Multi-Channel Laser Automatic Control System Based on Closed-Loop Control
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摘要: 为了实现激光拉曼光谱仪光路的自动化控制,本文建立了基于MC9S12XEP100核心控制器的光路自动化控制系统。针对开环电机控制出现的精度低、易“丢步”、“堵转”等问题,本文设计了一种基于压力传感器的闭环控制算法,极大地提升了控制精度和系统稳定性,有效避免了电机堵转问题。实验结果表明:该控制系统可以实现多路光的任意调节、光路的接入与复位、闭环自检和上位机通信等功能。该系统所控制的位移误差精度在0.1 mm范围内,基本满足光路控制系统稳定可靠、高精度、抗干扰能力强等要求。Abstract: An automation control system for the optical path is proposed in this paper, based on the MC9S12XEP100 core controller, to realize automatic control of the optical path of the laser Raman spectrometer. A closed-loop control algorithm based on the pressure sensor is proposed to address problems such as low precision, easy "lost step, " and "blocked rotor" in open-loop motor control. This algorithm greatly improves the control accuracy and system stability and effectively avoids the problem of motor blocking. Experimental results show that the control system can realize the functions of arbitrary adjustment of multi-path light, access and reset of light path, closed-loop self-check, and host computer communication. The displacement error accuracy controlled by this system is within 0.1mm, which meets the basic requirements of stability, reliability, high precision, and strong anti-interference ability in the optical path control system.
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Key words:
- optical path automation control /
- stepper motor /
- closed-loop self-check
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表 1 主控制器引脚功能
Table 1. Main controller pin function
PIN Function Connection PB1 Serial Indicator1 - PB2 Serial Indicator2 - PB3 Serial Indicator3 - PK4 Control the direction of motor1 Direction end of stepper motor driver 1 PB7 Main control board monitors the pressure
signal 1D0 end of pressure sensor 1 PA0 Stepper motor driver 2 common anode PULSE+ of driver2 PA2 Stepper motor driver 2 common anode DIR+ of driver2 PA4 Stepper motor driver 2 common anode ENA+ of driver2 PA6 Direction control of stepping motor 2 DIR- of driver2 PE2 Main control board monitors the pressure
signal 2D0 of pressure sensor 2 PA1 Stepper motor driver 3 common anode PULSE+ of driver23 PA3 Stepper motor driver 3 common anode DIR+ of driver23 PA5 Stepper motor driver 3 common anode ENA+ of driver23 PA7 Direction control of stepping motor 3 D0 of pressure sensor 3 PE4 Main control board monitors the pressure
signal 3D0 of pressure sensor 3 P1 PWM output pin 1 PULSE- of driver1 P3 PWM output pin 3 PULSE- of driver2 P5 PWM output pin 5 PULSE- of driver3 TX0 Serial communication receiver Connect with the receiving end of
communication interfaceRX0 Serial communication receiver Connect with the receiving end of
communication interface表 2 闭环自检测量结果
Table 2. Closed-loop self-test results
mm Numbers Start Theory Test 1 70.0 35.0 35.0 2 58.0 35.0 3 51.0 35.0 4 43.0 35.0 5 38.0 35.0 6 31.0 35.0 7 25.0 35.0 8 21.0 35.0 9 18.0 35.0 10 9.0 35.0 Average 36.4 35.0 表 3 实验测量结果
Table 3. Experimental measurement results
mm Direction Coef Numbers Distance 1 1 200 +10.0 1 2 200 +5.0 1 4 200 +2.5 1 8 200 +1.2 1 32 200 +0.6 0 1 50 -2.5 0 1 100 -5.0 0 1 200 -10.0 0 1 300 -15.0 0 1 400 -20.0 -
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