Multi-interface servo motor corner position measurement controller
By adopting CPLD module and multi-interface design in the servo motor angle position measurement controller, differential pulse signals are processed, and the problems of low integration and inflexible data transmission are solved, and higher frequency measurement and more stable data transmission are achieved. In many applications.
Patent Information
- Application Number
- CN202420776455.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-16
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2034-04-16
AI Technical Summary
The existing servo motor angle position measurement controller has low integration and poor stability, and cannot handle high-frequency angular position counting pulses. The data transmission method is inflexible, which limits the accuracy and stability of the control system and is easily affected in harsh environments. interference.
A multi-interface servo motor angle position measurement controller is designed, using CPLD module and multiple data interfaces (PCI interface, microcontroller data interface and I/O interface), which improves integration and data transmission flexibility, and uses signal conversion The module processes differential pulse signals, improving anti-interference ability.
It realizes higher frequency angular position measurement, improves the controller's processing speed and flexibility in data transmission, and is suitable for application scenarios of different types of servo motors, enhancing the stability and anti-interference ability of the system.
Smart Images
Figure CN222169653U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of rotation angle position measurement, and in particular relates to a rotation angle position measurement controller for a multi-interface servo motor. Background Art
[0002] The angular position measurement controller is an important component of the rotary motion servo control system. High-precision angular position detection is an important part of achieving precise closed-loop control of the servo system. At present, the servo motor angular position measurement controller has the following shortcomings:
[0003] (1) The integration level of the angular position measurement controller is low
[0004] At present, the core components of most servo motor angular position measurement controllers are discrete components manufactured using TTL and CMOS processes. Due to the low integration of the internal circuit, there is a hidden danger of poor stability. In particular, when the angular position measurement controller operates under harsh working conditions, it is easily affected by various adverse external factors (such as temperature, humidity, strong electromagnetic interference), resulting in a significant increase in the number of miscounts output by the angular position measurement controller, which in turn makes it unable to correctly output the angular position data, resulting in more jumps in the output angular position data, resulting in miscounts, and ultimately making the angular position feedback of the servo control system abnormal and unable to work normally.
[0005] (2) Limited performance improvement
[0006] The servo motor angular position measurement controller based on discrete components is unable to process the high-frequency angular position count pulses output by the higher-resolution photoelectric encoder due to various physical limitations of the manufacturing process and performance of its constituent components. This limits the improvement of the servo motor angular position measurement resolution and indirectly affects the control accuracy and operation stability of the control system.
[0007] (3) The angular position data transmission method is not universal
[0008] Most of the angular position measurement controllers and servo control computers are designed with only a single data transmission interface channel, for example, a dedicated parallel transmission interface is used as the angular position data output interface. When the application of the servo system or the data interface type of the servo controller changes, it needs to be redesigned. The lack of flexibility, scalability and versatility is not conducive to mass production, promotion and use, and is not conducive to improving the market competitiveness of the product. Utility Model Content
[0009] The purpose of the utility model is to overcome the deficiencies in the prior art and provide a multi-interface servo motor angular position measurement controller, which improves integration, can process higher frequency angular position counting pulses, and provides multiple types of angular position data transmission methods, thereby improving the flexibility, scalability and anti-interference ability of the angular position measurement controller data transmission, making it suitable for application scenarios of angular position measurement of different types of servo motors.
[0010] The utility model provides the following technical solutions:
[0011] A multi-interface servo motor angular position measurement controller comprises a controller body and a signal conversion module, a CPLD module and an output interface module arranged on the controller body; the CPLD module receives a single-ended angular position data signal from the signal conversion module, and transmits the processed angular position data signal to the output interface module; the output interface module comprises a PCI interface, a single-chip computer data interface and an I / O interface; the PCI interface is arranged at the bottom of the controller body, and is used to receive the angular position data signal and transmit it to a servo control computer; the single-chip computer data interface is arranged at one side of the controller body, and is used to receive the angular position data signal and transmit it to the single-chip computer; the I / O interface is arranged at the other side of the controller body, and is used to receive the angular position data signal and transmit it to a data acquisition card.
[0012] As an optional technical solution of the utility model, it also includes an input interface; the input interface is arranged above the microcontroller data interface, and is used to collect the differential pulse signal output by the photoelectric code disk, and transmit the differential pulse signal to the CPLD module.
[0013] As an optional technical solution of the present invention, the signal conversion module is arranged above the CPLD module, and is used to receive the differential pulse signal of the input interface, convert it into a single-ended angular position data signal and transmit it to the CPLD module.
[0014] As an optional technical solution of the present invention, the signal conversion module includes an MC3486 chip, which is used to convert the differential pulse signal into a single-ended angular position data signal and transmit it to the CPLD module.
[0015] As an optional technical solution of the utility model, the CPLD module includes a quadruple frequency and steering discrimination logic circuit, a calculator logic circuit, a data interface logic circuit, a decoding logic circuit and a reset logic circuit; the quadruple frequency and steering discrimination logic circuit receives the single-ended angular position data signal of the signal conversion module, and transmits the processed count pulse and steering discrimination signal to the calculator logic circuit; the calculator logic circuit receives the count pulse and steering discrimination signal of the quadruple frequency and steering discrimination logic circuit, and transmits the angular position measurement data to the data interface logic circuit; the data interface logic circuit receives the angular position measurement data of the calculator logic circuit, and transmits the angular position data signal to the PCI interface, the single-chip data interface and the I / O interface respectively; the decoding logic circuit receives the read and write control signals from the PCI interface and the single-chip data interface, and transmits them to the calculator logic circuit; the reset logic circuit receives the zeroing pulse signal from the signal conversion module and the reset signals of the PCI interface and the single-chip data interface, and transmits them to the calculator logic circuit.
[0016] As an optional technical solution of the utility model, it also includes a power supply module; the power supply module is arranged on the top of the controller body and is connected to the CPLD module and the signal conversion module.
[0017] As an optional technical solution of the utility model, the I / O interfaces are arranged in parallel and on both sides of the CPLD module.
[0018] As an optional technical solution of the present utility model, the PCI interface adopts a 16-bit interface.
[0019] Compared with the prior art, the beneficial effects of the utility model are:
[0020] 1. The multi-interface servo motor angular position measurement controller provided by the utility model improves the integration of the angular position measurement controller through the CPLD module, improves the operating frequency and processing speed, and enables it to process higher frequency angular position counting pulses.
[0021] 2. The multi-interface servo motor angular position measurement controller provided by the utility model provides a variety of angular position data transmission methods for the angular position measurement controller through the PCI interface, the single-chip computer data interface and the I / O interface, thereby improving the flexibility, scalability and anti-interference ability of its data transmission, making it suitable for application scenarios of angular position measurement of different types of servo motors. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is a structural schematic diagram of a multi-interface servo motor angular position measurement controller in an embodiment of the utility model;
[0023] Figure 2 It is a data transmission schematic diagram of a multi-interface servo motor rotation angle position measurement controller in an embodiment of the utility model;
[0024] Figure 3 It is a schematic diagram of the structure of the CPLD module in the embodiment of the utility model.
[0025] The following are marked in the figure: 1. Controller body; 2. Input interface; 3. Signal conversion module; 4. CPLD module; 5. PCI interface; 6. MCU data interface; 7. I / O interface; 8. Power module. DETAILED DESCRIPTION
[0026] The utility model is further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and cannot be used to limit the protection scope of the utility model.
[0027] Example 1
[0028] This embodiment provides a multi-interface servo motor angular position measurement controller, such as Figure 1 As shown, it includes a controller body 1 and a CPLD (Complex PLD, complex logic element) module 4, an output interface module, an input interface 2, a signal conversion module 3 and a power supply module 8 arranged on the controller body 1. Among them, the output interface module includes a PCI (Peripheral Component Interconnect, peripheral device interconnect) interface 5, a single-chip computer data interface 6 and an I / O (input / output) interface 7.
[0029] Specifically, the CPLD module 4 receives the single-ended angular position data signal of the signal conversion module 3, and transmits the processed angular position data signal to the output interface module. The PCI interface 5 is arranged at the bottom of the controller body 1, and is used to receive the angular position data signal and transmit it to the servo control computer. The single-chip computer data interface 6 is arranged on one side of the controller body 1, and is used to receive the angular position data signal and transmit it to the single-chip computer. The I / O interface 7 is arranged on the other side of the controller body 1, and is used to receive the angular position data signal and transmit it to the data acquisition card. The input interface 2 is arranged above the single-chip computer data interface 6. The input interface 2 is connected to the CPLD module 4. The signal conversion module 3 is arranged above the CPLD module 4, and is used to collect the differential pulse signal output by the photoelectric encoder, and transmit the differential pulse signal to the CPLD module 4. The signal conversion module 3 is arranged above the CPLD module 4, and is used to receive the differential pulse signal of the input interface 2, convert it into a single-ended angular position data signal, and transmit it to the CPLD module 4. The power module 8 is disposed on the top of the controller body 1 and is connected to the CPLD module 4 .
[0030] Furthermore, the I / O interfaces 7 are arranged in parallel and on both sides of the CPLD module 4 .
[0031] Furthermore, if Figure 2 As shown, in this embodiment, the input interface 2 adopts a photoelectric encoder input interface for receiving a differential pulse signal of a photoelectric encoder.
[0032] Furthermore, if Figure 2 As shown, the signal conversion module 3 includes an MC3486 chip, which is used to convert the differential pulse signal into a single-ended angular position data signal and transmit it to the CPLD module 4.
[0033] Furthermore, in this embodiment, the PCI interface 5 adopts a 16-bit interface.
[0034] Working principle:
[0035] The three pairs of differential pulse signals A+ and A-, B+ and B-, and Z+ and Z- output by the photoelectric encoder are input into the angular position measurement controller, converted into single-ended angular position data signals A, B and Z by the MC3486 chip, and input into the CPLD module 4. After being processed by the CPLD module 4, the processed angular position data signal is obtained. Subsequently, the angular position data signal and the control signal can be transmitted between the servo control computer through the PCI interface 5; the angular position data signal can also be transmitted to the single-chip microcomputer through the single-chip microcomputer data interface 6, and after the address signal of the single-chip microcomputer is converted, the read control signal of the single-chip microcomputer data interface 6 is obtained; the angular position data signal can also be transmitted to the PCL-722 data acquisition card through the I / O interface 7. Therefore, the angular position measurement controller is suitable for data transmission methods of various types of servo control systems.
[0036] Example 2
[0037] This embodiment provides an implementation method of the CPLD module 4 in the multi-interface servo motor angular position measurement controller described in Embodiment 1.
[0038] like Figure 3 As shown, the CPLD module 4 includes a quadruple frequency and steering discrimination logic circuit, a calculator logic circuit, a data interface logic circuit, a decoding logic circuit and a reset logic circuit.
[0039] Specifically, the quadruple frequency and steering discrimination logic circuit receives the single-ended angular position data signal from the signal conversion module 3, and transmits the processed count pulse and steering discrimination signal to the calculator logic circuit. The calculator logic circuit receives the count pulse and steering discrimination signal from the quadruple frequency and steering discrimination logic circuit, and transmits the angular position measurement data to the data interface logic circuit; the data interface logic circuit receives the angular position measurement data from the calculator logic circuit, and transmits the angular position data signal to the PCI interface 5, the single-chip data interface 6 and the I / O interface 7 respectively. The decoding logic circuit receives the read and write control signals from the PCI interface 5 and the single-chip data interface 6, and transmits them to the calculator logic circuit. The reset logic circuit receives the reset pulse signal from the signal conversion module 3 and the reset signals from the PCI interface 5 and the single-chip data interface 6, and transmits them to the calculator logic circuit.
[0040] Furthermore, in this embodiment, the CPLD module 4 uses the MAX7000AE series chip EPM7256AETC100-10, which is a prior art. It has 256 internal logic macro units, a 100-pin TQFP package, 84 user-available IO pins, a pin-to-pin maximum delay of 5.5ns, a maximum operating frequency of 172.4MHz, and is powered by 3.3V. The IO pin input signal is compatible with 2.5V, 3.3V, and 5.0V level specifications, and the output signal high level is at least 2.4V, the low level is at most 0.45V, and the output current is 8mA.
[0041] Furthermore, if Figure 3 As shown, the single-ended angular position data signals A, B and Z output after being processed by the MC3486 chip are input into the CPLD chip in the CPLD module 4 through the input interface 2, and are processed by the quadruple frequency and steering discrimination logic circuit to obtain the counting pulses AA, BB and the steering discrimination signal DIR, which are then input into the counter logic circuit. After being processed by the counter logic circuit, the angular position measurement data is output, and after time-sharing processing by the data interface logic circuit, it is sent to the PCI interface 5, the single-chip computer data interface 6 and the I / O interface 7 of the control computer, respectively, and all have output latches. The decoding logic circuit realizes the analysis and processing of the read-write control signal from the PCI interface 5 and the read-write control signal from the single-chip computer data interface 6, and outputs the read control signal to the counter logic circuit. The reset logic circuit realizes the reset of the counter, and its reset signal source includes the zero-clearing Z pulse signal and the reset signal from the PCI interface 5 and the reset signal from the single-chip computer data interface 6.
[0042] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "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 accompanying drawings, and are only for the convenience of describing the present utility model 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 present utility model. 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, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.
[0043] In the description of the present 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 an indirect connection 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 present invention can be understood by specific circumstances.
[0044] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.
Claims
1. A multi-interface servo motor angular position measurement controller, characterized in that: It comprises a controller body (1), and a signal conversion module (3), a CPLD module (4) and an output interface module arranged on the controller body (1); The CPLD module (4) receives the single-ended angular position data signal from the signal conversion module (3), and transmits the processed angular position data signal to the output interface module; The output interface module comprises a PCI interface (5), a single chip computer data interface (6) and an I / O interface (7); The PCI interface (5) is arranged at the bottom of the controller body (1) and is used to receive the angular position data signal and transmit it to the servo control computer; The single-chip computer data interface (6) is arranged on one side of the controller body (1) and is used to receive the angular position data signal and transmit it to the single-chip computer; The I / O interface (7) is arranged on the other side of the controller body (1) and is used to receive the angular position data signal and transmit it to a data acquisition card.
2. The multi-interface servo motor angular position measurement controller according to claim 1, characterized in that: Also includes an input interface (2); The input interface (2) is arranged above the single-chip computer data interface (6) and is used to collect the differential pulse signal output by the photoelectric encoder and transmit the differential pulse signal to the CPLD module (4).
3. The multi-interface servo motor angular position measurement controller according to claim 2, characterized in that: The signal conversion module (3) is arranged above the CPLD module (4) and is used to receive the differential pulse signal of the input interface (2), convert it into a single-ended angular position data signal and transmit it to the CPLD module (4).
4. The multi-interface servo motor angular position measurement controller according to claim 2, characterized in that: The signal conversion module (3) comprises an MC3486 chip, which is used to convert the differential pulse signal into a single-ended angular position data signal and transmit it to the CPLD module (4).
5. The multi-interface servo motor angular position measurement controller according to claim 1, characterized in that: The CPLD module (4) comprises a quadruple frequency and steering discrimination logic circuit, a calculator logic circuit, a data interface logic circuit, a decoding logic circuit and a reset logic circuit; The quadruple frequency and steering discrimination logic circuit receives the single-ended angular position data signal from the signal conversion module (3), and transmits the processed counting pulse and steering discrimination signal to the calculator logic circuit; The calculator logic circuit receives the counting pulse and the steering discrimination signal of the quadruple frequency and steering discrimination logic circuit, and transmits the angular position measurement data to the data interface logic circuit; The data interface logic circuit receives the angular position measurement data from the calculator logic circuit, and transmits the angular position data signal to the PCI interface (5), the single chip computer data interface (6) and the I / O interface (7) respectively; The decoding logic circuit receives the read and write control signals from the PCI interface (5) and the single-chip computer data interface (6), and transmits them to the calculator logic circuit; The reset logic circuit receives the reset pulse signal from the signal conversion module (3) and the reset signal from the PCI interface (5) and the single-chip computer data interface (6), and transmits them to the calculator logic circuit.
6. The multi-interface servo motor angular position measurement controller according to claim 1, characterized in that: Also includes a power module (8); The power supply module (8) is arranged on the top of the controller body (1) and is connected to the CPLD module (4) and the signal conversion module (3).
7. The multi-interface servo motor angular position measurement controller according to claim 1, characterized in that: The I / O interfaces (7) are arranged in parallel and on both sides of the CPLD module (4).
8. The multi-interface servo motor angular position measurement controller according to claim 1, characterized in that: The PCI interface (5) adopts a 16-bit interface.