CN102183922A - Method for realization of real-time pause of affiliated computer services (ACS) motion controller - Google Patents
Method for realization of real-time pause of affiliated computer services (ACS) motion controller Download PDFInfo
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- CN102183922A CN102183922A CN2011100674053A CN201110067405A CN102183922A CN 102183922 A CN102183922 A CN 102183922A CN 2011100674053 A CN2011100674053 A CN 2011100674053A CN 201110067405 A CN201110067405 A CN 201110067405A CN 102183922 A CN102183922 A CN 102183922A
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Abstract
The invention discloses a method for realization of real-time pause of an affiliated computer services (ACS) motion controller. The method comprises the following steps of: loading track segment instructions to a follow processor, namely dividing a large track segment instruction into small track instructions, controlling the track instructions to be stepwise loaded to a queue of the follow processor, simultaneously and stepwise executing the track instructions, and continuously loading a next track instruction when the front track instruction is executed. By the method for realization of real-time pause of the ACS motion controller, the function of real-time pause during running of the ACS motion controller is realized, a program can continuously run after pause, and a key problem of bothering ACS motion controller users is solved.
Description
Technical field
The present invention relates to a kind of control method of ACS motion controller, the implementation method that especially a kind of ACS motion controller suspends in real time.
Background technology
The ACS motion controller has powerful motion control instruction, can realize point-to-point, crawl, interval motion, principal and subordinate's motion, the arbitrarily motion of various ways such as specified path; Have abundant mathematical function, can realize the complex mathematical expression formula, have 64 floating-point operation precision; Support a peacekeeping two-dimensional array, the array max cap. is 100,000; High-level programming language with similar C language has abundant instruction set; Have 10 program areas, can 10 programs move simultaneously.
In special mechanical equipment control field, the dirigibility of ACS, opening and high-performance high reliability make it the work of competent all kinds of special plane digital control systems.But the numerical control function of ACS also has a lot of deficiencies compared to the digital control system of specialty, and the ACS controller is used for little reality on the general numerically-controlled machine.
The ACS kinetic control system adopts host-guest architecture, primary processor (MPU) is carried out high-grade task, being responsible for profile traces generates, with main frame with from processor communication, set-point calculates, security control, interface signal is gathered and is handled, and hardware location triggers handles the instant command execution of main frame, program run and management, system diagnosticss etc. are carried out real-time position ring speed ring motion control arithmetic from processor (SPii) with the servo turnover rate of 20KHz, accept and handle the encoder feedback signal, send and drive order, each is from two axles of processor control.The ACS motion controller can load 10 programs simultaneously, and can carry out by multi-task parallel.Behind the program start, primary processor (MPU) is explained management and executive routine, if do not need the condition judgment statement waited in the program, the speed that program is carried out is very fast, rather than carry out a motion command, wait for that it carries out next bar after being finished again.Order line moment of relevant each motion control is just sent into SPii from the motion command formation of processor by MPU, the motion command formation maximum of each can be held 50 order lines, at SPii during from the order of processor processing servo motion, MPU has enough response times to handle more high-grade task like this.
In the spring coiling machine digital control system with the exploitation of ACS motion controller, motor program must possess real-time pause function.It is the operation of requirement with handwheel control wind spring job sequence that the spring coiling machine digital control system has a function, before the spring processing trial-production, needs to transfer machine examination to test, and the job sequence of spring is revised.When system enters the work for inspection pattern, the operation of program can be by the wheel control of shaking the hand, then running speed is fast soon for handwheel, handwheel stops then moving and suspends immediately, handwheel plays motion to be continued, like this when transferring machine just can by shake the hand wheel slowly a spring is rolled out come, can take time out in real time according to the situation of volume midway, situation is observed clear back program and can be continued at the breakpoint place move.
In several motions that the ACS controller provides are ceased and desisted order, halt, kill, disable, though break can stop the motion of each, stopping the back motor program can not continue, stop in the program management order, pause order can shut down procedure, but all can not stop current motion immediately, wait until that all command execution that entered the movement instruction formation finish just can stop.Program after the Pause order comes into force in the appointed buffer can be hung up, but motion may continue, because movement instruction has downloaded to from the instruction queue of processor, by the time before the Pause order from processor the order line in the movement instruction formation be finished fully, thoroughly empty Shi Caineng between queue empty and stop all motions.Therefore the Pause order can only be hung up the program of moving in the buffer zone, but can not allow the order line that has been loaded into from processor queue suspend execution.
How realizing that motor program suspends immediately, and suspend the back program and can continue operation, is puzzlement ACS motion controller user's a key issue.
Summary of the invention
A kind of motor program of realizing that the objective of the invention is to design for the deficiency that solves above-mentioned technology suspends immediately, and suspends the real-time implementation method of suspending of ACS motion controller that the back program can continue to move.
The implementation method that the designed ACS motion controller of the present invention suspends in real time, comprise orbit segment instruction is loaded into step from processor, in abovementioned steps, comprise following measure: big orbit segment instruction is subdivided into tiny track instruction, controlling the track instruction then is loaded into one by one from the formation of processor, track instruction is carried out one by one, and one executes and continues to pack into next bar again.
Preferably, controlling the track instruction by the mode that the condition steering order is set between the track instruction is loaded into one by one from the formation of processor.
Preferably, big orbit segment instruction is subdivided into tiny track instruction and comprises following measure:
A, determine segmentation interval time;
B, calculate the fastest working time of each orbit segment instruction according to the principle that is no more than each maximal rate, will the fastest working time obtain segmenting quantity interval time divided by segmentation, remainder is segmentation back excess time;
C, will segment interval time divided by obtaining the duration scale factor the fastest working time, α be multiply by each relative coordinate in this orbit segment instruction, obtain segmenting the tiny track instruction of section correspondence interval time; Excess time is divided by obtaining duration scale factor β the fastest working time after will segmenting, β be multiply by each relative coordinate in this orbit segment instruction, obtain the tiny track instruction of section correspondence excess time, the final track instruction of the common formation of tiny track instruction of aforementioned two time period correspondences.
Preferably, when orbit segment instructs the fastest working time greater than segmenting interval time, then the orbit segment instruction is subdivided into the track instruction; When orbit segment instructs the fastest working time less than segmenting interval time, then directly carry out this orbit segment instruction.
Preferably, described segmentation interval time is 20ms.
The implementation method that the ACS motion controller of gained of the present invention suspends in real time, by big program segment is subdivided into the track program of minor time slice by the time, between each small sections orbiting motion program, add conditional control statement then, make each tiny program segment be loaded into one by one in the motion command formation, thereby controlled the operation of whole procedure effectively, realized the real-time pause function in the ACS motion controller operational process, and suspend the back program and can continue operation, solved puzzlement ACS motion controller user's a key issue.
The present invention can obtain application in the spring coiling machine digital control system based on the ACS motion controller, to not cause the discontinuous of motion after the segmentation of each section track in the program, the effect that motion suspends in real time is very desirable, 64 floating-point operation is very accurate, and tangible cumulative errors does not appear in equipment yet when high-speed and continuous processing hundreds of spring.This method can be applied to remedy the deficiency of ACS controller as a High Performance Motion Control device numerical control function in all kinds of kinetic control systems of various ACS controller exploitations.
Description of drawings
Fig. 1 embodiment 1 movement instruction disposal route synoptic diagram;
Fig. 2 is the control flow chart of embodiment 1;
Fig. 3 is that the orbit segment of embodiment 1 segments example by the time;
Among the figure: tiny track instruction 1, conditional control statement 2.
Embodiment
The invention will be further described in conjunction with the accompanying drawings below by embodiment.
Embodiment 1:
As shown in Figure 1, 2, the implementation method that the described ACS motion controller of present embodiment suspends in real time, comprise orbit segment instruction is loaded into step from processor, in abovementioned steps, comprise following measure: big orbit segment instruction is subdivided into tiny track instruction, controlling the track instruction by the mode that the condition steering order is set then between the track instruction is loaded into one by one from the formation of processor, track instruction is carried out one by one, and one executes and continues to pack into next bar again.
Wherein, big orbit segment instruction is subdivided into tiny track instruction and comprises following measure:
A, definite segmentation interval time (segmenting interval time in the present embodiment is 20ms);
B, calculate the fastest working time of each orbit segment instruction according to the principle that is no more than each maximal rate, will be the fastest during operation
Between obtain segmenting quantity interval time divided by segmentation, remainder is segmentation back excess time;
C, will segment interval time divided by obtaining the duration scale factor the fastest working time, α be multiply by each relative coordinate in this orbit segment instruction, obtain segmenting the tiny track instruction of section correspondence interval time; Excess time is divided by obtaining duration scale factor β the fastest working time after will segmenting, β be multiply by each relative coordinate in this orbit segment instruction, obtain the tiny track instruction of section correspondence excess time, the final track instruction of the common formation of tiny track instruction of aforementioned two time period correspondences.
When orbit segment instructs the fastest working time greater than segmenting interval time, then the orbit segment instruction is subdivided into the track instruction; When orbit segment instructs the fastest working time less than segmenting interval time, then directly carry out this orbit segment instruction.
As: in the Digital Control Plane Roll-up Spring machine spring job sequence with the exploitation of ACS motion controller, choose three sections tracks, X is a reducing cutting knife camshaft in the track program, and Y is a wire feeding axis, and Z is the advance axle.All be according to being no more than the fastest working time that each maximal rate calculates the working time of three sections tracks, first section track choosing is X20Y30Z11.5, by the prestissimo section of the calculating working time of each, the prestissimo 134units/s that presses the Z axle calculates (T=11.5/134), calculate time the longest, be 85.82ms, round numbers 86ms, when moving this section program by this time, the Z axle reaches the most at a high speed, and the XY axle can not surpass top speed separately.Same second section track is the longest according to the time that X-axis top speed 400units/s calculates, and is 75ms, and the 3rd period that calculates according to Y-axis top speed 600units/s is the longest, is 183ms.Three sections tracks by the time segmentation as shown in Figure 3.
Each section track is subdivided into the time block of many 20ms working time in this example according to this section, with each section period divided by 20, get the merchant and promptly get the hop count that each section is subdivided into the tiny fragment of 20ms, remainder promptly is the excess time after each section segmentation, the scale factor of the tiny track of each section with respect to preceding this section track of segmentation calculated in the segmentation back, this scale factor be multiply by each instruction relative coordinate of this section track, can draw the track instruction after the segmentation.
With first section " X20Y30Z11.5 " is example, and the tiny track instruction of segmentation back 20ms time period is:
The track instruction of segmentation section excess time is:
Wherein each instructs relative coordinate and excess time (millisecond) four parameters for the residue section.
Segmenting determining of interval time, also is the problem that needs discussion.Interval time, overshoot phenomenon appearred in long meeting, and it is untimely to make that motion suspends, and the too short MPU burden that can strengthen again makes the man-machine interaction of MPU and host computer slow in reacting.People's reaction time, generally between 0.15～0.4S, the fast response time was 0.03S, and promptly in 0.1S, people's general sensation is less than delay.But when spring coiling machine during according to the track of top three sections programs instruction high-speed cruising, each section track is (less than 0.1S) in a short period of time, the coordinate figure maximum 40units that just passed by, though the response speed of suspending is very fast, fundamental sensation is less than delay, but bigger overshoot stroke makes that the effect of suspending is not good enough.Through test debugging repeatedly, be 20ms final definite interval time, MPU gets a segmentation movement locus every 20ms and is loaded into SPii from the command queue of processor, and MPU also has the sufficient time to carry out other important tasks in the 20ms, is unlikely to bear excessively to cause system response blunt.In three sections above-mentioned tracks, that suspend the overshoot maximum is wire feeding axis Y, because this axle is fastest, maximum overshoot coordinate figure is
It is satisfactory to obtain such time-out control effect when running up most.
Claims (5)
1. the implementation method suspended in real time of an ACS motion controller, comprise orbit segment instruction is loaded into step from processor, it is characterized in that in abovementioned steps, comprising following measure: big orbit segment instruction is subdivided into tiny track instruction, controlling the track instruction then is loaded into one by one from the formation of processor, track instruction is carried out one by one, and one executes and continues to pack into next bar again.
2. the implementation method that ACS motion controller according to claim 1 suspends in real time is characterized in that controlling the track instruction by the mode that the condition steering order is set between the track instruction is loaded into one by one from the formation of processor.
3. the implementation method that ACS motion controller according to claim 1 and 2 suspends in real time is characterized in that big orbit segment instruction is subdivided into tiny track instruction comprises following measure:
A, determine segmentation interval time;
B, calculate the fastest working time of each orbit segment instruction according to the principle that is no more than each maximal rate, will the fastest working time obtain segmenting quantity interval time divided by segmentation, remainder is segmentation back excess time;
C, will segment interval time divided by obtaining the duration scale factor the fastest working time, α be multiply by each relative coordinate in this orbit segment instruction, obtain segmenting the tiny track instruction of section correspondence interval time; Excess time is divided by obtaining duration scale factor β the fastest working time after will segmenting, β be multiply by each relative coordinate in this orbit segment instruction, obtain the tiny track instruction of section correspondence excess time, the final track instruction of the common formation of tiny track instruction of aforementioned two time period correspondences.
4. the implementation method that ACS motion controller according to claim 3 suspends in real time is characterized in that instructing the fastest working time greater than segmenting interval time when orbit segment, then the orbit segment instruction is subdivided into the track instruction; When orbit segment instructs the fastest working time less than segmenting interval time, then directly carry out this orbit segment instruction.
5. the implementation method that ACS motion controller according to claim 4 suspends in real time is characterized in that described segmentation interval time is 20ms.
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| CN101471902A (en) * | 2007-12-29 | 2009-07-01 | 华为技术有限公司 | Method and equipment for implementing signal suspension |
| CN201674453U (en) * | 2010-06-07 | 2010-12-15 | 北京国科环宇空间技术有限公司 | Controller, control device and control system of driving motor |
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- 2011-03-21 CN CN2011100674053A patent/CN102183922A/en active Pending
Patent Citations (4)
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|---|---|---|---|---|
| US20050050305A1 (en) * | 2003-08-28 | 2005-03-03 | Kissell Kevin D. | Integrated mechanism for suspension and deallocation of computational threads of execution in a processor |
| CN1846194A (en) * | 2003-08-28 | 2006-10-11 | 美普思科技有限公司 | Integrated mechanism for suspension and deallocation of computational threads of execution in a processor |
| CN101471902A (en) * | 2007-12-29 | 2009-07-01 | 华为技术有限公司 | Method and equipment for implementing signal suspension |
| CN201674453U (en) * | 2010-06-07 | 2010-12-15 | 北京国科环宇空间技术有限公司 | Controller, control device and control system of driving motor |
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Application publication date: 20110914 |