computer through the human-computer interaction module 40 to receive external instructions sent by the host computer and feedback the working status parameters of the displacement device to the host computer; wherein the external instructions include at least update program instructions and motion instructions.

[0038] Specifically, after the displacement device control system and the displacement device are turned on, the displacement device control system and the displacement device are both in standby mode, and the human-computer interaction module 40 is used to realize the communication connection between the displacement device control system and the host computer, and the host computer is used to send external instructions to the displacement device control system. The external instructions may specifically be update program instructions or motion instructions.

[0039] If the host computer sends an update program instruction to the displacement device control system, the human-computer interaction module 40 receives the update program instruction and transmits the update program instruction to the main control module 30. After receiving the program update instruction, the main control module 30 performs a program update operation.

[0040] If the host computer sends a motion instruction to the displacement device control system, the human-computer interaction module 40 receives the motion instruction and transmits the motion instruction to the main control module 30. After receiving the motion instruction, the main control module 30 will locate the displacement device to be motion controlled according to the motion instruction, and obtain the initial position data of the displacement device through the sampling module 20. The sampling module 20 processes the initial position data and generates position data. It should be noted that the initial position data is data in the form of a signal. The sampling module 20 generates position data after performing signal processing on the initial position data, and sends the position data to the main control module 30. The main control module 30 calculates and generates an initial motion control signal based on the position data and the motion instruction, and sends it to the drive module 10. The drive module 10 generates a motion control signal based on the initial motion control signal. The motion control signal at least represents the distance and direction of movement required for the corresponding displacement device. The corresponding displacement device receives the motion control signal and performs corresponding movement.

[0041] The initial position data of the displacement device represents the current position of the displacement device.

[0042] Furthermore, the human-machine interaction module 40 communicates with the host computer via the RS422 interface, which is helpful in suppressing common-mode interference and alleviating EMI (Electromagnetic Interference) problems.

[0043] In some embodiments of the present invention, the human-computer interaction module 40 may have three interfaces for communicating with the host computer. It is understandable that in other embodiments of the present invention, the human-computer interaction module 40 may also have two or one interfaces for communicating with the host computer.

[0044] In some embodiments of the present invention, the human-computer interaction module 40 may be an interface chip of model CA-IS3086.

[0045] In some embodiments of the present invention, the main control module 30 includes a DSP chip and an FPGA chip, and the human-computer interaction module 40 is connected to the DSP chip and is responsible for data communication between the DSP chip and the host computer.

[0046] Further, the driving module 10 has N output terminals, each of which is connected to a corresponding displacement device, that is, the driving module 10 can provide control signals for the N displacement devices at the same time; the sampling module 20 has 2N sampling channels, the 2N sampling channels include N sampling channels for collecting initial position data, and include N sampling channels for collecting initial temperature data, and the resolution of the sampling module 20 is at least 16 bits; wherein N is an integer greater than 2. For example, N is equal to 4.

[0047] In some embodiments of the present invention, the driving module 10 is a driving chip, and the model of the driving chip is HR4985. Figure 4 The AOUT1_1 port, BOUT1_1 port, AOUT2_1 port and BOUT2_1 port of the driving module 10 are used to connect with the displacement device, and the nENBL_1 port, DIR_1 port and STEP_1 port are connected with the main control module.

[0048] In some embodiments of the present invention, the sampling module 20 is an A / D sampling chip, and the model of the A / D sampling chip is CL1689. Figure 3 The IN0 port, IN1 port, IN2 port and IN3 port of the sampling module 20 are used to collect the initial position data of the displacement device, the IN4 port, IN5 port, IN6 port and IN7 port are used to collect the initial temperature data of the displacement device, and the SPISOMI port, SPISIMO port and SPICLK port are used to connect to the main control module 30.

[0049] It should be noted that the sampling module 20 can obtain the initial position data of the displacement device through a potentiometer, and can obtain the initial temperature data of the displacement device through a temperature sensor. For N displacement devices, each displacement device is provided with a corresponding potentiometer and temperature sensor.

[0050] By collecting the temperature of the displacement device and controlling the displacement device based on the temperature, the environmental adaptability of the displacement device can be improved.

[0051] For the embodiment of the main control module 30 provided by the present invention including a DSP chip and an FPGA chip, the SPI interface protocol can be used between the sampling module 20 and the main control module 30 to configure the register of the FPGA chip. The DSP chip is responsible for communicating with the human-computer interaction module 40 to receive external instructions sent by the host computer, and is responsible for feeding back the working state parameters of the displacement device to the host computer through the human-computer interaction module 40. The working state parameters represent the working state of the displacement device. The DSP chip is also responsible for the position closed-loop calculation operation.

[0052] Furthermore, the driver module 10 integrates a decoder, an internal undervoltage lockout circuit, an overcurrent protection circuit, and an overheat shutdown protection circuit. Since the driver module 10 integrates a decoder, a step control of the displacement device can be completed by outputting a pulse to the driver module 10, avoiding the use of a phase sequence table, and further avoiding the use of a cumbersome programming interface, which is conducive to the miniaturization and integration of the control system.

[0053] Furthermore, the displacement device control system further includes a power module 50, which includes a first power unit and a second power unit that are isolated from each other; the first power unit is connected to the main control module 30, and is used to provide a weak voltage to the main control module 30; the second power unit is connected to the driving module 10, and is used to provide a strong voltage to the driving module 10. In other words, the strong power side and the weak power side are isolated from each other, which is conducive to improving the stability of the control system.

[0054] In some embodiments of the present invention, the input voltage of the second power supply unit is 24V, and the output strong voltage is 12V; the input voltage of the first power supply unit is 5V, and the weak voltage output by the first power supply unit can include a weak voltage of 3.3V and a weak voltage of 1.8V.

[0055] In some embodiments of the present invention, the first power supply unit may be an isolated power supply of model URB2412LD-60WR3, and the second power supply unit may be a power supply chip of model BL8028.

[0056] refer to Figure 1 and Figure 2On the other hand, the present invention provides a displacement device control method, including: providing the above-mentioned displacement device control system, the displacement device control system including a driving module 10, a sampling module 20 and a main control module 30; using the driving module 10 to drive multiple displacement devices to make the corresponding displacement devices move or shut down; using the sampling module 20 to obtain the initial position data and initial temperature data of each displacement device, and output the position data and temperature data; using the main control module 30 to control the driving module 10, and using the main control module 30 to receive the position data, temperature data and external instructions sent by the host computer; based on the position data and the external instructions, the driving module 10 is controlled to output a motion control signal, and the corresponding displacement device receives the motion control signal to move, and based on the temperature data, the driving module 10 is controlled to output an enable signal, and the corresponding displacement device receives the enable signal and enters a shutdown state.

[0057] Furthermore, the displacement device control method further includes: using the host computer to send a program update instruction, if the main control module 30 receives the program update instruction sent by the host computer, the main control module 30 performs a program update operation.

[0058] Furthermore, controlling the drive module 10 to output an enable signal based on temperature data includes: acquiring the initial temperature data of the displacement device in real time, generating corresponding temperature data, and judging the temperature data. If the temperature represented by the temperature data is greater than a first preset value or less than a second preset value, the drive module 10 is controlled to send an enable signal to the corresponding displacement device.

[0059] The following uses a potentiometer as an example of a position feedback device for detecting displacement to specifically illustrate an embodiment of the invention.

[0060] The displacement device and the displacement device control system are powered on, and the displacement device control system enters a self-test state after initialization. The self-test state is used to detect whether the various modules of the displacement device control system are normal, and whether the temperature and position of the displacement device are within the normal range; after the self-test is completed, it is determined whether to update the program according to the external instructions sent by the host computer; if the program update operation is performed, the displacement device and the displacement device control system enter a standby state after the program is updated, and if the program update operation is not required, the displacement device and the displacement device control system directly enter the standby state; for the displacement device and the displacement device control system in the standby state, if the host computer sends a motion instruction to the displacement device control system, the human-computer interaction module 40 receives the motion instruction and transmits the motion instruction to the main control module 30, and the main control module 30 receives the motion instruction. After the motion instruction is received, the displacement device to be motion controlled will be located according to the motion instruction, and the initial position data of the displacement device will be obtained through the sampling module 20. The sampling module 20 generates position data after processing the initial position data, and sends the position data to the main control module 30. The main control module 30 calculates and generates an initial motion control signal based on the position data and the motion instruction, and sends it to the drive module 10. The drive module 10 generates a motion control signal based on the initial motion control signal. The motion control signal at least represents the distance and direction of movement required by the corresponding displacement device. The corresponding displacement device receives the motion control signal and moves. The displacement device is in a moving state. After the displacement device reaches the corresponding position, the displacement device and the displacement device control system both enter a standby state. If movement is required again, the above operation is repeated.

[0061] After the displacement device and the displacement device control system are powered on, the temperature of the displacement device is monitored in real time to confirm the use environment of the displacement device. When the temperature is too low or too high, the interrupt fault program of the main control module 30 is triggered, and an enable signal is sent to the displacement device to put the displacement device into a shutdown state. If the displacement device is in a motion state, the motion control signal is stopped from being sent to the displacement device, and an enable signal is sent to the displacement device to put the displacement device into a shutdown state.

[0062] The displacement device control system and control method provided by the present invention can control multiple displacement devices. The driving module 10 has a multi-channel driving interface, the sampling module 20 has a multi-channel analog sampling channel, the resolution of the sampling module 20 can be 16 bits, the control error of the displacement device is less than ±0.1um, and the program of the main control module 30 can be updated online. Various control instructions and position data can be fed back to the host computer through working parameters for storage. It is easy to digitally control and is stable and efficient, and the device cost is also low.

[0063] The chip models selected for the displacement device control system provided by the present invention are all domestically produced chips, which avoids dependence on imported chips, is conducive to reducing costs, and can also better protect the information security of the circuit. In addition, the displacement device control system has a temperature monitoring function, which can monitor the operating environment temperature of the displacement device in real time. When it is at an extreme temperature, it will protect the displacement device, which is conducive to improving the environmental adaptability of the displacement device.

[0064] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0065] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A displacement device control system, characterized in that: include: A driving module, wherein the driving module is connected to a plurality of displacement devices, and the driving module is used to send a control signal to the displacement devices to drive the displacement devices to move or shut down. The driving module is a driving chip, and the driving module has N output terminals, and each output terminal of the driving module is connected to a corresponding displacement device; A sampling module, wherein the sampling module obtains initial position data and initial temperature data from the displacement device, and outputs the position data and temperature data. The sampling module is an A / D sampling chip, and the sampling module has 2N sampling channels, wherein the 2N sampling channels include N sampling channels for collecting initial position data and N sampling channels for collecting initial temperature data. The resolution of the sampling module is at least 16 bits, wherein N is an integer greater than 2. A main control module, the main control module is connected to the driving module and the sampling module respectively, and the main control module includes a DSP chip and an FPGA chip; Wherein, the control signal includes a motion control signal and an enable signal, the main control module controls the drive module to output the motion control signal based on the position data and the external instruction, and the displacement device receives the motion control signal to move; the main control module controls the drive module to output the enable signal based on the temperature data, and the displacement device receives the enable signal to enter a shutdown state; The main control module controls the driving module to output the enabling signal based on the temperature data, comprising: the main control module judges the received temperature data, and if the temperature represented by the temperature data is greater than a first preset value or less than a second preset value, the main control module controls the driving module to send the enabling signal to the displacement device; After the displacement device and the displacement device control system are powered on, the displacement device control system enters a self-test state after initialization. The self-test state is used to detect whether the various modules of the displacement device control system are normal, and to detect whether the temperature and position of the displacement device are within the normal range. After the self-test is completed, it is determined whether to update the program according to the external instructions sent by the host computer. If the program update operation is performed, the displacement device and the displacement device control system enter a standby state after the program is updated. If the program update operation is not required, the displacement device and the displacement device control system directly enter the standby state. For the displacement device and the displacement device control system in the standby state, if the host computer sends a motion instruction to the displacement device control system, the human-computer interaction module receives the motion instruction and transmits the motion instruction to the main control module. The main control module After receiving the motion instruction, the displacement device to be motion controlled will be located according to the motion instruction, and the initial position data of the displacement device will be obtained through the sampling module. The sampling module generates position data after processing the initial position data, and sends the position data to the main control module. The main control module calculates and generates an initial motion control signal based on the position data and the motion instruction, and sends it to the drive module. The drive module generates a motion control signal based on the initial motion control signal. The motion control signal at least represents the distance and direction of movement required by the corresponding displacement device. The corresponding displacement device receives the motion control signal and moves. The displacement device is in a moving state. After the displacement device reaches the corresponding position, the displacement device and the displacement device control system both enter a standby state. If movement is required again, the above operation is repeated.

2. The displacement device control system according to claim 1, characterized in that: The displacement device control system further comprises a human-computer interaction module, the human-computer interaction module is connected to the main control module, the main control module communicates with the host computer through the human-computer interaction module to receive the external command sent by the host computer, and feeds back the working state parameters of the displacement device to the host computer; The external instructions at least include program update instructions and motion instructions.

3. The displacement device control system according to claim 2, characterized in that: The human-computer interaction module communicates with the host computer via an RS422 interface.

4. The displacement device control system according to claim 1, characterized in that: The driving module integrates a decoder, an internal undervoltage lockout circuit, an overcurrent protection circuit and an overheat shutdown protection circuit.

5. The displacement device control system according to any one of claims 1 to 3, characterized in that: The displacement device control system further comprises a power supply module, wherein the power supply module comprises a first power supply unit and a second power supply unit which are isolated from each other; The first power supply unit is connected to the main control module and is used to provide a weak voltage to the main control module; The second power supply unit is connected to the driving module and is used to provide a strong voltage to the driving module.

6. A displacement device control method, characterized in that: include: A displacement device control system according to any one of claims 1 to 5 is provided, wherein the displacement device control system comprises a driving module, a sampling module and a main control module; Using the driving module to drive a plurality of displacement devices to move or shut down corresponding displacement devices; Using the sampling module to obtain initial position data and initial temperature data of each displacement device, and outputting the position data and temperature data; Using the main control module to control the driving module, and using the main control module to receive the position data, the temperature data and an external instruction sent by a host computer; Based on the position data and the external command, the driving module is controlled to output a motion control signal, and the corresponding displacement device receives the motion control signal to move; based on the temperature data, the driving module is controlled to output an enable signal, and the corresponding displacement device receives the enable signal to enter a shutdown state; Controlling the driving module to output the enabling signal based on the temperature data includes: acquiring the initial temperature data of the displacement device in real time, generating corresponding temperature data, judging the temperature data, and controlling the driving module to send the enabling signal to the corresponding displacement device if the temperature represented by the temperature data is greater than a first preset value or less than a second preset value; After the displacement device and the displacement device control system are powered on, the displacement device control system enters a self-test state after initialization. The self-test state is used to detect whether the various modules of the displacement device control system are normal, and to detect whether the temperature and position of the displacement device are within the normal range. After the self-test is completed, it is determined whether to update the program according to the external instructions sent by the host computer. If the program update operation is performed, the displacement device and the displacement device control system enter a standby state after the program is updated. If the program update operation is not required, the displacement device and the displacement device control system directly enter the standby state. For the displacement device and the displacement device control system in the standby state, if the host computer sends a motion instruction to the displacement device control system, the human-computer interaction module receives the motion instruction and transmits the motion instruction to the main control module. The main control module After receiving the motion instruction, the displacement device to be motion controlled will be located according to the motion instruction, and the initial position data of the displacement device will be obtained through the sampling module. The sampling module generates position data after processing the initial position data, and sends the position data to the main control module. The main control module calculates and generates an initial motion control signal based on the position data and the motion instruction, and sends it to the drive module. The drive module generates a motion control signal based on the initial motion control signal. The motion control signal at least represents the distance and direction of movement required by the corresponding displacement device. The corresponding displacement device receives the motion control signal and moves. The displacement device is in a moving state. After the displacement device reaches the corresponding position, the displacement device and the displacement device control system both enter a standby state. If movement is required again, the above operation is repeated.

7. The displacement device control method according to claim 6, characterized in that: The displacement device control method further includes: The host computer sends an update program instruction. If the main control module receives the update program instruction, the main control module performs a program update operation.

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