纸箱打样机运动控制器的研究与开发
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摘要
纸箱、纸盒包装行业是一个庞大的产业群,有着巨大的市场潜力。国内进行纸箱、纸盒包装样品的开发设计大多以手工制作为主,这种制作方式不能满足产品个性化、多样化的市场需求。而通过纸箱打样设备进行样品设计,已成为今后纸箱、纸盒开发的发展趋势。当前,国内对于纸箱打样机设备进行研究开发的企业很少,其核心部件的运动控制系统,大多基于PC机的专用运动控制卡。因此,本文提出了以通用DSP和可编程逻辑器件CPLD相结合的设计方案,设计开发了四轴纸箱打样机运动控制器;并详细介绍了运动控制器软、硬件平台的设计过程。
纸箱打样机运动控制器的硬件设计,以通用DSP处理器TMS320F2812和可编程逻辑器件EPM7128为核心,周边配置丰富的存储器资源和通用外设接口。处理器TMS320F2812负责任务管理、控制算法处理、数据接收及处理、外部设备控制等工作;并通过事件管理器(EV)发出方向脉冲信号来控制伺服电机,以完成预定的运动轨迹。可编程逻辑器件EPM7128负责运动控制器的逻辑控制、编码器反馈信号的计数等工作。
本文利用Protel电路设计软件,完成运动控制器的原理设计、PCB设计,制作出硬件电路板。通过对电路板上各个功能模块的调试和验证,确保硬件电路板能够正常工作,为后面的软件设计提供了良好的基础。
采用VHDL语言和原理图相结合的设计方式编写CPLD程序代码,通过MAX+PLUSII软件进行编译、链接、调试和仿真,将程序下载到CPLD器件中,从而完成了编码器反馈信号的计数电路设计和DSP外围接口模块的逻辑电路设计。并且在软件设计方面,编写了控制系统的硬件调试软件,以实现对各个接口模块的独立调试以及整个控制系统的联合调试。
本课题已初步完成了纸箱打样机控制系统硬件平台的设计与制作,为后续纸箱打样机数控系统的研究工作建立了良好的开发平台。
Carton packaging industry is the big industrial group, which has huge market potential. In national, many carton products are based on hand-box production method, which can not meet the market demand for the individuation and diversification products. And it will be the development trend to design the samples through carton samplemaker equipment. But research and development for this specific equipment is very few. And the core components of motion control system in carton samplemaker are based on specific motion controller of PC (Personal Computer). So the article puts forward a design mode of general DSP (Digital Signal Processor) and CPLD (Complex Programmable Logic Device), designing a kind of 4-axes carton samplemaker motion controller. It also introduces the software and hardware platform design in detail.
The hardware design of carton samplemaker motion controller is based on the chips of TMS320F2812 and EPM7128, which configures abundant memorizer resource and general peripheral interface. The processor of TMS320F2812 is mainly responsible for the function of task manage, the treatment of control arithmetic, data receiving and handling, external equipments controlling and so on, sending out pulse and direction signal to control the servo motor from the EV (Event Manage) to complete the designated trajectory control. The EPM7128 chip is responsible for the task of logic control, the count of encoder feedback signals and so on.
Using the Protel circuit drawing software, this thesis designs the schematic, PCB (Printed Circuit Board), making out the hardware circuit board. By debugging and validating each function of hardware platform, making sure the hardware circuit board can be normal work, which will be provided a good foundation for the software design in the next work.
Using designed method of VHDL (Very High Speed Integrated Circuit Hardware Description) language and schematic, the article writes out CPLD code and introduces the code how to be downloaded to the device of CPLD through the MAX+PLUS II software to compiled, linked, debugging and simulation, which completed the count circuit of the optical encoder feedback and the logic circuit of DSP interface module. In software design, this thesis writes out the debugging software, which realizes the independent debugging of each interface module and the joint debugging of the entire control system.
Presently, the project has finished the hardware platform design and frabrication of carton samplemaker control system, which provides a good platform for the subsequence research of the numerical control system of carton samplemaker.
纸箱打样机运动控制器的硬件设计,以通用DSP处理器TMS320F2812和可编程逻辑器件EPM7128为核心,周边配置丰富的存储器资源和通用外设接口。处理器TMS320F2812负责任务管理、控制算法处理、数据接收及处理、外部设备控制等工作;并通过事件管理器(EV)发出方向脉冲信号来控制伺服电机,以完成预定的运动轨迹。可编程逻辑器件EPM7128负责运动控制器的逻辑控制、编码器反馈信号的计数等工作。
本文利用Protel电路设计软件,完成运动控制器的原理设计、PCB设计,制作出硬件电路板。通过对电路板上各个功能模块的调试和验证,确保硬件电路板能够正常工作,为后面的软件设计提供了良好的基础。
采用VHDL语言和原理图相结合的设计方式编写CPLD程序代码,通过MAX+PLUSII软件进行编译、链接、调试和仿真,将程序下载到CPLD器件中,从而完成了编码器反馈信号的计数电路设计和DSP外围接口模块的逻辑电路设计。并且在软件设计方面,编写了控制系统的硬件调试软件,以实现对各个接口模块的独立调试以及整个控制系统的联合调试。
本课题已初步完成了纸箱打样机控制系统硬件平台的设计与制作,为后续纸箱打样机数控系统的研究工作建立了良好的开发平台。
Carton packaging industry is the big industrial group, which has huge market potential. In national, many carton products are based on hand-box production method, which can not meet the market demand for the individuation and diversification products. And it will be the development trend to design the samples through carton samplemaker equipment. But research and development for this specific equipment is very few. And the core components of motion control system in carton samplemaker are based on specific motion controller of PC (Personal Computer). So the article puts forward a design mode of general DSP (Digital Signal Processor) and CPLD (Complex Programmable Logic Device), designing a kind of 4-axes carton samplemaker motion controller. It also introduces the software and hardware platform design in detail.
The hardware design of carton samplemaker motion controller is based on the chips of TMS320F2812 and EPM7128, which configures abundant memorizer resource and general peripheral interface. The processor of TMS320F2812 is mainly responsible for the function of task manage, the treatment of control arithmetic, data receiving and handling, external equipments controlling and so on, sending out pulse and direction signal to control the servo motor from the EV (Event Manage) to complete the designated trajectory control. The EPM7128 chip is responsible for the task of logic control, the count of encoder feedback signals and so on.
Using the Protel circuit drawing software, this thesis designs the schematic, PCB (Printed Circuit Board), making out the hardware circuit board. By debugging and validating each function of hardware platform, making sure the hardware circuit board can be normal work, which will be provided a good foundation for the software design in the next work.
Using designed method of VHDL (Very High Speed Integrated Circuit Hardware Description) language and schematic, the article writes out CPLD code and introduces the code how to be downloaded to the device of CPLD through the MAX+PLUS II software to compiled, linked, debugging and simulation, which completed the count circuit of the optical encoder feedback and the logic circuit of DSP interface module. In software design, this thesis writes out the debugging software, which realizes the independent debugging of each interface module and the joint debugging of the entire control system.
Presently, the project has finished the hardware platform design and frabrication of carton samplemaker control system, which provides a good platform for the subsequence research of the numerical control system of carton samplemaker.
引文
[1]何雪明,吴晓光等.数控技术[M].武汉:华中理工大学出版社,2006,1
[2]Graham C.Goodwin,Stefan EGraebe,Mario E.Salgado.Control System Design[M].Beijing:Tsinghua University Press,2002
[3]运动控制产品技术分析及市场概况[Z].工控通讯,2006,5
[4]吴琳,谭营等.运动控制技术发展与展望[J].机床与液压,2007,35(7):231-233,216
[5]王爱玲,张洁堂等.现代数控原理及控制技术[M].北京:国防工业出版社,2003,10
[6]郗志刚,周宏甫.运动控制器的发展与现状[J].电气传动自动化,2005,27(3):10-14
[7]蒋仕龙,吴宏等.通用运动控制技术现状、发展及其应用[Z].固高科技(深圳)有限公司
[8]刘绿山.嵌入式四轴运动控制器的设计与研究[D].广东:广东工业大学,2007,5
[9]张红军.自动化设备--全自动纸箱打样机的应用前景[J].全球瓦楞工业,2005,(9):60-63
[10]韩提文.瓦楞纸板横切割机控制系统的研制[D].天津:天津大学,2003,12
[11]王荣洲.纸箱技术、设备及市场[J].印刷技术,2000,(2):52-53
[12]黄善祥.中国瓦楞纸箱行业现状及发展趋势[J].机电信息,2003,(22):20-22
[13]国玲,西灵.中国首台纸盒纸箱电脑打样机通过鉴定[J].广东包装,2005,(1):47-47
[14]刘磊.基于TMS320F2812的多轴运动控制器设计[D].广东:华南理工大学,2007
[15]Renton D,Elbestawi MA.High Speed Servo Control of Multi-axis Tools[J].Int JMach Tools Manufaxt.2000.40(1):539-559
[16]Chalmers R.E.,Open-architacture CNC Continue Advancing[J].Manufacturing Engineering,2001,127(1):48-52
[17]苏奎峰,吕强等.TMS320F2812原理与开发[M].北京:电子工业出版社,2005
[18]徐科军,张瀚等TMS320X281x DSP原理与应用[M].北京:北京航天航空大学出版社,2006,6
[19]韩安太,刘峙飞等.DSP控制器原理及其在运动控制系统中的应用[M].北京:清华大学出版社,2005
[20]TMS320F281 x Data Sheet(Rev.I).Texas Instruments,2003
[21]张雄伟,陈亮等.DSP集成开发与应用实例[M].北京:电子工业出版社,2002
[22]求是科技.CPLD/FPGA应用开发技术与工程实践[M].北京:人民邮电出版社,2004,11
[23]王开军,姜宇柏编著.面向CPLD/FPGA的VHDL设计[M].北京:机械工业出版社,2007
[24]杨晓慧,杨永乐编著.基于FPGA的EDA/SOPC技术与VHDL[M].北京:国防工业出版社,2007,3
[25]Altera Corporation.MAX 7000 Dam Sheet.Texas Instruments,2002
[26]尹勇,欧光军等.DSP集成开发环境CCS开发指南[M].北京:北京航天航空大学出版社,2003
[27]SST39VFS00A Data Sheet.Silicon Storage Technology,2007
[28]K9F1208UOB Data Sheet.SUMSUNG,2004
[29]IS61LV51216 Data Sheet.Integrated Silicon Solutin,Ine,2005
[30]李朝青编著.单片机原理及接口技术[M].北京:北京航天航空大学出版社,2005
[31]RTL8019AS Data Sheet.REALTEK Semiconductor Co.,Ltd,2000
[32]TMS320F28x External Intefface(XINTF)Reference Guide.Texas Instruments,2003
[33]D系列中文液晶显示模块使用说明书[Z].http://www.gptlcm.cn
[34]TMS320F28x Event Manager(EV)Reference Guide(Rev.A).Texas Instruments,2003
[35]曾峰,巩海洪等.印刷电路板(PCB)设计与制作[M].北京:电子工业出版社,2006
[36]郭银景,吕文红等.电磁兼容原理及应用教程[M].北京:清华大学出版社,2004
[37](美国)Douglas Brooks编著;刘雷波赵岩译.信号完整性问题和印制电路板设计[M].陕西:西安电子科技大学出版社,2002
[38]王庆斌,刘萍等.电磁干扰和电磁兼容技术[M].北京:机械工业出版社,1999
[39]T.C.Lun.Designing for Board Level Electromagnetic Compatibility[J].Motorola Application Notes,AN2321/D
[40]赵鑫,蒋亮等.VHDL与数字电路设计[M].北京:机械工业出版社,2005
[41]潘建国等.光电编码器信号四以下任意倍频及鉴向电路[J].基础自动化,1998,5(6):62-64
[42]赵合稳等.用于光电编码器的四倍频测量电路[J].电气传动自动化,1997,19(2):63-64
[43]李宏胜,李少卿.采用CPLD技术实现数控系统精插补算法的研究[J].组合机床与自动化加工技术,2003,(12):61-64
[44]阳光友,李亮等.基于FPGA的DDA插补算法设计与实现[J].湖北工业大学学报,2007,22(5):43-46
[45]李恩林.插补原理[M].北京:机械工业出版社,1984,3
[46]TMS320F28x Optimizing C/C++ Compiler User's Guide.Texas Instruments,2003
[2]Graham C.Goodwin,Stefan EGraebe,Mario E.Salgado.Control System Design[M].Beijing:Tsinghua University Press,2002
[3]运动控制产品技术分析及市场概况[Z].工控通讯,2006,5
[4]吴琳,谭营等.运动控制技术发展与展望[J].机床与液压,2007,35(7):231-233,216
[5]王爱玲,张洁堂等.现代数控原理及控制技术[M].北京:国防工业出版社,2003,10
[6]郗志刚,周宏甫.运动控制器的发展与现状[J].电气传动自动化,2005,27(3):10-14
[7]蒋仕龙,吴宏等.通用运动控制技术现状、发展及其应用[Z].固高科技(深圳)有限公司
[8]刘绿山.嵌入式四轴运动控制器的设计与研究[D].广东:广东工业大学,2007,5
[9]张红军.自动化设备--全自动纸箱打样机的应用前景[J].全球瓦楞工业,2005,(9):60-63
[10]韩提文.瓦楞纸板横切割机控制系统的研制[D].天津:天津大学,2003,12
[11]王荣洲.纸箱技术、设备及市场[J].印刷技术,2000,(2):52-53
[12]黄善祥.中国瓦楞纸箱行业现状及发展趋势[J].机电信息,2003,(22):20-22
[13]国玲,西灵.中国首台纸盒纸箱电脑打样机通过鉴定[J].广东包装,2005,(1):47-47
[14]刘磊.基于TMS320F2812的多轴运动控制器设计[D].广东:华南理工大学,2007
[15]Renton D,Elbestawi MA.High Speed Servo Control of Multi-axis Tools[J].Int JMach Tools Manufaxt.2000.40(1):539-559
[16]Chalmers R.E.,Open-architacture CNC Continue Advancing[J].Manufacturing Engineering,2001,127(1):48-52
[17]苏奎峰,吕强等.TMS320F2812原理与开发[M].北京:电子工业出版社,2005
[18]徐科军,张瀚等TMS320X281x DSP原理与应用[M].北京:北京航天航空大学出版社,2006,6
[19]韩安太,刘峙飞等.DSP控制器原理及其在运动控制系统中的应用[M].北京:清华大学出版社,2005
[20]TMS320F281 x Data Sheet(Rev.I).Texas Instruments,2003
[21]张雄伟,陈亮等.DSP集成开发与应用实例[M].北京:电子工业出版社,2002
[22]求是科技.CPLD/FPGA应用开发技术与工程实践[M].北京:人民邮电出版社,2004,11
[23]王开军,姜宇柏编著.面向CPLD/FPGA的VHDL设计[M].北京:机械工业出版社,2007
[24]杨晓慧,杨永乐编著.基于FPGA的EDA/SOPC技术与VHDL[M].北京:国防工业出版社,2007,3
[25]Altera Corporation.MAX 7000 Dam Sheet.Texas Instruments,2002
[26]尹勇,欧光军等.DSP集成开发环境CCS开发指南[M].北京:北京航天航空大学出版社,2003
[27]SST39VFS00A Data Sheet.Silicon Storage Technology,2007
[28]K9F1208UOB Data Sheet.SUMSUNG,2004
[29]IS61LV51216 Data Sheet.Integrated Silicon Solutin,Ine,2005
[30]李朝青编著.单片机原理及接口技术[M].北京:北京航天航空大学出版社,2005
[31]RTL8019AS Data Sheet.REALTEK Semiconductor Co.,Ltd,2000
[32]TMS320F28x External Intefface(XINTF)Reference Guide.Texas Instruments,2003
[33]D系列中文液晶显示模块使用说明书[Z].http://www.gptlcm.cn
[34]TMS320F28x Event Manager(EV)Reference Guide(Rev.A).Texas Instruments,2003
[35]曾峰,巩海洪等.印刷电路板(PCB)设计与制作[M].北京:电子工业出版社,2006
[36]郭银景,吕文红等.电磁兼容原理及应用教程[M].北京:清华大学出版社,2004
[37](美国)Douglas Brooks编著;刘雷波赵岩译.信号完整性问题和印制电路板设计[M].陕西:西安电子科技大学出版社,2002
[38]王庆斌,刘萍等.电磁干扰和电磁兼容技术[M].北京:机械工业出版社,1999
[39]T.C.Lun.Designing for Board Level Electromagnetic Compatibility[J].Motorola Application Notes,AN2321/D
[40]赵鑫,蒋亮等.VHDL与数字电路设计[M].北京:机械工业出版社,2005
[41]潘建国等.光电编码器信号四以下任意倍频及鉴向电路[J].基础自动化,1998,5(6):62-64
[42]赵合稳等.用于光电编码器的四倍频测量电路[J].电气传动自动化,1997,19(2):63-64
[43]李宏胜,李少卿.采用CPLD技术实现数控系统精插补算法的研究[J].组合机床与自动化加工技术,2003,(12):61-64
[44]阳光友,李亮等.基于FPGA的DDA插补算法设计与实现[J].湖北工业大学学报,2007,22(5):43-46
[45]李恩林.插补原理[M].北京:机械工业出版社,1984,3
[46]TMS320F28x Optimizing C/C++ Compiler User's Guide.Texas Instruments,2003