Two-dimensional servo turntable driving controller based on ARM

Abstract

The two-dimensional servo turntable driving controller based on the ARM comprises a control module, a motor driving module and a power supply module, the control module comprises an ARM processor, an interface module and a voltage conversion module; the ARM processor is respectively connected with the interface module and the voltage conversion module; the interface module is provided with data interfaces, and the data interfaces comprise an RS232 interface, an RS422 interface, an RS485 interface, a CAN interface, a network interface and a synchronous SSI interface; the motor driving module comprises an azimuth motor driver and a pitching motor driver; the power supply module is respectively connected with the control module and the motor driving module, and the power supply module is provided with an external power supply interface capable of supplying power to external equipment. The product is high in integration level, can greatly simplify the overall design of a driving circuit, is suitable for a two-dimensional servo system application scene with high requirements on space, is rich in communication interface, and has good expansibility, adaptability and reliability.

Description

Technical Field

[0001] The utility model relates to the technical field of servo control, in particular to a two-dimensional servo turntable drive controller based on ARM. Background Art

[0002] The turntable is a complex modern equipment integrating optics, machinery and electronics. It performs semi-physical simulation and testing in the fields of aviation and aerospace, and plays a key role in the development of aircraft. It can simulate various attitude and angular motions of the aircraft, reproduce its various dynamic characteristics during motion, and repeatedly test the performance of the aircraft's guidance system, control system and corresponding devices to obtain sufficient test data. Based on the data, the system is redesigned and improved to meet the performance index requirements of the overall design of the aircraft.

[0003] The 2D servo turntable technology mostly uses CPU+FPGA, CPLD+DSP to transmit and process data to achieve azimuth and pitch control. In some scenarios, data transmission and processing can be completed using only ARM's peripheral resources and computing processing units. However, the current 2D servo turntable adopts a separate design of controller and driver, which is difficult to meet the occasions with high space requirements. At present, the market needs a drive controller with a high degree of integration and capable of driving and controlling the 2D servo turntable. Summary of the invention

[0004] The problem to be solved by the utility model is to provide a two-dimensional servo turntable drive controller based on ARM, which can achieve high integration.

[0005] The utility model adopts the following technical scheme, including a control module, a motor drive module, and a power supply module; the control module includes an ARM processor, an interface module, and a voltage conversion module; the ARM processor is respectively connected to the interface module and the voltage conversion module; the interface module is provided with a data interface, and the data interface includes an RS232 interface, an RS422 interface, an RS485 interface, a CAN interface, a network interface, and a synchronous SSI interface; the motor drive module includes an azimuth motor driver and a pitch motor driver; the power supply module is respectively connected to the control module and the motor drive module, and the power supply module is provided with an external power supply interface that can supply power to external devices.

[0006] Its working principle is: the ARM processor receives the control instruction data from the control system through the data interface, and combines the real-time position information fed back by the absolute encoder to parse the position error data. Then, these error data are corrected and the control signal of the motor is calculated. The ARM processor sends the control signal to the motor driver through the CAN interface. After the motor driver receives the control signal, it drives the motor to run at the preset speed; the encoder continuously monitors the rotation angle of the motor and feeds this information back to the ARM processor in real time. The ARM processor adjusts the control signal according to this feedback information to ensure the precise execution of motion control. In addition to supplying power to the drive controller, the power supply module can also supply power to external devices through the interface.

[0007] The utility model has the following beneficial effects:

[0008] 1. High product integration. The utility model uses an ARM processor as the main control chip. By designing a communication interface circuit, a DC / DC conversion circuit, and a built-in azimuth motor driver and pitch motor driver, the overall design of the drive circuit can be greatly simplified and the product size can be reduced. This solution is suitable for the peripheral resources and operation processing unit of the ARM processor to meet specific functional requirements, and the driver and controller are integrated into the same system, which is particularly suitable for two-dimensional servo system application scenarios with high space requirements.

[0009] 2. Rich communication interfaces and good scalability. The utility model has rich peripheral interface resources, integrating multiple communication interfaces such as CAN, RS422, RS232, RS485, network and SSI, etc. It has high adaptability and can be customized according to various peripheral interface design requirements.

[0010] 3. High product reliability. The processor used in the utility model has low power consumption, high performance and excellent expansion capability. The drive controller adopts modular design, and each component of the servo control module can be independently operated and maintained, thereby significantly improving the overall reliability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The utility model is a block diagram of the working principle of the two-dimensional servo turntable.

[0012] Figure 2 It is a schematic diagram of the structural principle of the utility model. DETAILED DESCRIPTION

[0013] like Figure 1 , Figure 2As shown, the utility model includes a control module, a motor drive module, and a power supply module; the control module includes an ARM processor, an interface module, and a voltage conversion module; the ARM processor is connected to the interface module and the voltage conversion module respectively; the interface module is provided with a data interface, and the data interface includes an RS232 interface, an RS422 interface, an RS485 interface, a CAN interface, a network interface, and a synchronous SSI interface; the motor drive module includes an azimuth motor driver and a pitch motor driver; the power supply module is connected to the control module and the motor drive module respectively, and the power supply module is provided with an external power supply interface that can supply power to external devices. In one embodiment, the model of the ARM processor is GD32F407VET6.

[0014] The utility model, as the core of the entire two-dimensional servo turntable, undertakes the core function of the entire turntable. As the main control chip, the ARM processor needs to cooperate with various interface circuits to complete the expansion of the required interface and establish communication with external devices through the corresponding interface. The RS422 interface is built by the serial port in the peripheral resources of the ARM processor and the RS422 interface chip, and the turntable can communicate with other external devices through the RS422 interface. The RS232 interface is built by the serial port in the peripheral resources of the ARM processor and the RS232 interface chip, and the turntable can communicate with other external devices through the RS232 interface. The RS485 interface is built by the serial port in the peripheral resources of the ARM processor and the RS485 interface chip, and the turntable can communicate with other external devices through the RS485 interface. The CAN interface is built by the CAN interface chip and the serial port resources of the ARM processor. The turntable can be connected to the CAN bus through the CAN interface to realize communication with the azimuth motor driver and the pitch motor driver, and the control instruction is sent to the motor driver through the CAN interface, and the motor driver drives the motor to move at a predetermined speed. The network interface is built by the serial port in the ARM peripheral resources and the network interface chip. The turntable can communicate with other external devices through the network interface. The synchronous SSI interface is built in cooperation with the serial port resources of the corresponding interface chip and the ARM processor. The two-dimensional servo turntable drive controller can communicate with the azimuth encoder and pitch encoder through the synchronous SSI interface, thereby obtaining the current position information of the two-dimensional servo turntable. Secondly, as the main control chip, the ARM processor is responsible for various data operations, logic control, event processing, and the implementation of complex algorithms.

[0015] Its working principle is: the ARM processor receives the control instruction data from the control system through the data interface, and combines the real-time position information fed back by the absolute encoder to parse the position error data. Then, these error data are corrected to calculate the control signal of the motor. The ARM processor sends the control signal to the motor driver through the CAN interface. After the motor driver receives the control signal, it drives the motor to run at the preset speed. The encoder continuously monitors the rotation angle of the motor and feeds this information back to the ARM processor in real time. The ARM processor adjusts the control signal according to this feedback information to ensure the precise execution of motion control. In addition to supplying power to the drive controller, the power supply module can also supply power to external devices through the interface.

[0016] The present invention is not limited to the specific structures of the above embodiments, and equivalent transformations of other similar structures all fall within the protection scope of the present invention.

Claims

1. A two-dimensional servo turntable drive controller based on ARM, characterized in that: It includes a control module, a motor drive module, and a power supply module; the control module includes an ARM processor, an interface module, and a voltage conversion module; the ARM processor is respectively connected to the interface module and the voltage conversion module; the interface module is provided with a data interface, and the data interface includes an RS232 interface, an RS422 interface, an RS485 interface, a CAN interface, a network interface, and a synchronous SSI interface; the motor drive module includes an azimuth motor driver and a pitch motor driver; the power supply module is respectively connected to the control module and the motor drive module, and the power supply module is provided with an external power supply interface that can supply power to external devices.

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