Multi-shaft drive and control integrated control system

Abstract

The invention is suitable for the field of mechanical motion system control technology improvement, and provides a multi-axis drive and control integrated control system, which comprises a control unit, an isolation drive inversion unit, a sensing unit, an external interaction unit and a power supply unit, and is characterized in that the output end of the sensing unit is connected with the input end of the control unit; the output end of the control unit is connected with the input end of the isolation driving inversion unit, the external interaction unit is in communication connection with the control unit, and the power supply unit is electrically connected with the control unit, the isolation driving inversion unit, the sensing unit and the external interaction unit. The multi-shaft drive and control integrated control system adopts modular design and is easy to produce and maintain in batches. By utilizing the product, an automatic electric control system scheme can be simplified, parts are obviously reduced, and the workload of implementation and maintenance of an automatic project is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical motion system control technology improvement, and in particular relates to a multi-axis drive-control integrated control system. Background Art

[0002] The servo system consists of three main components: a servo motor, a servo drive, and an encoder. Generally, we call a system that includes a servo motor, a servo drive, and an encoder a servo axis. An automated production line is generally composed of multiple relatively independent automated equipment. In the previous automated equipment architecture, the electrical control part of each independent device is generally composed of a controller (or PLC), multiple separate servo axes (or other motor axes), and IO. Then, there is an upper-level controller at the production line level to coordinate the various subsystems. In such a control architecture, the subsystems are independent of each other, often ignoring some process requirements at the global level, and often sacrificing the efficiency and performance of some equipment. This control architecture has a relatively complicated hierarchy, and the installation and debugging work is relatively heavy. When the subsystems are debugged and jointed, it is possible to find many situations where they cannot be connected. In addition, this architecture has many components, and the material cost and invisible labor cost are often much higher.

[0003] With the popularization of industrial Ethernet control, there is an urgent need for an integrated and modular control system architecture to reduce control levels, simplify implementation and operation and maintenance costs, and meet high-performance and diversified process requirements. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-axis drive-control integrated control system to solve the above-mentioned technical problems.

[0005] The present invention is implemented as follows: a multi-axis drive-control integrated control system, the multi-axis drive-control integrated control system includes a control unit, an isolated drive inverter unit, a sensor unit, an external interaction unit and a power supply unit, the output end of the sensor unit is connected to the input end of the control unit, the output end of the control unit is connected to the input end of the isolated drive inverter unit, the external interaction unit is communicatively connected to the control unit, and the power supply unit is electrically connected to the control unit, the isolated drive inverter unit, the sensor unit and the external interaction unit; the control unit is used to realize motion control and control the servo motor function; the isolated drive inverter unit is used to receive the pulse width control signal output from the PWM wave generating unit of the FPGA, amplify the received signal and drive each IGBI of the IPM to conduct to form a pulse width voltage waveform output modulated by a sine wave; the sensor unit is used for Delta-Sigma modulator to modulate the millivolt voltage at both ends of the resistor to form a digital string alternating between 0 and 1, and the current sampling decoder built into the FPGA decodes the digital string to obtain a real-time current feedback value; the external interaction unit is used for an external expansion interface.

[0006] A further technical solution of the present invention is: the control unit is composed of three chips, namely a motion control MPU, a microprocessor MCU and a coprocessor FPGA. The motion control MPU is used to realize parallel bus communication between motion control algorithm and servo control and EtherCAT master station function; the microprocessor MCU is used to realize position and speed control of 1-6 axes, and perform fault protection, I / O processing, servo parameter management and servo debugging interface for the motor and inverter unit; the coprocessor FPGA is used for current control algorithm, current sampling, encoder position calculation and pulse width modulation PWM wave generation for up to 6 axes.

[0007] A further technical solution of the present invention is: the motion algorithm in the motion control MPU includes a motion decoupling unit, a trajectory planning unit and a trajectory look-ahead unit; the motion decoupling unit is used to decouple the mechanical mechanism using the forward and inverse solutions of robot kinematics, derive the relationship between the user coordinates to the joint coordinates and the joint coordinates to the user coordinates, and directly control the rotational motion of each joint motor at the control execution level; The trajectory planning unit is used to plan the movement of each joint. The trajectory planning should take into account the continuity of speed, acceleration, and jerk to prevent the impact caused by sudden changes, so that the movement of the robot is smoother and the trajectory accuracy is higher; The trajectory look-ahead unit is used to fit the walking trajectory of the machine end using the trajectory look-ahead control algorithm and discretize it into small segments, and to smoothly splice the speeds of the connection points of each trajectory segment in a straight line and arc through a bidirectional scanning look-ahead strategy to obtain the final running trajectory of the robot joint.

[0008] A further technical solution of the present invention is: the coprocessor FPGA uses a 100M clock inside, the current loop regulator calculations of each axis are parallel calculations, the position loop regulator uses proportional control and speed feedforward, the speed loop uses proportional integral control and torque feedforward, and the current loop uses proportional integral control and voltage feedforward.

[0009] A further technical solution of the present invention is: the sensing unit samples the circuit in the feedback current through an analog-to-digital converter, converts the analog signal into a digital signal, and the digital signal is filtered, integrated and differentiated inside the FPGA to obtain a current feedback value.

[0010] A further technical solution of the present invention is: the sensing unit includes a current sampling circuit and an encoder processing circuit, and the output end of the current sampling circuit is connected to the input end of the encoder processing circuit.

[0011] A further technical solution of the present invention is: the encoder processing circuit processes differential quadrature pulse ABZ signals or RS485 or RS422 communication encoder signals, and the encoder counting unit built into the FPGA counts different types of encoders.

[0012] A further technical solution of the present invention is: the interface of the external interaction unit includes a USB interface, an Ethernet interface, or an HDMI interface, and the external device connected to the external interaction unit is an industrial computer, an HMI, a display screen, a keyboard, or a mouse.

[0013] A further technical solution of the present invention is: the motion control MPU includes a chip U1, a resistor R2, a resistor R109, a resistor R108, a resistor R98, a resistor R104, a resistor R106, a resistor R97, a resistor R8, a resistor R18 and a resistor R19, the 80th pin of the chip U1 is connected to one end of the resistor R2, the 33rd pin of the chip U1 is connected to one end of the resistor R109, the 56th pin of the chip U1 is grounded via the resistor R106, the 58th pin of the chip U1 is grounded via the resistor R104, the 59th pin of the chip U1 is grounded via the resistor R98, the 61st pin of the chip U1 is grounded via the resistor R108, the 41st pin of the chip U1 is connected to one end of the resistor R97, the bottom 40th pin of the chip U1 is connected to one end of the resistor R19, the 20th pin of the chip U1 is connected to one end of the resistor R18, and the 19th pin of the chip U1 is connected to one end of the resistor R8.

[0014] A further technical solution of the present invention is: the microprocessor MCU includes a chip U2, a resistor R24, a resistor R107 and a resistor R14, the 48th pin of the chip U2 is grounded through the resistor R48, the 138th pin of the chip U2 is respectively connected to one end of the resistor R24 ​​and one end of the resistor R107, and the other end of the resistor R107 is grounded.

[0015] The beneficial effects of the present invention are: the multi-axis drive-control integrated control system adopts modular design, which is easy to mass produce and maintain. The product can simplify the automation electronic control system solution, significantly reduce the number of parts, and reduce the workload of automation project implementation and maintenance; the cost of the servo part in the automation project is greatly reduced by more than 30%, and the cost of peripheral parts and installation can be reduced by about 20%. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an electrical principle block diagram of a multi-axis drive-control integrated control system provided by an embodiment of the present invention.

[0017] Figure 2 It is an electrical schematic diagram of the motion control MPU provided by an embodiment of the present invention.

[0018] Figure 3 It is an electrical schematic diagram of a microprocessor MCU provided in an embodiment of the present invention.

[0019] Figure 4 It is an electrical schematic diagram of the coprocessor FPGA provided in an embodiment of the present invention.

[0020] Figure 5 It is a schematic diagram of a control power supply circuit provided by an embodiment of the present invention.

[0021] Figure 6 It is a main power input rectification and protection circuit diagram provided by an embodiment of the present invention.

[0022] Figure 7 This is an isolation drive, inversion and current sampling circuit diagram provided by an embodiment of the present invention.

[0023] Figure 8 It is a schematic diagram of the structure and coordinate system of the SCARA robot provided in an embodiment of the present invention.

[0024] Fig. 9 Schematic diagram of the effect of the trajectory look-ahead algorithm provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0026] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present 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 limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0027] Figure 1-Figure 9 As shown, the multi-axis drive-control integrated control system provided by the present invention includes a control unit, an isolated drive inverter unit, a sensing unit, an external interaction unit and a power supply unit, the output end of the sensing unit is connected to the input end of the control unit, the output end of the control unit is connected to the input end of the isolated drive inverter unit, the external interaction unit is communicatively connected to the control unit, and the power supply unit is electrically connected to the control unit, the isolated drive inverter unit, the sensing unit and the external interaction unit; the control unit is used to realize motion control and control the servo motor function; the isolated drive inverter unit is used to receive the pulse width control signal output from the PWM wave generating unit of the FPGA, amplify the received signal and drive each IGBI of the IPM to conduct to form a pulse width voltage waveform output modulated by a sine wave; the sensing unit is used for the Delta-Sigma modulator to modulate the millivolt voltage at both ends of the resistor to form a digital string alternating between 0 and 1, and the current sampling decoder built into the FPGA decodes the digital string to obtain a real-time current feedback value; the external interaction unit is used for an external expansion interface.

[0028] The entire system is divided into power supply circuit, control circuit (including corresponding software and algorithms), isolation drive inverter unit, sensor unit, external interaction unit, etc.

[0029] The power supply circuit includes: 24V DC input switching power supply circuit. The core components of the circuit are a homemade winding transformer and UC2844 (or other equivalent devices), which form a flyback switching power supply through a 5V feedback circuit. The power supply circuit module outputs 5V, 3.3.V, 15V, etc., which are used to power the internal chips of the control circuit, the isolated drive inverter unit, etc.

[0030] The control circuit is mainly composed of three chips, which are used to realize motion control and servo motor control functions. The motion control MPU uses an ARM chip (or an X86 architecture chip) to run a real-time LINUX system. It is mainly used to implement motion control algorithms: trajectory planning, trajectory foresight, motion decoupling, spline interpolation, and parallel bus communication between servo control chips, and EtherCAT master station functions (for expanding IO, external axes, sensors, etc.). Servo motor control is mainly implemented by an MCU and an FPGA coprocessor to realize position control, speed control, and current control of 1-6 (up to 6 axes). The MCU and FPGA interact through an asynchronous parallel bus. The MCU realizes position and speed control of up to 6 axes through software. In addition, it performs fault protection, I / O processing, servo parameter management, servo debugging interface, etc. on the motor and inverter unit. The MCU processes tasks in a serial manner. FPGA processes the current control algorithm, current sampling, encoder position counting, PWM (pulse width modulation) wave generation, etc. of up to 6 axes; FPGA uses a 100M clock internally to significantly reduce the current loop delay. The current loop regulator calculations of each axis are parallel calculations, and the calculation time is controlled at 1.2us, and the fastest can be 1.6us scanning cycle. Among them, the position loop regulator mainly adopts proportional control and speed feedforward, the speed loop mainly adopts proportional integral control and torque feedforward, and the current loop adopts proportional integral control and voltage feedforward.

[0031] The MPU in the control circuit receives the actuator position and posture data and process parameters input from the human-machine interface of the external interactive unit, generates the coordinate position of each joint motor through the motion decoupling algorithm, and then generates the motion curve (generally position-time curve) of each servo motor through trajectory planning (position look-ahead can be enabled). For the control of the internal motor axis, the MPU directly transmits the motor motion curve to the MCU through the parallel port data bus, and the MCU can assign the position command to the position regulator of the corresponding axis, and perform closed-loop control of the motor position through the proportional controller and the speed feedforward controller (other types of controllers can also be applied). The position regulator outputs the speed command to the speed regulator (the speed regulator is generally a proportional-integral controller and a torque feedforward controller, and other types of controllers can also be applied). The speed regulator outputs the torque command to the FPGA through the parallel port bus. The FPGA has a current controller based on the principle of magnetic field orientation (the torque regulator is generally a proportional-integral controller, and other types of controllers can also be applied) to perform closed-loop control of the current.

[0032] The pulse width control signal of the isolated drive inverter unit comes from the PWM wave generating unit of the FPGA. After being amplified by the drive optocoupler isolation, it drives each IGBT (insulated gate bipolar transistor) of the IPM (intelligent power module). The IGBT is controlled to be turned on, forming a pulse width voltage waveform modulated by a sine wave and output to the motor. The motor itself is a load containing resistance and inductance, which is equivalent to a first-order delay link. The voltage waveform with a variable pulse width acts on the motor to generate a continuous sine wave current. The motor will output torque under the action of the sine wave current, thereby driving the load to rotate. This isolated drive inverter unit circuit is modular. If it is a 6-axis integrated drive controller, it will have 6 built-in isolated drive inverter units, so that it can drive 6 servo motors. If it is other types of motors, such as asynchronous motors and stepper motors, this controller can also support them.

[0033] The sensing unit includes: a current sampling circuit and an encoder processing circuit. The current sampling circuit uses a milliohm resistor connected in series in the U, V, and W loops. The Delta-Sigma modulator modulates the millivolt voltage across the resistor to form a digital string alternating between 0 and 1. The current sampling decoder built into the FPGA decodes the digital string to obtain a real-time current feedback value. The encoder processing circuit can process differential orthogonal pulse ABZ signals, as well as RS485 and RS422 communication encoder signals. Through the configuration of software parameters, the encoder counting unit built into the FPGA can count different types of encoders. If it is a 6-axis integrated drive and control controller, there will also be 6 groups of this sensing unit circuit.

[0034] The external interaction unit includes: EtherCAT master interface and human-machine interaction interface. The EtherCAT master interface is used for external expansion of motor shafts, expansion IO, sensors, etc. The human-machine interaction interface includes USB, Ethernet, HDMI, etc., which can be used to connect external devices, including: industrial computers, HMI, display screens, keyboards, mice, etc.

[0035] The control unit is composed of three chips, namely the motion control MPU, the microprocessor MCU and the coprocessor FPGA. The motion control MPU is used to realize the parallel bus communication between the motion control algorithm and the servo control and the EtherCAT master station function; the microprocessor MCU is used to realize the position and speed control of 1-6 axes, and perform fault protection, I / O processing, servo parameter management and servo debugging interface for the motor and inverter unit; the coprocessor FPGA is used for the current control algorithm, current sampling, encoder position calculation and pulse width modulation PWM wave generation of up to 6 axes.

[0036] The motion algorithm in the motion control MPU includes a trajectory planning unit, a trajectory look-ahead unit and a motion decoupling unit; Motion Decoupling Unit By decoupling the mechanical mechanism using robot kinematics, the relationship between user coordinates and joint coordinates and joint coordinates and user coordinates can be derived. User coordinates usually use the base coordinates [x, y, z] and posture [a, b, c] of the execution end, while the control execution level directly controls the rotation of each joint motor, so it is necessary to convert between these two coordinate systems.

[0037] Taking the four-axis SCARA robot control as an example, there are four degrees of freedom, and conversion is required between the base coordinates [x, y, z, θ] and the joint coordinate system [θ1, θ2, d3, θ4].

[0038] The two coordinate system transformation matrices are as follows: (1) (2) in, (3) (4) (5) Formula (1) is the kinematic solution matrix for the end position and posture of the four-axis SCARA robot when the joint coordinates are known. The controller can calculate the base coordinates of the current actuator center and the deflection angle of the actuator relative to its rotation center based on the real-time angle feedback of the servo motor and the reduction ratio of the transmission system.

[0039] Equations (2) to (5) are the inverse kinematic equations for solving the joint coordinates of the four-axis SCARA robot when the end position is known. The actual servo motor rotation angle is equal to the joint coordinate rotation angle divided by the reduction ratio. The rotation angle θ3 of the third-axis servo motor is equal to d3 divided by the lead of the screw.

[0040] Trajectory planning unit After the controller converts the motion trajectory of the robot end in the base coordinates into the motion of each joint motor through inverse kinematics operation, it is necessary to plan the trajectory of each joint. Trajectory planning should take into account the continuity of velocity, acceleration, and jerk to prevent the impact caused by sudden changes, so that the robot's movement is smoother and the trajectory is more accurate. The more common joint space trajectory planning methods include polynomial interpolation, spline interpolation, etc.

[0041] In this implementation, a third-order polynomial interpolation algorithm is used. Of course, other algorithms can also be used in actual implementation. Assume that the motion curve equation is: The four constraints of starting point coordinates, end point coordinates, starting point coordinate speed, and end point coordinates can obtain the coefficient equation about a0~a3. Solving the equation can obtain the fitted motion curve equation.

[0042] Trajectory Preview Unit The trajectory look-ahead control algorithm fits the walking trajectory of the end of the machine and discretizes it into small segments. The smooth splicing strategy of straight lines and arcs is used to obtain the smooth trajectory of the robot for look-ahead. The maximum speed constraint of each curve segment is obtained according to the curvature and maximum feed speed, the maximum acceleration and jerk of each axis at the end. In order to determine the final speed of the robot, the look-ahead strategy of bidirectional scanning is used to adjust the speed of the connection point of each trajectory segment. Finally, the S-curve is used to plan the speed curve. The reverse interpolation algorithm is used to obtain the real-time position of each axis at the end of the machine. In this way, the look-ahead speed planning is completed and the robot processing trajectory with the shortest processing time under the constraints is obtained.

[0043] Fig. 9 (a) is the velocity curve of a joint when trajectory look-ahead is not enabled. Fig. 9 (b) is the joint speed curve after completing the same trajectory and turning on trajectory look-ahead. It is obvious that the speed of the joint is faster, and the running effect appears smoother.

[0044] The coprocessor FPGA uses a 100M clock inside, and the current loop regulator calculations of each axis are parallel calculations. The position loop regulator uses proportional control and speed feedforward, the speed loop uses proportional integral control and torque feedforward, and the current loop uses proportional integral control and voltage feedforward.

[0045] The sensing unit samples the circuit in the feedback current through an analog-to-digital converter, converts the analog signal into a digital signal, and the digital signal is filtered, integrated and differentiated inside the FPGA to obtain a current feedback value.

[0046] The sensing unit comprises a current sampling circuit and an encoder processing circuit, and the output end of the current sampling circuit is connected to the input end of the encoder processing circuit.

[0047] The encoder processing circuit processes differential quadrature pulse ABZ signals or RS485 or RS422 communication encoder signals, and the encoder counting unit built into the FPGA counts different types of encoders.

[0048] The interface of the external interaction unit includes a USB interface, an Ethernet interface, or an HDMI interface, and the external device connected to the external interaction unit is an industrial computer, an HMI, a display screen, a keyboard, or a mouse.

[0049] The motion control MPU includes a chip U1, a resistor R2, a resistor R109, a resistor R108, a resistor R98, a resistor R104, a resistor R106, a resistor R97, a resistor R8, a resistor R18 and a resistor R19. The 80th pin of the chip U1 is connected to one end of the resistor R2, the 33rd pin of the chip U1 is connected to one end of the resistor R109, the 56th pin of the chip U1 is grounded via the resistor R106, the 58th pin of the chip U1 is grounded via the resistor R104, the 59th pin of the chip U1 is grounded via the resistor R98, the 61st pin of the chip U1 is grounded via the resistor R108, the 41st pin of the chip U1 is connected to one end of the resistor R97, the 40th pin of the chip U1 is connected to one end of the resistor R19, the 20th pin of the chip U1 is connected to one end of the resistor R18, and the 19th pin of the chip U1 is connected to one end of the resistor R8.

[0050] The microprocessor MCU includes a chip U2, a resistor R24, a resistor R107 and a resistor R14. The 48th pin of the chip U2 is grounded via the resistor R48. The 138th pin of the chip U2 is respectively connected to one end of the resistor R24 ​​and one end of the resistor R107. The other end of the resistor R107 is grounded.

[0051] The motion control MPU uses Rockchip Cortex-A7 chip or other ARM chip or X86 architecture chip with equivalent computing power.

[0052] The microprocessor MCU uses STMicroelectronics Stm32H7 series chips or MCU chips with equivalent computing power as alternatives.

[0053] The coprocessor FPGA uses the PANGO series FPGA with 25K logic resources from Tsinghua Tongchuang, or other FPGAs with the same resource scale.

[0054] Aiming at the common equipment subsystem configuration, we have developed a multi-axis integrated drive system with 3~6 axes and flexible power configuration. For such a production line, each subsystem generally uses 1~2 multi-axis servo integrated machines with 3~12 servo motors. The control end uses a medium-to-large PLC or industrial computer (complex line) to achieve motion control of the entire production line. With soft PLC and remote IO technology, multiple multi-axis servo integrated machines and a medium-to-large controller can complete the electrical control part of the entire production line.

[0055] The modular design makes it easy to mass produce and maintain. Products using this patented design can simplify the automation electronic control system solution, significantly reduce the number of parts, and reduce the workload of automation project implementation and maintenance; the cost of the servo part in the automation project has dropped by more than 30%, and can drive the cost of peripheral parts and installation to drop by about 20%. At the same time, the solution reserves an EtherCAT master station interface for external expansion, which can facilitate the expansion of external motor shafts, IO, sensors, etc. In addition, the rich USB and Ethernet interfaces can also facilitate the control and expansion of human-computer interaction devices, including: HMI, industrial computer, mouse, keyboard, etc.

[0056] The multi-axis drive integrated machine starts working after external input of 220V, 50Hz AC power and 24V DC power. The user inputs control instructions through HMI, industrial computer or other host computer, and the integrated machine motion control unit solves the control instructions into position, speed, or torque instructions for each servo axis; the servo control unit obtains the current, speed, and position feedback of the sensor unit, and uses PID or other regulator algorithms to perform closed-loop control of the position, speed, or torque; the isolation drive and inverter unit amplifies the PWM signal calculated by the servo control unit into a voltage output to the motor, and finally completes the program control task required by the host control.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-axis drive-control integrated control system, characterized in that: The multi-axis drive-control integrated control system includes a control unit, an isolated drive inverter unit, a sensor unit, an external interaction unit and a power supply unit, wherein the output end of the sensor unit is connected to the input end of the control unit, the output end of the control unit is connected to the input end of the isolated drive inverter unit, the external interaction unit is communicatively connected to the control unit, and the power supply unit is electrically connected to the control unit, the isolated drive inverter unit, the sensor unit and the external interaction unit; the control unit is used to realize motion control and control the servo motor function; the isolated drive inverter unit is used to receive the pulse width control signal output from the PWM wave generating unit of the FPGA, amplify the received signal and drive each IGBI of the IPM to conduct to form a pulse width voltage waveform output modulated by a sine wave; the sensor unit is used for the Delta-Sigma modulator to modulate the millivolt voltage at both ends of the resistor to form a digital string alternating between 0 and 1, and the current sampling decoder built into the FPGA decodes the digital string to obtain a real-time current feedback value; the external interaction unit is used for an external expansion interface.

2. The multi-axis drive-control integrated control system according to claim 1, characterized in that: The control unit is composed of three chips, namely the motion control MPU, the microprocessor MCU and the coprocessor FPGA. The motion control MPU is used to realize the parallel bus communication between the motion control algorithm and the servo control and the EtherCAT master station function; the microprocessor MCU is used to realize the position and speed control of 1-6 axes, and perform fault protection, I / O processing, servo parameter management and servo debugging interface for the motor and inverter unit; the coprocessor FPGA is used for the current control algorithm, current sampling, encoder position calculation and pulse width modulation PWM wave generation of up to 6 axes.

3. The multi-axis drive-control integrated control system according to claim 2, characterized in that: The motion algorithm in the motion control MPU includes a motion decoupling unit, a trajectory planning unit and a trajectory look-ahead unit; the motion decoupling unit is used to decouple the mechanical mechanism using the forward and inverse solutions of robot kinematics, derive the relationship between the user coordinates to the joint coordinates and the joint coordinates to the user coordinates, and directly control the rotational motion of each joint motor at the control execution level; The trajectory planning unit is used to plan the movement of each joint. The trajectory planning should take into account the continuity of speed, acceleration, and jerk to prevent the impact caused by sudden changes, so that the movement of the robot is smoother and the trajectory accuracy is higher; The trajectory look-ahead unit is used to fit the walking trajectory of the machine end using the trajectory look-ahead control algorithm and discretize it into small segments, and to smoothly splice the speeds of the connection points of each trajectory segment in a straight line and arc through a bidirectional scanning look-ahead strategy to obtain the final running trajectory of the robot joint.

4. The multi-axis drive-control integrated control system according to claim 3, characterized in that: The coprocessor FPGA uses a 100M clock inside, and the current loop regulator calculations of each axis are parallel calculations. The position loop regulator uses proportional control and speed feedforward, the speed loop uses proportional integral control and torque feedforward, and the current loop uses proportional integral control and voltage feedforward.

5. The multi-axis drive-control integrated control system according to claim 4, characterized in that: The sensing unit samples the circuit in the feedback current through an analog-to-digital converter, converts the analog signal into a digital signal, and the digital signal is filtered, integrated and differentiated inside the FPGA to obtain a current feedback value.

6. The multi-axis drive-control integrated control system according to claim 5, characterized in that: The sensing unit comprises a current sampling circuit and an encoder processing circuit, and the output end of the current sampling circuit is connected to the input end of the encoder processing circuit.

7. The multi-axis drive-control integrated control system according to claim 6, characterized in that: The encoder processing circuit processes differential quadrature pulse ABZ signals or RS485 or RS422 communication encoder signals, and the encoder counting unit built into the FPGA counts different types of encoders.

8. The multi-axis drive-control integrated control system according to claim 7, characterized in that: The interface of the external interaction unit includes a USB interface, an Ethernet interface, or an HDMI interface, and the external device connected to the external interaction unit is an industrial computer, an HMI, a display screen, a keyboard, or a mouse.

9. The multi-axis drive-control integrated control system according to claim 8, characterized in that: The motion control MPU includes a chip U1, a resistor R2, a resistor R109, a resistor R108, a resistor R98, a resistor R104, a resistor R106, a resistor R97, a resistor R8, a resistor R18 and a resistor R19. The 80th pin of the chip U1 is connected to one end of the resistor R2, the 33rd pin of the chip U1 is connected to one end of the resistor R109, the 56th pin of the chip U1 is grounded via the resistor R106, the 58th pin of the chip U1 is grounded via the resistor R104, the 59th pin of the chip U1 is grounded via the resistor R98, the 61st pin of the chip U1 is grounded via the resistor R108, the 41st pin of the chip U1 is connected to one end of the resistor R97, the 40th pin of the chip U1 is connected to one end of the resistor R19, the 20th pin of the chip U1 is connected to one end of the resistor R18, and the 19th pin of the chip U1 is connected to one end of the resistor R8.

10. The multi-axis drive-control integrated control system according to claim 9, characterized in that: The microprocessor MCU includes a chip U2, a resistor R24, a resistor R107 and a resistor R14. The 48th pin of the chip U2 is grounded via the resistor R48. The 138th pin of the chip U2 is respectively connected to one end of the resistor R24 ​​and one end of the resistor R107. The other end of the resistor R107 is grounded.

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