Angle measuring clamp applied to follow-up rotary table

Abstract

The invention discloses an angle measuring clamp applied to a follow-up rotary table, and relates to the technical field of industrial automation. Comprising an encoder resolving module circuit, an external interrupt signal interface circuit, a power supply circuit and an FPGA circuit, wherein an encoder resolving module realizes communication level conversion between encoder data and the FPGA circuit; the external interrupt signal interface circuit is used for inputting external interrupt signal pulses of a user into the angle measurement card; the FPGA circuit realizes encoder angle calculation, PCI interface logic realization, internal and external interrupt signal switching and the like; the PCI interface realizes high-speed data communication between the FPGA and the industrial control computer, and the power supply circuit is used for supplying power to the measurement and control card.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial automation, and in particular relates to an angle measuring card applied to a follow-up turntable. Background Art

[0002] The goniometer card plays an important role in the follow-up turntable. It is mainly used to accurately measure and control the angular position of the turntable. Among the current various test turntables and simulation turntables, the follow-up turntable is a mechanical device that can rotate at a fixed point and track the target object. It can be used in a variety of applications, such as: astronomy (tracking stars), laser cutting or welding (aligning workpieces), robots (to achieve precise grasping or operation); the main functions of the goniometer card include: Angle measurement: Provide real-time angle data, usually expressed in degrees or radians. Feedback control: Feedback the measurement data to the control system to adjust the position of the turntable. High precision: Ensure measurement accuracy at the micron level or higher to meet the needs of precision applications.

[0003] At present, Windows+RTX platform is often used to develop real-time control systems. When users test products, they need the turntable to realize the follow-up function, and the real-time control system needs to be able to synchronize the motion control to the external 1KHz or higher frequency synchronization pulse. RTX and Windows coexist in one machine without any encapsulation or modification of the Windows system. By adding real-time HAL extensions to the HAL layer, priority-based preemptive real-time task management and scheduling are realized. In order to realize high-speed external pulse synchronization, internal and external pulse interrupt switching and reliable protection, the present invention proposes an angle measurement card applied to a follow-up turntable. Summary of the invention

[0004] The purpose of the present invention is to provide an angle measurement card for use with a follow-up turntable to solve the problems in the above-mentioned background technology. The angle measurement card can be installed in an industrial control computer to achieve high-speed external interrupt pulse synchronization, internal and external pulse interrupt switching and reliable protection.

[0005] The technical solution adopted to achieve the above purpose is: an angle measurement card applied to a follow-up turntable, including an external interrupt signal interface circuit, an encoder resolution module circuit, an FPGA circuit, and a power supply circuit.

[0006] Further, the external interrupt signal interface circuit is used for event detection, signal conditioning, interrupt signal generation and interrupt processing; For event detection: when an event occurs in an external device, the signal source generates a voltage change or pulse signal; For signal conditioning: Signal conditioning circuits remove noise, eliminate jitter, and adjust the signal to a level suitable for the microcontroller; For generating interrupt signal: the conditioned signal is sent to the interrupt pin of the microcontroller to generate an interrupt request; For interrupt processing: After the microcontroller detects an interrupt request, it suspends the execution of the current program and executes the interrupt service routine to handle the corresponding external event.

[0007] Furthermore, the encoder resolution module circuit is used for signal reception, phase decoding and counting processing; For signal reception: the A-phase and B-phase signals of the encoder are received by the receiving unit; For phase decoding: determine the rotation direction based on the phase difference between phase A and phase B; calculate the current position information by the increase or decrease of each pulse; For counting processing: the microcontroller updates the current position according to the decoded signal and performs corresponding processing.

[0008] Furthermore, the encoder resolution module circuit includes six channels of angle measurement signals, which realize the conversion of angle encoder signal level to angle measurement card level, and the converted encoder information is input into the FPGA circuit.

[0009] Furthermore, the FPGA circuit mainly realizes encoder angle information collection and PCI interface logic implementation. At the same time, the FPGA circuit 3 determines in real time whether the external interrupt pulse signal is lost, and switches the internal and external interrupt signals to the PCI interface according to whether the external pulse continues to exist.

[0010] Compared with the prior art, the present invention has the following advantages: (1) It can be installed in an industrial computer and realize high-speed data interaction of application software in the industrial computer through the PCI interface. It can be convenient to realize system integration in conjunction with user test equipment and a host computer; (2) It can receive an external input pulse signal of 1KHz or higher frequency, and then convert it into a PCIE bus interrupt signal. The real-time control software based on the Windows+RTX platform can synchronously receive the follow-up position instruction according to the interrupt signal and then complete the follow-up control. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall architecture of the present invention. DETAILED DESCRIPTION

[0012] The present invention is further described below in conjunction with the embodiments and drawings. An angle measuring card applied to a follow-up turntable is composed of an external interrupt signal interface circuit 1, an encoder resolution module circuit 2, an FPGA circuit 3, and a power supply circuit 4.

[0013] The external interrupt signal interface circuit 1 is used for event detection, signal conditioning, interrupt signal generation and interrupt processing; for event detection: when a certain event occurs in the external device, the signal source generates a voltage change or a pulse signal; for signal conditioning: the signal conditioning circuit removes noise, eliminates jitter, and adjusts the signal to a level suitable for the microcontroller; for interrupt signal generation: the conditioned signal is sent to the interrupt pin of the microcontroller to generate an interrupt request; for interrupt processing: after the microcontroller detects the interrupt request, it suspends the execution of the current program and executes the interrupt service routine to handle the corresponding external event.

[0014] The encoder resolution module circuit 2 is used for signal reception, phase decoding and counting processing; for signal reception: the A-phase and B-phase signals of the encoder are received by the receiving unit; for phase decoding: the rotation direction is determined according to the phase difference between phase A and phase B; the current position information is calculated by the increase or decrease of each pulse; for counting processing: the microcontroller updates the current position according to the decoded signal and performs corresponding processing.

[0015] Specifically, the power supply circuit 4 is powered by the PCI interface, and then supplied to the entire angle measurement card after passing through a 5VDC to 3.3VDC power supply module. The external interrupt signal interface circuit 1 is mainly composed of an AM26LS32 chip and a SN74LVC2G14 chip, wherein the AM26LS32 chip can receive differential or single-ended signal inputs, and the SN74LVC2G14 shapes the input external signal and inputs it into the FPGA circuit 3.

[0016] The encoder resolution module circuit 2 includes six channels of angle measurement signals, which realize the conversion of the angle encoder signal level to the angle measurement card level. The converted encoder information is input into the FPGA circuit 3; the FPGA circuit 3 mainly realizes the encoder angle information acquisition and PCI interface logic implementation. At the same time, the FPGA circuit 3 judges in real time whether the external interrupt pulse signal is lost, and switches the internal and external interrupt signals to the PCI interface according to whether the external pulse continues to exist.

Claims

1. An angle measuring card used for a follow-up turntable, characterized in that: It comprises an external interrupt signal interface circuit (1), an encoder resolution module circuit (2), an FPGA circuit (3), and a power supply circuit (4).

2. The angle measuring card used for a follow-up turntable according to claim 1, characterized in that: The external interrupt signal interface circuit (1) is used for event detection, signal conditioning, interrupt signal generation and interrupt processing; For event detection: when an event occurs in an external device, the signal source generates a voltage change or pulse signal; For signal conditioning: Signal conditioning circuits remove noise, eliminate jitter, and adjust the signal to a level suitable for the microcontroller; For generating interrupt signal: the conditioned signal is sent to the interrupt pin of the microcontroller to generate an interrupt request; For interrupt processing: After the microcontroller detects an interrupt request, it suspends the execution of the current program and executes the interrupt service routine to handle the corresponding external event.

3. The angle measuring card used for a follow-up turntable according to claim 1, characterized in that: The encoder resolution module circuit (2) is used for signal reception, phase decoding and counting processing; For signal reception: the A-phase and B-phase signals of the encoder are received by the receiving unit; For phase decoding: determine the rotation direction based on the phase difference between phase A and phase B; The current position information is calculated by the increase or decrease of each pulse; For counting processing: the microcontroller updates the current position according to the decoded signal and performs corresponding processing.

4. The angle measuring card used for a follow-up turntable according to claim 1, characterized in that: The encoder resolution module circuit (2) comprises six channels of angle measurement signals, realizing the conversion of angle encoder signal level to angle measurement card level, and the converted encoder information is input into the FPGA circuit (3).

5. The angle measuring card used for a follow-up turntable according to claim 4, characterized in that: The FPGA circuit (3) mainly realizes encoder angle information collection and PCI interface logic implementation. At the same time, the FPGA circuit (3) determines in real time whether an external interrupt pulse signal is lost, and switches the internal and external interrupt signals to be output to the PCI interface according to whether the external pulse continues to exist.

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