CN102193533B - Motion control system - Google Patents
Motion control system Download PDFInfo
- Publication number
- CN102193533B CN102193533B CN2011100058013A CN201110005801A CN102193533B CN 102193533 B CN102193533 B CN 102193533B CN 2011100058013 A CN2011100058013 A CN 2011100058013A CN 201110005801 A CN201110005801 A CN 201110005801A CN 102193533 B CN102193533 B CN 102193533B
- Authority
- CN
- China
- Prior art keywords
- chip microcomputer
- module
- serial ports
- host computer
- buses
- 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.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Control By Computers (AREA)
Abstract
The invention discloses a motion control system, which relates to the field of motion control. The motion control system comprises an upper computer and a lower computer, wherein the main control part of the lower computer is composed of process modules, the process modules are respectively in signal communication junction with the upper computer, and the process modules are sequentially in signal communication junction according to an operating sequence; the upper computer is provided with a parameter preserving module, a downloading module, an interface management module and a debugging function module; the parameters stored in the upper computer are issued to each process module by a 485 bus; the inside of each process module is provided with a management filter single chip for analyzing signals, receiving the signals of the module thereof and sending an operating command, and the upper computer does not participate in operation. Through carrying out motion control by adopting a plurality of single chip microcomputers, the motion control system disclosed by the invention has the advantages that: 1, the cost for motion control can be greatly reduced; 2, the burden of a main control chip can be reduced; 3, the complexity of a program can be reduced; 4, a clear-cut division of labor can be performed, thereby facilitating the project management; and 5, a higher decision-making power can be had, thereby facilitating the control on system improvement.
Description
Technical field
The present invention relates to motion control field, relate in particular to a kind of kinetic control system and control method thereof.
Background technology
Present kinetic control system all is based on x86 basically, and DSP+FPGA, the frameworks such as ARM+FPGA carry out motion control.This just requires that algorithm of motion control etc. is had more deep understanding, and based on this type of motion control card, the versatility of PLC dispatch control system is too strong, and this just must cause the rising of cost and to the reduction of some special-purpose performance.And if carry out the control system of framework oneself with these controllers, there are many places will be subject to the restriction of the motion controllers such as these motion control cards and PLC, the convenience of oneself can flexible configuration using is had a greatly reduced quality.
Summary of the invention
The objective of the invention is for weak points more than motion controller such as motion control card and PLC, a kind of kinetic control system is provided, greatly reduce the cost of motion control, reduce the burden of main control chip, reduce the complexity of program.
the technical scheme that the present invention adopts for achieving the above object is as follows: kinetic control system, comprise host computer and slave computer, the slave computer main control part consists of each process module, process module is connected with host computer difference signal and communication, connect by operation priority signal and communication successively between process module, host computer has parameter and preserves, download, interface management, the debug function module, the parameter that host computer is preserved is handed down to each process module by 485 buses, each process module is interior with management filtering single-chip microcomputer, analytic signal also receives this module by signal and sends operating instruction, host computer does not participate in operation.
What described host computer adopted is industrial computer, Main Function is do interface management and with slave computer, by 485 buses, communicate and exchanges data, host computer has parameter preservation, download, interface management, debug function module, the parameter that host computer is preserved module is handed down to each process module by 485 buses, debugging module is tested the input and output of each functional module, and the motor movement parameter is modified; During operation, host computer does not participate in operation, and only under the abnormal conditions such as the warning of breaking down, host computer carries out debugging.
Described kinetic control system is loading and unloading transmitting moving control system, process module consists of feeding module, transfer module and cutting module, wherein feeding module is controlled by single-chip microcomputer one and single-chip microcomputer two, cutting module is controlled by single-chip microcomputer three and single-chip microcomputer four, transfer module is jointly controlled by four single-chip microcomputers five, six, seven, eight, each single-chip microcomputer has two serial ports, and crystal oscillator frequency can be up to 45M HZ, and is one-cycle instruction.
In described control system, 485 buses have 6 tunnels, and wherein the serial ports one of the serial ports one of the serial ports one of host computer, single-chip microcomputer one, single-chip microcomputer three and single-chip microcomputer five is articulated on 485 buses one; The serial ports two of single-chip microcomputer one and the serial ports two of single-chip microcomputer two are articulated on 485 buses two; The serial ports two of single-chip microcomputer three and the serial ports two of single-chip microcomputer four are articulated on 485 buses three; The serial ports two of the serial ports two of single-chip microcomputer five, the serial ports two of single-chip microcomputer six, single-chip microcomputer seven and the serial ports two of single-chip microcomputer eight are articulated in above 485 buses four; The serial ports one of single-chip microcomputer two and the serial ports one of single-chip microcomputer six are articulated on 485 buses five; The serial ports one of single-chip microcomputer four and the serial ports one of single-chip microcomputer seven are articulated on 485 buses six.
Described each process module inside is to carry out communication and exchanges data by the mode of two kinds of 485 communications in shared FRAM and module.
The present invention adopts a plurality of single-chip microcomputers to carry out motion control, one can greatly reduce the cost of motion control, two can reduce the burden of main control chip, three can reduce the complexity of program, four can be clearer and more definite the management of dividing the work the project that is beneficial to, five can have higher autonomy, the improvement of convenient own control system.Make a concrete analysis of as follows:
Wherein host computer mainly is responsible for the functions such as parameter preservation, download, interface management, debugging.When machine moved at ordinary times, host computer can not participate in moving, and only checks it is where to go wrong by host computer under the abnormal conditions such as the warning of breaking down.So just guaranteed that the normal operation at ordinary times of each submodule is not subjected to the interference of host computer, the high speed and the stable operation that have improved whole system.
Wherein slave computer is carried out jointly by a plurality of single-chip microcomputers, each inside modules has a management filtering single-chip microcomputer, be responsible for resolving and passing on 485 orders that host computer is sent, if just receive for the order of own functional module communication, notify the corresponding single-chip microcomputer of own module to complete corresponding action (motor, solenoid valve, sensor executive component), and the management single-chip microcomputer by own module send feedback command to host computer by corresponding single-chip microcomputer.Order if not own modular unit just is left intact, and can avoid like this carrying out cpu and be subjected to the interference of other cpu action command.
The FRAM that uses in this control system belongs to the power down non-volatile RAM, that is to say that the data in FRAM can not lost after the whole system power down, that is to say FRAM and have the speed of SRAM to have again the power down non-volatile characteristic of EEPROM.This had both guaranteed motion concerning kinetic control system promptness, can prevent from again losing because the reasons such as outage suddenly cause system data.
Description of drawings:
Fig. 1 is system chart of the present invention.
Fig. 2 is that host computer of the present invention sends the parameter command process flow diagram to material loading section.
Fig. 3 is that host computer of the present invention sends the debug command control flow chart to material loading.
Embodiment:
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but the present invention is not limited to specific embodiment.
Embodiment
Kinetic control system as shown in Figure 1, comprise host computer and slave computer, the slave computer main control part consists of each process module, process module is connected with host computer difference signal and communication, connect by operation priority signal and communication successively between process module, host computer has parameter preservation, download, interface management, debug function module, the parameter that host computer is preserved is handed down to each process module by 485 buses, each process module is interior with management filtering single-chip microcomputer, analytic signal also receives this module by signal and sends operating instruction, and host computer does not participate in operation.
Wherein host computer mainly is responsible for the functions such as parameter preservation, download, interface management, debugging.The parameter of when system is just started shooting, host computer being preserved is handed down to the functional modules such as material loading section, trucking department and blanking section by 485 buses one, complete the test to the input and output of each functional module in the time of debugging, the functions such as modification of motor movement parameter.When machine moved at ordinary times, host computer can not participate in moving, and only checks it is where to go wrong by host computer under the abnormal conditions such as the warning of breaking down.So just guaranteed that the normal operation at ordinary times of each submodule is not subjected to the interference of host computer, the high speed and the stable operation that have improved whole system.
Wherein the slave computer main control part is divided into 3 modules: feeding module, transfer module and cutting module, formed by 8 single-chip microcomputers altogether, wherein feeding module is controlled by single-chip microcomputer one and single-chip microcomputer two, cutting module is controlled by single-chip microcomputer three and single-chip microcomputer four, transfer module is jointly controlled by single-chip microcomputer five, six, seven, eight, each single-chip microcomputer has two serial ports, and crystal oscillator frequency can be up to 45M HZ, and is one-cycle instruction.In control system, 485 buses have 6 tunnels, and wherein the serial ports one of the serial ports one of the serial ports one of host computer, single-chip microcomputer one, single-chip microcomputer three and single-chip microcomputer five is articulated in above 485 buses one.The serial ports two of single-chip microcomputer one and the serial ports two of single-chip microcomputer two are articulated on 485 buses two.The serial ports two of single-chip microcomputer three and the serial ports two of single-chip microcomputer four are articulated on 485 buses three.The serial ports two of the serial ports two of single-chip microcomputer five, the serial ports two of single-chip microcomputer six, single-chip microcomputer seven and the serial ports two of single-chip microcomputer eight are articulated in above 485 buses four.The serial ports one of single-chip microcomputer two and the serial ports one of single-chip microcomputer six are articulated on 485 buses five.The serial ports one of single-chip microcomputer four and the serial ports one of single-chip microcomputer seven are articulated on 485 buses six.
In this control system, each inside modules has a management filtering single-chip microcomputer, be responsible for resolving and passing on 485 orders that host computer is sent, if just receive for the order of own functional module communication, notify the corresponding single-chip microcomputer of own module to complete corresponding action (motor, solenoid valve, sensor executive component), and the management single-chip microcomputer by own module send feedback command to host computer by corresponding single-chip microcomputer.Order if not own modular unit just is left intact, and can avoid like this carrying out cpu and be subjected to the interference of other cpu action command.The modules inside of native system is to carry out communication and exchanges data by the mode of two kinds of 485 communications in shared FRAM and module.
During work, host computer sends parameter to the feeding module flow process as shown in Figure 2: if host computer wants to send parameter to material loading section, and the execution of this action is completed by single-chip microcomputer two, host computer just passes through order of 485 bus to single-chip microcomputer one, single-chip microcomputer one is saved in the FRAM the inside with data after receiving order, then inform single-chip microcomputer two by interrupt mode, single-chip microcomputer two just can undated parameter by reading number in the appropriate address of FRAM the inside.
Host computer sends the debug command flow process as shown in Figure 3 to material loading: if host computer is thought the action of single-step debug material loading section, and the executor of this action is single-chip microcomputer two, host computer just sends order by 485 buses one, single-chip microcomputer one is transmitted to single-chip microcomputer two by 485 buses two or shared FRAM mode after receiving order, single-chip microcomputer two correspondingly moves after receiving order, after action is completed by 485 buses two or shared FRAM mode to a single-chip microcomputer feedback signal one by one, single-chip microcomputer again and again by 485 buses one to feedback of host computer.
Also by 485 buses, carry out communication between modules, wherein giving the communication between trucking department after the execution of material loading section is to complete by 485 buses five, after the trucking department action is completed and the communication between blanking section be to complete by 485 buses six.Too, the single-chip microcomputer of only carrying out is many 2 for the communication principle of trucking department and material loading section.Blanking section communication principle is identical with material loading section.
Claims (4)
1. kinetic control system, comprise host computer and slave computer, it is characterized in that: the slave computer main control part consists of each process module, process module is connected with host computer difference signal and communication, connect by operation priority signal and communication successively between process module, host computer has parameter and preserves, download, interface management, the debug function module, the parameter that host computer is preserved is handed down to each process module by 485 buses, each process module is interior with management filtering single-chip microcomputer, be responsible for resolving and passing on 485 orders that host computer is sent, if just receive for the order of own functional module communication, notify the corresponding single-chip microcomputer of own module to complete corresponding action, and the management single-chip microcomputer by own module sends feedback command to host computer by corresponding single-chip microcomputer, order if not own modular unit just is left intact, host computer does not participate in operation, kinetic control system is loading and unloading transmitting moving control system, process module consists of feeding module, transfer module and cutting module, wherein feeding module is controlled by single-chip microcomputer one and single-chip microcomputer two, cutting module is controlled by single-chip microcomputer three and single-chip microcomputer four, transfer module is jointly controlled by four single-chip microcomputers five, six, seven, eight, each single-chip microcomputer has two serial ports, and crystal oscillator frequency can be up to 45M HZ, and is one-cycle instruction.
2. kinetic control system according to claim 1, it is characterized in that: what described host computer adopted is industrial computer, Main Function is do interface management and with slave computer, by 485 buses, communicate and exchanges data, host computer has parameter preservation, download, interface management, debug function module, the parameter that host computer is preserved module is handed down to each process module by 485 buses, debugging module is tested the input and output of each functional module, and the motor movement parameter is modified; During operation, host computer does not participate in operation, and only under the warning abnormal conditions that break down, host computer carries out debugging.
3. kinetic control system according to claim 1 and 2, it is characterized in that: in control system, 485 buses have 6 tunnels, and wherein the serial ports one of the serial ports one of the serial ports one of host computer, single-chip microcomputer one, single-chip microcomputer three and single-chip microcomputer five is articulated on 485 buses one; The serial ports two of single-chip microcomputer one and the serial ports two of single-chip microcomputer two are articulated on 485 buses two; The serial ports two of single-chip microcomputer three and the serial ports two of single-chip microcomputer four are articulated on 485 buses three; The serial ports two of the serial ports two of single-chip microcomputer five, the serial ports two of single-chip microcomputer six, single-chip microcomputer seven and the serial ports two of single-chip microcomputer eight are articulated in above 485 buses four; The serial ports one of single-chip microcomputer two and the serial ports one of single-chip microcomputer six are articulated on 485 buses five; The serial ports one of single-chip microcomputer four and the serial ports one of single-chip microcomputer seven are articulated on 485 buses six.
4. kinetic control system according to claim 1 and 2 is characterized in that: each process module inside is to carry out communication and exchanges data by the mode of sharing two kinds of 485 communications in FRAM or module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100058013A CN102193533B (en) | 2011-01-12 | 2011-01-12 | Motion control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100058013A CN102193533B (en) | 2011-01-12 | 2011-01-12 | Motion control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102193533A CN102193533A (en) | 2011-09-21 |
| CN102193533B true CN102193533B (en) | 2013-11-13 |
Family
ID=44601740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100058013A Active CN102193533B (en) | 2011-01-12 | 2011-01-12 | Motion control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102193533B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102634924B (en) * | 2012-04-24 | 2014-03-26 | 浙江理工大学 | Fully-mechanized circular knitting machine control system |
| DE102014222508A1 (en) * | 2014-11-04 | 2016-05-04 | Wago Verwaltungsgesellschaft Mbh | Module for a process plant and method for controlling a process plant |
| CN108646650A (en) * | 2018-07-31 | 2018-10-12 | 上海应用技术大学 | Motor monitoring system and method based on TTP communications |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202058015U (en) * | 2011-01-12 | 2011-11-30 | 大连佳峰电子有限公司 | Motion control system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1174197C (en) * | 2001-09-13 | 2004-11-03 | 珠海格力电器股份有限公司 | Remote air conditioner monitoring system |
| CN1174196C (en) * | 2001-10-17 | 2004-11-03 | 珠海格力电器股份有限公司 | Air conditioner remote monitoring system with master/slave control function |
| KR20030069660A (en) * | 2002-02-22 | 2003-08-27 | 두산메카텍 주식회사 | Method for controlling a motor load information of a computer numerical control apparatus |
| CN2586887Y (en) * | 2002-09-10 | 2003-11-19 | 王关健 | Intelligent network control system for boiler |
| CN100551634C (en) * | 2007-04-29 | 2009-10-21 | 东北大学 | A kind of control system for modular robot based on the CAN bus |
| CN101271010A (en) * | 2008-04-15 | 2008-09-24 | 中国科学院水利部成都山地灾害与环境研究所 | Multi-mouth radial flow water level monitoring system |
| CN201514571U (en) * | 2009-09-18 | 2010-06-23 | 唐山陆凯科技有限公司 | Electromagnetic vibration high frequency vibrating screen digital control system |
-
2011
- 2011-01-12 CN CN2011100058013A patent/CN102193533B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202058015U (en) * | 2011-01-12 | 2011-11-30 | 大连佳峰电子有限公司 | Motion control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102193533A (en) | 2011-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103984275B (en) | A kind of universal industrial kinetic control system based on FPGA and control method based on this kinetic control system | |
| CN103386685B (en) | A kind of robotic programming control method | |
| CN1936747A (en) | Edition-translation type numerical-control system and edition-translation and operation control method of same | |
| CN203588252U (en) | Upgrading circuit for FPGA (Field Programmable Gate Array) configuration program | |
| CN106313038B (en) | A kind of real-time control debugging system and adjustment method | |
| CN102193533B (en) | Motion control system | |
| CN101937205A (en) | Novel portable PLC (Programmable Logic Controller) programming device | |
| KR20140132373A (en) | Enhanced re-hosting capability for legacy hardware and software | |
| CN112904811A (en) | Multi-device cooperative operation system and method based on digital twin technology | |
| CN111213099B (en) | Motion control card, motion control system, robot system and numerical control machine tool | |
| CN105740139B (en) | A kind of debugging embedded software method based on virtual environment | |
| CN201156204Y (en) | Bus control system for three-dimensional garage | |
| CN113110987A (en) | Method and device for debugging single carriage brake of motor train unit | |
| WO2013144705A1 (en) | A method for engineering a distributed control system and an engineering tool thereof | |
| CN106774118A (en) | Robot manipulation's box and operating system | |
| CN202058015U (en) | Motion control system | |
| CN102236332B (en) | Mixing control method and control device of laser processing equipment | |
| Martinov et al. | Implementation of dynamic changes in machine kinematics in the electroautomatic subsystem of the CNC system | |
| CN102331734B (en) | Communication apparatus and method in PLC | |
| CN103430109A (en) | CPU of PLC, system program for PLC, and recording medium storing system program for PLC | |
| CN203217346U (en) | Batching control system and engineering machinery | |
| CN207557715U (en) | A kind of controller suitable for Complex spatial framework | |
| JP2013025727A (en) | Control apparatus for machine tool | |
| CN202886920U (en) | Elasticizer control system | |
| CN109918321B (en) | PCIe bus-based online reconstruction 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 |