CN100530010C - Data stream relating control method and architecture of computer digital control system - Google Patents
Data stream relating control method and architecture of computer digital control system Download PDFInfo
- Publication number
- CN100530010C CN100530010C CNB2007101243049A CN200710124304A CN100530010C CN 100530010 C CN100530010 C CN 100530010C CN B2007101243049 A CNB2007101243049 A CN B2007101243049A CN 200710124304 A CN200710124304 A CN 200710124304A CN 100530010 C CN100530010 C CN 100530010C
- Authority
- CN
- China
- Prior art keywords
- data stream
- control
- data
- topworks
- data flow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Numerical Control (AREA)
Abstract
The invention discloses a data flow correlation control method and an architecture of a computer numerical control system, namely DRC control technology. In accordance with the generation, transmission and execution of the control information processing flow and based on the movement command of the execution organism, the DRC control technology divides the numerical control technology into three levels, such as a PC system, a data flow controller and an execution organism. The PC system completes the user program compiler, trajectory numerical calculation, data control flow generation, data manifold optimization and data-flow distribution matrix generation, execution program generation, etc in off-line. The data flow controller operates the execution program and distributes movement command in real time. The execution organism carries out the movement command. The DRC control system realizes the real-time control of the soft opening and process parameter of the numerical control system, cancels the real time control function of the interpolation iteration control technology, and substitutes the control method and the architecture of the prior art taking the interpolation iteration control algorithm as core based on the real-time operation system.
Description
Technical field
The present invention relates to computerized numerical system, especially relate to a kind of data stream association control method and architecture of computerized numerical system.
Background technology
Numeric Control Technology is exactly the automatic control technology of controlling with digital information.Its basic problem is that the interlock of control multi-coordinate and some switchgears make the feed servo system finish complicated plane curve movement or motion of space curve and other real-time tasks.Track for these curvilinear motions carries out the core that digitized processing is a digital control system.All be to adopt interpolation iteration control technology with present digital control system in the past, its basic skills is: the starting point coordinate of known movement locus, terminal point coordinate and curvilinear equation, digital control system calculates the coordinate figure or the coordinate figure increment of an intermediate point in real time, and output to the feed servo system immediately, make it feeding, until the orbiting motion of finishing this curve.And in altogether what is called of interpolation and feeding process " calculation run on foot step process ", each " calculation run on foot step process " all is the input of next " calculation run on foot step process ", constitutes a kind of iteration of process.The subject matter that this interpolation iteration control technology exists has:
1. the movable information of interpolation iteration control technology export is incomplete, has particularly produced the globality loss of learning of control information and burying in oblivion of data stream shape, is not optimum for topworks.Interpolation iteration control technology is that core is come design system mechanism and control method, formula with the interpolation iterative control algorithm
e
r＝(TF)
2/(8r)
Set up approximate error e
r, the relation between speed of feed F, interpolation cycle T, the arc radius r, redundant informations such as interpolation cycle, profile step-length are introduced control system, particularly with interpolation cycle as system clock.Produced about the approaching broken line and can not optimize of orbiting motion, that does not optimize approaches the loss that broken line must cause speed, the waste of the energy and the decline of surface quality.In addition, also restrict the raising of machining precision and speed of feed, caused producing frequent message exchange between each module, thereby reduced the reliability of system.
2. described " calculation run on foot step process " as the process iteration, its non-linear complexity has not only fundamentally restricted the opening of digital control system, also causes the non-linear complexity of multiaxis multiparameter interlock, causes the technological parameter difficulty of control in real time.
3. interpolation iteration control technology is the control technology that makes up on the platform of real time operating system based on real time operating system, is the control model of " limit design, limit construction ", and its architecture is supported " limit design, limit construction " control model.This control model is towards control system, rather than towards topworks, be difficult to adapt to the real-time of modern manufacturing industry, movement velocity is fast, the control accuracy height, the characteristics such as control complicacy of multiaxis multiparameter interlock, the rigidity integrated manufacturing system of constructed control information, for the standardization setting of digital control system obstacle.
Summary of the invention
The technical problem to be solved in the present invention is to overcome above defective, proposes a kind of data stream association control method (Data-flow Related Control Technique is called for short the DRC control method) of computerized numerical system.
Another technical matters that the present invention will solve is to overcome above defective, proposes a kind of architecture that adopts the computerized numerical system of above-mentioned data stream association control method.
For the data stream association control method of computerized numerical system of the present invention, its technical matters is solved by the following technical programs.
The data stream association control method of computerized numerical system of the present invention has to give a definition.
The information sequence that the input end of the topworks of digital control system is received in motion process is referred to as the Data Control stream of this topworks.The information sequence that the servo type movement instruction is generated is referred to as data stream.The information sequence that the switching mode movement instruction is generated is referred to as control stream.
For multi-shaft interlocked, in the process of carrying out a servo type movement instruction, other servo type movement instruction also must be carried out simultaneously, and the servo type movement instruction with this relation is referred to as to have sequential correlation.Sequential correlation between the servo type movement instruction is mapped to the sequential correlation that data stream then is referred to as data stream, is defined as data stream shape.
The characteristics of the data stream association control method of this computerized numerical system are: may further comprise the steps:
(1) user program is read in the PC system, and user program is compiled.
(2) corresponding algorithm is selected by the PC system;
(3) the PC system carries out numerical evaluation, and the movement instruction of user program is generated as data stream and control stream, and the data in the data stream are generated as data stream shape;
(4) PC system reading data flow shape is carried out local optimum to data stream shape, generates the data stream distribution matrix;
(5) the PC system is generated as executive routine to data control stream formatization with Data Control stream, is transferred to data flow control;
(6) data flow control operation executive routine extracts movement instruction wherein successively, and movement instruction is distributed to topworks in real time by topworks's classification;
(7) topworks carries out movement instruction.
Described topworks be numerical control device working mechanism, comprise feed servo system and switchgear, data flow control is distributed to feed servo system and switchgear respectively in real time with movement instruction in the described step (6); Comprise in the described step (2) and select the specific broken line rule of approaching; Numerical evaluation in the described step (3) comprises that cutter compensation calculates, the numerical evaluation of movement locus.
Described user program is based on the movement instruction of topworks and set up, and its semantic structure is consistent with the movement instruction structure of topworks.
Generating data stream shape in the described step (3) may further comprise the steps:
(3101) approach movement locus with approaching broken line, generate data stream;
(3102) obtain terminal point coordinate for every the straight line that approaches in the broken line, set up the main drive shaft information table;
(3103) to each main drive shaft, set up of the distribution of universal driving shaft data stream to the main drive shaft data stream, generate the data stream shape between main drive shaft and the universal driving shaft with sequential correlation.
Generate data stream shape for technological parameter with following step in the described step (3):
(3201) set up virtual coordinates, switch is considered as the virtual coordinates axle, technological parameter is considered as the coordinate figure of virtual coordinates axle;
(3202) set up the main drive shaft information table;
(3203) to coordinate axis, set up of the distribution of universal driving shaft data stream to the main drive shaft data stream, to the virtual coordinates axle, generate the data stream shape of technological parameter, set up of the distribution of virtual coordinates axis data stream to the main drive shaft data stream.
Described step (2) may further comprise the steps:
(21) select corresponding algorithm according to technological requirement;
(22) according to approximate error calculate circle circumscribed regular polygon or in connect regular polygon;
(23), select positive short distance to approach line or negative short distance is approached line according to the tolerance and the surfaceness of circular arc.
In the described step (4), the local optimum of data stream shape be may further comprise the steps:
(41) leave out " hole ", described " hole " is to be divided into the row that coordinate data in the data stream distribution matrix of plurality of sub matrix is the submatrix of " 0 ";
(42) " hole " of leaving out " 0 " in the diagonal angle bag and newly producing.
The architecture of this computerized numerical system comprises PC system and topworks.
The characteristics of the architecture of this computerized numerical system are: also comprise data flow control, the input end of described data flow control is connected with the output terminal of PC system, data flow control receives the executive routine of PC system output, the output terminal of described data flow control is connected with the input end of topworks, and data flow control moves executive routine and control stream in the executive routine and data stream are distributed to topworks in real time.
Described topworks is the topworks of numerical control device, comprise feed servo system and switching system, described feed servo system comprises driver module and servo feeding apparatus, described switching system comprises PLC module and switchgear, described data flow control will be controlled flow distribution and give switching system, give the feeding servo-drive system with distribution of flows.
Described data flow control and topworks are at least two groups, and the input end of described data flow control is connected with the output terminal of PC system respectively, and the output terminal of described data flow control is connected with the input end of corresponding topworks respectively.
The present invention compared with prior art has following beneficial effect:
1.DRC control method adopts the Data Control flow structure, wherein data stream shape is the numeral reflection of orbiting motion, the just micromechanism of orbiting motion.The DRC control method has intactly been showed the micromechanism of orbiting motion.In interpolation iteration control technology, machining precision, speed of feed etc. are inseparable with real-time control procedure.And in the DRC control method, machining precision, speed of feed etc. are irrelevant with real-time control procedure.The DRC control method with machining precision optimization, feeding distance minimize, the flex point number is minimised as target data stream shape carried out global optimization and local optimum, thereby with machining precision and speed of feed optimization, bring up to the scope that topworks allows, reduced the consumption of the energy.In the DRC control method, three grades of functions of PC system, data flow control, topworks, orientate as movement instruction generation, send, carry out, realized " each doing his best; each most its duty ", avoided frequent message exchange between the functional module, improved the reliability of system.
2. movement instruction is the control request that the user sends topworks.The DRC control method is based on movement instruction, thereby has good man computer interface; The function of data flow control and structure be simple transparent very, is convenient to realize the opening of application software; Three grades of PC systems, data flow control, topworks, architecture is simple, and function is divided rationally, and independence is strong, is convenient to realize the opening of architecture; The operating system of PC system does not participate in real-time control, helps the opening of system software.Therefore, the DRC control method is soft completely open.The DRC control method is converted into the real-time control of technological parameter the sequential correlation of data stream, just switch is considered as coordinate axis, the relevant parameters value is considered as coordinate figure, thereby the real-time control of orbiting motion and technological parameter is united, set up conforming information processing manner and standard, for the intellectuality of digital control system has made up a soft open technology development platform.
3. the movement instruction of topworks is can standardized control information.The function of data flow control and simple in structure, standardization easily.I/O interface between data flow control and the PC system and the I/O interface between the topworks is standardization easily all.Data control flow file DCFS also can standardization.Therefore, the DRC control method is that obstacle has been cleared away in the standardization of digital control system.
4. interpolation iteration control technology causes a series of redundant informations such as geometric parameter of interpolation cycle, interpolation algorithm, approximate error, curve to be full of total system by iterative process on the clock of interpolation cycle as total system.In the DRC control method, movable information is transferred to topworks from user program by PC system and data flow control, and quantity of information is constant.Thereby, quantity of information about the orbiting motion of topworks in the Data Control stream is minimized, there is not redundant information fully, all losses have been eliminated, for example loss of CPU time, the loss of exchange message for supporting that redundant information is paid, the loss of system effectiveness, the loss of hardware resource and software resource, the loss of the energy, loss of reliability or the like.
Description of drawings
Fig. 1 is the process flow diagram of the specific embodiment of the invention one;
Fig. 2 is the operation and the flowchart of the Data Control stream of the specific embodiment of the invention one;
Fig. 3 is that a kind of data stream shape of the specific embodiment of the invention one is optimized synoptic diagram;
Fig. 4 is that the another kind of data stream shape of the specific embodiment of the invention one is optimized synoptic diagram;
Fig. 5 is the virtual coordinates DRC control algolithm process flow diagram that the technological parameter of the specific embodiment of the invention one is controlled in real time;
Fig. 6 is the structural representation of the specific embodiment of the invention two;
Fig. 7 is the interrupt system topology diagram of the specific embodiment of the invention two;
Fig. 8 is the structural representation of the specific embodiment of the invention three.
Embodiment
Embodiment one
A kind of DRC control method that is applied to numerical control device as shown in Figure 1 comprises the steps:
The first step, user program is read in the PC system, and user program is compiled.
User program is exactly the control request that the user sends topworks, and topworks is meant the controlling object of digital control system.Movement instruction in the user program is based on the exercise performance of topworks and sets up, and therefore, user program also is user oriented towards topworks.
Topworks comprises two classes, and a class is to finish orbiting motion by given rule, and this class topworks is exactly the feed servo system.Another kind of topworks is a switchgear, the parameter value that starting switch output is given.For example, X-axis is with the speed forward feeding 50mm of 1m/s, and water pump is with the flow output liquid coolant of 2L/s.
Generally speaking, the feed servo system all has driver module, and error compensation, sampling and correction are finished by the microprocessor in the driver module.Switchgear is then by PLC control, and the setting of the parameter value of switching value is finished by the microprocessor among the PLC with adjusting.
In user program, with the controlling object in the setting topworkies such as " X-axis ", " water pump ", these information are referred to as motion command, and motion command is a switching value, and the set of total movement order is referred to as the motion command collection of this topworks; With the motion characteristic value of controlling object in the setting topworkies such as " 1m/s ", "+50mm ", " 2L/s ", these information are referred to as the parameter value of this motion command, and the parameter value of motion command is a digital quantity.The motion command of topworks and parameter value constitute the movement instruction of this topworks with certain format.Movement instruction for switchgear is referred to as the switching mode movement instruction, is referred to as the servo type movement instruction for the movement instruction of feed servo system.For example: " X:+5cm, 1m/s; " be a servo type movement instruction of X-axis; " S:2L/s; " be a switching mode movement instruction of water pump.
For multi-shaft interlocked, in the process of carrying out a servo type movement instruction, other servo type movement instruction also must be carried out simultaneously.Servo type movement instruction with this relation is referred to as sequential correlation.In view of the above, for the concentrated motion command of the motion command of topworks, according to control task, link relevant parameters value, and the sequential correlation of setting up the servo type movement instruction, just can obtain having the movement instruction collection of sequential correlation, this movement instruction collection has provided the total movement information of this topworks.
The servo type movement instruction is made up of three parts, separates with ", ", with "; " finish.
First is the coordinate axis control command, sets coordinate axis and sequential correlation thereof.
For rectangular coordinate system, represent with capitalization English letter; For polar coordinate system, represent with L.C.Greek.Use between the coordinate axis ", " separate, the sequential correlation between the denotation coordination axle, with "; " finish.For example: " X, Y: ", " ρ, θ; ".
Second portion is a parameter 1, sets the terminal point coordinate of straight line, and its form is: (± x
e, ± y
e), (± ρ
e, ± θ
e) etc.Unit and discrete scale are by default.
Third part is a parameter 2, sets speed of feed, and its unit is by default.
For example suppose that coordinate figure unit is mm, speed of feed is mm/s.The servo type movement instruction: " X, Y:(+64 ,-32), 5; " meaning be exactly: X-axis and Y-axis with the speed of feed of 5mm/s along four-quadrant straight-line feed to x
e=64, y
e=-32.
The switching mode movement instruction is made up of two parts.
First is the switch control command, with capitalization " S " beginning, after meet numeric suffix, for example " a S
1", " S
2" etc.Article one, the switching mode movement instruction is only specified a switch, finishes with ": ".
Second portion is a parameter value, can specify n parameter, and is middle with ", " separation, with "; " finish.The unit of parameter value is by default.
Switching mode movement instruction " S for example
1: 2L/s; " meaning be exactly to be numbered S
1Water pump with the flow of 2L/s output liquid coolant.
The set of the movement instruction of whole controlling object of topworks is referred to as the movement instruction collection of this topworks.The movement instruction collection is directly towards topworks, the control request topworks sent according to its control task of user just, thereby be directly user oriented, be the control command that the user writes by certain format with natural language, so movement instruction have good man computer interface.
Except movement instruction, also have some subsidiary functions in the user program, macroinstruction fetch routine editting functions such as subroutine, circulation, redirect for example, and start, stop system state set-up functions such as motion state.These subsidiary functions are finished by status word, correspondingly be status command.
The PC system reads user program, and movement instruction is compiled into the form that computing machine can directly be carried out.
In second step, corresponding algorithm is selected by the PC system.
The selection of algorithm comprises the integrated planning that approaches broken line.Data stream shape has determined the key property of digital control system.Data stream shape is relevant with interpolation algorithm, mainly show: different interpolation algorithms makes coarseness difference, the configuration difference of data stream shape, the distribution difference of data, corresponding with it length difference of approaching broken line, the bar number of broken line just the flex point number on the broken line are also different.
Machining precision is the key property index of digital control system.Machining precision depends primarily on the mechanical motion precision of topworks and the error correction capability of driver module.The machining precision problem is not only the approximate error problem, and approaches the number of flex point on the broken line and the distribution of approximate error all influences machining precision.Select different algorithms, can realize the global optimization of data stream.In the global optimization, can set and approach broken line, flex point number, error profile etc. as the purpose of optimizing.For given curve, the broken line that approaches that satisfies that approximate error requires and the total length of broken line is the shortest is referred to as short distance and approaches line.Satisfying approximate error requires to mean that the error of approaching broken line and given curve is equal to or less than approximate error.Therefore, to approach line be not unique to short distance.The destruction of uniqueness is that " being equal to or less than " this uncertain requirement caused.This point does not influence approaches line with short distance and regards geodesic numeral reflection as.On the contrary, when short distance being approached the purpose that line optimizes as a whole, this uncertain optimization purpose that allows to propose other, for example, approach flex point number on the broken line and error profile and can be used as the purpose that short distance should be considered in approaching, just the minimum short distance of the flex point short distance of approaching line or satisfying certain error profile is approached line or the like.
On the other hand, interpolation algorithm is not considered the tolerance range of circular arc.And tolerance range is one of leading indicator of machining precision.The requirement that makes the error profile of approaching on the broken line meet tolerance range is to improve one of important measures of machining precision.By the requirement of selecting the suitable broken line that approaches, can reach to make the error profile of approaching on the broken line meet tolerance range.For given circular arc, approach broken line and can be divided into and just approaching broken line and the negative broken line that approaches.If the error of approaching on the broken line all is an overgauge, such broken line that approaches is referred to as just to approach broken line; If the error of approaching on the line line all is a minus deviation, such broken line that approaches is referred to as the negative broken line that approaches.The negative short distance that equals approximate error is approached the approximate error maximum of line, is turned.It is minimum to count, and total length is the shortest.The positive short distance that equals approximate error is approached the approximate error maximum of broken line, and the flex point number is minimum, and total length is the longest.The flex point number means the raising of the with low uncertainty and surface quality of speed of feed less.According to the numerical range of tolerance range, can select positive short distance to approach broken line or negative short distance is approached broken line.Certainly, align that short distance is approached line and negative short distance is approached line,, can also further be optimized according to the difference of technological requirement.
Therefore, for circular arc, the global optimization problem of data stream comprises two kinds, at first is to select suitable interpolation algorithm, with obtain on configuration with curve comparatively approaching approach broken line, it is better that for example digital integration carries out the axial symmetry that approaches broken line that circular interpolation obtains.Next is to select the suitable broken line that approaches according to tolerance range, for circular arc, it then mainly is the numerical evaluation problem of circle, just find the solution the numerical evaluation problem that connects regular polygon or circumscribed regular polygon in round according to approximate error, consider technological requirements such as the tolerance of circular arc and surfaceness then, select the suitable broken line that approaches.
In the 3rd step, the PC system carries out numerical evaluation, and the movement instruction of user program is generated as data stream and control stream, and the data in the data stream are generated as data stream shape.
Numerical evaluation comprises that cutter compensation calculates and the numerical evaluation of movement locus.
Data Control stream is set up towards the motion requirement of topworks.Observe the variation of input information from the input end of topworks, generalized case has only switching value and digital quantity.In each interpolation cycle, topworks receives only the set of number amount.In each sampling period, topworks receives only one group of switching value.Like this, from all input ends of topworks, just obtain sequence that some are made of switching value, digital quantity and that line up according to the sequential that interpolation cycle and sampling period are determined.The information sequence that the input end of topworks is received in motion process is referred to as the Data Control stream of this topworks.The information sequence that the servo type movement instruction is generated is referred to as data stream.The information sequence that the switching mode movement instruction is generated is referred to as control stream.Data stream with sequential correlation is referred to as multidimensional data stream, and available matrix is represented.N dimension data stream can be expressed as a n row matrix, is called data stream shape.Interpolation algorithm is discrete for approaching broken line with curve with certain discrete scale, generates the data stream shape of the relative coordinate value with definite sequential.This data stream shape is that the numeral of broken line under given discrete scale of approaching of this curve videoed the micromechanism of having portrayed movement locus.
The realization of control stream is the problem of a logic control, and modern digital control system all adopts powerful programmable controller (PLC) to finish.
The realization of data stream shape is the sequential correlation by data streams, is about to the data stream shape that sequential correlation between the movement instruction is mapped to data stream and generates sequential correlation.In the servo type movement instruction, coordinate axis is when carrying out rectilinear motion, and the coordinate axis that the terminal point coordinate absolute value is bigger is referred to as main drive shaft, otherwise then is referred to as universal driving shaft.If do not have in the micromechanism of a coordinate axis " 0 ", be " 1 " all, in other words, for each time equivalent, this coordinate axis is all wanted feeding.This data stream is referred to as continuous data stream, otherwise then is referred to as discrete data.
Generating data stream shape may further comprise the steps: approach movement locus with approaching broken line; Obtain terminal point coordinate for every the straight line that approaches in the broken line, set up the main drive shaft information table; To each main drive shaft, set up of the distribution of universal driving shaft data stream to the main drive shaft data stream, form the data stream distribution matrix of universal driving shaft to main drive shaft.
For multi-shaft interlocked, can regard the sequential correlation problem of a data stream as, can generate data stream shape.X, Y, Z three-shaft linkage just carry out sequential correlation control to X, Y, Z three-dimensional data stream shape, thus multi-shaft interlocked be exactly the DRC control of multidimensional data stream.For the user is multi-shaft interlocked, and it is that the user is according to the macroscopical function requirement of control task to topworks.For topworks is the sequential correlation of data stream, and it is to being input to the microscopic motion information requirement of topworks.For multi-shaft interlocked, the PC system is in output X-axis Data Control stream, Y-axis Data Control stream, Z axis data control stream, also export the sequential correlation information of X, Y, Z three-dimensional data stream simultaneously, just export the data stream distribution matrix of universal driving shaft data stream the main drive shaft data stream.Data flow control is in the time of X, Y, Z driver module output coordinate value, and also output timing related information is realized the three-shaft linkage of X, Y, Z.
For the real-time control of technological parameter, also can regard the sequential correlation problem of a data stream as, generate data stream shape.Thereby the real-time control of technological parameter is converted into the interlock of multiaxis multiparameter.Switch S is considered as coordinate axis, and technological parameter p is considered as coordinate figure, and then (x y) is exactly curve in the XYS three dimensions to p=f.So, the real-time control of technological parameter p be exactly in the XYS three dimensions according to curve p=f (x, y) and the complex track of x=g (y) motion.As shown in Figure 5, the real-time control of technological parameter multiaxis multiparameter interlock just, the established technology parameter generates the data stream distribution matrix with following step: set up virtual coordinates, switch S is considered as coordinate axis, p is considered as coordinate figure with technological parameter; The main drive shaft information table of setting up; To each coordinate axis, set up the data stream shape of technological parameter p to coordinate axis, optimize the back generate technological parameter p to main drive shaft the data stream distribution matrix.
The form of Data Control stream as user program, is set up towards the movement instruction of topworks.The form of Data Control stream comprises data stream format, control stream format and status word form.With the corresponding Data Control stream format of servo type movement instruction, switching mode movement instruction and status command be respectively data stream format, control stream format and status word form.
(1) data stream format
For the servo type movement instruction, the PC system carries out numerical evaluation, has used the broken line approximating curve.Therefore all be the data of straight line in the data stream, the multidimensional data just multi-shaft interlocked or interlock of multiaxis multiparameter flows shape.In the data stream association control algolithm, the PC system has calculated the main drive shaft coordinate axis and has set up the main drive shaft information table, thereby calculates the shared storage space of main drive shaft data stream, i.e. what bytes.The universal driving shaft data stream also takies the storage space of same capability.
Data stream is made of two parts: condition code and function code, and its structure and being defined as follows:
The general characteristic of condition code named data stream is as the number of axle of interlock, the shared storage space of data stream etc.
Condition code is totally 5 bytes, and is as shown in table 1.
Table 1
In the table 1, the 1st byte: B
7, B
6Be the identifier of data stream, B
7B
6=00.B
5～B
0Be the number of axle of interlock, 64 multiaxis multiparameter interlocks of tolerable.
The the 2nd～the 5th byte: these 4 bytes are specified the shared byte number of main drive shaft data stream distribution matrix.Be 1G byte to the maximum.
The discrete scale of function code specified coordinate axle and coordinate figure thereof, data attribute and data structure.
Function code is variable byte, and is as shown in table 2.
Table 2
In the table 2, the 1st byte: be discrete scale, data attribute and the coordinate code of main drive shaft coordinate figure.
B
7Be discrete scale:
B
7=0, discrete scale is the feeding equivalent;
B
7=1, discrete scale is the value of default.
B
6Be data attribute, i.e. " ± ":
B
6=0 is "+",
B
6=1 is "-".
B
5～B
0Be the main drive shaft code, 64 axles of tolerable.
The 2nd byte begins the data field for main drive shaft; Be followed successively by coordinate code, discrete scale, data attribute, the data field of universal driving shaft afterwards; Be code, discrete scale, data attribute, the data field of virtual coordinates S then, or the like.Function code adopts variable byte, and byte number is determined by condition code.The shared byte number of the function code of each coordinate axis all equates, is specified by the 2nd of condition code～the 5th byte.
(2) control stream format
Control stream is made of two parts: condition code and function code, its structure is as follows.
The general characteristic of condition code specified control stream, as the number of switch, the shared storage space of parameter value etc.
Condition code is totally 3 bytes, and is as shown in table 3.
Table 3
In the table 3, the 1st byte: B
7B
6Be the identifier of control stream, B
7B
6=11.B
5～B
0Be the number of parameters of switch, 64 parameters of a switching value tolerable.
The the 2nd～the 3rd byte: specify the maximum shared byte number of parameter value, be 32K byte to the maximum.
Function code assigned switch, and the discrete scale of parameter, data attribute and data field.
1st, 2 bytes are the switch code, maximum admissible 32K switch.
The 3rd byte is code, discrete scale and the data attribute of this switch the 1st parameter, and it is the data field of the 1st parameter that the 4th byte begins; Be followed successively by code, discrete scale, data attribute, data field of the 2nd parameter etc. later on.Function code is variable byte.The shared byte number of the function code of each parameter all equates, is specified by the 2nd of condition code～the 3rd byte.
(3) status word form
Status word is corresponding with status command.The status word form is two bytes, is made of three parts: identifier, function code and address code.Its structure is as shown in table 4.
Table 4
In the table 4, B
15, B
14Be identifier.
B
15B
14=01 is status code.B
13～B
7Be 7 bit function sign indicating numbers, 128 kinds of states of definable relate generally to the setting of systemic-function state, as starting, stopping, suspending, manually, and crawl, the one way sort run, the operation of designated program section, coordinate system is set, and positioning reference is set, and directly revises data etc.
B
6-B
0Be 7 bit address sign indicating numbers, the entry address with 128 kinds of corresponding setting state programs of state is relative address.
B
15B
14=10 is editting function.
B
13～B
7Be 7 bit function sign indicating numbers, 128 kinds of editting functions of definable relate generally to subroutine, circulation, the macro instruction function that redirect etc. need provide when the establishment user program.
B
6-B
0Be 7 bit address sign indicating numbers, the entry address with 128 kinds of corresponding editting function programs of editting function is relative address.
In the 4th step, PC system reading data flow shape is carried out local optimum to data stream shape, generates the data stream distribution matrix.
Data stream shape for the PC system-computed draws need be carried out local optimum.For example, eliminate in " hole ", reduce to approach the total length of broken line, thereby improve speed of feed, reduce the consumption of energy; Reduce flex point, improve surface quality etc.
Data stream shape is divided into the plurality of sub matrix, and the columns of each submatrix should be equal to or greater than 3, and such submatrix is referred to as data stream packets, abbreviates packet as.In packet, some row may be " 0 " entirely, that is to say, for certain feeding pulse, the coordinate data of all coordinate axis is " 0 ", promptly all not feedings of coordinate axis.These row are referred to as " hole "." hole " can delete because topworks for " hole " without any action.
In packet, have
Or
The packet of structure is referred to as the diagonal angle bag." 0 " in the diagonal angle bag can delete.
For example: the broken line optimization that approaches as shown in Figure 3 illustrates that the coordinate of the straight line terminal point E among the figure is (6,4), and the broken line that approaches that obtains with point-to-point comparison method is 0abcdefghiE, and the broken line that approaches after the optimization is 0bdefhE.
For example: the broken line optimization that approaches as shown in Figure 4 illustrates that the coordinate of the straight line terminal point E among the figure is (8,10), and the broken line that approaches that obtains with the DDA digital integration is 0abcdefgijklmnE.Three holes have been located at " O, a, i ".The broken line that approaches after the optimization is 0abdfgijnE.All leave out in the hole.
For the straight line among Fig. 3, Fig. 4, the data stream shape after data stream shape of You Huaing and the optimization is not as shown in table 5.
Table 5
As can be seen from Table 5, the main drive shaft data stream after the optimization is a continuous data stream, and promptly for each time equivalent, this coordinate axis is all wanted feeding; And universal driving shaft may be a continuous data stream, also may be discrete data.The data stream shape of optimizing back formation is exactly the distribution of universal driving shaft data stream to the main drive shaft data stream, i.e. data stream distribution matrix.
The discrete data of main drive shaft is optimized for continuous data stream, thereby makes the main drive shaft data stream become substrate, the universal driving shaft data stream has formed a kind of distribution in the substrate of main drive shaft data stream.This distribution has determined that universal driving shaft follows the full detail of main drive shaft motion.X is a main drive shaft among Fig. 3, and Y is a universal driving shaft; Before table 5 shows and optimizes and the X-Y data stream shape after optimizing, wherein X walked for 6 steps continuously, and Y got ahead for 2 steps, stopped for 2 steps, went further for 2 steps, walked for 4 steps altogether; Y data stream is exactly the movable information stream of this straight line to the distribution of x data flow.Equally, Y is a main drive shaft among Fig. 4, and X is a universal driving shaft; Before table 5 shows and optimizes and the Y-X data stream shape after optimizing, wherein Y walked for 10 steps continuously, and X got ahead for 4 steps, stopped for 1 step, went further for 4 steps, stopped for 1 step again, walked for 8 steps altogether; X data flow is exactly the movable information stream of this straight line to the distribution of y data stream.
In Fig. 3 and Fig. 4, with the feeding equivalent be unit approach broken line length, required time, flex point number, hole number and optimize before and after distance than, energy resource consumption than and speed of feed situation about improving as shown in table 6:
Table 6
| Length | Time | The flex point number | The hole number | The distance ratio | Energy ratio | Velocity ratio | |
| The straight line 0E of You Huaing not | 10 | 10Δt | 8 | 0 | 100％ | 100％ | 100％ |
| Straight line 0E after the |
2+4√2＝7.6 | 6Δt | 2 | 0 | 76％ | 60％ | 167％ |
| The straight line 0E of You Huaing not | 10+4√2＝15.6 | 17Δt | 11 | 3 | 100％ | 100％ | 100％ |
| Straight line 0E after the |
2+8√2＝13.2 | 10Δt | 3 | 0 | 85％ | 59％ | 170％ |
From table 6 can: the feeding distance average out to 80.5% after (1) is optimized; (2) the speed average out to 168.5% after the optimization; (3) the energy resource consumption average out to 59.5% after the optimization; (4) straight line after optimizing, flex point number only are original 1/4.
As mentioned above, the optimization to data stream shape realizes with following process:
(41) reading data flow shape, data fetch packet;
(42) leave out " hole ";
(43) " hole " of leaving out " 0 " in the diagonal angle bag and newly producing.
(44) generate the data stream distribution matrix.
In the 5th step, the PC system is generated as executive routine to data control stream formatization with the Data Control stream after optimizing, and is transferred to data flow control.
Data control flow file (Data Control Flow Interface Specificaion is called for short the DCFS file) is the interface standard of the present invention about data flow control.It has two types, i.e. binary format or text formatting.The DCFS file can transmit in digital control system and move.As the user program that the PC system reads, the DCFS file serves as that the basis is set up with the movement instruction of topworks also.
The PC system sends look-at-me to data flow control after generating the DCFS file, with executive routine once or batchwise transfer give data flow control.The PC system is transferred to the control that promptly breaks away from behind the data flow control program, the no longer executive problem of handling procedure with this document.
In the 6th step, data flow control operation executive routine extracts movement instruction wherein successively, and movement instruction is distributed to topworks in real time by topworks's classification.
In the 7th step, topworks carries out movement instruction.
In the 6th step and the 7th step, data flow control takes out a movement instruction from its program storage area, according to the type identification servo type movement instruction and the switching mode movement instruction of instruction.For the switching mode movement instruction, directly corresponding switching value and parameter value thereof are exported to PLC by the I/O interface; For the servo type movement instruction, want earlier the type of recognition data stream, set up the feeding clock according to speed of feed again.For pulse increment type data stream, in each feeding cycle,, finish up to data stream to the output feeding pulse of feed servo system; For digital increments type data stream, obtain the feeding time T according to feed value and speed of feed earlier, to the output of feed servo system, when equaling T, finishes by the timer of CPU then.The specific procedure process may further comprise the steps as shown in Figure 2:
(71) data flow control reads executive routine;
(72) judge whether executive routine finishes, if, termination routine then, otherwise continue next step;
(73) data flow control takes out a movement instruction from program storage area;
(74) type of judgement movement instruction: if instruction is a status word, then forward the status word handling procedure to, behind the treatment state word, return step 1 and read executive routine; If movement instruction is a switching mode, then send PLC by the I/O interface with switching value and parameter value thereof, return step (61) after the execution and read executive routine; If movement instruction is a servo type, then continue next step;
(75) type of judgement servo type data stream:, then forward step (79) to for pulse increment type data stream; Then proceed next step for digital increments type data stream;
(76) obtain the feeding time T according to the feed value and the speed of feed of execution command, and set the T timer;
(77), judge whether the T timer is 0,, return step (61) and read executive routine, otherwise continue next step if T=0 then finishes feeding;
(78) step (67) is returned in feed servo system control feeding after the feeding;
(79) obtain the feeding period T, and set the T timer;
(710) judge whether the T timer is 0,, return step (61) and read executive routine, otherwise continue next step if T=0 then finishes feeding;
(711) step (610) is returned in feed servo system control feeding after the feeding.
Embodiment two
The architecture of the digital control system of employing data stream association control technology as shown in Figure 6 comprises PC system 1, data flow control 2, topworks 3.
The processing of user profile adopts the data stream association control technology in the embodiment one that user program is compiled, data processing, generation Data Control stream, optimizes data stream shape, generates data stream distribution matrix and DCFS file.
Wherein, data processing mainly is the numerical evaluation of cutter compensation and movement locus.The numerical evaluation of movement locus has replaced the iterative control algorithm of " calculation run on foot step process " in the present invention.
The process that generates Data Control stream is that data stream and control are flowed the sequential of setting by user program, is compiled into the form that data flow control can directly be handled with effective language, just generates executive routine.PC system 1 exports to data flow control 2 with executive routine, is handled by 2 pairs of executive routines of data flow control.
In above-mentioned digital control system, the CPU in PC system, three grades of functional modules of data flow control and topworks all carries out communication with interrupt mode.Its topological structure as shown in Figure 7.Break in service between the CPU of PC system and the data flow control CPU is used to transmit the state of executive routine and setting data stream controller.The scene protection that break in service between the CPU of data flow control and driver module CPU, the PLC module CPU is used to distribute fault, manual operation and other burst informations of movable information and topworks.The scene protection of breakpoint is handled by data flow control CPU.
Embodiment three
The architecture of the digital control system of employing data stream association control technology as shown in Figure 8 comprises PC system 1, data flow control 2, topworks 3.Itself and embodiment two differences are: there are many groups in data flow control 2 and topworks 3.PC system 1 adopts the data stream association control technology in the embodiment one that user program is handled the back a plurality of DCFS files of generation and exports to each data flow control 1 respectively, and is correspondingly carried out by each topworks 3.
Since data flow control 1 be one with the digital control system of DCFS file as input mode.In the DRC control method, the PC system generates the DCFS file of user program with offline mode, do not participate in real-time control, the numerical evaluation ability that the PC system is powerful, information processing capability and real-time management ability are given full play to, become the manufacturing system of the special use of concentrating of control information, promptly produce the DCFS file.A PC system can generate the DCFS file for a plurality of user programs, and exports to each data flow control 1, is carried out by each topworks 3 again.Like this, a PC system can produce the DCFS file for a plurality of data flow controls.It is the numerical control device of input mode with the DCFS file that cheap data flow control constitutes one with corresponding topworks, has saved the high expense for the existing digital control system of each numerical control device configuration.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.DRC control method of the present invention goes for the digital control system of numerically-controlled machine, to other computer control system, is suitable for too as numerical control devices such as mechanical arm, Laser Processings.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (6)
1. the data stream association control method of a computerized numerical system, topworks be numerical control device working mechanism, comprise feed servo system and switching system, it is characterized in that: may further comprise the steps:
(1) user program is read in the PC system, and user program is compiled, and described user program is based on the movement instruction of topworks and set up, and its semantic structure is consistent with the movement instruction structure of topworks;
(2) corresponding algorithm is selected by the PC system, comprises selecting the specific broken line rule of approaching;
(3) the PC system carries out numerical evaluation, comprises that cutter compensation calculates, the numerical evaluation of movement locus, and the movement instruction of user program is generated as data stream and control stream, and the data in the data stream are generated as data stream shape;
(4) PC system reading data flow shape is carried out local optimum to data stream shape, generates the data stream distribution matrix;
(5) the PC system is generated as executive routine to data control stream formatization with Data Control stream, is transferred to data flow control;
(6) data flow control operation executive routine extracts movement instruction wherein successively, and movement instruction is distributed in real time the feed servo system and the switching system of topworks by topworks's classification;
(7) topworks carries out movement instruction.
2. the data stream association control method of computerized numerical system as claimed in claim 1 is characterized in that:
Generating data stream shape in the described step (3) is realized by following steps:
(3101) approach movement locus with approaching broken line, generate data stream;
(3102) obtain terminal point coordinate for every the straight line that approaches in the broken line, set up the main drive shaft information table;
(3103) to each main drive shaft, set up of the distribution of universal driving shaft data stream to the main drive shaft data stream, generate the data stream shape between main drive shaft and the universal driving shaft with sequential correlation.
3. the data stream association control method of computerized numerical system as claimed in claim 1 is characterized in that:
Generate data stream shape for technological parameter with following step in the described step (3):
(3201) set up virtual coordinates, switch is considered as the virtual coordinates axle, technological parameter is considered as the coordinate figure of virtual coordinates axle;
(3202) set up the main drive shaft information table;
(3203) to coordinate axis, set up of the distribution of universal driving shaft data stream to the main drive shaft data stream, to the virtual coordinates axle, generate the data stream shape of technological parameter, set up of the distribution of virtual coordinates axis data stream to the main drive shaft data stream.
4. the data stream association control method of computerized numerical system as claimed in claim 3 is characterized in that:
Described step (2) may further comprise the steps:
(21) select corresponding algorithm according to technological requirement;
(22) according to approximate error calculate circle circumscribed regular polygon or in connect regular polygon;
(23), select positive short distance to approach line or negative short distance is approached line according to the tolerance and the surfaceness of circular arc.
5. the data stream association control method of computerized numerical system as claimed in claim 4 is characterized in that:
In the described step (4), data stream shape is carried out local optimum may further comprise the steps:
(41) leave out " hole ", described " hole " is to be divided into the row that coordinate data in the data stream distribution matrix of plurality of sub matrix is the submatrix of " 0 ";
(42) " hole " of leaving out " 0 " in the diagonal angle bag and newly producing, described diagonal angle bag is to have
Or
The packet of structure.
6. the architecture of a computerized numerical system, comprise PC system, topworks and data flow control, described PC system off-line generates data stream and control stream, the output executive routine, the input end of described data flow control is connected with the output terminal of PC system, data flow control receives the executive routine of PC system output, the output terminal of described data flow control is connected with the input end of topworks, and data flow control moves executive routine and control stream in the executive routine and data stream are distributed to topworks in real time; Described topworks is the topworks of numerical control device, comprise feed servo system and switching system, described feed servo system comprises driver module and servo feeding apparatus, described switching system comprises PLC module and switchgear, described data flow control will be controlled flow distribution and give the switch executive system, give the feeding servo-drive system with distribution of flows, it is characterized in that:
Described PC system is the PC system of the process of control data stream controller operation executive routine not, and described data stream is the numeral reflection of movement locus, and described executive routine comprises the data stream distribution matrix;
Described data flow control is the data flow control that does not have interpolation module;
Described data flow control and topworks are at least two groups, and the input end of described data flow control is connected with the output terminal of PC system respectively, and the output terminal of described data flow control is connected with the input end of corresponding topworks respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101243049A CN100530010C (en) | 2007-10-29 | 2007-10-29 | Data stream relating control method and architecture of computer digital control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101243049A CN100530010C (en) | 2007-10-29 | 2007-10-29 | Data stream relating control method and architecture of computer digital control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101158864A CN101158864A (en) | 2008-04-09 |
| CN100530010C true CN100530010C (en) | 2009-08-19 |
Family
ID=39306984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101243049A Expired - Fee Related CN100530010C (en) | 2007-10-29 | 2007-10-29 | Data stream relating control method and architecture of computer digital control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100530010C (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101846993B (en) * | 2009-03-23 | 2013-02-13 | 江俊逢 | Method for controlling process parameter and related data stream in real time |
| CN101893871B (en) * | 2009-05-22 | 2012-02-22 | 江俊逢 | Digital control method and digital control system for real-time compensation of geometric errors |
| CN101620431B (en) * | 2009-06-22 | 2012-02-29 | 江俊逢 | Digital control method and system for carrying out real-time compensation for thermal deformation errors |
| CN101650563B (en) * | 2009-07-29 | 2011-09-21 | 江俊逢 | Self-adapting control method and system for associated data stream |
| CN101673106B (en) * | 2009-09-25 | 2013-01-09 | 江俊逢 | Digital control information manufacturing system, method and data control flow file thereof |
| CN101699361B (en) * | 2009-10-26 | 2013-01-02 | 江俊逢 | Standardized controlling machine |
| CN102193530B (en) * | 2010-03-10 | 2012-12-19 | 中国科学院自动化研究所 | Numerical control system and control method based on dual-core architecture teamwork |
| CN102063088B (en) * | 2010-11-05 | 2013-05-01 | 江俊逢 | Method and system for planning auxiliary discrete movement of computer |
| CN101995850B (en) * | 2010-11-05 | 2012-02-29 | 江俊逢 | Computer aided numerical control method and system |
| CN103324145B (en) * | 2013-06-14 | 2016-01-20 | 广东工业大学 | A kind of precise control system for processing optical fiber V type groove and control method thereof |
| CN105573254B (en) * | 2016-01-13 | 2018-06-05 | 上海交通大学 | Towards the motion bitstreams transform method of encoder/player formula digital control system |
| CN109542044B (en) * | 2018-11-28 | 2021-08-20 | 南京农业大学 | Control method of high-precision numerical control parking lot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1405674A (en) * | 2001-08-16 | 2003-03-26 | 北京和利时系统工程股份有限公司 | Method for realizing software of numerical control system down machine |
| CN2754815Y (en) * | 2004-12-02 | 2006-02-01 | 上海机床厂有限公司 | Synchronous regulating system of conjugate camshaft grinding machine |
-
2007
- 2007-10-29 CN CNB2007101243049A patent/CN100530010C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1405674A (en) * | 2001-08-16 | 2003-03-26 | 北京和利时系统工程股份有限公司 | Method for realizing software of numerical control system down machine |
| CN2754815Y (en) * | 2004-12-02 | 2006-02-01 | 上海机床厂有限公司 | Synchronous regulating system of conjugate camshaft grinding machine |
Non-Patent Citations (4)
| Title |
|---|
| 基于COM技术的开放型数控系统组件间数据流关系分析. 段黎明.制造业自动化，第27卷第9期. 2005 |
| 基于COM技术的开放型数控系统组件间数据流关系分析. 段黎明.制造业自动化，第27卷第9期. 2005 * |
| 基于PC的开放式数控系统控制器. 卢艳军.机械工程师，第8期. 2004 |
| 基于PC的开放式数控系统控制器. 卢艳军.机械工程师，第8期. 2004 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101158864A (en) | 2008-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100530010C (en) | Data stream relating control method and architecture of computer digital control system | |
| CN111061213B (en) | Processing method based on Bezier curve corner smooth transition algorithm | |
| CN107710086B (en) | Translation module, processing module and control system | |
| CN100451891C (en) | Dynamic forward-looking processing method of small program segment and implementing device | |
| CN103699056B (en) | The little line segment real-time smooth transition interpolation method of high-speed, high precision digital control processing | |
| CN100465838C (en) | New style open type numerical control system realizing method based on multiple CPU parallel processing technology | |
| CN100430849C (en) | Control system and method for economical NC machine tool | |
| CN103176427A (en) | Numerical control program execution by robot | |
| CN101791801A (en) | Industrial robot motion planning and performance testing system and implementation method thereof | |
| CN101794140B (en) | Code conversion method and device used for numerical control system | |
| CN201856249U (en) | Motion planning and performance testing system for industrial robot | |
| CN103901822A (en) | Multi-shaft linkage motion control system | |
| CN102354146A (en) | Motion control system and position control method thereof | |
| CN102402197A (en) | Reconfigurable numerical control system and reconfiguration method | |
| CN111708525B (en) | Graphical programming system interpreter based on XML industrial robot | |
| Asato et al. | Analysis of open CNC architecture for machine tools | |
| CN107450466A (en) | A kind of pressing robot controller and its high-speed smooth control method | |
| CN101699361B (en) | Standardized controlling machine | |
| CN203849591U (en) | Multi-shaft linkage motion control system | |
| CN1189818C (en) | Method for realizing software of numerical control system down machine | |
| CN113759851B (en) | Automatic control system and automatic control method | |
| CN106200554A (en) | A kind of part processing pose optimization method and system | |
| CN101893871B (en) | Digital control method and digital control system for real-time compensation of geometric errors | |
| CN101477355A (en) | Numerical control system used for miniature cutter | |
| CN102624308B (en) | Integrated control driver of stepping motor and control driving method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090819 Termination date: 20161029 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |