CN107942981B - Coordinated control method of multi-point servo drive for stage - Google Patents
Coordinated control method of multi-point servo drive for stage Download PDFInfo
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Abstract
The invention discloses a coordinated control method of multipoint servo drive for a stage, which is based on a stage control system to realize coordinated control of the motion of each device on the stage; specifically, after the monitoring and scheduling PC carries out periodic time drive search and judgment on relevant conditions of a current node in a node instruction set, a plurality of servo motion instructions contained in the current node instruction are sent to the PLC controller through the Ethernet, the PLC controller carries out real-time communication with independent servo drivers relevant to the servo motion instructions through a control network in a point-to-point, grouping or broadcasting mode, and the independent servo drivers drive a mechanical transmission structure through servo motors to further control the cooperative motion of all equipment on a stage. The invention can ensure that the systems of stage, curtain, lighting and the like can present specific shapes or display effects under the conditions of preset time, position and input, can realize the on-site recovery function under the condition of on-site sudden power failure, and greatly improves the running stability of stage equipment.
Description
Technical Field
The invention relates to the technical field of cooperative control, in particular to a cooperative control method applied to a stage, curtain and lighting lamp system.
Background
The modern stage integrates sound, light, electricity, LED display, various mechanical motion and other functions, so that the modern stage control technology comprises hydraulic, mechanical transmission, electrical, automation and other aspects of control, and a traditional stage mechanical equipment system and a control system thereof cannot meet the requirements of people and society on the modern stage mechanical equipment system.
With the increasing complexity of the stage system, the mechanical structure and the electrical control of the stage system tend to be complicated, and the perfect presentation of the stage effect is to be realized, and the emphasis is on the reliability control, the real-time control, the manageability control and the fault-tolerant control of each actuating mechanism. However, in the actual operation of the traditional stage on site, when the stage equipment operates at high speed and the distance between the actuating mechanisms is long, the actuating mechanisms will generate displacement deviations of different degrees; on the other hand, the traditional stage cannot meet the combined and variable control mode, when a user operates in error, the interface connection of various communication lines fails or power is suddenly cut off, the traditional control method cannot automatically recover the target position and cannot monitor and clear errors, and when the communication fails, the traditional control system cannot interrupt the instruction being executed by the offline driver, so that potential safety hazards are caused; in addition, the current stage has strict requirements on real-time performance, stability and precision, and the traditional control method can only complete the control requirements on a few devices and is far from meeting the social demand. Due to the requirement of the on-site stage for time-sharing or simultaneous control of different areas, the traditional control system cannot realize simultaneous real-time control of different stage areas under the same control system.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a stage cooperative control method with complete functions and stable operation so as to improve the operation stability of stage equipment.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The coordinated control method of the multipoint servo drive for the stage is based on a stage control system to realize the coordinated control of the motion of each device on the stage;
the stage control system comprises a plurality of servo motors driven by independent servo drivers, a PLC (programmable logic controller) and a monitoring scheduling PC (personal computer), wherein the monitoring scheduling PC and the PLC are in data communication through an Ethernet, and the PLC and the independent servo drivers and adjacent independent servo drivers are in mutual communication through a wired network to form a control network;
the cooperative control method comprises the steps that after a monitoring and scheduling PC (personal computer) is driven to search through periodic time and judges relevant conditions of a current node in a node instruction set, a plurality of servo motion instructions contained in the current node instruction are issued to a PLC (programmable logic controller) through an Ethernet, the PLC communicates with independent servo drivers relevant to the servo motion instructions in a point-to-point, grouping or broadcasting mode through a control network in real time, and the independent servo drivers drive a mechanical transmission structure through servo motors to further control the cooperative motion of all equipment on a stage.
In the above stage multipoint servo-driven cooperative control method, the node instruction set is a set stored in a tree structure and composed of a plurality of nodes, node instructions and related judgment conditions, and each node identifies a node connection form of the node in the tree structure, a node instruction of the node, and a related judgment condition that must be satisfied for executing the node instruction.
In the coordinated control method of the multi-point servo drive for the stage, the node commands include one or more servo motion commands capable of changing the motion state of the independent servo drive; the relevant judgment condition is based on time, cycle number, motor displacement, external switching value state and the combination relation of the conditions.
In the coordinated control method of the multipoint servo drive for the stage, the periodic time drive of the monitoring and scheduling PC is a periodic timer drive set by programming; after each time of timing arrival, determining whether to execute a node instruction in the current node or not according to whether one or more current nodes in the stored node instruction set meet related judgment conditions or not, and if the related judgment conditions of the corresponding nodes are met, pushing the current node to a next-layer child node; and if the relevant judgment condition of the corresponding node is not met, continuing waiting for the arrival of the next timing period.
In the above coordinated control method of multi-point servo drive for stage, the monitoring and scheduling PC at least comprises a network communication function module, a motion setting and state monitoring module, and a control algorithm module; the network communication function module is used for forming a control network with the independent servo driver and the PLC controller so as to realize real-time communication; the motion setting and state monitoring module is used for realizing the setting and state monitoring of system parameters, parameters of each independent servo driver and a node instruction set; and the control algorithm module is used for judging and carrying out downward recursive search according to the related judgment conditions of the current node of the set node instruction set in the periodic time driving mode.
According to the coordinated control method of the multipoint servo drive for the stage, the control network is provided with a heartbeat monitoring mechanism, and the servo drive command which is dropped and disconnected and is running is immediately discarded and stopped.
The coordinated control method of the multi-point servo drive for the stage specifically comprises the following steps:
1) establishing a control network formed by the mutual communication of all servo motors, servo drivers and PLC controllers according to the running state of all equipment in the stage structure, and establishing a link between the PLC controllers and a monitoring scheduling PC in the control network;
2) the monitoring and scheduling PC establishes an instruction cache and a command cache, and the instruction cache respectively establishes an 'operating instruction cache' and a 'waiting instruction cache';
3) starting a detection timer, and traversing a running instruction cache queue under a root instruction;
4) judging whether the operation of the operation instruction in the operation instruction cache under the root instruction is finished or not, if the operation instruction is finished, adding 1 to the stop time of the instruction, if the operation instruction in the operation instruction cache under the root instruction is not finished, adding 1 to the operation time of the instruction, and continuously traversing the operation instruction cache queue under the root instruction;
5) after all the operation instructions in the operation instruction cache under the root instruction are finished, judging whether child nodes exist in the operation instruction cache under the root instruction or not, and if so, continuing to downwards operate the child nodes until all the child nodes are completely operated; if no child node exists, deleting the instruction;
6) inputting motor motion records of each instruction in an operation instruction cache under the instruction into an instruction cache;
7) judging and triggering an instruction in a waiting instruction cache according to a triggering condition;
8) after the instructions meeting the triggering conditions in the 'waiting instruction cache' queue are operated, finding the sub-instructions in the command cache, and respectively inputting an 'operating instruction cache' and a 'waiting instruction cache' according to the triggering conditions of the sub-instructions;
9) judging whether the 'operation instruction cache' queue and the 'waiting instruction cache' queue are empty, if not, repeating the steps 3) to 8) after waiting for the next timer triggering; and if the instruction is empty, stopping the timer and prompting that all instructions are finished running.
In the above coordinated control method for stage multipoint servo drive, the operation method of the instructions in the queue is as follows:
s1) the monitoring and dispatching PC sends a control data packet to the PLC controller; the data packet comprises an enabling signal for triggering a device shaft servo motor, and the running speed and the running position of a node instruction set;
s2) the PLC receives the data packet and writes the data packet into the memory unit, and judges whether the servo motor shaft number in the data packet is correct, if so, the PLC enables a write-in signal and feeds the write-in signal back to the monitoring scheduling PC, the monitoring scheduling PC sends a synchronous enabling signal, and the step S3 is carried out; if yes, go to step S5;
s3) after receiving the synchronous enabling signal, the PLC controls the corresponding servo motor driver to drive the servo motor to execute the corresponding instruction; meanwhile, the servo motor driver feeds back the implementation state information of the servo motor to the monitoring scheduling PC through the PLC;
s4) the monitoring dispatching PC judges whether the returned information is wrong, if not, the next instruction set is sent, and if so, the step S5 is operated by mistake;
s5) the monitoring dispatching PC receives the feedback error information and then sends a termination command, the PLC receives a stop enabling signal and immediately triggers a stop command, and the servo motor stops running.
Due to the adoption of the technical scheme, the technical progress of the invention is as follows.
The invention combines the technologies of database, computer control, servo control and the like, designs a good monitoring software interface and a good driving control system, can ensure that the systems of stage, curtain, lighting and the like can present specific shapes or display effects under the conditions of preset time, position and input, can realize the on-site recovery function under the condition of on-site sudden power failure, and can carry out real-time monitoring on each execution mechanism in the program running, and can feed back and process in time if errors occur, thereby greatly improving the running stability of the stage equipment. In addition, the application of the invention also realizes the cooperative control of timing, positioning and constant speed of a plurality of servo motors, and the invention not only has flexible and diverse combination forms, greatly perfects the functions, but also has more stable operation.
Drawings
FIG. 1 is a schematic diagram of a cooperative control method according to the present invention;
FIG. 2 is a schematic diagram of a closed loop control module of the actuator of the present invention;
FIG. 3 is a schematic view of the stage communication structure according to the present invention;
FIG. 4 is a schematic diagram of a node instruction set according to the present invention;
FIG. 5 is a flow chart of the present invention for executing instructions and logic;
FIG. 6 is a flow chart of the movement setting and condition monitoring of the present invention;
FIG. 7 is a flow chart of an instruction control algorithm executed in the present invention.
Detailed Description
The invention will be described in further detail below with reference to the figures and specific examples.
A coordinated control method of multi-point servo drive for a stage is based on a stage control system, a control network and a node instruction set which is of a tree structure and is executed only when conditions are met, and realizes coordinated control of movement of each device on the stage.
The stage control system comprises a plurality of servo motors driven by independent servo drivers 10, a PLC (programmable logic controller) 20 and a monitoring and dispatching PC 30; data communication is performed between the monitoring scheduling PC and the PLC through Ethernet, and the PLC and the independent servo drivers and the adjacent independent servo drivers are communicated with each other through a wired network to form a control network, as shown in FIG. 3.
Each independent servo driver has independent position, speed and moment closed-loop control function, as shown in fig. 2. The independent servo driver is provided with a network interface, can set a communication station number for distinguishing different node numbers under the same network, can also set a communication transmission rate for supporting the requirements of different communication rates of a scene stage, and can also set a communication error protocol. The independent servo driver is also provided with a USB communication interface, receives corresponding servo motion instructions through a network interface or the USB communication interface, can set different communication rates according to the field communication distance, and can call network communication to transmit the servo motion instructions through the monitoring and dispatching PC30, so that the precise closed-loop control of the positioning position, the motion speed and the rotation torque of a single servo driver and the monitoring of the single servo motor driver are completed.
The independent servo driver drives each device on the stage to operate through mechanical structures such as a coupler, a speed reducer and the like, so that corresponding control operation is realized.
The control network can be directly connected to a network interface of the monitoring scheduling PC30 or connected through Ethernet, and a CANopen wired transmission protocol is adopted in the control network; the PLC monitors the servo drivers of different nodes under the network in real time through the network, and receives and transmits different servo driving instruction information in real time through the network. In addition, the control network of the invention is also provided with a heartbeat monitoring mechanism, and immediately discards and stops the servo driving command which is dropped and disconnected and is running.
The control network can also be provided with master stations, one master station respectively forms a sub-network with 127 nodes at most, and a plurality of master stations are mounted under the same PLC controller, so that a larger-scale control network is formed; the independent servo drivers are mounted under different nodes under the network, so that the data can be transmitted and received in a point-to-point, grouping or broadcasting mode for the independent servo drivers under the network. That is, the supervisory scheduling PC may be connected to the control network directly or indirectly through a gateway and may be capable of real-time communication with a plurality of independent servo drivers in a point-to-point, packet or broadcast fashion. In this state, the monitoring and dispatching PC receives and transmits servo driving instructions to the main station through the PLC in a node instruction set mode through software programming, the main station issues the servo driving instructions to each independent servo driver through a control network, the independent servo drivers receive the corresponding instructions to drive the servo motors to operate, and the servo motors drive each device on the stage to operate through mechanical transmission structures such as a coupler and a reducer, so that motion control instructions are realized; meanwhile, the servo motor transmits information such as real-time current position, current speed, current torque, current state, abnormal state and the like to the corresponding independent servo driver, the independent servo driver transmits the information to the main station through the control network, and the main station transmits the information to the monitoring PC through the PLC, so that the monitoring function is realized.
The monitoring and scheduling PC at least comprises a network communication function module, a motion setting and state monitoring module and a control algorithm module.
The network communication function module is used for forming a control network with the independent servo driver and the PLC controller so as to realize real-time communication; the system comprises a customized Modbus protocol and a CANopen protocol, a monitoring and scheduling PC sends data to a lower-layer PLC controller, the PLC controller receives a data packet and processes the data, processed response data are fed back to the monitoring and scheduling PC, and the monitoring and scheduling PC judges whether response information is correct or not, so that real-time communication with each independent servo driver in a control network is realized.
The motion setting and state monitoring module is used for realizing the setting and state monitoring of system parameters, parameters of each independent servo driver and a node instruction set.
And the control algorithm module is used for judging and carrying out downward recursive search according to the related judgment conditions of the current node of the set node instruction set in the periodic time driving mode.
The software interface of the monitoring and dispatching PC preferably comprises control ends such as connection enabling, disconnection, origin setting, single-point or multi-point inching setting, zero clearing, alarm clearing, power-down protection, logic instruction triggering, limit point setting and the like, so that the operations of debugging, resetting, zero clearing, alarm clearing, power-down protection, soft limit setting and the like can be independently carried out on the independent servo motor drive. Furthermore, the software interface of the monitoring and dispatching PC displays the position of the servo motor node instruction operation, the position, the speed, the operation time, the moment, the acceleration, the deceleration and the alarm information of all the servo motors in real time so as to monitor all the servo motors in real time. When the abnormal condition occurs, the real-time display can be carried out, if the abnormal condition occurs, the communication error can be processed through the alarm clearing function on the monitoring and dispatching PC, and if the abnormal condition occurs, the manual processing is needed.
The principle of the cooperative control method is shown in fig. 1, the flow is shown in fig. 5, a monitoring and scheduling PC sends a plurality of servo motion instructions contained in a current node instruction to a PLC controller through an ethernet after periodically performing time-driven search and judging the relevant conditions of the current node in a node instruction set, the PLC controller performs real-time communication with an independent servo driver 10 relevant to the servo motion instruction through a control network in a point-to-point, grouping or broadcasting manner, and the independent servo driver 10 drives a mechanical transmission structure through a servo motor to further control the cooperative motion of each device on a stage.
The periodic time drive of the monitoring scheduling PC30 is a periodic timer drive set by programming; after each time of timing arrival, determining whether to execute a node instruction 202 in the current node according to whether one or more current nodes in the stored node instruction set meet the relevant judgment condition 203, and if the relevant judgment condition of the corresponding node is met, pushing the current node to a next-layer child node; and if the relevant judgment condition of the corresponding node is not met, continuing waiting for the arrival of the next timing period.
As shown in fig. 4, the node instruction set is a set stored in a tree structure and composed of a plurality of nodes 201, node instructions 202 and related determination conditions 203, where each node 201 identifies a node connection form of the node in the tree structure, a node instruction of the node, and a related determination condition that must be satisfied for executing the node instruction.
The node commands comprise one or more servo motion commands capable of changing the motion state of the independent servo driver 10; the servo motion command includes information such as the position, speed, torque, acceleration, deceleration, and operation state of the servo driver. The nodes of the invention are not only stored in a tree structure, but also contain the connection relation of mutual nesting among the parent nodes and the child nodes. The correlation determination condition 203 is based on time, cycle number, motor displacement, external switching value state, and a combination relationship of the above conditions. The relevant judgment condition that the executed node command must satisfy may be based on the starting time of the previous command, the ending time of the previous command, the cycle number of the node, the real-time displacement of the motor motion in a certain servo driving command in the node, the instant control command input by the external switching value, the combination relationship between the above conditions, and so on.
The monitoring scheduling PC can add, delete and copy one node or all nodes in the node instruction set of the tree structure. When the nodes are added to the node instruction set, the connection mode of the nodes can be freely selected and added, and information such as position, speed, moment, acceleration, deceleration and the like of the servo driver can be freely added within the range allowed by the soft limit. When deleting nodes in the node instruction set, a single child node may be deleted, or the root instruction node, that is, the root node, together with all the following child nodes may be deleted. When the node is copied in the node instruction set, a single node or a plurality of nodes can be copied, wherein the single node contains various information of the operation of the servo driver, and the plurality of nodes contain various information of the operation of the servo motor and trigger relations among the nodes. In addition, the monitoring scheduling PC can also execute a plurality of different tree structure node instruction sets separately or simultaneously in succession through different shortcut key settings.
The following describes the cooperative control method of the present invention in detail with reference to fig. 7, and the system control method specifically includes the following steps:
1) and establishing a control network formed by the mutual communication of the servo motors, the servo drivers and the PLC according to the running state of each device in the stage structure, and establishing a link between the PLC in the control network and the monitoring scheduling PC.
2) The monitoring and scheduling PC establishes an instruction cache and a command cache, and the instruction cache respectively establishes an 'operating instruction cache' and a 'waiting instruction cache'; the command cache is used for storing the motion record of the root instruction servo motor, after the root instruction is completely operated, the sub-instruction mounted below the root instruction is searched, and the sub-instruction is respectively stored into the operation instruction cache or the waiting instruction cache according to the condition triggered by the sub-instruction.
3) And starting a detection timer, and traversing a running instruction cache queue under the root instruction.
4) And judging whether the operation of the operation instruction in the operation instruction cache under the root instruction is finished, if the operation instruction is finished, adding 1 to the stop time of the instruction, if the operation instruction in the operation instruction cache under the root instruction is not finished, adding 1 to the operation time of the instruction, and continuously traversing the operation instruction cache queue under the root instruction.
5) After all the operation instructions in the operation instruction cache under the root instruction are finished, judging whether child nodes exist in the operation instruction cache under the root instruction or not, and if so, continuing to downwards operate the child nodes until all the child nodes are completely operated; if no child node exists, the instruction itself is deleted.
6) And putting motor motion records of all instructions in the 'running instruction cache' under the instruction into the command cache.
7) And judging and triggering the instruction in the waiting instruction cache according to the triggering condition.
8) After the instructions meeting the trigger conditions in the 'waiting instruction cache' queue are operated, finding the sub-instructions in the command cache, and respectively inputting the 'operating instruction cache' and the 'waiting instruction cache' according to the trigger conditions of the sub-instructions.
9) Judging whether the 'operation instruction cache' queue and the 'waiting instruction cache' queue are empty, if not, repeating the steps 3) to 8) after waiting for the next timer triggering; and if the instruction is empty, stopping the timer and prompting that all instructions are finished running.
The flow of the method for operating the instructions in the queue is shown in fig. 6, and is specifically as follows.
S1) the monitoring and dispatching PC sends a control data packet to the PLC controller; the data packet comprises an enabling signal for triggering a device shaft servo motor, and the running speed and the running position of a node instruction set;
s2) the PLC receives the data packet and writes the data packet into the memory unit, and judges whether the servo motor shaft number in the data packet is correct, if so, the PLC enables a write-in signal and feeds the write-in signal back to the monitoring scheduling PC, the monitoring scheduling PC sends a synchronous enabling signal, and the step S3 is carried out; if yes, go to step S5;
s3) after receiving the synchronous enabling signal, the PLC controls the corresponding servo motor driver to drive the servo motor to execute the corresponding instruction; meanwhile, the servo motor driver feeds back the implementation state information of the servo motor to the monitoring scheduling PC through the PLC;
s4) the monitoring dispatching PC judges whether the returned information is wrong, if not, the next instruction set is sent, and if so, the step S5 is operated by mistake;
s5) the monitoring dispatching PC receives the feedback error information and then sends a termination command, the PLC receives a stop enabling signal and immediately triggers a stop command, and the servo motor stops running.
Certainly, in the instruction operation process, the timer can also be controlled to stop or recover by setting a shortcut on a software interface of the monitoring and scheduling PC, so that the integral cooperative motion of the system can be suspended or continuously operated; meanwhile, the monitoring and dispatching PC can correspondingly send the servo motion commands of one, one or all servo drivers in a point-to-point, grouping or broadcasting mode through the control network, so that the point-to-point operation and positioning of one, one or all servo drivers can be realized.
The cooperative control method of the invention is adopted to control a plurality of devices on the stage, and the following functions can be realized.
1) The network multi-node synchronous control function: in the stage control system, a plurality of servo motors are required to cooperatively complete one action, the controller receives all control commands at the same time, and finally, the synchronous operation of the plurality of servo motors is realized through synchronous signals, so that the control function of multiple nodes of the network is realized.
2) Abnormal power failure protection function: when the stage control system is in an abnormal power failure condition, the independent servo driver is electrified again and then returns to the zero point, the servo motor needing to recover the original point is selected, the automatic original point returning instruction is started, and the selected servo motor is returned to the original point position recorded before the power failure through a special node instruction set.
(3) The system configuration function: according to the actual situation of the equipment in the field, related parameter configuration including motor ID, motor name, upper and lower limits of stage position, upper and lower limits of stage speed, upper and lower limits of stage acceleration and deceleration, pulse conversion coefficient, default speed, acceleration, deceleration and the like is directly modified through a monitoring and scheduling PC, and all parameters are uniformly configured once only when the system is started.
(4) The display and monitoring alarm function: the monitoring interface of the monitoring and dispatching PC can provide real-time and clear equipment running state information for operators, display error alarm information in each servo driver and automatically or manually process the error alarm. The content displayed by the monitoring interface comprises all parameters required by the current node instruction and parameters such as the operation starting time, the operation speed, the target position, the stop time and the operation state of all equipment at the current time point. Meanwhile, when the node instruction set actually runs, a real-time tracking mark can be set to indicate which node instruction the program runs to.
(5) The real-time monitoring and the immediate stopping function of the network node under the state of disconnection and loss of connection are as follows: the controller PLC monitors the connection state of the nodes in different networks in real time, if a communication fault occurs, the monitoring and scheduling PC sends a stop command to the servo nodes in the group, a node protection function is started for the disconnected and disconnected servo nodes, and the executing servo command is immediately stopped for the disconnected and disconnected motor, so that the safety problem caused by the fact that the disconnected and disconnected servo nodes are not controlled by the monitoring and scheduling PC is solved.
(6) Flexible track organization functions: the monitoring and scheduling PC provides a triggering mode based on time, position, circulation or any combination of the three and a function of simultaneous movement under different node instruction sets. In the time triggered mode, it can be based on the start or finish time of the last instruction, which is timed by a timer inside the programming; in the position touch mode, the real-time displacement of a motor in a certain servo driving command in the node is based; in the loop triggering mode, the number of loops may be based on or infinite loops.
The monitoring and scheduling PC can provide speed control, time control, position control and reset control modes. In the speed control mode, the inching of a single or a plurality of servo motors can be realized; in the time control mode, the function of walking different displacements at the same time can be realized based on an internal programming clock; in the position control mode, the displacement, the speed, the acceleration and the deceleration can be freely customized within the range allowed by the soft limit, so that the movement or the simultaneous movement of one or more servo motors is realized; in the reset mode, the zero clearing function of one or more servo drivers or the original point automatic recovery function under the condition of abnormal power failure can be realized.
The monitoring and dispatching PC can be connected with different motors through different node instruction sets according to the requirements of time-sharing or simultaneous control of different areas by the on-site stage, and the requirements of time-sharing or simultaneous control under the same monitoring and dispatching PC are realized through different shortcut keys.
(7) Motor action dynamic grouping function: in the monitoring and dispatching PC, an operator can randomly combine and group the servo motors according to actual requirements, so that different motors are combined in different node instructions, and the control requirement of stage control variability is met.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention shall be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The coordinated control method of the multi-point servo drive for the stage is characterized in that: the cooperative control method is based on a stage control system to realize the cooperative control of the motion of each device on the stage;
the stage control system comprises a plurality of servo motors driven by independent servo drivers (10), a PLC (programmable logic controller) (20) and a monitoring scheduling PC (30), wherein the monitoring scheduling PC and the PLC are in data communication through Ethernet, and the PLC and the independent servo drivers and adjacent independent servo drivers are in mutual communication through a wired network to form a control network;
the cooperative control method comprises the steps that after a monitoring and scheduling PC (personal computer) is driven to search through periodic time and judges relevant conditions of a current node in a node instruction set, a plurality of servo motion instructions contained in the current node instruction are sent to a PLC (programmable logic controller) through an Ethernet, the PLC carries out real-time communication with an independent servo driver (10) relevant to the servo motion instructions through a control network in a point-to-point, grouping or broadcasting mode, and the independent servo driver (10) drives a mechanical transmission structure through a servo motor to further control the cooperative motion of all equipment on a stage; the periodic time drive of the monitoring scheduling PC (30) is a periodic timer drive set by programming; after each time of timing arrival, determining whether to execute a node instruction (202) in the current node or not according to whether one or more current nodes in the stored node instruction set meet related judgment conditions (203), and if the related judgment conditions of the corresponding nodes are met, pushing the current node to a next-layer child node; if the relevant judgment condition of the corresponding node is not met, continuing waiting for the arrival of the next timing period;
the cooperative control method specifically comprises the following steps:
1) establishing a control network formed by the mutual communication of all servo motors, servo drivers and PLC controllers according to the running state of all equipment in the stage structure, and establishing a link between the PLC controllers and a monitoring scheduling PC in the control network;
2) the monitoring and scheduling PC establishes an instruction cache and a command cache, and the instruction cache respectively establishes an 'operating instruction cache' and a 'waiting instruction cache';
3) starting a detection timer, and traversing a running instruction cache queue under a root instruction;
4) judging whether the operation of the operation instruction in the operation instruction cache under the root instruction is finished or not, if the operation instruction is finished, adding 1 to the stop time of the instruction, if the operation instruction in the operation instruction cache under the root instruction is not finished, adding 1 to the operation time of the instruction, and continuously traversing the operation instruction cache queue under the root instruction;
5) after all the operation instructions in the operation instruction cache under the root instruction are finished, judging whether child nodes exist in the operation instruction cache under the root instruction or not, and if so, continuing to downwards operate the child nodes until all the child nodes are completely operated; if no child node exists, deleting the instruction;
6) inputting motor motion records of each instruction in an operation instruction cache under the instruction into an instruction cache;
7) judging and triggering an instruction in a waiting instruction cache according to a triggering condition;
8) after the instructions meeting the triggering conditions in the 'waiting instruction cache' queue are operated, finding the sub-instructions in the command cache, and respectively inputting an 'operating instruction cache' and a 'waiting instruction cache' according to the triggering conditions of the sub-instructions;
9) judging whether the 'operation instruction cache' queue and the 'waiting instruction cache' queue are empty, if not, repeating the steps 3) to 8) after waiting for the next timer triggering; and if the instruction is empty, stopping the timer and prompting that all instructions are finished running.
2. The stage multipoint servo drive cooperative control method according to claim 1, wherein: the node instruction set is a set which is stored in a tree structure and is composed of a plurality of nodes (201), node instructions (202) and related judgment conditions (203), wherein each node (201) identifies the node connection form of the node in the tree structure, the node instructions of the node and the related judgment conditions which must be met by executing the node instructions.
3. The stage multipoint servo drive cooperative control method according to claim 2, wherein: the node commands comprise one or more servo motion commands capable of changing the motion state of the independent servo driver (10); the correlation determination condition (203) is based on time, cycle number, motor displacement, external switching value state and the combination relation of the above conditions.
4. The stage multipoint servo drive cooperative control method according to claim 1, wherein: the monitoring and scheduling PC (30) at least comprises a network communication function module, a motion setting and state monitoring module and a control algorithm module; the network communication function module is used for forming a control network with the independent servo driver and the PLC controller so as to realize real-time communication; the motion setting and state monitoring module is used for realizing the setting and state monitoring of system parameters, parameters of each independent servo driver and a node instruction set; and the control algorithm module is used for judging and carrying out downward recursive search according to the related judgment conditions of the current node of the set node instruction set in the periodic time driving mode.
5. The stage multipoint servo drive cooperative control method according to claim 1, wherein: the control network is provided with a heartbeat monitoring mechanism, and immediately discards and stops the servo driving command which is disconnected and running.
6. The stage multipoint servo drive cooperative control method according to claim 1, wherein the operation method of the in-queue command is as follows:
s1) the monitoring and dispatching PC sends a control data packet to the PLC controller; the data packet comprises an enabling signal for triggering a device shaft servo motor, and the running speed and the running position of a node instruction set;
s2) the PLC receives the data packet and writes the data packet into the memory unit, and judges whether the servo motor shaft number in the data packet is correct, if so, the PLC enables a write-in signal and feeds the write-in signal back to the monitoring scheduling PC, the monitoring scheduling PC sends a synchronous enabling signal, and the step S3 is carried out; if yes, go to step S5;
s3) after receiving the synchronous enabling signal, the PLC controls the corresponding servo motor driver to drive the servo motor to execute the corresponding instruction; meanwhile, the servo motor driver feeds back the implementation state information of the servo motor to the monitoring scheduling PC through the PLC;
s4) the monitoring dispatching PC judges whether the returned information is wrong, if not, the next instruction set is sent, and if so, the step S5 is operated by mistake;
s5) the monitoring dispatching PC receives the feedback error information and then sends a termination command, the PLC receives a stop enabling signal and immediately triggers a stop command, and the servo motor stops running.
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| CN111045392B (en) * | 2019-12-06 | 2023-04-18 | 广东工业大学 | Servo motion control card interface circuit based on FPGA |
| CN111752638A (en) * | 2020-06-23 | 2020-10-09 | 东莞市李群自动化技术有限公司 | Automatic control platform and automatic platform control method |
| CN114167768A (en) * | 2021-11-19 | 2022-03-11 | 成都炎兴自动化工程有限公司 | Distributed stage mechanical electric control system based on Ecat communication |
| CN115185224B (en) * | 2022-08-26 | 2023-05-16 | 深圳市软赢科技有限公司 | Force control motion control method and system with precision and high efficiency |
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Application publication date: 20180420 Assignee: Hunan roof brothers Culture Technology Co.,Ltd. Assignor: HUNAN NORMAL University Contract record no.: X2023980053478 Denomination of invention: Collaborative Control Method of Multi point Servo Drive for Stage Use Granted publication date: 20200221 License type: Common License Record date: 20231222 |