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Open type movement-control system based on USB bus

A technology of motion control system and control system, applied in general control system, control/adjustment system, electric controller, etc., can solve the problems of inconvenient expansion, inappropriate educational robot, and failure to solve real-time control algorithm of non-real-time operating system, etc. , to achieve the effect of convenient expansion and large communication bandwidth

Inactive Publication Date: 2008-07-02
SHANGHAI XPARTNER ROBOTICS
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AI Technical Summary

Problems solved by technology

[0003] 1. Users cannot complete the control algorithm by themselves, which is not suitable for educational robots for the purpose of education; it is impossible for users to write control algorithms in their own way;
[0004] 2. Inconvenient to expand;
[0005] 3. The seamless switching between one-tier architecture (method 1 mentioned above) and two-tier architecture (method 2 mentioned above) is not realized;
[0006] 4. There is no solution to realize the real-time control algorithm on the non-real-time operating system;

Method used

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  • Open type movement-control system based on USB bus
  • Open type movement-control system based on USB bus
  • Open type movement-control system based on USB bus

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0022] See figure 2 ;

[0023] One layer architecture:

[0024] PC 40--open motion control card based on USB bus 60--driver 80--motor 100----speed measurement module 120---open motion control card based on USB bus 60 ----- PC 40;

[0025] The PC collects the speed data (with time stamp) from the open motion control card 60 of the USB bus, compares it with the set parameters, calculates the difference, and then calculates a new control variable based on the difference to the open motion control card based on the USB bus. Type motion control card 60, the open type motion control card 60 based on USB bus produces new PWM duty cycle, different PWM duty cycle is given to driver 80, then drives motor 100, and the motion parameter of speed measurement module 120 collection motor is transmitted to based on The open motion control card 60 of the USB bus, and then the open motion control card 60 based on the USB bus sends the encoder data with a time stamp to the PC. The main body ...

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PUM

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Abstract

The invention relates to an open-type kinetic control system based on USB bus, which provides seamless switching between a one-layer framework and a two-layer framework and realizes real-time kinetic control algorithm on a general Windows platform at the same time. The open-type kinetic control system based on USB bus comprises a one-layer framework control with an upper computer as a master controller and a two-layer framework control with a USB controller as the master controller. The invention has the advantages of that: seamless switching between the one-layer framework and the two-layer framework can be achieved, real-time kinetic control algorithm on the general Windows platform is realized, and cost of the system is reduced.

Description

technical field [0001] The invention relates to an open motion control system based on USB bus. Background technique [0002] At present, the servo closed-loop control of DC motors mainly adopts a two-layer architecture, that is, the PC is used as the command system, and the closed-loop control algorithm is completed by the motion control card, which is mainly completed through serial ports, CAN and PCI. The main disadvantages are: [0003] 1. Users cannot complete the control algorithm by themselves, which is not suitable for educational robots for the purpose of education; it is impossible for users to write control algorithms in their own way; [0004] 2. Inconvenient to expand; [0005] 3. The seamless switching between one-tier architecture (method 1 mentioned above) and two-tier architecture (method 2 mentioned above) is not realized; [0006] 4. There is no solution to realize the real-time control algorithm on the non-real-time operating system; Contents of the i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/32G05B15/02G05B19/418
CPCY02P90/02
Inventor 王仁东
Owner SHANGHAI XPARTNER ROBOTICS
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