Cascade self-adaptive control system and method of multi-path stepping motor

Abstract

The invention provides a cascade adaptive control system and method of a multi-path stepping motor. The system comprises a plurality of control board card modules, a motor driving module, a communication module, a stepping motor, a photoelectric sensing module and a transmission device. And one control board card module comprises a microcontroller unit, a communication unit and a power supply unit. A control board card module is connected with the six stepping motors through a communication module. And each stepping motor is connected with a motor driving module, and the motor driving module is used for driving the stepping motor. Each stepping motor is connected with the transmission device and used for providing power for the transmission device, and the transmission device is used for conveying workpieces. The photoelectric sensing modules are connected with the transmission device and used for sensing workpieces on the transmission device. And the control board card module is connected with the plurality of photoelectric sensing modules. The plurality of control board card modules are connected through a communication module. The device provided by the invention can accurately control the stepping motor.

Description

Technical Field

[0001] The present application relates to the technical field of stepper motor control, and in particular to a cascade adaptive control system and method for a stepper motor. Background Art

[0002] With the continuous development of science and technology, industrial production is becoming more and more intelligent. Stepper motors are used in all aspects of industrial production, such as using stepper motors to transport items. The related technology controls a large number of stepper motors through a control card. As the production requirements increase, a control card will control more and more stepper motors. For example, in the transmission device of the production line, a control card controls thirty stepper motors. Due to product optimization, new production processes are added to the production line. In this case, the transmission device also needs to be adaptively lengthened, and a control card may need to control fifty stepper motors. When the number of motors increases, the control accuracy will decrease.

[0003] Therefore, how to improve control accuracy when the number of motors increases has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] Based on the above problems, the present application provides a cascade adaptive control system and method for multiple stepper motors to solve the problem in the related art that the control accuracy decreases when the number of motors increases.

[0005] The present application provides a cascade adaptive control system for a multi-channel stepper motor, the system comprising:

[0006] Multiple control board modules, motor drive modules, communication modules, stepper motors, photoelectric sensor modules and transmission devices;

[0007] One of the control board modules includes a microcontroller unit, a communication unit and a power supply unit, wherein the power supply unit is used to provide power to the control system;

[0008] One of the control board modules is connected to the six stepper motors via the communication module, and the control board module is used to control the six connected stepper motors;

[0009] Each of the stepper motors is connected to the motor drive module, and the motor drive module is used to drive the stepper motor

[0010] Each of the stepper motors is connected to the transmission device, the stepper motor is used to provide power for the transmission device, and the transmission device is used to transmit the workpiece;

[0011] A plurality of the photoelectric sensor modules are connected to the transmission device, and the photoelectric sensor modules are used to sense the workpiece on the transmission device;

[0012] A control board module is connected to a plurality of the photoelectric sensor modules;

[0013] The plurality of control board modules are connected via the communication module.

[0014] In a possible implementation, the power supply unit includes a driving power supply part:

[0015] The driving power supply part is used to supply power to the motor driving module;

[0016] The driving power supply part includes a 24V to 5V circuit and a 5V output isolation circuit.

[0017] In a possible implementation, the 5V output isolation circuit is a 5V optocoupler isolation output circuit.

[0018] In a possible implementation, the power supply unit includes a system power supply part:

[0019] The system power supply part is used to provide power to the control system, and the system power supply part is a 3.3V output circuit.

[0020] In a possible implementation, the communication module includes an upstream interface and a downstream interface:

[0021] The upstream interface is used to connect to the upstream control board module, and the downstream interface is used to connect to the downstream control board module.

[0022] In a possible implementation manner, each of the upstream interfaces and the downstream interfaces is isolated by using an optical coupler.

[0023] The present application also provides a cascade adaptive control method for a multi-channel stepper motor, the method comprising the following steps:

[0024] Initialize the control system;

[0025] Placing a workpiece on the transmission device and sensing the position of the workpiece by a photoelectric sensor module;

[0026] The control system uses the information obtained by the photoelectric sensor module to control the control board module corresponding to the communication module, the control board module upstream of the communication module, and the control board module downstream of the communication module through the communication module;

[0027] When the photoelectric sensing module cannot sense the workpiece, the control system is stopped.

[0028] The present application also provides a cascade adaptive control device for multi-channel stepper motors, the device comprising the following modules:

[0029] An initialization module, used to initialize the control system;

[0030] A placement module, used for placing a workpiece on the transmission device and sensing the position of the workpiece through a photoelectric sensor module;

[0031] A control module, used for the control system to use the information obtained by the photoelectric sensor module to control the control board module corresponding to the communication module, the control board module upstream of the communication module, and the control board module downstream of the communication module through the communication module;

[0032] The shut-down module is used to stop the control system when the photoelectric sensing module cannot sense the workpiece.

[0033] The present application also provides an electronic device, the electronic device comprising a processor and a memory:

[0034] The memory is used to store a computer program and transmit the computer program to the processor;

[0035] The processor is used to execute the steps of the above-mentioned cascade adaptive control method for multi-channel stepping motors according to the instructions in the computer program.

[0036] The present application also provides a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by an electronic device, it implements the steps of the cascade adaptive control method of the multi-channel stepper motor.

[0037] Compared with the prior art, this application has the following beneficial effects:

[0038] The system provided by the present application includes multiple control board modules, motor drive modules, communication modules, stepper motors, photoelectric sensor modules and transmission devices. A control board module includes a microcontroller unit, a communication unit and a power supply unit, and the power supply unit is used to provide power for the control system. A control board module is connected to six stepper motors through a communication module, and the control board module is used to control the six connected stepper motors. Each stepper motor is connected to a motor drive module, and the motor drive module is used to drive a stepper motor. Each stepper motor is connected to a transmission device, and the stepper motor is used to provide power to the transmission device, and the transmission device is used to transmit a workpiece. Multiple photoelectric sensor modules are connected to the transmission device, and the photoelectric sensor module is used to sense the workpiece on the transmission device. A control board module is connected to multiple photoelectric sensor modules. Multiple control board modules are connected through a communication module. The system provided by the present application is a modular control system, and multiple control board modules communicate with each other through a communication module, which can realize flexible and accurate control of a large number of stepper motors. The system provided in the present application is based on six stepper motors as a group. When a stepper motor needs to be added, only a set of corresponding modules needs to be added. There is no need to design and configure a control card separately, which reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 A schematic diagram of the structure of a cascade adaptive control system for multiple stepping motors provided in an embodiment of the present application;

[0041] Figure 2 A circuit diagram of a 24V to 5V circuit provided in an embodiment of the present application;

[0042] Figure 3 A circuit diagram of a 5V output isolation circuit provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of the structure of a cascade adaptive control method for multiple stepping motors provided in an embodiment of the present application;

[0044] Figure 5 A schematic structural diagram of a cascade adaptive control device for multi-channel stepper motors provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] As described above, as the production requirements increase, a control card will control more and more stepper motors. For example, in the transmission device of a production line, a control card controls thirty stepper motors. Due to product optimization, new production processes are added to the production line. In this case, the transmission device also needs to be adaptively lengthened, and a control card may need to control fifty stepper motors. When the number of motors increases, the control accuracy will decrease. Therefore, how to improve the control accuracy when the number of motors increases has become a technical problem that technicians in this field need to solve urgently.

[0046] After research, it was found that the related technology often directly increases the number of stepper motors on a control card when it is necessary to add stepper motors. However, the number of stepper motors that can be controlled by a control card is upper bounded. The closer the number of stepper motors that can be controlled by a control card is to the upper bound, the lower the control accuracy. If the upper bound is exceeded, a new control card needs to be added, but adding a new control card is often costly. When the number of stepper motors required by production exceeds the number of stepper motors that can be controlled by a control card, the control accuracy of the first card is low, and adding more cards also faces high costs. Therefore, how to control stepper motors more flexibly and at a lower cost has become a technical problem that technicians in this field urgently need to solve.

[0047] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] Figure 1 This is a schematic diagram of the structure of a cascade adaptive control system of a multi-channel stepper motor provided in this application, and the system includes the following modules:

[0049] Multiple control board modules, motor drive modules, communication modules, stepper motors, photoelectric sensor modules and transmission devices.

[0050] exist Figure 1 The control system includes three control board modules, one control board module includes a microcontroller unit (MCU), a communication unit and a power supply unit, and the power supply unit is used to provide power to the control system. The microcontroller unit can adopt STM32F103RCT6.

[0051] In a possible implementation, the power supply unit includes a driving power supply part, which is used to power the motor driving module. The driving power supply part includes a 24V to 5V circuit and a 5V output isolation circuit. In a possible implementation, the 5V output isolation circuit can be a 5V optocoupler isolation output circuit.

[0052] In a possible implementation, the power supply unit includes a system power supply part, which is used to provide power to the control system, and the system power supply part is a 3.3V output circuit.

[0053] Figure 2 A circuit diagram of a 24V to 5V circuit provided in an embodiment of the present application, in Figure 2 In the example, interface 1, interface 3 and interface 5 of U22 are 24V input, interface 2 is connected to the voltage conversion circuit, and 5V voltage is output through interface 4.

[0054] Figure 3 A circuit diagram of a 5V output isolation circuit provided in this application, in Figure 3 In the example, the isolation mode of the isolation circuit is optocoupler isolation.

[0055] A control card module is connected to six stepper motors through a communication module, and the control card module is used to control the six connected stepper motors. The control card module can control the stepper motors through corresponding stepper motor control circuits.

[0056] Each stepper motor is connected to a motor driver module, and the motor driver module is used to drive the stepper motor. The motor driver module can use a Toshiba TB67S109 driver chip.

[0057] Each stepper motor is connected to a transmission device, the stepper motor is used to provide power to the transmission device, and the transmission device is used to transmit the workpiece.

[0058] A plurality of photoelectric sensor modules are connected to the transmission device, and the photoelectric sensor modules are used to sense workpieces on the transmission device.

[0059] A control board module is connected to a plurality of photoelectric sensor modules;

[0060] The multiple control board modules are connected via a communication module, and the communication module may be a CAN bus module or a UART module or other communication module.

[0061] In a possible implementation, the communication module may include an upstream interface and a downstream interface. Figure 1The two communication modules corresponding to each control board module are one upstream interface and the other downstream interface. The upstream interface is used to connect to the upstream control board module, and the downstream interface is used to connect to the downstream control board module. In a possible implementation, each upstream interface and the downstream interface are isolated by an optical coupler.

[0062] The system provided by the present application includes multiple control board modules, motor drive modules, communication modules, stepper motors, photoelectric sensor modules and transmission devices. A control board module includes a microcontroller unit, a communication unit and a power supply unit, and the power supply unit is used to provide power for the control system. A control board module is connected to six stepper motors through a communication module, and the control board module is used to control the six connected stepper motors. Each stepper motor is connected to a motor drive module, and the motor drive module is used to drive a stepper motor. Each stepper motor is connected to a transmission device, and the stepper motor is used to provide power to the transmission device, and the transmission device is used to transmit a workpiece. Multiple photoelectric sensor modules are connected to the transmission device, and the photoelectric sensor module is used to sense the workpiece on the transmission device. A control board module is connected to multiple photoelectric sensor modules. Multiple control board modules are connected through a communication module. The system provided by the present application is a modular control system, and multiple control board modules communicate with each other through a communication module, which can realize flexible and accurate control of a large number of stepper motors. The system provided in the present application is based on six stepper motors as a group. When a stepper motor needs to be added, only a set of corresponding modules needs to be added. There is no need to design and configure a control card separately, which reduces costs.

[0063] In addition, the system provided by the present application realizes cascade operation between multiple control board modules through standardized upstream and downstream communication interfaces. Optical coupling isolation technology is used to ensure the stability and anti-interference of signal transmission, so that the control board modules can work together to jointly control the long-distance transmission module.

[0064] At the same time, the system automatically calculates and adapts the number of required control board modules according to the actual length of the transmission device, transmits control instructions and data through upstream and downstream interfaces, and realizes seamless integration of overall functions.

[0065] It is understandable that the method provided in the present application can be applied to a processing device, which is a processing device that can adaptively control the cascade of multiple stepper motors, for example, a terminal device or server that can adaptively control the cascade of multiple stepper motors. The method provided in the present application can be executed independently by a terminal device or a server, and can also be applied to a network scenario in which a terminal device and a server communicate, and is executed by the cooperation of a terminal device and a server. Among them, the terminal device can be a computer, a mobile phone and other devices. The server can be understood as an application server or a Web server. In actual deployment, the server can be an independent server or a cluster server.

[0066] Figure 4 A schematic diagram of a cascade adaptive control method for a multi-channel stepper motor provided in the present application, the method comprising the following steps:

[0067] S401: Initialize the control system.

[0068] The processing device initializes the control system, and the initialization needs to be performed when the power is turned on.

[0069] S402: Place a workpiece on the transmission device and sense the position of the workpiece through a photoelectric sensor module.

[0070] The processing equipment can place the workpiece on the transmission device and sense the position of the workpiece through the photoelectric sensor module.

[0071] S403: The control system uses the information obtained by the photoelectric sensor module to control the control board module corresponding to the communication module, the control board module upstream of the communication module, and the control board module downstream of the communication module through the communication module.

[0072] The processing device can control the system using information obtained by the photoelectric sensor module, and control the control board module corresponding to the communication module, the control board module upstream of the communication module, and the control board module downstream of the communication module through the communication module.

[0073] S404: When the photoelectric sensor module cannot sense the workpiece, the control system is stopped.

[0074] When the photoelectric sensing module cannot sense the workpiece, the processing device stops the operation of the control system.

[0075] The method provided in the present application can sense the position of the workpiece through a photoelectric sensor module, and realize cascade adaptive control of multiple stepper motors through a control board module upstream of the communication module and a control board module downstream of the communication module.

[0076] This application also provides a Figure 5The schematic diagram of the structure of the cascade adaptive control device for multi-way stepper motors shown in FIG. 5 , the cascade adaptive control device 500 for multi-way stepper motors comprises:

[0077] Initialization module 501, used to initialize the control system;

[0078] A placement module 502, used for placing a workpiece on the transmission device and sensing the position of the workpiece through a photoelectric sensor module;

[0079] A control module 503, configured for the control system to use the information obtained by the photoelectric sensor module to control the control board module corresponding to the communication module, the control board module upstream of the communication module, and the control board module downstream of the communication module through the communication module;

[0080] The closing module 504 is used to stop the control system when the photoelectric sensing module cannot sense the workpiece.

[0081] An embodiment of the present application also provides a cascade adaptive control device for a multi-channel stepper motor, wherein the device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device performs the steps of the cascade adaptive control method for a multi-channel stepper motor described in any embodiment of the present application.

[0082] In practical applications, the computer-readable storage medium may be any combination of one or more computer-readable media, which may be a computer-readable signal medium or a computer-readable storage medium.

[0083] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0084] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0085] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0086] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0087] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is merely schematic, in which the unit described as a separate component may or may not be physically separated, and the component prompted as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0088] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A cascade adaptive control system for multi-channel stepping motors, characterized in that: include: Multiple control board modules, motor drive modules, communication modules, stepper motors, photoelectric sensor modules and transmission devices; One of the control board modules includes a microcontroller unit, a communication unit and a power supply unit, wherein the power supply unit is used to provide power to the control system; One of the control board modules is connected to the six stepper motors via the communication module, and the control board module is used to control the six connected stepper motors; Each of the stepper motors is connected to the motor driving module, and the motor driving module is used to drive the stepper motor; Each of the stepper motors is connected to the transmission device, the stepper motor is used to provide power for the transmission device, and the transmission device is used to transmit the workpiece; A plurality of the photoelectric sensor modules are connected to the transmission device, and the photoelectric sensor modules are used to sense the workpiece on the transmission device; A control board module is connected to a plurality of the photoelectric sensor modules; The plurality of control board modules are connected via the communication module.

2. The system according to claim 1, characterized in that The power supply unit includes a driving power supply part: The driving power supply part is used to supply power to the motor driving module; The driving power supply part includes a 24V to 5V circuit and a 5V output isolation circuit.

3. The system according to claim 2, characterized in that The 5V output isolation circuit is a 5V optocoupler isolation output circuit.

4. The system according to claim 1, characterized in that The power supply unit includes a system power supply part: The system power supply part is used to provide power to the control system, and the system power supply part is a 3.3V output circuit.

5. The system according to claim 1, characterized in that The communication module includes an upstream interface and a downstream interface: The upstream interface is used to connect to the upstream control board module, and the downstream interface is used to connect to the downstream control board module.

6. The system according to claim 5, characterized in that Each of the upstream interfaces and the downstream interfaces is isolated by an optical coupler.

7. A cascade adaptive control method for multi-channel stepper motors, characterized in that: include: Initialize the control system; Placing a workpiece on the transmission device and sensing the position of the workpiece by a photoelectric sensor module; The control system uses the information obtained by the photoelectric sensor module to control the control board module corresponding to the communication module, the control board module upstream of the communication module, and the control board module downstream of the communication module through the communication module; When the photoelectric sensing module cannot sense the workpiece, the control system is stopped.

8. A cascade adaptive control device for multi-channel stepping motors, characterized in that: include: An initialization module, used to initialize the control system; A placement module, used for placing a workpiece on the transmission device and sensing the position of the workpiece through a photoelectric sensor module; A control module, used for the control system to use the information obtained by the photoelectric sensor module to control the control board module corresponding to the communication module, the control board module upstream of the communication module, and the control board module downstream of the communication module through the communication module; The shut-down module is used to stop the control system when the photoelectric sensing module cannot sense the workpiece.

9. An electronic device, characterized in that: comprising a memory and a processor, wherein: The memory is used to store the computer program; The processor is used to execute the computer program to implement the cascade adaptive control method of the multi-channel stepper motor as claimed in claim 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the cascade adaptive control method for a multi-channel stepper motor as claimed in claim 7 is implemented.

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