CN101093392A - Digital control system controlled based on computer online or off line method, and operation method - Google Patents
Digital control system controlled based on computer online or off line method, and operation method Download PDFInfo
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Abstract
A method for operating digital-control system based on on-line or off-line control of computer includes erecting digital-control software on computer to integrate product data management information and utilizing digital-control software to work out digital control program to be transmitted to movement controller, using controller to make actuator and motor to drive digital controlled machine to process parts according to digital-control program under off-line mode and carrying out direct-control on movement controller by computer under on-line mode. The system used for realizing said method is also disclosed.
Description
Technical field
The present invention relates to the control system of numerically-controlled machine in a kind of industrial processes, more particularly, the syndeton that relates to numerically-controlled machine and control terminal in this system the invention still further relates to the operation method of computing machine and motion controller control numerically-controlled machine in this system.
Background technology
Industries process control system can be divided into two big classes by the control technology classification: a kind of NC of being (digital control) technology; Another kind is CNC (computer numerical control (CNC)) technology, also claims computer based embedded movement control technology.Industrial processes control control system commonly used is exactly NC system and CNC system.
Early stage digital control (NC) technology is solidified the motion control kernel program in single-chip microcomputer, is exclusively used on the specific numerically-controlled machine.This control mode real-time and good stability, but open poor, system is difficult to carry out function upgrading, can not adapt to current manufacturing industry turn of the market and competition, also can not satisfy the needs of modern manufacturing industry to information-based, quick manufacturing mode development gradually.
The core of computer numerical control (CNC) (CNC) technology is embedded movement control technology, and carrier is exactly various computer based motion control axle cards, carries out exchanges data by ISA or pci bus and computing machine.This control mode is open strong, is convenient to carry out the systemic-function upgrading, and the computer interface of standard has improved operability, has reduced operator's technical requirement.The embedded movement control technology of this computer based has been inherited the various relative merits of computing machine simultaneously, thereby suffers from the defect of easy deadlock congenitally, and this is definitely unallowed for the Industry Control that needs the high reliability high stability.Computer based embedded type C NC system is the robotization digital control approach of current mainstream applications.
To sum up tell: now also do not have a kind of commercial production control technology method not only to have the high stability of NC system, and can make full use of the abundant software and hardware resources of computing machine, raising system operability and easy upgradability can not influence control reliability because of computer corruption simultaneously.
Summary of the invention
The present invention is directed to the problems referred to above, provide a kind of existing high stability to be convenient to the operation method of operating the kinetic control system that is easy to upgrade and this system being provided again.Specifically, after computing machine is sent to motion controller with control program by the communication connection, motion controller can drive the operation of control numerically-controlled machine, motion controller can also feed back to state of a control in the computing machine simultaneously, computing machine carries out parameter adjustment in real time, thereby control system of the present invention has solved the problem of the high stability that can't take into account the NC system in the present commercial production control technology and CNC system hardware and software aboundresources, easy to operate, easy upgrading.
In order to address the above problem, the invention provides a kind of based on computing machine the method for online or offline mode control digital control system, comprise the steps: 1, computing machine be connected in motion controller by RS232 serial port, USB serial port, LAN (Local Area Network) netting twine or wireless communication mode; Motion controller is connected in driver and the motor that is used to drive numerically-controlled machine.2, numerical control software and integrated product data management information are installed on the computing machine, these information comprise starting material, lathe, product, production task, cutter, operator's information.3, on computers, utilize numerical control software based on product data management information preparation numerical control program; The establishment of numerical control program comprises numerical control programming and the integrated dual mode of grand shape library; The numerical control programming mode is that lathe programming language G code, M code, T code or the D code by international standard carries out programming and express parts pattern in graphical interfaces, perhaps changes into program code by The drawing shape; Grand shape library integration mode is by the self-defining grand shape library numerical control program template of invoke user, carries out the relevant parameters setting and forms numerical control program, and be expressed as parts pattern.4, numerical control program is sent to motion controller.5, under the computing machine offline mode, motion controller sends and feedback pulse digital signal or voltage analog signal to motor driver according to numerical control program, makes driver and driven by motor numerically-controlled machine operation processing parts.6, under the computing machine online mode, computing machine is directly controlled motion controller, comprises control flow selection, parameter setting and On-line Control instruction, processing site graphical simulation, fault alarm and eliminating and fault log; The CONTROL PROCESS process selecting comprises to be selected biasing, select processing automatically or selects manually processing; Parameter setting and On-line Control instruct the numerical control software that comprises computing machine to realize repairing accent and online instruction control with motion controller communication realization controller overall situation controlled variable by dynamic link library; The processing site graphical simulation comprises each state in the processing of motion controller feedback, and in described numerical control software the graphical information that embodies current location, speed, I/O, motor program, motion flow process, kinematic axis or fault, for further control provides reference; Fault alarm and eliminating and fault log comprise the fault that occurs in the control procedure are in time reported to the police with the form of graphical or sound, provide corresponding error number to assist the staff to fix a breakdown, and the record trouble daily record.
Above-mentioned based on computing machine the method for online or offline mode control digital control system, its further characteristics are, in process, motion controller is finished servo loop and computing function, input/output function, variable and memory management function or PLC function according to the numerical control program of formulating.
Above-mentioned based on computing machine the method for online or offline mode control digital control system, it further improves and is, computing machine is connected in the Enterprise Information Net, is used for obtaining the product data management information of Enterprise Information Net.
According to above-mentioned based on computing machine the method for online or offline mode control digital control system, the present invention also provides a kind of digital control system of the online or offline mode control based on computing machine, comprise the driver and the motor of numerically-controlled machine, connection and driving numerically-controlled machine, also comprise the computing machine that is provided with numerical control software; Computing machine links to each other with motion controller by linkage unit, linkage unit adopts the mode of RS232 serial port, USB serial port, LAN (Local Area Network) netting twine or wireless telecommunications to connect, and computing machine utilizes numerical control software to transmit numerical control program and motion controller to computing machine FEEDBACK CONTROL state to motion controller; Motion controller connects driver and motor and to driver and motor transfer control instruction; Motion controller comprises dsp chip.
The digital control system of the above-mentioned online or offline mode control based on computing machine is further improved and is that computing machine is connected in the Enterprise Information Net, and numerical control software comprises patterned interactive interface and the database that is used for product data management.
Pass through technique scheme, kinetic control system of the present invention, two kinds of movement control technologies of and offline mode online based on computing machine have NC and CNC two cover autonomous systems, and middle communication interface by standard utilizes RS232 or USB serial port to carry out the communication connection especially.Control data (numerical control program) is downloaded to after the NC system by serial port by computer system, can finish industrial processes control by NC system independent (off line); Also the NC state of a control can be fed back to computer system by the serial port connection, carry out inline graphics chemical control system in the mode of interactive dialogue.Therefore, system of the present invention can select two kinds of control modes in real time: NC system off-line (off line) operation and computing machine inline graphics chemical control system.Under the computing machine on-line operation state, the establishment and the NC that can carry out numerical control program is written into, the drafting of parts pattern and arrangement, NC parameter are provided with, NC manually with control, machine tool system apolegamy and functions such as upgrading, PDM product data management, fault alarm and recovery automatically.Under NC system off-line running status, can carry out manually and control automatically with the NC code that is written into according to the machine tool system of apolegamy.Simultaneously can discharge other functions such as PC system resource is drawn, discharge, production management,, promote production efficiency to prepare production task next time.
Wherein, native system has adopted open multi-axis motion controller, based on the above processor of DSP 40MHZ, support analog quantity speed control method and digital quantity position control mode, support open loop control and closed-loop control, support maximum 32 axles, have extremely strong open characteristics.The open, nature of multi-axis motion controller is embodied in:
(1) variable is open--comprising: initialization and variable, overall user-variable, general user-variable, area definition variable are set.Wherein, initialization and variable is set is used for the motion controller functional characteristic is carried out the initialization setting of the overall situation; Overall situation user-variable has fixing position in internal memory, be 48 floating-point variables, does not have pre-defined purposes, can use arbitrarily in program: position, distance, speed, time, pattern, angle, intermediate computations or the like; General user-variable, relevant with the coordinate system that uses it; The area definition variable, for making user's access memory and input/output space easier, the user can define the M variable according to the demand of oneself and point to particular register, and instant the explanation.
(2) Kai Fang coordinate system and axle definition--user can define the corresponding relation of coordinate system, axle and motor according to the needs of motion control, reaches the coordination compound motion of each motor, and can set imaginary axis, cartesian axis is finished a peculair motion function.
(3) Kai Fang user program editor--user is according to motion control needs read-write motor program and PLC program.Motor program is meant according to the program sequence of motion carries out motor program, and all calculating of this motion command are carried out in an instruction of an executive routine, thereby ready for carrying out this motion.The PLC program is meant the operation of continuous sweep motor program fast as far as possible under the situation about allowing in the processor time, to finish some for nonsynchronous task on the sequence of motion.
(4) Kai Fang communication interface--user can match the single line cable communication modes of various international standards according to different environment, such as USB, and RS232 serial ports, netting twine, wireless network etc.
In addition, the computing machine in the native system adopts the individual PC computing machine of standard, is furnished with the Windows action pane of standard and the communication interface with standard, and following characteristics are arranged:
(1) numerical control programming and pattern arrangement--lathe programming language G code, M code and T code by international standard carry out programming, and are expressed as figure, also the manufactured parts figure need be carried out functions such as discharge on sheet material in industries such as numerical control cutting machines.
(2) machine tool system apolegamy and upgrading--based on the system of off-line type movement control technology, but the various numerically-controlled machine tool systems of computing machine fast integration can match different digital control systems under different lathe environment, and system upgrade need not change the lathe hardware environment, save cost, improve reliability.
(3) online in real time is graphically controlled--and the online numerical control software of PC can carry out functions such as real-time manually motion control automatically, parameter are provided with to the NC kinetic control system, simultaneously can form patterned control interface by communication cable all state immediate feedbacks with the NC motion control.
(4) PDM product data management--to starting material, lathe, product, production task, cutter, employee's logging data library management, the information network that inserts enterprise carries out unified management.
(5) fault alarm and recovery--to fault real-time graphization or the audible alarm that occurs in the NC motion control process, provide corresponding error number to assist the staff to fix a breakdown, and carry out fault log.
And, in the system of the present invention, have the single line cable communication line of standard between the online graphical interactive software and the kinetic control system of off-line, mainly contain USB serial port, RS232 serial port, netting twine and the various wireless communication mode of international standard.Carry out On-line Control when communication is unimpeded, carries out off-line control when communication is not smooth, the transformation of this mode is real-time, the instant heating pluggable mode, thus expanded the application of system.
On total, its beneficial effect of kinetic control system of the present invention is as follows:
1. industries process control system can the divorced from computer isolated operation, even because computer corruption also can not influence the reliability of control system.
2. the inline graphics interactive software of computer terminal is easy to exploitation as other computer application softwares, can require flexibly upgrading apace according to concrete manufacturing, improves large-scale machine usage ratio of equipment.
3. control operation is finished under the computer environment that most users are familiar with.The production run simulation of inline graphicsization has strengthened the operability of user to equipment.
4. in cutting control, can carry out numerical control programming or other functions, increase work efficiency and flexibility ratio.
5. computer terminal only is connected by serial port, netting twine or wireless blue tooth with the controller end, and motion control card can be placed on the outer any place of PC and carry out the distance type numerical control, saves the space, has reduced complicated line, has improved maintainability.
Description of drawings
Fig. 1 is the general structure synoptic diagram of control system of the present invention;
Fig. 2 is the illustrative view of functional configuration of system software in the control system of the present invention.
Among the figure: 1. patterned mutual numerical control software 2. computing machine 3. motion controllers, 4. drivers and motor 5. numerically-controlled machines in the computing machine
Embodiment
Below in conjunction with specific embodiment with reference to the accompanying drawings more detailed description the present invention is based on the digital control system and the operation method of the control of the online or off-line method of computing machine.
As shown in Figure 1, graphical mutual numerical control software 1 is installed on the computing machine 2, open movement control card 3 has the NC system, computing machine 2 connects with general serial mouths such as RS232 that passes through international standard between open movement controller/card 3 or USB, also can realize exchanges data between computing machine and the motion controller by LAN (Local Area Network) netting twine or blue tooth wireless communication mode, be used for single line cable telecommunication between computing machine and motion controller/card 3, transmission numerical control program, figure, instruction and parameter.
Its graphical interactive software of computing machine is to connect under (promptly online) state at motion controller/card 3 to be used for inline graphics simulation industrial processes, and to motion controller transmission production control instruction, parameter is provided with, and the production fault is investigated and handled.Be used for numerical control program establishment and arrangement, PDM (Product Data Management product data management) and other production management functions breaking away under (being off-line type) states with motion controller/card 3.Under the optimal way, motion controller 3 adopts the processor that comprises DSP (digital signal processor) chip, the PMAC of U.S. DeltaTAU company opening architecture (programmable multiaxiscontroller) multi-axis motion control card for example, its kinetic control system is by the establishment of overall controlled variable setting and motion process logic flow, upwards be used for and computer interactive " control " and " state " information, be used for carrying out the input and output control of numeral or simulating signal downwards with motor driver.And being connected and input and output control of motion controller 3 and motor or driver 4: the multi-axis motion control card that is used for opening architecture sends and feedback position digital signal or voltage analog signal to motor driver.
On total, the mutual numerical control software 1 of computing machine 2 Graphics Applicationizations passes to open movement controller/card 3 with the numerical control program of writing, NC system on open movement controller/card 3 can independently carry out numerical control program, and I/O Signal (control input/output signal) is transferred to driver and motor 4, I/O input and output control numerically-controlled machine 5 program run according to the rules of driver and motor 4.When computing machine 2 and open motion controller/when card 3 is connected, the mutual numerical control software 1 generation Online Command (online order) that computing machine 2 can Graphics Applicationization, and be sent to open movement control card 3 and carry out online I/O and control.Various states on the motion control card 3 that opening is also can connect by universal communication and feed back to computing machine 2, and on graphical mutual numerical control software 1 graphical simulation.In addition, computing machine also is connected in the Enterprise Information Net, is used for obtaining the product data management information of Enterprise Information Net.
Shown system software function situation under the online and off-line two states of kinetic control system as Fig. 2, wherein, the kinetic control system of off-line has following operation and function: speed governing in Straight Line and Arc interpolation, 4-8 axle pulse output, the motion, trapezoidal and curve acceleration function, motor program control function and PLC control function.In the online kinetic control system, inline graphics interactive software on the computing machine has following function: the setting of Chinese character demonstration and menu management, numerical control program editor, manual data input, parameter modification setting, biasing, automatic or manual function, and the record of fault handling and recovery and running log.Wherein, automatic function comprises position display, program tracking, motion graphics demonstration and decoding and spell-checking facility.And the editor of numerical control program comprises editting function and auxiliary computing function that static graphics shows.
Based on above description, the control method of the online or off-line type of system of the present invention may further comprise the steps:
1, the integrated PDM (product data management) of PC carries out data base administration to starting material, lathe, product, production task, cutter, operator, and the information network of access enterprise carries out unified management.
2, in a machine tooling in the heart, system based on the off-line type movement control technology, computing machine can be by open control function module and the open various numerically-controlled machine tool system of database information fast integration, such as being two INTERPOLATION CONTROL OF PULSE systems of general apolegamy such as lathe, milling machine, cutting machine, plotting apparatus, laser stamp, engraving instrument, be the multi-shaft interlocked control system of apolegamy such as grinding machine; Or at same type lathe such as numerical control cutting machine, can increase by three and heighten function, four and five and be used for bevel cut function etc.
3, break away under (off-line type) state at PC and NC motion controller, according to different lathe environment, the graphical interactive software by PC carries out scene and works out the part by numerical control program; For some blanking machines such as numerical control cutting machine, realize arranging in order (on-the-spot jacking function) to the part of needs processing.The formation of numerical control program comprises numerical control programming and the integrated dual mode of grand shape library:
Above-mentioned numerical control programming, promptly lathe programming language G code, M code, T code and the D code by international standard carries out programming or figure transforms automatically, and is expressed as parts pattern.
Above-mentioned grand shape library is integrated, promptly by the self-defining grand shape library numerical control program template of invoke user, carries out the relevant parameters setting and the integrated numerical-control program, and is expressed as parts pattern.
4, PC is sent to NC motion controller kinetic control system with USB serial port, RS232 serial port, LAN (Local Area Network) netting twine mouth and the blue tooth wireless communication mode of numerical control program by international standard; The numerical control program of corresponding lathe environment of NC motion controller kinetic control system basis and needs processing reproduces by the controlled variable setting of the overall situation and the control flow of the overall situation, for the processing of part is got ready.
5, by the processing of dual mode control part, PC and NC motion controller connect (online) and PC and NC motion controller and break away from (off-line type).Dual mode can change at any time, and the technology of use is the hot plug and the corresponding driving support of communication cable.
Online mode then continues following steps 6, finishes processing this time.
Off-line type mode then NC motion controller skips to step 7 running, continues to finish processing this time; PC turns to step 3 to carry out on-the-spot numerical control program establishment and on-the-spot jacking and production management function simultaneously, for next machine tooling is got ready.
6, PC comprises control flow selection, parameter setting and On-line Control instruction, processing site graphical simulation, fault alarm and eliminating and fault log to the direct control of NC motion controller.
Above-mentioned CONTROL PROCESS process selecting comprises and selects biasing, selection to process, select manually processing etc. automatically.
Above-mentioned parameter is provided with and the On-line Control instruction, and promptly the mutual numerical control software of PC is repaiied with NC motion controller communication realization controller overall situation controlled variable by the dynamic link library realization and transferred and online instruction control.
Above-mentioned processing site graphical simulation, by the various states in the processing of NC motion controller feedback, the graphical motion state information such as lathe current location, speed, I/O, motor program, motion flow process, kinematic axis, fault that embody are for referencial use for control in the mutual numerical control software of PC.
Above-mentioned fault alarm and eliminating and fault log, promptly the fault that occurs in the NC motion control process is in time reported to the police with the form of graphical or sound, provide corresponding error number to assist the staff to fix a breakdown, the fault type that generally can produce has back zero warning, spacing alarm, I/O status alert, moving coordinate system status alert, kinematic axis status alert, servo warning, control assembly warning etc., the fault that takes place is carried out fault log, and it is for referencial use to be provided with the identical similar fault of aftertreatment.
7, NC motion controller digital control system is finished servo loop and computing function, input/output function, variable and memory management function, PLC function according to the machining control flow process of formulating.
Above-mentioned servo loop and computing function, servo loop have PID (Proportional Integral Derivative, i.e. proportion integration differentiation) parameter adjustment, speed and functions such as feed forward of acceleration, notch(ing) filter; Computing function has the computing of mathematics, logic and transcendental function, finishes functions such as speed governing in straight line and circular interpolation, the motion, trapezoidal and curve acceleration.
Above-mentioned input/output function, DSP links to each other with controlled shaft by the special gate array that is called as DSP Gate, and each DSP Gate controls No. four scramblers and four analog output channels.
Above-mentioned variable and memory management function have defined four kinds of variablees (I, P, Q, M), and wherein I variable (initialization and variable is set) carries out the initialization setting of the overall situation to the motion controller functional characteristic; P variable (overall user-variable) can use arbitrarily in program: position, distance, speed, time, pattern, angle, intermediate computations or the like; Q variable (general user-variable) is relevant with the coordinate system that uses it; M variable (area definition variable) is for making user's access memory and input/output space easier.
Same pair 16 bit address space that are addressed to of the I/O of open motion controller and internal memory.If use DPRAM, then DPRAM will be mapped to the fixed position of PMAC memory headroom.
Above-mentioned PLC function, PLC procedure stores in actual moving process, with task time-division operations such as servo loop renewal, motor program execution, the execution of PLC program, realize multi-task parallel control at program buffer.
8, Kai Fang motion controller sends and feedback pulse digital signal or voltage analog signal to motor driver by I/O, makes motor driver drive numerically-controlled machine operation processing parts.Step 1 is returned in a part processing task termination.
The above; only be the preferable embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to replacement or change according to technical scheme of the present invention and inventive concept thereof, all should be encompassed within protection scope of the present invention.
Claims (5)
- One kind based on computing machine the method for online or off-line method control digital control system, it is characterized in that, comprise the steps:(S1) computing machine (2) is connected in motion controller (3) by RS232 serial port, USB serial port, LAN (Local Area Network) netting twine or wireless communication mode; Described motion controller (3) is connected in driver and the motor (4) that is used to drive numerically-controlled machine (5);(S2) described computing machine (2) is gone up numerical control software and integrated product data management information is installed, and described information comprises starting material, lathe, product, production task, cutter, operator's information;(S3) on computing machine (2), utilize described numerical control software based on product data management information preparation numerical control program; The establishment of described numerical control program comprises numerical control programming and the integrated dual mode of grand shape library;Described numerical control programming mode is that lathe programming language G code, M code, T code or the D code by international standard carries out programming and express parts pattern in graphical interfaces, perhaps changes into program code by The drawing shape;Described grand shape library integration mode is by the self-defining grand shape library numerical control program template of invoke user, carries out the relevant parameters setting and forms numerical control program, and be expressed as parts pattern;(S4) described numerical control program is sent to motion controller (3);(S5) under described computing machine (2) offline mode, described motion controller (3) sends and feedback pulse digital signal or voltage analog signal to motor driver according to described numerical control program, makes described driver and motor (4) drive described numerically-controlled machine (5) operation processing parts;(S6) under described computing machine (2) online mode, described computing machine (2) is directly controlled described motion controller (3), comprises control flow selection, parameter setting and On-line Control instruction, processing site graphical simulation, fault alarm and eliminating and fault log;Described control flow is selected, and comprises selecting biasing, select processing automatically or selecting manually processing;Described parameter setting and On-line Control are instructed, and comprise that the numerical control software of described computing machine (2) is realized repairing accent and online instruction control with described motion controller (3) communication realization controller overall situation controlled variable by dynamic link library;Described processing site graphical simulation, comprise each state in the processing of described motion controller (3) feedback, and in described numerical control software the graphical information that embodies current location, speed, I/O, motor program, motion flow process, kinematic axis or fault, for further control provides reference;Described fault alarm and eliminating and fault log comprise the fault that occurs in the control procedure are in time reported to the police with the form of graphical or sound, provide corresponding rub-out signal to assist the staff to fix a breakdown, and the record trouble daily record.
- 2, according to claim 1 described based on computing machine the method for online or off-line method control digital control system, it is characterized in that, in step (S5) with (S6), described motion controller (3) is finished servo loop and computing function, input/output function, variable and memory management function or PLC function according to the numerical control program of formulating.
- According to claim 1 or 2 described based on computing machine the method for online or off-line method control digital control system, it is characterized in that, also comprise described computing machine (2) is connected in the Enterprise Information Net, be used for obtaining the product data management information of Enterprise Information Net.
- 4, a kind of digital control system of the online or off-line method control based on computing machine comprises numerically-controlled machine (5), connects and drives the driver and the motor (4) of described numerically-controlled machine, it is characterized in that,Also comprise the computing machine (2) that is provided with numerical control software;Described computing machine (2) links to each other with motion controller (3) by linkage unit, described motion controller (3) comprises dsp chip, described linkage unit is that the mode of RS232 serial port, USB serial port, LAN (Local Area Network) netting twine or wireless telecommunications connects, and described computing machine (2) utilizes numerical control software to transmit numerical control program and described motion controller (3) to described computing machine (2) FEEDBACK CONTROL state to described motion controller (3);Described motion controller (3) connects described driver and motor (4) and to described driver and motor (4) transfer control instruction.
- 5. according to the digital control system of the described online or off-line method control of claim 4 based on computing machine, it is characterized in that, described computing machine (2) is connected in the Enterprise Information Net, and described numerical control software comprises patterned interactive interface and the database that is used for product data management.
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