Multi-axis DSP-based parallel processing servo controller for machine tools and robots
AssigneeAdvanced Engineering Systems, Operations & Products, Inc.
InventorsEric Heatzig, Alexander Slocum, Debra Thurston-Slocum
Life of this patent
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Abstract
A multi-axis Digital Signal Processor based servo controller system in which all servo and sensor interface boards are connected to a common backplane bus system enabling inter-board communication, with parallel processing using dual port memory and multiple DSP chips, and with each servo board having access to position data from other axis feedback sensors as well as their own, and a self-tuning control software architecture that uses the hardware architecture high speed to allow it to self-tune control constants to optimize performance.
Claims9
A multi-axis DSP-based servo controller system for positioning motor-driven carriages and similar devices in response to multi-axis position-sensing readings as by optical encoders, laser interferometers, and analog position sensors, the system having, in combination, three types of sensor interface boards consisting of an A quad B incremental position sensor reading board, a multi-axis positioning-sensing reader board, an analog-to-digital (A/D) conversion board, and a plurality of multi-axis DSP based servo boards for executing digital control algorithms and outputting analog control voltages, one DSP servo board for each motor associated with one axis, and each board having a dual port memory and a local memory;
- a multiple bus backplane interconnected with the dual port memory of each of the sensor interface boards such as to enable inter-board communication and parallel processing;
- means for applying the multi-axis position data read by the A quad B incremental position sensor reader board and stored in its dual port memory by way of the bus backplane to each servo board for storage in each servo board dual port memory;
- means for transferring the position data thus stored in each servo board dual port memory to its own local memory;
- means for feeding the analog position sensed information of the A/D board stored in its local and dual port memory from the latter by way of the bus backplane for storage in each servo board dual port memory;
- each servo board having servoloop controller DSP means responsive to the position values in its local memory to perform its control loop algorithm while up-dated position data in the positionsensing board dual port memory is transferred into the dual port memory of the servo board;
- each servo board having digital-to-analog (D/A) converter means connected to receive output commands from its servo-loop controllers and in turn connected to motor amplifiers means for controlling the corresponding axis motor;
- each servo board being provided with a self-turning algorithm to find optimal control constants for a physical system connected to the controller.
A multi-axis Digital Signal Processor-based servo controller system having a plurality of multi-axis servo and sensor interface boards;
- means for connecting all the servo and sensor interface boards to a common backplane bus system, enabling inter-board communications;
- means for providing parallel processing using dual port memory and multiple DSP chips in each board;
- means for enabling each servo board to access position data from other axis feedback sensors as well as their own;
- and self-tuning control software architecture implementing the said system at high speed to allow it to self-tune control constants for optimizing performance.
Dependencies are inferred from the claim text.