CN102289217B - Modular reconfigurable motion control system with axle as unit - Google Patents
Modular reconfigurable motion control system with axle as unit Download PDFInfo
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Abstract
The invention discloses a modular reconfigurable motion control system with an axle as a unit, which at least comprises a motion controller 1, a sensor 2, a driver 3, an executor 4 and a controlled object 5, wherein the motion controller 1 mainly comprises a management framework layer, a function module framework layer, a function module layer, a hardware interface driving layer and a hardware interface layer; the compositions inside the management framework layer, the function module framework layer, the function module layer and the hardware interface driving layer respectively take axles as basic units; and the compositions inside the function module framework layer, the function module layer and the hardware interface driving layer can be added, clipped and modified according to the axial motion and control requirement under actual work conditions. The modular reconfigurable motion control system has the beneficial effects that the system can be applied to electromechanical integrated equipment such as robots, numeric control machine tools and the like and has better openness, interoperability, portability, scalability and interchangeability; and the reconfiguration of the motion control system with the axle as the unit can be realized, the development and upgrade costs are reduced and the time is shortened.
Description
Technical field
The present invention relates to the kinetic control system in robotization and the advanced manufacturing field, being specifically related to a kind of is the reconfigurable kinetic control system of single-bit moduleization with the axle.
Background technology
Kinetic control system is the core in one type of electromechanical integration equipment such as numerically-controlled machine, robot.A typical kinetic control system mainly is made up of motion controller, driver, actuator, sensor and controlled device; The movement instruction and the activation bit of total system are sent by motion controller; Accomplish driving through driver, so motion controller is the core of whole kinetic control system again to actuator.Motion controller control architecture in the kinetic control system is just developed to the open system framework direction with interoperability, portability, scalability and interchangeability by closed framework at present.Both at home and abroad, existing multiple commercial open-type motion, like the PMAC motion controller of U.S. Delta Tau Data Systems company, domestic solid high company series controller.
But; The kinetic control system complex structure that these motion controllers constitute; Degree of opening is low, and interoperability, portability, scalability and interchangeability etc. are all relatively poor, and the standard feature that requires the user must use motion controller to provide usually just can carry out the design and the secondary development of kinetic control system; This make kinetic control system particularly motion controller expansion and revise very limited; Cause the dependence of user, and be difficult to oneself professional technique, control algolithm etc. are integrated in the kinetic control system, accomplish reconstruct kinetic control system to supplier.
Summary of the invention
It is the reconfigurable kinetic control system of single-bit moduleization with the axle that the object of the invention aims to provide a kind of; With the axle be that unit plans, design and data information management; Make that the structure of kinetic control system is more open, and then it is low to solve existing kinetic control system degree of opening, all relatively poor problems such as interoperability, portability, scalability and interchangeability; Be convenient to realize the expansion and the modification of motion controller, Rapid Realization is the reconstruct of the kinetic control system of unit with the axle.
For realizing above-mentioned target, the technical scheme that the present invention adopted is following:
A kind of is the reconfigurable kinetic control system of single-bit moduleization with the axle; At least comprise motion controller 1, sensor 2, driver 3, actuator 4 and controlled device 5; Described motion controller 1 links to each other with driver 3; Described motion controller 1 also links to each other with sensor 2, and described driver 3 links to each other with actuator 4, and described sensor 2 links to each other with actuator 4; Described actuator 4 links to each other with controlled device 5; Described motion controller 1 is the activation bit that unit produces actuator 4 with the axle, and through 4 motions of driver 3 actuate actuators, described motion controller 1 mainly is made up of Governance framework layer, functional module ccf layer, functional module layer, hardware interface Drive Layer and hardware interface layer; The inner composition of described Governance framework layer, functional module ccf layer, functional module layer and hardware interface Drive Layer all is base unit with the axle;
Described Governance framework layer comprises central siphon reason framework 6 at least; Described functional module ccf layer comprises set point generator framework 7, controller frame 8, measuring system framework 9, executive system framework 10 and expanded function framework 11 at least; Described functional module layer comprises set point generator functional module 12, controller function module 13, measuring system functional module 14, executive system function module 15 and extended function module 16 at least; Described hardware interface Drive Layer comprises that at least central siphon reason framework hardware interface driving 17, sensor interface driving 18 and actuator interface drive 19: described hardware interface layer comprises central siphon reason framework hardware interface 20, sensor interface 2l and actuator interface 22 at least;
Described central siphon reason framework 6 drives 17 with set point generator framework 7, controller frame 8, measuring system framework 9, executive system framework 10, expanded function framework 11 with central siphon reason framework hardware interface and links to each other; Be mainly used in fixed point generator framework 7, controller frame 8, measuring system framework 9, executive system framework 10, expanded function framework 11 and central siphon are managed calling and data information management of framework hardware interface driving 17, and the data message of accomplishing between set point generator framework 7, controller frame 8, measuring system framework 9, executive system framework lO and the expanded function framework 11 is mutual;
Described set point generator framework 7 links to each other with set point generator functional module 12 inner a plurality of sub-function module; Be mainly used in the calling and data information management of set point generator functional module 12 inner a plurality of sub-function module, and the data message of accomplishing between set point generator functional module 12 inner a plurality of sub-function module is mutual; Described set point generator functional module 12 is mainly used in the set point data information of producing the dirt axle:
Described controller frame 8 links to each other with controller function module 13 inner a plurality of sub-function module; Be mainly used in the calling and data information management of controller function module 13 inner a plurality of sub-function module, and the data message of accomplishing between controller function module 13 inner a plurality of sub-function module is mutual; Described controller function module 13 is mainly used in the closed-loop control of accomplishing axle;
Described measuring system framework 9 and sensor interface drive 18 and link to each other with measuring system functional module 14 inner a plurality of sub-function module; Be mainly used in to sensor interface drive 18 with the calling and data information management of measuring system functional module 14 inner a plurality of sub-function module, and accomplish sensor interface drive 18 and measuring system functional module 14 inner a plurality of sub-function module between data message mutual; Described measuring system functional module 14 is mainly used in the detection information processing of completion to the sensor 2 of axle;
Described executive system framework 10 and actuator interface drive 19 and link to each other with executive system function module 15 inner a plurality of sub-function module; Be mainly used in to the actuator interface drive 19 with the calling and data information management of executive system function module 15 inner a plurality of sub-function module, and accomplish the actuator interface drive 19 and executive system function module 15 inner a plurality of subfunctions between data message mutual; Described executive system function module 15 is mainly used in the driving data information processing of completion to the motion controller 1 of axle;
Described expanded function framework 11 links to each other with extended function module 16 inner a plurality of sub-function module; Be mainly used in the calling and data information management of extended function module 16 inner a plurality of sub-function module, and the data message of accomplishing between extended function module 16 inner a plurality of sub-function module is mutual; Described extended function module 16 is mainly used in the function expansion of completion to the motion controller 1 of axle;
The driving 17 of described central siphon reason framework hardware interface links to each other with central siphon reason framework hardware interface 20 with central siphon reason framework 6; Be mainly used in driving shaft management framework hardware interface 20, and it is mutual with the data message of central siphon reason framework hardware interface 20 to accomplish central siphon reason framework 6;
Described sensor interface drives 18 and links to each other with sensor interface 21 with measuring system framework 9, be mainly used in driving sensor interface 21, and the data message of completion measuring system framework 9 and sensor interface 21 is mutual;
Described actuator interface drives 19 and links to each other with actuator interface 22 with executive system framework 10, is mainly used in actuate actuators interface 22, and it is mutual to accomplish the data message of executive system framework 10 and actuator interface 22;
Described central siphon reason framework hardware interface 20 is made up of communication interface 20-1 and external expansion interface 20-2 at least; Described communication interface 20-1 provides the hardware interface of accomplishing motion controller 1 communication function, and described external expansion interface 20-2 provides the hardware interface of motion controller 1 expansion;
Described sensor interface 21, the hardware interface that provides motion controller 1 to link to each other with sensor 2;
Described actuator interface 22, the hardware interface that provides motion controller 1 to link to each other with driver 3.
Set point generator functional module 12 in the described functional module layer, controller function module 13, measuring system functional module 14, executive system function module 15 and extended function module 16 are formed by a plurality of sub-function module; Each sub-function module is accomplished single subfunction, the non-direct coupling independently of one another of each sub-function module.
Described is the inner composition of functional module ccf layer, functional module layer and hardware interface Drive Layer in the motion controller 1 of the reconfigurable kinetic control system of single-bit moduleization with the axle; All can increase according to motion and the demand for control of the axle under the actual condition, cutting and modification, realization is the reconstruct of the kinetic control system of unit with the axle.
Characteristics of the present invention and beneficial effect are:
(1) is that unit plans kinetic control system and designs with the axle, and in motion controller, adopts central siphon reason framework to each functional framework of axle with hardware driving is called and data management, improved the interoperability of kinetic control system.
(2) the motion controller functional module ccf layer in the kinetic control system, functional module layer and hardware driving layer inner form all can increase according to the motion and the demand for control of the axle actual condition under, cutting and modification, so improved the scalability of kinetic control system.
(3) functional module of functional module layer is independently of one another in the motion controller; And directly do not communicate by letter with the hardware driving layer; Therefore after actuator, sensor, driver and controlled device change; Can carry out minimal modifications through change hardware driving layer with to functional module, this kinetic control system is transplanted in one type of electromechanical integration equipment such as numerically-controlled machine, robot, improve the portability and the interchangeability of kinetic control system.
(4) motion controller in the kinetic control system is open fully, and the user can wherein or to the existing capability module reconfigure self-designed functional module adding, accomplishes the reconstruct to kinetic control system.
Description of drawings
Fig. 1 for of the present invention a kind of be the reconfigurable kinetic control system block diagram of single-bit moduleization with the axle.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described:
As shown in Figure 1; Of the present invention a kind of be the reconfigurable kinetic control system of single-bit moduleization with the axle; At least comprise motion controller 1, sensor 2, driver 3, actuator 4 and controlled device 5; Described motion controller 1 links to each other with driver 3, and described motion controller 1 also links to each other with grating sensor like rotary encoder with sensor 2, and described driver 3 and actuator 4 link to each other like motor; Described sensor 2 links to each other with actuator 4, and described actuator 4 links to each other like the single shaft mechanical platform that ball-screw links to each other with worktable with controlled device 5; Described motion controller 1 is the activation bit that unit produces actuator 4 with the axle, through 4 motions of driver 3 actuate actuators; Described motion controller 1 mainly is made up of Governance framework layer, functional module ccf layer, functional module layer, hardware interface Drive Layer and hardware interface layer; The inner composition of described Governance framework layer, functional module ccf layer, functional module layer and hardware interface Drive Layer all is base unit with the axle.
Described Governance framework layer comprises central siphon reason framework 6 at least; Described functional module ccf layer comprises set point generator framework 7, controller frame 8, measuring system framework 9, executive system framework 10 and expanded function framework 11 at least; Described functional module layer comprises set point generator functional module 12, controller function module 13, measuring system functional module 14, executive system function module 15 and extended function module 16 at least; Described hardware interface Drive Layer comprises that at least central siphon reason framework hardware interface driving 17, sensor interface driving 18 and actuator interface drive 19; Described hardware interface layer comprises central siphon reason framework hardware interface 20, sensor interface 21 and actuator interface 22 at least.
Described central siphon reason framework 6 drives 17 with set point generator framework 7, controller frame 8, measuring system framework 9, executive system framework 10, expanded function framework 11 with central siphon reason framework hardware interface and links to each other; Be mainly used in fixed point generator framework 7, controller frame 8, measuring system framework 9, executive system framework 10, expanded function framework 11 and central siphon are managed calling and data information management of framework hardware interface driving 17, and the data message of accomplishing between set point generator framework 7, controller frame 8, measuring system framework 9, executive system framework 10 and the expanded function framework 11 is mutual; Described central siphon reason framework 6 need define the data message interface of central siphon reason framework 6 and central siphon reason framework hardware interface driving 17, set point generator framework 7, controller frame 8, measuring system framework 9, executive system framework 10 and expanded function framework 11; And open up a memory block and be used for their data message is stored, and accomplish that central siphon reason framework hardware interface drives 17, the planning of set point generator framework 7, controller frame 8, measuring system framework 9, executive system framework 10 and expanded function framework 11 execution sequences.
Described set point generator framework 7 links to each other with set point generator functional module 12 inner a plurality of sub-function module; Be mainly used in the order and reference position, last position and a speed of feed data message of motion of the axle motion of receiving axes Governance framework 6 management; To calling and data information management of set point generator functional module 12 inner a plurality of sub-function module; And send the data message of management to central siphon reason framework 6, and the data message of accomplishing between set point generator functional module 12 inner a plurality of sub-function module is mutual; Described set point generator framework 7 needs definition set point generator framework 7 inner a plurality of in the data message interface of functional module with set point generator functional module 12; And open up the storage that a memory block is used for data message, and the planning of completion set point generator functional module 12 inner a plurality of sub-function module execution sequences.
Described controller frame 8 links to each other with controller function module 13 inner a plurality of sub-function module; Be mainly used in the axle set point data information and the required feedback data information of axle closed-loop control of 6 management of receiving axes Governance framework; To calling and data information management of controller function module 13 inner a plurality of sub-function module; And send the data message of management to central siphon reason framework 6, and the data message of accomplishing between controller function module 13 inner a plurality of sub-function module is mutual; Described controller frame 8 needs the data message interface of definition controller frame 8 and controller function module 13 inner a plurality of sub-function module; And open up the storage that a memory block is used for data message, and the planning of completion controller function module 13 inner a plurality of sub-function module execution sequences.
Described measuring system framework 9 and sensor interface drive 18 and link to each other with measuring system functional module 14 inner a plurality of sub-function module; Be mainly used in the axle sensor information of receiving axes Governance framework 6 management; To calling and data information management of sensor interface driving 18 and measuring system functional module 14 inner a plurality of sub-function module; And send the data message of management to central siphon reason framework 6, and accomplish sensor interface drive 18 and measuring system functional module 14 inner a plurality of sub-function module between data message mutual; Described measuring system framework 9 needs the data message interface of definition measuring system framework 9 and sensor interface driving 18 and measuring system functional module 14 inner a plurality of sub-function module; And open up the storage that a memory block is used for data message, and the planning of accomplishing sensor interface driving 18 and measuring system functional module 14 inner a plurality of sub-function module execution sequences.
Described executive system framework 10 and actuator interface drive 19 and link to each other with executive system function module 15 inner a plurality of sub-function module; Be mainly used in the axle closed-loop control output data information or the axle open loop control set point data information of 6 management of receiving axes Governance framework; To calling and data information management of the driving 19 of actuator interface and executive system function module 15 inner a plurality of sub-function module; And send the data message of management to central siphon reason framework 6, and accomplish the actuator interface drive 19 and executive system function module 15 inner a plurality of subfunctions between data message mutual; Described executive system framework 10 needs the data message interface of definition executive system framework 10 and the driving 19 of actuator interface and executive system function module 15 inner a plurality of sub-function module; And open up the storage that a memory block is used for data message, and the planning of accomplishing the driving 19 of actuator interface and executive system function module 15 inner a plurality of sub-function module execution sequences.
Described expanded function framework 11 links to each other with extended function module 20 inner a plurality of sub-function module; Be mainly used in the axle motion and the control information of 6 management of receiving axes Governance framework; To calling and data information management of extended function module 20 inner a plurality of sub-function module; And send the data message of management to central siphon reason framework 6, and the data message of accomplishing between extended function module 20 inner a plurality of sub-function module is mutual; Described expanded function framework 11 needs the data message interface of definition expanded function framework 11 and extended function module 20 inner a plurality of sub-function module; And open up the storage that a memory block is used for data message, and the planning of completion extended function module 20 inner a plurality of sub-function module execution sequences.
Described set point generator functional module 12 is made up of a plurality of sub-function module such as sudden-stop function module 26, feed motion functional module 27 and return reference point functional module 28, is mainly used in the set point data information that produces axle; Described sudden-stop function module 26 is used to receive the anxious moving order of stopping transport of axle of set point generator framework 7, adopts T type curve acceleration and deceleration control to produce the anxious moving required set point data information of stopping transport of axle, and sends it to set point generator framework 7; Described feed motion functional module 27; Be used to receive the axle feed motion order of set point generator framework 7 and reference position, last position, the speed of feed data message of axle motion; Adopt S curve acceleration and deceleration control to produce the required set point data information of axle feed motion, and send it to set point generator framework 7; Described return reference point functional module 28; Be used to receive the axle return reference point motion command and axle speed of feed data message of set point generator framework 7; Adopt S curve acceleration and deceleration control to produce the required set point data information of axle return reference point motion, and send it to set point generator framework 7.
Described controller function module 13 becomes structure controller 31 by a plurality of sub-function module like: PID controller 29, feedforward controller 30 and synovial membrane and forms, is mainly used in a closed-loop control of accomplishing spool; Described PID controller 29; Be used to receive the axle set point data information and the required feedback data information of axle closed-loop control of controller frame 8; Adopt pid control algorithm to realize the axle closed-loop control, and send the output data information of PID control to controller frame 8; Described feedforward controller 30; Be used for receiving the speed and the acceleration information information of the axle set point data information of controller frame 8; Adopt velocity feed forward and feed forward of acceleration to eliminate in disturbing to the influence of axle motion with control; Improve the system keeps track control performance, and send the data message of feedforward control output to controller frame 8; Described synovial membrane becomes structure controller 31; Be used to receive the axle set point data information and the required feedback data information of axle closed-loop control of controller frame 8; Adopt synovial membrane to become the structure control algorithm and realize an axle closed-loop control, and send the data message that synovial membrane becomes structure control output to controller frame 8.
Described measuring system functional module 14 is calculated functional module 33 by a plurality of sub-function module such as sensor computing function module 32 with measurement and is formed, and is mainly used in the detection information processing of completion to the sensor 2 of axle; Described sensor computing function module 32; Drive the rotary encoder of 18 detections and the count value of grating sensor through measuring system framework 9 receiving sensor interfaces; Convert the angle that corresponding motor turns over and the displacement data information of single shaft mechanical platform motion into, and send it to measuring system framework 9; Functional module 33 is calculated in described measurement; The angle that the motor of changing through measuring system framework 9 receiving sensor computing function modules 32 turns over and the displacement data information of single shaft mechanical platform motion; Reference axis closed-loop control desired position and speed data information, and send it to measuring system framework 9 as the required feedback data information of shaft position closed-loop control and speed closed loop control.
Described executive system function module 15 is made up of a plurality of sub-function module such as actuator computing module 34, is mainly used in the driving data information processing of completion to the actuator 4 of axle; Described actuator computing module 34, output data information or set point data information through the 10 receiving axes closed-loop controls of executive system framework convert the driving data information that actuator 4 can be discerned into, and give executive system framework 10 with it.
Described extended function module 20 is made up of a plurality of sub-function module such as bug check module 35, error-detecting module 36, tracking module 37 and performance computation functional module 38, is mainly used in the function expansion of completion to the motion controller 1 of axle; Described bug check module 35 through motion of expanded function framework 11 receiving axes and control information, is used for checking and handling the error message that axle moves and control procedure produces, and sends error message and result to expanded function framework 11; Described error-detecting module 36; Through motion of expanded function framework 11 receiving axes and control information; Be used to detect axle motion and site error, velocity error, moment sum of errors steady-state error that control procedure produces, send testing result to expanded function framework 11; Described tracking module 37 through motion of expanded function framework 11 receiving axes and control information, is used for data tracking, tracking function and the status tracking of axle motion with control procedure sent trace information to expanded function framework 11; Described performance calculating module 38, through motion of expanded function framework 11 receiving axes and control information, stability, robust performance and response speed in reference axis motion and the control procedure send result of calculation to expanded function framework 11.
The driving 17 of described central siphon reason framework hardware interface links to each other with central siphon reason framework hardware interface 20 with central siphon reason framework 6; Be mainly used in driving shaft management framework hardware interface 20, and it is mutual with the data message of central siphon reason framework hardware interface 20 to accomplish central siphon reason framework 6.Described sensor interface drives 18 and links to each other with sensor interface 21 with measuring system framework 9, be mainly used in driving sensor interface 21, and the data message of completion measuring system framework 9 and sensor interface 21 is mutual; Described actuator interface drives 19 and links to each other with actuator interface 22 with executive system framework 10, is mainly used in actuate actuators interface 22, and it is mutual to accomplish the data message of executive system framework 10 and actuator interface 22.
Described central siphon reason framework hardware interface 20 is made up of communication interface 20-1 and external expansion interface 20-2 at least; Described communication interface 20-1 mainly comprises Ethernet interface, RS232 interface, USB interface and CAN EBI; The hardware interface of accomplishing motion controller 1 communication function is provided; Described external expansion interface 20-2 mainly comprises I/O expansion interface and expansion bus interface, and the hardware interface of motion controller 1 expansion is provided.Described sensor interface 21, the hardware interface that provides motion controller 1 to link to each other with sensor 2.Described actuator interface 22, the hardware interface that provides motion controller 1 to link to each other with driver 3.
Set point generator functional module 12 in the described functional module layer, controller function module 13, measuring system functional module 14, executive system function module 15 and extended function module 16 are formed by a plurality of sub-function module; Each sub-function module is accomplished single subfunction, the non-direct coupling independently of one another of each sub-function module.
Described is the inner composition of functional module ccf layer, functional module layer and hardware interface Drive Layer in the motion controller 1 of the reconfigurable kinetic control system of single-bit moduleization with the axle; All can increase according to motion and the demand for control of the axle under the actual condition, cutting and modification, realization is the reconstruct of the kinetic control system of unit with the axle.
The present invention can Rapid Realization be the reconstruct of the different motion control system of unit with the axle, for example:
The formation of (1) single shaft open loop kinetic control system: as shown in Figure 1; Central siphon reason framework 6 need be managed the framework hardware interface with central siphon and drive 17 and link to each other with executive system framework 10; Set point generator framework 7 links to each other with set point generator functional module 12 inner a plurality of sub-function module; Executive system framework 10 and actuator interface drive 19 and link to each other with executive system function module 15 inner a plurality of sub-function module, and actuator interface driving 19 links to each other with actuator interface 22, and actuator interface 22 links to each other with driver 3; Driver 3 and actuator 4, actuator 4 links to each other with controlled device 5.
(2) formations: as shown in Figure 1 with single shaft semiclosed loop kinetic control system of PID control; Formation based on above-mentioned single shaft open loop kinetic control system; Central siphon reason framework 6 also need link to each other with measuring system framework 9 with controller frame 8; Controller frame 8 and controller function module 13 inner PID controllers 29 link to each other, and measuring system framework 9 and sensor interface drive 18 and link to each other sensor interface driving 18 and sensor interface 21 with measuring system functional module 14 inner a plurality of sub-function module; Sensor interface 21 and sensor 2, sensor 2 links to each other with actuator 4.
(3) formations: as shown in Figure 1 with single shaft full cut-off ring kinetic control system of compound control; Formation based on above-mentioned single shaft semiclosed loop kinetic control system with PID control; Controller frame 8 also need link to each other with controller function module 13 inner feedforward controllers 30, and sensor 2 links to each other with controlled device 5.
(4) one have the formation that synovial membrane becomes the single shaft high-performance full cut-off ring kinetic control system of structure control: as shown in Figure 1; Based on above-mentioned single shaft full cut-off ring kinetic control system with compound control; Central siphon reason framework 6 also need link to each other with expanded function framework 11; Controller frame 8 becomes structure controller 31 with controller function module 13 inner synovial membranes and links to each other, and connects expanded function framework 11 and links to each other with extended function module 16 inner a plurality of sub-function module.
Of the present invention a kind of be the reconfigurable kinetic control system of single-bit moduleization with the axle, have good opening, interoperability, portability, scalability and interchangeability, have application fields.Can be as required through user of the present invention, easy, the required kinetic control system of reconstruct quickly and reliably reduces exploitation, maintenance, upgrade cost and time.
At last the explanation be of the present invention a kind of be that the reconfigurable kinetic control system of single-bit moduleization is not limited to the foregoing description with the axle, can also make various modifications, conversion and distortion.Therefore, instructions and accompanying drawing are regarded in an illustrative, rather than a restrictive.Every foundation technical scheme of the present invention is made amendment, modification or equivalent variations, and does not break away from the thought and the scope of technical scheme of the present invention, and it all should be encompassed in the middle of the claim scope of the present invention.
Claims (3)
1. one kind is the reconfigurable kinetic control system of single-bit moduleization with the axle; At least comprise motion controller (1), sensor (2), driver (3), actuator (4) and controlled device (5), described motion controller (1) links to each other with driver (3), and described motion controller (1) also links to each other with sensor (2); Described driver (3) links to each other with actuator (4); Described sensor (2) links to each other with actuator (4), and described actuator (4) links to each other with controlled device (5), it is characterized in that; Described motion controller (1) is the activation bit that unit produces actuator (4) with the axle, moves through driver (3) actuate actuators (4); Described motion controller (1) mainly is made up of Governance framework layer, functional module ccf layer, functional module layer, hardware interface Drive Layer and hardware interface layer; The inner composition of described Governance framework layer, functional module ccf layer, functional module layer and hardware interface Drive Layer all is base unit with the axle;
Described Governance framework layer comprises central siphon reason framework (6) at least; Described functional module ccf layer comprises set point generator framework (7), controller frame (8), measuring system framework (9), executive system framework (10) and expanded function framework (11) at least; Described functional module layer comprises set point generator functional module (12), controller function module (13), measuring system functional module (14), executive system function module (15) and extended function module (16) at least; Described hardware interface Drive Layer comprises that at least central siphon reason framework hardware interface drives (17), sensor interface drives (18) and the actuator interface drives (19); Described hardware interface layer comprises central siphon reason framework hardware interface (20), sensor interface (21) and actuator interface (22) at least;
Described central siphon reason framework (6) drives (17) with set point generator framework (7), controller frame (8), measuring system framework (9), executive system framework (10), expanded function framework (11) with central siphon reason framework hardware interface and links to each other; Be mainly used in fixed point generator framework (7), controller frame (8), measuring system framework (9), executive system framework (10), expanded function framework (11) and central siphon reason framework hardware interface are driven calling and data information management of (17), and the data message of accomplishing between set point generator framework (7), controller frame (8), measuring system framework (9), executive system framework (10) and the expanded function framework (11) is mutual;
Described set point generator framework (7) links to each other with the inner a plurality of sub-function module of set point generator functional module (12); Be mainly used in the calling and data information management of the inner a plurality of sub-function module of set point generator functional module (12), and the data message of accomplishing between the inner a plurality of sub-function module of set point generator functional module (12) is mutual; Described set point generator functional module (12) is mainly used in the set point data information that produces axle;
Described controller frame (8) links to each other with the inner a plurality of sub-function module of controller function module (13); Be mainly used in the calling and data information management of the inner a plurality of sub-function module of controller function module (13), and the data message of accomplishing between the inner a plurality of sub-function module of controller function module (13) is mutual; Described controller function module (13) is mainly used in the closed-loop control of accomplishing axle;
Described measuring system framework (9) drives (18) with sensor interface and links to each other with the inner a plurality of sub-function module of measuring system functional module (14); Be mainly used in sensor interface is driven calling and data information management of (18) and the inner a plurality of sub-function module of measuring system functional module (14), and the data message of accomplishing between sensor interface driving (18) and the inner a plurality of sub-function module of measuring system functional module (14) is mutual; Described measuring system functional module (14) is mainly used in the detection information processing of completion to the sensor (2) of axle;
Described executive system framework (10) drives (19) with the actuator interface and links to each other with the inner a plurality of sub-function module of executive system function module (15); Be mainly used in the actuator interface is driven calling and data information management of (19) and the inner a plurality of sub-function module of executive system function module (15), and the data message of accomplishing between actuator interface driving (19) and the inner a plurality of subfunctions of executive system function module (15) is mutual; Described executive system function module (15) is mainly used in the driving data information processing of completion to the motion controller (1) of axle;
Described expanded function framework (11) links to each other with the inner a plurality of sub-function module of extended function module (16); Be mainly used in the calling and data information management of the inner a plurality of sub-function module of extended function module (16), and the data message of accomplishing between the inner a plurality of sub-function module of extended function module (16) is mutual; Described extended function module (16) is mainly used in the function expansion of completion to the motion controller (1) of axle;
Described central siphon reason framework hardware interface drives (17) and links to each other with central siphon reason framework hardware interface (20) with central siphon reason framework (6); Be mainly used in driving shaft management framework hardware interface (20), and it is mutual with the data message of central siphon reason framework hardware interface (20) to accomplish central siphon reason framework (6);
Described sensor interface drives (18) and links to each other with sensor interface (21) with measuring system framework (9), is mainly used in driving sensor interface (21), and it is mutual with the data message of sensor interface (21) to accomplish measuring system framework (9);
Described actuator interface drives (19) and links to each other with actuator interface (22) with executive system framework (10), is mainly used in actuate actuators interface (22), and it is mutual with the data message of actuator interface (22) to accomplish executive system framework (10);
Described central siphon reason framework hardware interface (20) is made up of communication interface (20-1) and external expansion interface (20-2) at least; Described communication interface (20-1) provides the hardware interface of accomplishing motion controller (1) communication function, and described external expansion interface (20-2) provides the hardware interface of motion controller (1) expansion;
Described sensor interface (21), the hardware interface that provides motion controller (1) to link to each other with sensor (2);
Described actuator interface (22), the hardware interface that provides motion controller (1) to link to each other with driver (3).
According to right 1 described a kind of be the reconfigurable kinetic control system of single-bit moduleization with the axle; It is characterized in that set point generator functional module (12), controller function module (13), measuring system functional module (14), executive system function module (15) and extended function module (16) in the described functional module layer form by a plurality of sub-function module; Each sub-function module is accomplished single subfunction, the non-direct coupling independently of one another of each sub-function module.
According to right 1 described a kind of be the reconfigurable kinetic control system of single-bit moduleization with the axle; It is characterized in that described is the inner composition of functional module ccf layer, functional module layer and hardware interface Drive Layer in the motion controller (1) of the reconfigurable kinetic control system of single-bit moduleization with the axle; All can increase according to motion and the demand for control of the axle under the actual condition, cutting and modification, realization is the reconstruct of the kinetic control system of unit with the axle.
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| EP2946253A4 (en) * | 2013-01-17 | 2016-10-12 | Abb Technology Ltd | Motion controller and robot control system using the same |
| CN103684175B (en) * | 2013-12-23 | 2017-01-11 | 广西大学 | Reconfigurable AC servo drive control system |
| CN103699093A (en) * | 2013-12-23 | 2014-04-02 | 广西大学 | Modular and reconfigurable motion controller |
| CN103676789B (en) * | 2013-12-23 | 2016-08-17 | 广西大学 | A kind of construction method of modular reconfigurable motion controller |
| CN103676900B (en) * | 2013-12-23 | 2016-08-31 | 广西大学 | A kind of reconfigurable open type movement-control system |
| CN105751221A (en) * | 2016-05-17 | 2016-07-13 | 苏州威达智电子科技有限公司 | General motion control platform |
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| CN101706648A (en) * | 2009-01-13 | 2010-05-12 | 华东理工大学 | Design method of motion controller based on RCP and DSP |
| CN101710233A (en) * | 2009-01-13 | 2010-05-19 | 华东理工大学 | Design method of motion controller based on RCP |
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| US6442451B1 (en) * | 2000-12-28 | 2002-08-27 | Robotic Workspace Technologies, Inc. | Versatile robot control system |
| WO2009089914A1 (en) * | 2008-01-18 | 2009-07-23 | Abb Technology Ab | A control system for controlling an industrial robot |
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| CN101710233A (en) * | 2009-01-13 | 2010-05-19 | 华东理工大学 | Design method of motion controller based on RCP |
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