CN102354147A - Reconfigurable computer numerical control system, numerical control method thereof and reconstruction method thereof - Google Patents

Reconfigurable computer numerical control system, numerical control method thereof and reconstruction method thereof Download PDF

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CN102354147A
CN102354147A CN2011102066762A CN201110206676A CN102354147A CN 102354147 A CN102354147 A CN 102354147A CN 2011102066762 A CN2011102066762 A CN 2011102066762A CN 201110206676 A CN201110206676 A CN 201110206676A CN 102354147 A CN102354147 A CN 102354147A
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interlock
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digital control
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control
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CN102354147B (en
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江俊逢
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Digital Drive Technology Co ltd
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    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller

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Abstract

The invention discloses a standardized reconfigurable computer numerical control system, a numerical control method thereof and a reconstruction method thereof, wherein the computer numerical control system is based on PC and is opened all around. A processing process model, which faces to the process and is open, is provided. Control resources are configured according to a control flow including generation, distribution, sending and execution of numerical control information. And the system has nothing to do with software and hardware platform performces like a digit number and a speed of a processor as well as an operating system performance and the like; and the system also has nothing to do with a programming interface; therefore, the system has good reconfigurability. According to the invention, real-time control of a tool path curve is converted into simplest real-time sending of a linkage instruction; and the system has a simple and reliable multiaxis synchronization capability with high speed and high precision, so that significant transformation of a numerical control method is brought about.

Description

Reconfigurable computer digital control system and digital control method, reconstructing method
Technical field
The invention belongs to advanced control and advanced manufacturing field; Be specifically related to a kind of based on reconfigurable computer digital control system PC, that open up comprehensively, standardized and digital control method and reconstructing method, to adapt to the requirement of Reconfigurable Manufacturing System to digital control system.
Technical background
Reconfigurable Manufacturing System is advanced research forward position of making, and is the developing direction of future manufacturing systems.1998, national research council was delivered the research report of " challenge that the year two thousand twenty manufacturing industry faces ", first of Reconfigurable Manufacturing System being classified as 10 big gordian techniquies.That Reconfigurable Manufacturing System is had decisive significance is restructural lathe RMT (Reconfigurable Machine Tools).Over year, digital information technology is advanced by leaps and bounds surplus in the of ten, restructural lathe blank wall, and its reason is that the restructural lathe must be based upon on the basis of reconfigurable computer digital control system.Do not have the reconfigurable computer digital control system, the restructural lathe then becomes to cook a meal without rice.
The reconfigurability of digital control system becomes the gordian technique that needs to be resolved hurrily in the Reconfigurable Manufacturing System.
The reconfigurable computer digital control system should be a kind of open digital control system, and this is the common recognition of this area.
Since nineteen fifty-two U.S. MIT develops first electron tube digital control system; Go through after transistor, integrated circuit, small-size computer, the microcomputer; Digital control system in last century the eighties develop into digital control system in open type based on PC, three kinds of pattern: PC that produced existing digital control system in open type embed the NC patterns, NC embed PC pattern, soft open pattern.
The what is called of NC embedding PC pattern becomes the main flow that has digital control system in open type now based on the digital control system in open type of motion controller, and motion controller becomes a new high-tech industry and the fashionable whole world.Open-type motion is described as the new generation of industrial controller in the U.S., is considered to the industrial revolution for the third time in the future in Japan.
IEEE (Institute of Electrical and Electronic s Engineers, institute of electrical and electronic engineers) being defined as about digital control system in open type:
" application system of compliance with system standard may operate on the different platform of a plurality of dealer, can carry out interoperability with the application of other system, and have the User Interface of consistent style.”
CNS " GB/T 18759.1-2002 mechanical electric equipment digital control system in open type part 1 general provisions " is caught the essence of IEEE definition and is followed the cardinal rule of IEEE definition; In 3.1 sections, bluntly opening is defined as " plug and play " of application software, digital control system in open type is defined as:
" refer to that application software constructs the digital control system on the system platform of following publicity, extensibility, compatible principle, make application software possess the consistance of portability, interoperability and man-machine interface.”
Open architecture is the gordian technique that realizes high-performance, intelligent digital control.Yet, in the last thirty years, under the misleading of IEEE definition; (carry " information and control ", 2003 the 3rd phases, China Association of Automation and Shenyang Inst of Automation, Chinese Academy of Sciences unite and sponsor as document " High Performance Motion Control is summarized in APPLICATION IN CNC SYSTEM "; Author: Wang Junping, Wang An respects the faithful and upright person; Chen Quanshi) pointed; " open architecture does not also have unified, clear and definite concept connotation, and system realizes that technology also is in the epoch of letting a hundred schools contend ", " research of open architecture also is in initial stage ".
From information-theoretical angle, digital control system just will be compressed in the digital control information decompress(ion) in cutter track curve and the speed of feed.In the existing digital control system in open type based on the IEEE definition, interpolation iteration control method is exactly a kind of decompressing method of digital control information.
The basic technical scheme of interpolation iteration control method is; Speed of feed for given cutter track (Tool Path) curve and cutter; Under the control of real time operating system, be the timesharing cycle with the interpolation cycle, adopt the interpolation iterative algorithm to calculate the digital control information of relevant coordinate axis in real time; And distribute in real time and send to servo drive and carry out, with the determinacy kinematic relation between the control mechanical system.In each interpolation cycle; By the digital control information that interpolation generated; Distribute in real time immediately on the one hand and send to the servo drive execution; Carry out iteration generating next digital control information as the input of next interpolation cycle again on the other hand, thereby constitute the real-time iteration of digital control information.Follow the beat of interpolation cycle, digital control information constantly generates, distributes, sends, carries out, from and go round and begin again with the mode of process iteration, constitute the real-time iteration of control procedure.
The inventor finds that the existing digital control system in open type that defines based on IEEE does not have the fundamental cause of reconfigurability that 4 points are arranged:
The first, platform dependency
So-called platform-neutral generally refers to application software and can move on operation and a plurality of operating system on the CPU of a plurality of different cultivars.The former is the hardware platform independence, and the latter is the software platform independence.
CNS " GB/T 18759.1-2002 mechanical electric equipment digital control system in open type part 1 general provisions " is divided into application software and system platform with the basic architecture of digital control system in open type, and system platform is made up of hardware platform and software platform.So-called hardware platform is the basic components of software platform and application software operation, is in the bottom of basic architecture; So-called software platform is the basic components of application software operation, is between the hardware platform and application software of basic architecture.So-called NC kernel software then is the basic software in the application software, just relates to the application software module of motion control, axle control and motion control management.Easy for what narrate, abbreviate the NC kernel software as the numerical control application software.
Software platform generally comprises operating system, graphics system and API APT, and wherein core is a real time operating system.
From the developing history of computing machine and computer utility, adopting the multiple task operating system of a plurality of user programs of time-division operation is epoch-making progress.Yet in itself, multiple task operating system just is the administrative mechanism that adapts to a kind of internal and external resources that management and inner with outside environmental change inner and external resource make up and the strain mechanism of response internal and external environment variation.
In existing digital control system in open type based on the IEEE definition; Interpolation iteration control method changes the administrative mechanism and the strain mechanism of real time operating system into a kind of pervasive controlling mechanism; Real time operating system just becomes carries out the real-time interpolation iteration to generate the real-time control center of digital control information, and it is the system architecture at center that existing digital control system has formed with the real time operating system.The operation rule of interpolation iterative control algorithm and the task scheduling of real time operating system rule close-coupled constitute a kind of real-time digital control method, i.e. interpolation iteration control method together.Interpolation iteration control method has been created " the interpolation epoch " of digital control system through whole history of digital control technology and digital control system.。
In the existing digital control system in open type based on the IEEE definition, the interpolation iterative control algorithm must be carried out interpolation in real time and calculate as a kind of decompressing method of digital control information under the control of real time operating system.Real time operating system has high-precision timing function, multistage interrupt nesting treatment mechanism and Real-Time Scheduling mechanism, and its core is process scheduling and thread scheduling.Real-time is complicated with process scheduling and thread scheduling.Parallel algorithm is further complicated with process scheduling and thread scheduling again.Compare with the concurrency of processor level process with the concurrency of machine instruction level production line, the uncertainty that concurrency faced of thread is very complicated.
Process and thread are added parallel algorithm, cause the high complexityization of real time operating system and the high complexityization of numerical control application software.For the multiple axes system of high-speed, high precision, the numerical control application software certainly will become a huge and complicated interrupt system that adopts parallel algorithm, relates to multi-process/multithreading nesting allocation and multiple real-time nested interrupt.
Problem is; In case movement velocity improves or kinematic accuracy improves or universal driving shaft increases or the interlock parameter increases; The interpolation cycle of real time operating system is inevitable to be increased with exponential form, thereby needs the CPU of long number more speed more, more real time operating system, the Real-Time Scheduling ability of more optimizing and the more advanced interpolation iterative control algorithm of hard real-time of long number more.
Be problematic in that,, should be proficient in digital control technology, be proficient in computing machine software and hardware architecture again, also will be proficient in parallel algorithm and multi-thread programming in order to research and develop that huge and complicated interrupt system.This just means, the numerical control application software becomes so-called expert teacher system, promptly only is proficient in the system that the compound expert of above-mentioned technology could research and develop, and the user can't carry out secondary development, thereby has completely lost opening.
Therefore; Open existing digital control system complete " by computerize " based on the IEEE definition; On architecture; Become the general-purpose computing system that needs the configuration real time operating system in fact, the numerical control application software is one of them proprietary application system, and its opening can only be defined as " plug and play " of numerical control application software.
This shows that in itself, the existing digital control system in open type that defines based on IEEE does not have platform-neutral, but opposite, has platform dependency, for the multiple axes system of high-speed, high precision, platform strong correlation especially.
Since the existing digital control system in open type based on the IEEE definition has the platform strong correlation, just lost the basis of reconstruct in itself.
The second, in real time control procedure does not have reconfigurability
In existing digital control system in open type based on the IEEE definition; The iterative process that real-time control procedure is a digital control information is again the iterative process of real-time control procedure; Inseparable with the interpolation iterative control algorithm, the interpolation iterative algorithm of high-speed, high precision becomes the core technology in the existing Numeric Control Technology naturally.So the OSEC plan (Open System Environment for Controller) of Japan thinks, the digital control system in open type that does not have an advanced control algolithm just evolution property, be not desirable with revolutionary.
On architecture, be divided into system platform and application software two large divisions based on the existing digital control system in open type of IEEE definition, application software and then be divided into man-machine key-course and the motion control layer.The motion control layer is the kernel that digital control system is accomplished real-time control procedure, is made up of the several criteria assembly.Obviously, this is a kind of architecture of application-oriented software arrangements.This just means that the existing digital control system in open type that defines based on IEEE is an object-oriented rather than processor-oriented.
The key problem of digital control system is to control the cutter track curve in real time.Corresponding to the reconstruct of mechanical system, the real-time control procedure of cutter track curve must need reconstruct.
In existing digital control system in open type based on the IEEE definition; For different cutter track curves; For example, straight line, circular arc, para-curve, involute urve, nurbs curve etc. must be researched and developed corresponding interpolation iterative algorithm and the corresponding control module in real time of configuration in the numerical control application software.Therefore, corresponding to the reconstruct of mechanical system, the reconstruct of control procedure in real time must relate to the modification of real-time control module, or replaces, increases real-time control module.Give up outside this, do not have the other technologies means again.
Obviously, the intension of this and digital control system reconfigurability is far apart.
The inventor finds that for digital control, process has more essential characteristic than object.Digital control in the digital control system is a process, rather than object.Yet, be object-oriented rather than processor-oriented based on the existing digital control system in open type of IEEE definition.
In interpolation iteration control method, in real time control procedure is exactly the going round and beginning again of generative process, assigning process, process of transmitting, implementation of the coordinate figure increment under the interpolation cycle control.Thereby; Control procedure is inseparable with the geometric properties of cutter track curve, the technology characteristics of process, the kinematics/dynamic characteristic of mechanical system etc. in real time; Inseparable with hardware platforms such as the figure place of CPU, arithmetic speeds; Inseparable with software platforms such as real time operating systems, inseparable with the interpolation iterative algorithm.This has just fundamentally limited the reconstruct of real-time control procedure.In other words, in the existing digital control system in open type based on the IEEE definition, the real-time control procedure of cutter track curve can't be opened, and does not have reconfigurability.
Three, communication cycle is a systematic parameter
Networking is the important technology characteristic of advanced manufacturing technology.
CNS " GB/T 18759.1-2002 mechanical electric equipment digital control system in open type part 1: general provisions 5.2.4.2 " regulation, PERCOM peripheral communication should meet relevant national standard or international standard, and intercommunication is traffic model according to the ISO standard.
PERCOM peripheral communication is used between digital control system and the workshop management net, and it can be described as network interface by mouth, for example EPA interface or other fieldbus Field bus).
Then; For the intercommunication interface; CNS " GB/T 18759.3-2009. mechanical electric equipment. digital control system in open type. the 3rd partial bus interface and communication protocol " be the basis with ISO/OSI Open System Interconnection reference model; Standard a kind of fieldbus, be referred to as " digital control system in open type bus ", be used for connecting " numerical control device, servo drive, main shaft driving device, sensor device, I/O device "; Realizing these " communications of digital, two-way, the multiple spot between device ", and satisfy system to periodicity, real-time, synchronously, the requirement of aspects such as reliability, security, opening.The draft of another kind of digital control system on-the-spot bus standard " machine tool numerical control system NCUC-Bus fieldbus protocol specification (draft) " discloses, also is the basis with ISO/OSI Open System Interconnection reference model.
As everyone knows, ISO/OSI Open System Interconnection reference model is to the traffic model between the computer network.Said standard for Fieldbus is simplified bus architecture, mainly is made up of Physical layer, data link layer and application layer.Said fieldbus causes communication cycle to become another systematic parameter, and the real-time of communication protocol, a series of problems such as compatibility of data representation cause the intercommunication high complexityization with expensive.
Corresponding to the reconstruct of mechanical system, the real-time data layout of the digital control information in the control procedure comprises that the byte number etc. of feeding equivalent (nanometer or micron), data all will change.In said fieldbus, must formulate the exchanges such as user plane communication agreement, the data layout in the exchanges data of digital control system in open type inside, sequential relationship and error correcting system are given standard.Thereby similar with the interpolation cycle in the real time operating system, the communication cycle in the fieldbus becomes the factor of restriction digital control system reconfigurability on the contrary.
For the reconfigurable computer digital control system, must be used in support all kinds of fieldbus (for example CAN, Profibus, Sercos etc.) by the labor computational resource for this reason.
Four, the consistance of DLL and man-machine interface
In open existing digital control system, adopt the DLL of G code standard as nc program based on the IEEE definition.The fifties in last century paper tape as the input basic physical medium the time, on paper tape, represent character for standard, formulated the coding standard of tape punch, i.e. the G code standard.
The G code standard is the primary product of infotech starting stage, receives the restriction of paper tape to have the very few defective of quantity of information inevitably.Each manufacturer thereby G code all carried out the expansion outside the basic semanteme causes the dependence of G code program and corresponding hardware, and nc program does not have interchangeability between different digital control systems, cause various digital control systems incompatible.Thereby as DLL, the G code standard does not possess the consistance of man-machine interface, becomes one of bottleneck that Numeric Control Technology further develops, and has restricted the opening and the reconfigurability of digital control system yet.
The problem of above-mentioned four aspects causes having only three kinds of technical schemes to solve the opening of digital control system based on the existing digital control system in open type of IEEE definition.
The first is researched and developed the CPU of more long number, more speed and long number more, real time operating system that real-time is stronger.For example, 2009, the scientific and technological great special plan of China national " high-grade, digitally controlled machine tools with basis make equipment " was classified the multi-axis linkage numerical control system that 64 bit CPUs, 64 real time operating systems and interpolation cycle reach 0.125ms as gordian technique.
It two is to research and develop more advanced interpolation iterative control algorithm.For example, Japan develops 64 the hypervelocity chips and the NURBS interpolation iterative control algorithm that are used for motion controller under OSEC plan promotes.
It three is that research and development are based on the complete soft digital control system in open type of hypervelocity processor and real time operating system.So-called complete soft digital control system in open type figuratively speaking, is exactly with the complete PCization of digital control system under the real time operating system support.
Obviously, above-mentioned three kinds of technical schemes all rely on real time operating system, and the real-time control procedure of cutter track curve can't be opened.The fact of a sternness is, in the existing digital control system in open type based on the IEEE definition, corresponding to the reconstruct of mechanical system; Particularly corresponding to the reconstruct of high-speed, high precision multiple axes system; No matter be that NC embeds PC pattern or soft open pattern, all can not solve the problem of above-mentioned four aspects, particularly; All can not solve the reconfigurability of real-time control procedure, can only research and develop that huge and complicated interrupt system again.
Therefore; CNS " GB/T 18759.1-2002 mechanical electric equipment digital control system in open type part 1 general provisions " does not carry out technology to the reconfigurability of digital control system and defines; Also reconfigurable CNC system is not done any explanation, only in the 4.5.2 money, reconfigurability being classified as has highest level to be achieved in the digital control system in open type.In other words, concerning based on the existing digital control system in open type of IEEE definition, reconfigurability is a beautiful imagination.
The inventor finds that IEEE is the basic reason that hinders the development of reconfigurable computer digital control system about the definition of digital control system in open type, and its primary factor is the control idea that the IEEE definition is produced.In abstracto, must change existing digital control technology, establishing with the working machine is the control idea at center.Digital control system is the working machine service, and it is the multidimensional associated data stream that its task is just made digital control information for working machine, and said multidimensional associated data stream can not be carried redundant informations such as the unwanted interpolation cycle of working machine, communication cycle, profile step-length secretly.
For digital control, process has more essential characteristic than object.Digital control in the digital control system is a process, rather than object.The architecture of the existing digital control system under the IEEE definition is with the Ptolemaic system similar of the theory of the earth's core in the uranology in history, all because of the mistake of idea.
Inventor and then discovery, there are three error of principle in the IEEE definition.
First error of principle of IEEE definition is that on the control idea, IEEE defines the real-time command centre that digital control system is orientated as the Control work machine, does not have the notion of associated data stream.
Second error of principle of IEEE definition is; On architecture, numerically controlled process essence, object-oriented rather than procedure-oriented have been ignored in the IEEE definition; The notion that does not have control flow is defined as a kind of general-purpose computing system that needs the configuration real time operating system with digital control system.
The 3rd error of principle of IEEE definition is; On control method; It is a kind of decompressing method of digital control information that the interpolation iterative control algorithm has been ignored in the IEEE definition; Thereby the strain mechanism that the administrative mechanism and the response internal and external environment of the internal and external resources of real time operating system changes is regarded as a kind of pervasive controlling mechanism, the operation rule and the regular close-coupled of the task scheduling of real time operating system of interpolation iterative control algorithm constituted a kind of real-time control method together.
Therefore, the IEEE definition certainly leads to following problems:
1), all things all are among the process, all to travel through the stages such as generation, development, extinction and develop hierarchical structure.The things structure that develops just becomes object in the different levels of process.All objects are all realized its function during the course.
Just about things a kind of artificially abstract at the certain layer aggregated(particle) structure, process then is the dynamic behaviour of things actual motion in the different levels structure to object.Numerically controlled process essence has been ignored in the IEEE definition fully; Digital control process is regarded as object; Cause the iteration of digital control information and the iteration of control flow, can not relate to the opening of the opening of digital control information, digital control process and the opening at the interface between the digital control process.
2), the IEEE definition is the center with the digital control system; Defined opening is the opening that computer system itself should have; The architecture of so-called digital control system in open type is transplanted from computer system and is come; Be that a kind of object-oriented is so that the modular architecture of realization Control Software can not reflect the technical characterictic of digital control system in whole control process.
3), IEEE definition fails to examine closely from the macroscopic view of manufacturing system the architecture of digital control system in open type, adopts the architecture of general-purpose computing system, causes open notion ambiguous, also fails unified so far.Descriptive vocabulary such as interoperability, portability, scalability, interchangeability just become open so-called technical manual, have hindered the standardized process of digital control system.
4), IEEE definition object-oriented rather than procedure-oriented; The essence of having ignored computer numerical control (CNC); Digital control system " by computerize "; The development of digital control technology is drawn towards what is called " advanced control algolithm " (Japanese OSEC plan), i.e. the precision of interpolation iterative control algorithm and speed, thus misled the developing direction of digital control technology.
5), the key problem of digital control system is the opening and the reconfigurability of real-time control procedure.In the digital control system in open type of IEEE definition, control module can't be opened because of object-oriented in real time, has fundamentally restricted the development of digital control system.
6), the IEEE definition is based on the architecture of general-purpose computing system; The function that is confined to numerical control software is divided and operation interface each other; Lack defining of systematics category for numerically controlled process feature; Thereby digital control system is defined as the general-purpose computing system that has disposed numerical control software, thereby substantially digital control system in open type is defined as the rigidity integrated manufacturing system of making digital control information.
7), IEEE definition is not to be the center with the working machine, but is the center with the digital control system, thereby produced bulk redundancy information such as interpolation cycle, profile step-length, violated simplicity.These redundant informations have consumed the great amount of calculation resource, have violated economy principle.
8), the opening of the opening of process and object is diverse.The opening of process must relate to generation, distribution, the transmission of digital control information, the control flow of execution.The IEEE definition does not have the idea of control flow fully.
The architecture of the digital control system in open type of IEEE definition is not to dispose the architecture of controlling resource according to the control flow of making digital control information.
9), IEEE definition do not regard digital control information as a kind of product, do not relate to the opening of digital control information.
10), the G code standard is the DLL that existing numerical control program adopts.The G code DLL does not possess the consistance of man-machine interface.The IEEE definition is too abstract about the statement of man-machine interface, the opening that so-called " consistance of man-machine interface " avoided DLL.
Therefore; The IEEE definition is not an opening definition about computerized numerical system; Just attempt " plug and play " problem of standard application software; And the opening of unresolved digital control system, on the contrary at the dedicated computer system that on the architecture digital control system is forced under the general-purpose computing system framework, thus with the development of digital control system firmly ground nail die from " interpolation epoch ".
In sum; In the existing digital control system in open type under the cacodoxy of IEEE definition is leading; The digital control information of digital control system manufacturing, making the method for digital control information and process and the process interface of making digital control information, all is that seal, off-gauge, restructural not.The digital control information of manufacturing becomes the interior items of existing digital control system.This has negated the opening and the reconfigurability of digital control system fundamentally just; To have digital control technology and existing digital control system in open type high complexityization artificially now; Be the obstacle that reconstruct being provided with of digital control system is difficult to go beyond, the controller that must cause existing digital control system in open type can't develop and expect for the industrial revolution for the third time.
The inventor gives up the definition of IEEE about digital control system in open type, and digital control system in open type is defined as:
" so-called digital control system in open type is the computerized numerical system according to control flow configuration embedded subsystem, has open man-machine interface, open digital control information, open digital control information manufacturing approach, open digital control information manufacture process, the interface of the opening between the digital control information manufacture process, open application software.”
This definition is equally applicable to said embedded subsystem, thereby is a definition that systematics combines with fractal geometry.In defined digital control system in open type, do not have the iteration of digital control information and the iteration of control flow, the topological structure of control information flow is a kind of linear topology structure.The opening of application software is exactly " plug and play ".
The opening of the man-machine interface the when opening of IEEE definition only relates to the open of application software and manipulates computing machine.
This definition of inventor shows that the opening of digital control system in open type has the intension of following five aspects:
1), the opening of man-machine interface, comprise the opening of man-machine interface, particularly DLL in all control procedure interfaces of digital control information manufacture process;
2), the opening of digital control information;
3), the opening of the manufacturing approach of digital control information;
4), the opening of the manufacture process of digital control information;
5), the opening at the interface between the digital control information manufacture process.
The opening of so-called digital control information refers to the publicity and the transparency that digital control information generates the digital control information that generates in the parts.
The opening of so-called digital control information manufacturing approach refers to and allows user (or developer) structure or integrated oneself the manufacturing approach of digital control information, just " plug and play " of complete software implementation of real-time control method and application software.
The opening of so-called digital control information manufacture process refers to the publicity and the transparency of each subprocess of digital control information.
The internal interface of digital control system is used for exchange message between the internal system functional part.
The opening at the interface between the so-called digital control information manufacture process refers to the opening of internal interface.
The opening of so-called man-machine interface refers to the opening of DLL.
This shows that the definition of inventor's above-mentioned digital control system in open type has reflected the development environment of modern manufacturing industry to the standardization issue that controller proposed, to adapt to the standardized process of industries such as working machine, engine.
The inventor is at patent of invention " computerized numerical system data stream association control method and architecture " (Chinese patent number: ZL200710124304.9; Granted publication day: invented data stream association control method (Data-stream Related Control on August 19th, 2009); DRC control); Make existing digital control system take leave of the interpolation epoch, marched toward the data stream association control epoch, having produced controller of new generation is data stream association controller (DRC controller).
The inventor is at patent of invention " a kind of standardized controlling machine " (application number: 200910110439.9PCT international application no: PCT/CN2010/072914) disclose a kind of standardization DRC controller and reconstructing method thereof; The control flow that sends, carries out according to generation, the distribution of digital control information disposes controlling resource; Said standardization DRC controller generates parts by digital control information, and digital control information distributes transmit block and digital control information execution unit to constitute.
The inventor regards digital control information as a kind of product, and generation, distribution, the transmission of digital control information, the technological process of carrying out this manufacturing digital control information are referred to as control flow.
According to technological process configuration corresponding production equipment, carry out specialized standardized production, this is the only way that manufacturing industry is passed by.Obviously, technological process is to share out the work and help one another, realize basis specialized, standardized production.Regard digital control information as a kind of product, then certainly exist the technological process of making digital control information.
As in machine-building, disposing the corresponding process equipment, in the information manufacturing, also must dispose corresponding embedded subsystem according to the control flow of making digital control information according to the technological process of machine-building.
The inventor is divided into control flow three sub-processes such as digital control information generative process, digital control information distribution process of transmitting and digital control information implementation.
The inventor finds; The generative process of digital control information comprises the decompression procedure of digital control information, the optimizing process of digital control information and the compensation process of ascertainment error etc., ought to be " among devising strategies at the headquarters; outside gaining a decisive victory a thousand miles away-a good plan ", is a non real-time process.The distribution process of transmitting of digital control information is then just like " military orders cannot be disobeyed or revoked ", and the implementation of digital control information is " speed is precious in war " especially, all must be real-time.
According to the control flow of making digital control information,, the architecture decoupling zero of digital control system in open type generates parts (numerical information manufacturing system), digital control information distribution transmit block (data flow control), digital control information execution unit three functional parts such as (servo drive and I/O devices) but being digital control information.
In digital control technology, be commonly referred to as stepping type by the discrete location information of " 1 " " 0 " form, the discrete location information that is made up of the coordinate figure increment then is referred to as incremental.
If cutter track (Tool Path) curve is the function of 8 variablees such as X, y, Z, A, B, W, E, H.Wherein, X, y, Z, A, the coordinate axis of B for linking, W, E, H are for needing the parameter (for example, W is that the width of laser pulse, energy, the H that E is laser pulse are the frequency of laser pulse) of control in real time.Control for data stream association; Need the technological parameter and the coordinate figure of control in real time not to have any difference in essence; Can the switch of this technological parameter of control be regarded as the virtual coordinates axle; Parameter value is regarded as the coordinate figure of this virtual coordinates axle, thereby the coordinate axis interlock and the real-time control of technological parameter are united, and is referred to as the interlock of multiaxis multiparameter.In the present invention, coordinate axis comprises the virtual coordinates axle.
Table 1 is the synoptic diagram of the multidimensional associated data stream of 8 interlocks.
Table 1
Figure BDA0000077801190000101
In the table 1, time T is dispersed is divided into n interval: Δ t i, i=1 ..., n.Δ t i(i=1 ..., the T that n) is referred to as this cutter track curve is cut apart.X, y, Z, A, B, W, E, H etc. are at Δ t iInterior coordinate figure increment is discrete to be Δ X i, Δ y i, Δ Z i, Δ A i, Δ B i, Δ W i, Δ E i, Δ H iLittle line segment Δ L i(Δ X i, Δ y i, Δ Z i, Δ A i, Δ B i) L that is referred to as this cutter track curve cuts apart.
In real-time control procedure, the X axle is feeding Δ X at first 1, through Δ t 1After feeding Δ X again 2, up to Δ X n, axles such as y, Z, A, B, W, E, H also are like this.Thereby, Δ t nBe that redundant event is cast out.In addition, for unified controlled step, increase Δ t 0Δ t 0Irrelevant with the cutter track curve, can suitably set, for example, with Δ t 0Be set at Δ t nWith subscript 0,1 ..., n-1 is adjusted into 1 ..., n.For the purpose of the convenience of narration, and be different from interpolation cycle, the Δ t during T is cut apart i(i=1 ..., n) be referred to as to control the rhythm and pace of moving things.
Table 1 is pointed out; Control for data stream association; Need the technological parameter and the coordinate figure of control in real time not to have difference in essence, can the switch of this technological parameter of control be regarded as the virtual coordinates axle, parameter value is regarded as the coordinate figure of virtual coordinates axle; Thereby the coordinate axis interlock and the real-time control of technological parameter are united, be referred to as the interlock of multiaxis multiparameter.In the present invention, coordinate axis comprises the virtual coordinates axle.
This shows that the digital control information of cutter track curve comprises two parts.First is that L is cut apart, and describes coordinate figure increment and desired linkage thereof when being correlated with the coordinate axis interlock, is used to control relevant coordinate axis interlock to produce desired resultant displacement.Second portion is that T is cut apart, and describes the servo-actuated property between the said resultant displacement, is used to control the time interval between the said resultant displacement.Said L is cut apart the accurate qualitative error of ascertainment errors such as the backlass, pitch error, non-perpendicularity and the nonparallelism error that also comprise between the driving-chain or thermal deformation errors and so on.
The L of cutter track curve is segmented in the following associated data stream that forms of control that T is cut apart.According to " 1 " " 0 " form or the coordinate figure increment form of discrete location information, associated data stream can be divided into stepping type associated data stream and incremental associated data stream.
By given data layout, the L of cutter track curve is segmented in the interlock table that numeral reflection that storage space generates is referred to as the cutter track curve.By given data layout, the T of cutter track curve is segmented in the servo-actuated table that numeral reflection that storage space generates is referred to as the cutter track curve.
Obviously, the core missions of digital control technology are interlock table and the servo-actuated tables that generates the cutter track curve, and so-called control in real time is exactly to distribute the coordinate figure increment that sends in the interlock table according to the control rhythm and pace of moving things in the servo-actuated table to corresponding servo drive.
In the existing digital control system in open type based on the IEEE definition, L is cut apart dynamically generation in real-time control procedure.Control rhythm and pace of moving things Δ t i(i=1 ..., n) be referred to as interpolation cycle, be isometric.Under the control of real time operating system, the interpolation iterative control algorithm is at interpolation cycle Δ t i(i=1 ..., n) the middle Δ L that produces i(Δ X i, Δ y i, Δ Z i, Δ A i, Δ B i).Thereby interpolation cycle becomes a systematic parameter.
In data stream association control, digital control information generates parts need not dispose real time operating system, does not have interpolation cycle, control rhythm and pace of moving things Δ t iNot isometric.
Can clearly be seen that from table 1 numerically controlled basic problem is made associated data stream exactly.The basic problem of control procedure is exactly the real-time control of associated data stream in real time.
For given workpiece, so-called digital control information generative process is exactly that digital control information generates the process that parts are made associated data stream, the i.e. generative process of the interlock table of cutter track curve and servo-actuated table.
According to the order that processing technology is confirmed, digital control information generates parts and generates the DRC numerical control program.
The DRC numerical control program is made up of movement instruction, is used to control the process of workpiece.Movement instruction comprises status command, switch order, track instruction.Status command is used to operate subsidiary function; Switch order is used to control the I/O device; The track instruction is used to control servo drive, accomplishes the feed process of a cutter track curve.
Digital control information generates the interlock table of parts through discrete geometric programming generation cutter track curve, generates the servo-actuated table of cutter track curve through discrete motion planning, and by given data layout, generates the interlock table and the servo-actuated table of normative document form.
The general PLC control tool magazine that adopts routine, or the exchanging knives process of controlling in the tool magazine is flowed in the control of adopting soft PLC to generate combinational logic.As routine techniques, the present invention does not relate to the control stream that is used for tool magazine control.
The DRC numerical control program is fully digitalization, commercial " digital control information " product that digital control information generates the parts manufacturing.The generative process of DRC numerical control program is exactly to adopt the programming process of movement instruction.Thereby, digital control information generate parts be the open platform of numerical control programming be again the open development platform of Numeric Control Technology.
So-called digital control information assigning process is exactly that digital control information distributes transmit block to give relevant servo drive with the coordinate figure increment assignment in the interlock table, for example, and with Δ X i, Δ y i, Δ Z i, Δ A i, Δ B iDistribute to the servo drive of 5 coordinate axis such as X, y, Z, A, B.
The process of transmitting of so-called digital control information is exactly that digital control information distributes the transmission of transmit block according to the real-time control figure control information of the control rhythm and pace of moving things.
The implementation of so-called digital control information be exactly servo drive with coordinate figure increment writing position ring, drive the coordinate axis feeding.
In the said DRC controller based on data stream association control, the generation of digital control information is not real-time, and the distribution of digital control information is sent, carried out then is real-time.
The inventor finds; If the structure of DRC numerical control program is improved; The digital control information assigning process then is converted into the non real-time process; Thereby can the digital control information assigning process be separated with the digital control information process of transmitting; Control flow being divided into four sub-processes such as digital control information generative process, digital control information assigning process, digital control information process of transmitting and digital control information implementation, is that digital control information generates four functional parts such as parts, digital control information distribution member, digital control information transmit block, digital control information execution unit with the architecture decoupling zero of digital control system in open type.
Then; The inventor further finds; The control flow of digital control information is divided into after generative process, assigning process, process of transmitting, the implementation; The significant improvement that causes the architecture of DRC controller becomes a kind of based on reconfigurable computer digital control system PC, that open up comprehensively, standardized.
Summary of the invention
Data stream association control (Data-stream Related Control; Be called for short DRC control) purpose open up comprehensively for the industrial revolution for the third time proposes a kind of control information, control method, control procedure and architecture, based on the standardized controlling machine (abbreviating the DRC controller as) of PC, to adapt to the requirement of the industrial revolution for the third time to digital control system.
Based on the non real-time property of digital control information assigning process, the present invention improves the DRC controller, proposes a kind of based on reconfigurable computer digital control system PC, that open up comprehensively, standardized.
Technical scheme of the present invention is described below.
A kind of reconfigurable computer digital control system is characterized in that, comprises PC system, interpretive routine storer, real-time control module, servo drive, I/O device, serial line interface, interlock interface, I/O interface;
Said PC system is connected with said servo drive through serial line interface; Be connected with said I/O device through the I/O interface; Be used to generate the DRC numerical control program of control workpiece process, comprise status command generation module, switch order generation module, track instruction generation module, DRC numerical control program generation module, axle interlock table distribution module, DRC numerical control program operation module;
Said status command generation module is used to generate the status command of control supporting process;
Said switch order generation module is used to generate the switch order of control I/O device;
Said track instruction generation module is used to generate the track instruction that the control servo drive is accomplished cutter track curve feed process;
Wherein, said track instruction generation module comprises discrete geometric programming module and discrete motion planning module;
Said discrete geometric programming module is used to generate the interlock table that the L that stores the cutter track curve is cut apart; Said L is cut apart and is used to control coordinate axis interlock generation resultant displacement; Said interlock list area is divided into each axle interlock table, and the L that said axle interlock table is used to store relevant coordinate axis is cut apart component, controls this coordinate axis and produces axial translation;
The T that said discrete motion planning module is used to store the cutter track curve is cut apart the servo-actuated table with status word; Said T is cut apart and is used to control the time interval between the said axial translation; Said status word is used to specify the coordinate axis of interlock;
Said DRC numerical control program generation module is used for according to processing technology status command, switch order, track instruction being linked as the DRC numerical control program;
Said axle interlock table distribution module is used for distributing said axle interlock table through said serial line interface to said servo drive;
Said DRC numerical control program operation module is used to move said DRC numerical control program, and executing state instruction control supporting process, execution switch order start said real-time control module is controlled said servo drive completion cutter track curve through said interlock interface process through said I/O interface control I/O device, the instruction of execution track;
Said interpretive routine storer is used to store the interpretive routine of said status command, said switch order, the instruction of said track;
Said real-time control module is used for the control rhythm and pace of moving things Δ t according to institute's servo-actuated table i(i=1 ..., n), send the interlock order to said servo drive through said interlock interface; Said interlock order be used to control between the said status word specified coordinate axle synchronously;
Said servo drive is provided with an interlock table initialization module and axle interlock module of meter control; Said axle interlock table initialization module is used to be provided with execute flag, and according to the sequence code of said track instruction, and the first address of said axle interlock table is write the L pointer; Follow said interlock order, said axle interlock module of meter control reads this coordinate figure increment and writing position ring according to the L pointer from said axle interlock table, drive the coordinate axis feeding and produce resultant displacement.
Further, in the above-mentioned reconfigurable computer digital control system, the byte number of said status word is a customer parameter.
Said axle interlock list file also comprises mark sheet; Said mark sheet is used to identify the logical attribute of this coordinate axis; Said logical attribute comprises byte number, the electronic gear ratio of gear of feeding equivalent, data.
Each data bit of said interlock interface connects a servo drive respectively.
Said serial line interface is fieldbus, RS232 interface, RS485 interface, USB interface or wave point.
Said DRC numerical control program operation module comprises that movement instruction gets finger print piece, status command execution module, switch order execution module, track instruction execution module; Said movement instruction is got the finger print piece and is used for the first address of DRC numerical control program is write the movement instruction pointer and reads movement instruction, and the function byte of movement instruction is write the movement instruction register, and the address of next bar movement instruction is write the movement instruction pointer; Said movement instruction pointer is used in reference to the address of fixing a movement instruction; If said movement instruction is a status command, said status command execution module is used to carry out the interpretive routine of this status command; If said movement instruction is a switch order, said switch order execution module is used to carry out the interpretive routine of this switch order; If said movement instruction is the track instruction, said track instruction execution module is used to carry out the interpretive routine of this track instruction.
Further, said track instruction execution module is provided with running mark, starts said real-time control module; Said real-time control module comprises that the interlock coordinate axis is provided with module, the interlock order is provided with module, rhythm and pace of moving things control module, terminal point control module; Said interlock coordinate axis is provided with module and is used for the first address of servo-actuated table is write the T pointer, and reading state word and write state word register from said servo-actuated table are specified the coordinate axis that links; Said interlock order is provided with the Δ t that module is used for reading said servo-actuated table i(i=1 ..., n) and write T and cut apart timer; The timing that T is cut apart in the timer arrives, and said rhythm and pace of moving things control module is used for pulse of starting impulse generator output, sends the interlock order through the interlock interface to the servo drive of said status word register appointment; Said terminal point control module is used to control the terminal point of said track instruction, if said T pointer equals the last address of said servo-actuated table, promptly arrives the terminal point of said track instruction, closes running mark; Otherwise, the next Δ t of T pointed i
Further, said real-time control module also comprises servo-actuated list file storer and Sector analysis module, is connected with said PC system 1 through internal bus; Said servo-actuated list file storer is used for receiving and storing said servo-actuated list file; Said Sector analysis module is used to read said servo-actuated list file.
Further, said real-time control module is connected with the PC system through dual port RAM; The said servo-actuated table of storage in the said dual port RAM.
The digital control method of a kind of reconfigurable computer digital control system that the present invention proposes comprises the steps:
Step 1, DRC numerical control program generate step: be used for PC system 1 and generate the DRC numerical control program, comprise the steps:
Step 101, track instruction generate step: track instruction generation module generates the track instruction that control servo drive 4 is accomplished cutter track curve feed process, comprises discrete geometric programming step and discrete motion planning step; Discrete geometric programming step is used for discrete geometric programming module and generates the interlock table that the L that stores the cutter track curve is cut apart; Said L is cut apart and is used to control coordinate axis interlock generation resultant displacement; Said interlock list area is divided into each axle interlock table, and the L that is used to store each coordinate axis is cut apart component, controls this coordinate axis and produces axial translation; The discrete motion planning step is used for the discrete motion planning module and generates the T store the cutter track curve and cut apart the servo-actuated table with status word; Said T is cut apart and is used to control the time interval between the said axial translation; Said status word is used to specify the coordinate axis of interlock.
Step 102, status command generate step: the status command generation module generates the status command of control supporting process.
Step 103, switch order generate step: the switch order generation module generates the switch order of control I/O device.
Step 104, DRC numerical control program generate step: DRC numerical control program generation module is linked as the DRC numerical control program according to processing technology with said status command, said switch order, the instruction of said track.
Step 2, axle interlock table allocation step: axle interlock table distribution module 15 is distributed said axle interlock table through serial line interface 6 to servo drive 4.
Step 3, DRC numerical control program operating procedure: the said DRC numerical control program of DRC numerical control program operation module 16 operations comprises the steps:
Movement instruction is got the finger step: movement instruction is got finger print piece 161 first address of DRC numerical control program is write the movement instruction pointer and reads movement instruction; The function byte of movement instruction is write the movement instruction register, the address of next bar movement instruction is write the movement instruction pointer; Said movement instruction pointer is used in reference to the address of fixing a movement instruction;
The status command execution in step: if movement instruction is got the movement instruction that refers in the step is status command, 162 interpretive routines of carrying out this status command of status command execution module;
The switch order execution in step: if movement instruction is got the movement instruction that refers in the step is switch order, 163 interpretive routines of carrying out this switch order of switch order execution module;
Track instruction execution in step: if movement instruction is got the movement instruction that refers in the step is the track instruction, 163 interpretive routines of carrying out this track instruction of track instruction execution module.
Further, in the digital control method of above-mentioned reconfigurable computer digital control system, said track instruction execution in step is provided with running mark, and starts following real-time controlled step:
Step a, interlock coordinate axis are provided with step: according to the sequence code of said track instruction, the interlock coordinate axis is provided with module 31 first address of servo-actuated table is write the T pointer, and reading state word and write state word register from the servo-actuated table are specified the coordinate axis of interlock;
Step b, interlock order are provided with step: according to the T pointer, the interlock order is provided with module 32 and reads the Δ t in the servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that step c, rhythm and pace of moving things controlled step: T are cut apart in the timer arrives, and pulse of rhythm and pace of moving things control module 33 starting impulse generators output is sent the interlock order through interlock interface 7 to the servo drive 4 of status word register appointment;
Steps d, interlock table controlled step: follow said interlock order, the axle interlock module of meter control 41 of servo drive 4 reads the coordinate figure increment according to the L pointer from its interlock table, and the writing position ring drives the coordinate axis feeding and produces resultant displacement;
Step e, terminal point controlled step: the terminal point of terminal point control module 34 control track instructions, if the T pointer equals the last address of servo-actuated table, promptly arrive the terminal point of said track instruction, close running mark; Otherwise, the next Δ t of T pointed i, repeating step b is to step e.
The reconstructing method of a kind of reconfigurable computer digital control system that the present invention proposes comprises the steps:
Step 1, reconstruct discrete coordinates system: 1 reconstruct discrete coordinates system of PC system; Said discrete coordinates is to comprise quadrature discrete coordinate system and nonopiate discrete coordinates system.
Step 2, reconstruct textural constant database: PC system 1 reconstruct textural constant database; The fine structure constant of said textural constant database storing coordinate axis and coordinate system parameter; The fine structure constant of said coordinate axis comprises displacement of the lines error, angular displacement error, backlass; Said coordinate system parameter comprises nonparallelism, the non-perpendicularity between the coordinate axis.
Step 3, reconstituted state instruction: the 1 reconstituted state instruction of PC system; Said status command is used to control supporting process;
Step 4, reconstruct switch order: PC system 1 reconstruct switch order; Said switch order is used to control the I/O device.
With the prior art contrast, the original beneficial effect that the present invention produces is:
1, based on the process model of control flow
Based on the existing digital control system in open type object-oriented of IEEE definition, adopt finite state machine process data model description complicated, have a plurality of control tasks that the different levels real-time requires.Finite state machine is the abstract modeling tool of a kind of height of reaction equation system, as far as the developer, and complex structure, reusability is poor; As far as the user, then, has no opening just as the spider net type labyrinth.
Data stream association control is not object-oriented, but procedure-oriented.According to numerically controlled process feature, the present invention proposes a kind of process model for digital control system in open type.
Finite state machine model contrast with the existing digital control system in open type that defines based on IEEE; This process model is open; Very clearly describe the architecture of digital control system in open type, disclosed the technical scheme and the gordian technique of reasonable disposition controlling resource in the Different control flow process.
2, the major transformation of digital control method
In the existing digital control system in open type based on the IEEE definition, the interpolation cycle of real time operating system and the communication cycle of fieldbus are two system clocks.Follow the beat of interpolation cycle and communication cycle, the digital control information of cutter track curve constantly generates, distributes, sends, carries out, thereby goes round and begins again with the mode of the real-time iteration of the real-time iteration of digital control information and control procedure.In this architecture; The real-time control procedure of cutter track curve had both comprised the real-time iteration of digital control information and the real-time iteration of control procedure; Comprise the real-time Communication for Power process again, relate to a series of complicated factors such as software platform such as hardware platform, real time operating system such as figure place and arithmetic speed of kinematics/dynamic characteristic, the processor of technology characteristics, the mechanical system of geometric properties, the process of precision and speed, the cutter track curve of interpolation iterative algorithm.
The present invention is according to the control flow configuration controlling resource of the generation of digital control information, distribution, transmission, execution; And with the generative process and the assigning process non real-timeization of digital control information, the real-time control procedure of cutter track curve is reduced to and starts real-time control module according to the Δ t in the servo-actuated table i(i=1 ..., the n) rhythm and pace of moving things of appointment is ordered to the unidirectional transmission interlock of the servo drive of status word appointment through the interlock interface; Servo drive is then followed the interlock order, and the coordinate figure increment during said axle interlock is shown is the writing position ring one by one, drives the interlock of corresponding coordinate axle and produces resultant displacement.
The present invention is with the rhythm and pace of moving things Δ t in the servo-actuated table i(i=1; ..., n) replaced interpolation cycle, cancelled the control of real time operating system to real-time control procedure; Interlock order with the simplest unidirectional transmission has replaced very complicated real-time Communication for Power; Cancelled the control of fieldbus, thereby the real-time control procedure of cutter track curve has been converted into the most real-time transmission of interlock order, thoroughly removed the restriction of operating system and fieldbus real-time control procedure to real-time control procedure; Realized the opening of real-time control method, caused the major transformation of digital control method with real-time control procedure.
3, high precision multiaxis synchronization mechanism
The multiaxis synchronized drive technology is the gordian technique that needs to be resolved hurrily in the existing Numeric Control Technology.Country's " high-grade, digitally controlled machine tools are made equipment with the basis " 2009 scientific and technological great special projects of year " problem 18 digital high-grade numerical control devices " are classified the twin shaft synchronized drive technology as in the existing Numeric Control Technology a gordian technique.
In the digital control system in open type based on the IEEE definition, multiaxis depends on the real-time synchronization mechanism of cycle communication in the fieldbus synchronously.
Simple is exactly beautiful.
In the present invention, multiaxis depends on the interlock order of sending in real time through the interlock interface synchronously, and the coordinate axis of interlock is then specified by status word.Said interlock order is parallel synchronizing pulse, and said status word is a customer parameter, and said interlock interface class is similar to the parallel interface under the status word control.Therefore, the present invention has solved multiaxis synchronization mechanism problem with very simple technological means, has the synchronizing capacity of high-speed, high precision, thereby the multiaxis synchronized drive technology of complicacy is converted into simple routine techniques.
4, good reconfigurability
The reconstruct of mechanical system means the increase of the change of coordinate axis kinematic relation and the increase and decrease of coordinate axis, particularly coordinate axis.Thereby; The reconfigurability of the real-time control procedure of cutter track curve becomes the key problem of reconfigurable computer digital control system; This will the complete software implementation of realistic period control method, in real time control procedure irrelevant with software platforms such as operating system, fieldbus, have nothing to do with DLL.
Based on the existing digital control system in open type object-oriented rather than the procedure-oriented of IEEE definition, the real-time control procedure of cutter track curve can't be opened, and does not have reconfigurability.For different curve types, must define special-purpose interpolation instruction and dispose specific real-time interpolation control module, thereby the substandard interpolation instruction of G code does not have reconfigurability yet.Corresponding to the change of coordinate axis kinematic relation, the prior art that defines based on IEEE can only be to increase the real-time interpolation control module or revise existing real-time interpolation control module.Obviously, the intension of this and reconfigurability is far apart.Increase corresponding to coordinate axis; Particularly corresponding to the reconstruct of the mechanical system more than 5 and 5; Then can only seek help from high-speed CPU more than 64, real time operating system, the Real-Time Scheduling ability of more optimizing and the more advanced interpolation iterative control algorithm of more hard real-time more than 64 based on the prior art of IEEE definition, and must research and develop that huge and complicated interrupt system again.Obviously, this has not been the reconstruct problem.
Track instruction among the present invention has only a kind of form, and is irrelevant with the curve type in the cutter track curve.There is not the reconstruct problem.
In the present invention; Files such as the DRC numerical control program of PC system manufacturing, axle interlock table, servo-actuated table have comprised control servo drive and the needed whole digital control informations of I/O device; Digital control information is open, and the method for making digital control information is open; In addition, the present invention is also with digital control information assigning process non real-timeization, and the real-time transmission of digital control information is converted into the real-time transmission of very simple interlock order, and the digital control information assigning process also is open.
Corresponding to the increase of coordinate axis, only relate to the figure place and the byte number of status word in the present invention.As customer parameter, there are not the reconstruct problem in the figure place of status word and byte number.
In the present invention the real-time control procedure of cutter track curve is reduced to and starts real-time control module.Said real-time control module is open, and through the Sector analysis module of built-in curing, the operating system independent of its operation and PC also need not dispose any embedded real-time operating system.
The present invention had not both had interpolation cycle, did not have communication cycle yet, round Realization the software implementation of real-time control method, solved the reconstruct problem of the real-time control procedure of cutter track curve fully.
Corresponding to the reconstruct of mechanical system, also relate to the subsidiary function operation and control with the switching value in the I/O device.This just relates to status command and switch order among the present invention.
Status command is all inseparable with the ad hoc structure of mechanical system with switch order, belongs to personalized function.After the mechanical system reconstruct, status command and switch order often need reconstruct.
In the present invention, the structure of status command and switch order and function are very simple, for the user, at the client layer of PC definition status instruction and switch order again and to write its interpretive routine be the simple technique of being familiar with.
The reconstruct of digital control system also relates to the reconstruct of internal interface, the reconstruct of particularly motion control level real-time interface.The present invention is divided into the non real-time serial line interface and the interface that links in real time with motion interface.
Interlock interface of the present invention is not a communication interface, and the interlock order is synchronizing pulse just.At transmitting terminal, the interlock interface class is like pressing Δ t i(i=1 ..., n) the specified rhythm and pace of moving things parallel interface of uni-directional transmission state word constantly; At receiving end, a servo drive is connected with a data bit of interlock interface respectively, and the interlock interface class is like an interrupt control line.Thereby there is not the reconstruct problem in the interlock interface that the present invention proposes.
Non real-time interface of the present invention is a standard serial interface, and other standard serial interfaces under for example the USB interface of standard or UART support belong to routine techniques.Said non real-time interface need not reconstruct.
In the present invention, the PC system, in real time control module, motion interface all have nothing to do with software platform such as operating system, also have nothing to do with hardware platform.Thereby the reconfigurable computer digital control system that the present invention proposes has platform-neutral.
The reconstruct of digital control system also relates to DLL.In the existing digital control system in open type based on the IEEE definition, the nc program of G code form must carry out under the control of real time operating system, thereby relevant with the soft or hard platform.As DLL, the G code standard does not possess the consistance of man-machine interface.In the present invention, said DRC numerical control program adopts the levels of standards system to replace the G code program, has the consistance of man-machine interface, does not have the reconstruct problem.
Therefore, in the present invention, the reconstruct of digital control system only relates to the reconstruct of discrete coordinates system and the reconstruct of textural constant database.These problems all belong to the routine techniques among the PC.
In sum; After the mechanical system reconstruct; For reconfigurable computer digital control system proposed by the invention, the real-time control procedure of track instruction and cutter track curve, interlock interface and non real-time interface all need not reconstruct, and what need reconstruct only limits to discrete coordinates system and textural constant database; And, write it and explain working procedure in instruction of the client layer of PC definition status again and switch order.Thereby the present invention is converted into the routine techniques means among the PC with the reconstructing method of reconfigurable computer digital control system, has good reconfigurability, has solved the reconstruct problem of reconfigurable computer digital control system fully.
5, standardization
1), the standardization of architecture
The architecture of the reconfigurable computer digital control system that the present invention proposes is based on the control flow configuration controlling resource of the generation of digital control information, distribution, transmission, execution.Particularly; The present invention shows to the interlock of servo drive distributing shaft through the non real-time serial line interface in the digital control information assigning process; Thereby, significantly simplified the architecture of reconfigurable computer digital control system with the assigning process non real-timeization of digital control information.
In the reconfigurable computer digital control system that the present invention proposes, digital control information generates parts based on PC, is a standardized component.It all is normative document that digital control information generates digital control information file such as the DRC numerical control program, axle interlock table, servo-actuated table of parts manufacturing, irrelevant with software platform such as operating system.The levels of standards system becomes the carrier of digital control information, has realized the opening of digital control information.
In the present invention, in real time control module need not the configuration operation system, and its Core Feature only is Δ t iWrite T and cut apart timer, under status word control, send the interlock order in real time through the interlock interface, function and structure are very simple, can standardization.
2), the standardization of motion interface
The standardization of digital control system also relates to the standardization of internal interface, the standardization of particularly motion control level real-time interface.
In the existing digital control system in open type based on the IEEE definition, in order to realize the real-time distribution of coordinate figure increment, field bus technique becomes the mainstream technology of the motion interface between digital control system and the servo drive.Said field bus technique is the basis with ISO/OSI Open System Interconnection reference model, ignored numerically controlled process feature fully, has ignored the essential characteristic that numerical control device is different from computer network fully.Communication cycle becomes system clock, the real-time of data link layer and application layer and agreement thereof, and a series of problems such as the compatibility of data representation have expended the great amount of calculation resource.
Nearly 12 of the international standards of fieldbus, the company standard of manufacturer is more.This situation causes CNS " GB/T 18759.2-2006 mechanical electric equipment digital control system in open type part 2 architecture " to be provided with 5.6 sections, requires to support all kinds of fieldbus (for example CAN, Profibus, Sercos etc.).
Unfortunately, many standards just mean does not have standard.
The present invention is divided into the non real-time serial line interface and the interface that links in real time with motion interface.In supporting process, the axle interlock table of each coordinate axis is distributed to corresponding servo drive through serial line interface.In said serial line interface, communication cycle is not a systematic parameter, does not have synchronization mechanism, has avoided the real-time and the ground challenge thereof of communication protocol.Said axle interlock table is normative document, does not have the compatibility issue of data representation.Thereby said serial line interface can be any standard serial interface, other standard serial interfaces under for example the USB interface of standard or UART support.
Said interlock order is a synchronizing pulse just.At transmitting terminal, the interlock interface class is like pressing Δ t i(i=1 ..., rhythm and pace of moving things n) is the parallel interface of uni-directional transmission state word constantly; At receiving end, a servo drive is connected the then similar interrupt control line of interlock interface with a data bit of interlock interface respectively.Obviously, said interlock interface can standardization.
Therefore, said interlock interface and said non-serial line interface all are standardized, have solved the standardization issue of motion interface.
3), the standardization of DLL
In existing digital control system in open type, adopt the DLL of G code standard as nc program based on the IEEE definition.The fifties in last century paper tape as the input basic physical medium the time, on paper tape, represent character for standard, formulated the coding standard of tape punch, i.e. the G code standard.
In the G code program, instruct with different interpolations and to describe the different curves in the cutter track curve.Must use different interpolation iterative algorithms to realize different interpolation instructions again for different curves; The real-time process of curve is by the real time implementation of interpolation iterative algorithm; Thereby cause the interpolation iterative algorithm to become the real-time control algolithm of OO sealing, restricted the opening and the reconfigurability of digital control system from real-time control procedure aspect.
The G code standard is the primary product of infotech starting stage, receives the restriction of paper tape to have the very few defective of quantity of information inevitably.Each manufacturer thereby G code all carried out the expansion outside the basic semanteme; Cause the dependence of G code program and corresponding hardware; Nc program does not have interchangeability between different digital control systems, do not possess the consistance of man-machine interface, causes various digital control systems incompatible; The exchange that hinders control information has restricted the opening and the reconfigurability of digital control system with shared from the DLL aspect.
In the interpolation iterative algorithm, each coordinate axis must have identical logical attribute.In case the logical attribute of coordinates axle is different; For example; Feeding equivalent (nanometer, micron etc.) is different, the byte number of data is not equal; Corresponding variation all will take place in the function of digital control system and structure, has restricted the opening and the reconfigurability of system from real-time control procedure and real-time Communication for Power process two aspects.
In the reconfigurable computer digital control system that the present invention proposes,, adopt user mode instruction, switch order, track to instruct and write the DRC numerical control program according to the order that processing technology is confirmed.
The DRC numerical control program is towards control flow, and the track instruction is towards the process of cutter track curve.The axle interlock table of track instruction and servo-actuated table carry the needed whole digital control informations of processing cutter track curve, generate parts by digital control information and create in non real-time, thereby allow each coordinate axis to have the different logical attribute.
Above-mentioned DRC numerical control program, axle interlock table, servo-actuated table all transmit in system with the form of levels of standards, and also the form with file transmits between different digital control systems.
Above-mentioned file meets filespec, adopts such as file system such as FAT16, FAT32.Levels of standards becomes the carrier of digital control information, and is irrelevant with hardware platform, irrelevant with software platform such as operating system, has platform-neutral widely, realized the opening of digital control information.Above-mentioned DRC numerical control program, axle interlock table, servo-actuated table all adopt the levels of standards system, have realized the standardization of control information, become a kind of standardized DLL that is easy to.
In sum; The reconfigurable computer digital control system that the present invention proposes has been realized the opening of digital control information; The opening of digital control method; The omnidistance opening of the generative process of digital control information, assigning process, process of transmitting, implementation is for solid foundation has been established in the standardization of digital control system.
6, the general language of open cnc efficiently
With existing G code numerical control language contrast; The status command that the present invention proposes, switch order, track instruction and DRC numerical control program are towards working machine; Logical organization is simple, has the consistance of man-machine interface, need not compile based on the PC tool; Be a kind of opening about Numeric Control Technology, general, high efficiency Motion Description Languages and logic description language, fully support the user to expand application of numerical control technology voluntarily and remain the consistance of man-machine interface.
7, high reliability
As everyone knows; In existing digital control system in open type based on the IEEE definition; Interpolation cycle and communication cycle are two systematic parameters; Not only expended a large amount of computational resources, and, caused real time operating system and fieldbus to become two key links of restriction numerical control system reliability the The whole control flow process real time implementation of the generation of digital control information, distribution, transmission, execution.
Operating system is a very complicated system, possibly be implied with thousands of potential leaks of hundreds of.These leaks often maintenance time of needs several years, more than ten years are repaired, and also are difficult to thoroughly eliminate.Statistical data is pointed out, influences the factor of computer system security, and hard error only accounts for a few percent, and most error sources are in the management of system.Obviously, the mistake of system management then derives from operating system basically.Therefore, for the reliability of computerized numerical system, real time operating system is just as the sword of Damokers.
Communication process is exposed in the abominable industrial environment; In existing digital control system in open type based on the IEEE definition; Fieldbus causes communication cycle also to become a systematic parameter; The real-time of communication protocol, a series of problems such as compatibility of data representation cause the intercommunication high complexityization, are another major reasons that influences reliability.
In the present invention, PC stays out of the real-time control procedure of cutter track curve, and the operation of control module and the operating system independent of PC also need not dispose any embedded real-time operating system in real time.
The present invention separates the digital control information assigning process from the real-time control procedure of digital control information, in a communication process, accomplish the assigning process of digital control information, and communication cycle no longer is a systematic parameter.Particularly, with the real-time period communication process contrast in the fieldbus, the interlock interface among the present invention is unidirectional simply transmission synchronizing pulse just, and function and structure height are simplified.
In sum, the present invention has solved two key links of restriction numerical control system reliability from the source, have high reliability.
8. the controller expected of the industrial revolution for the third time
In the universal sense, the modern architecture of making equipment can abstractly be three systems, i.e. engine, working machine and controller.Engine provides energy, and controller sends control information to working machine and engine, and working machine obtains the manufacturing that energy is accomplished product from engine.
The sign of the industrial revolution for the first time is the birth of working machine, and machinery replaces jack board.
The sign of second industrial revolution is the birth of engine, and steam engine, internal combustion engine, motor have replaced manpower, animal power.
The industrial revolution for the third time will be to be automated as outstanding feature, i.e. the birth of controller.
From manufacturing viewpoint, above-mentioned division is logical.
In manufacturing industry, digital control system is played the part of the role of controller.Yet; There is major defect in existing digital control system at the aspects such as software implementation of opening, reconfigurability, standardization and digital control technology; Be not to mention in the same breath with engine, working machine, be difficult to become the controller that the industrial revolution is for the third time expected.
Compare with existing digital control system in open type based on IEEE definition, the real-time control procedure that the reconfigurable computer digital control system that the present invention proposes has a high simplified and digital control method, the complete software implementation of digital control technology, reliability height, can standardization, cheap, remarkable advantage such as be easy to popularize.Thereby based on digital control system in open type PC, that open up comprehensively, reconfigurable, standardized, the reconfigurable computer digital control system that the present invention proposes is the controller expected of the industrial revolution for the third time just as a kind of.
Description of drawings
Fig. 1 is the process illustraton of model one based on control flow;
Fig. 2 is the process illustraton of model two based on control flow;
Fig. 3 is the architectural schematic of digital control system in the embodiment;
Fig. 4 is the functional block diagram of the PC system among Fig. 1;
Fig. 5 is the functional block diagram of the real-time control module among Fig. 1;
Fig. 6 is the functional block diagram of the servo drive among Fig. 1.
Embodiment
In order to guarantee that machine tool structure and layout thereof can recombinate according to the variation of institute's converted products fast, modular construction becomes the basic technical features of restructural lathe.Usually, modular notion and enforcement thereof only are confined to lathe manufacturing enterprise inside.Yet in the restructural lathe, modular notion and enforcement thereof must extend to the user, and in other words, user oriented is the essential characteristic of reconfigurability.
In the restructural lathe, so-called reconfigurability refers to the ability that the user can recombinate to structure, layout, the machining functions of lathe according to the variation of institute's converted products fast.
With respect to the modularization of restructural lathe, it has been generally acknowledged that the reconfigurable computer digital control system also answers modularization.
The Core Feature of digital control system is to control the process of cutter track curve in real time.This just means that for the reconfigurable computer digital control system, the real-time control procedure of cutter track curve must be open, thereby becomes user oriented.
Explain that in background technology in the existing digital control system in open type based on the IEEE definition, the real-time control procedure of cutter track curve can't be opened.Its reason is; On the one hand, the numerical control application software system that is used for real-time control procedure becomes the employing parallel algorithm of real time operating system under controlling, relates to a huge and complicated interrupt system of multi-process/multithreading nesting allocation and multiple real-time nested interrupt.On the other hand; The technology characteristics of the real-time control procedure of cutter track curve and the geometric properties of cutter track curve, process, the kinematics/dynamic characteristic of mechanical system are inseparable; Inseparable with hardware platforms such as the figure place of CPU, arithmetic speeds; Inseparable with software platforms such as real time operating systems, inseparable with the interpolation iterative algorithm.
Thereby in the existing digital control system in open type based on the IEEE definition, the so-called modular construction of control in real time comes down to OO modular construction, just for different cutter track curves, disposes different real-time control modules.Unfortunately, this OO modular construction is not user oriented, but towards digital control system manufacturing enterprise, runs in the opposite direction fully with the essential characteristic of reconfigurability.Thereby, rely on this OO modular construction and realize that the reconfigurability of digital control system is a kind of illusion.
People and lathe are two service objects of digital control system, certainly exist the message exchange problem between the three.In background technology, explain; In existing digital control system in open type based on the IEEE definition; On man-machine interface, adopt the G code standard as DLL; Adopt fieldbus in the motion control level, thereby cause DLL and fieldbus become does not have reconfigurability based on the existing digital control system in open type of IEEE definition key factor.
Based on above-mentioned analysis, the inventor is defined as the reconfigurable computer digital control system:
So-called reconfigurable computer digital control system is the computerized numerical system according to control flow configuration embedded subsystem; Have the real-time control method software implementation, in real time the independence of control procedure and hardware platforms such as processor figure place, speed, and the independence of software platform such as operating system and with the independence of DLL.
Data stream association control is disposed controlling resource according to the flow process of making digital control information.The DRC numerical control program becomes fully digitalization, commercial " digital control information " product that digital control information generates the parts manufacturing.The open platform that said digital control information generation parts are numerical control programming is again the open development platform of Numeric Control Technology, the complete software implementation of real-time control method.
In the architecture of existing digital control system in open type, servo drive is regarded as the functional part of numerically-controlled machine, does not belong to the category of digital control system.According to the above-mentioned definition of reconfigurable computer digital control system, the present invention further improves the DRC controller from aspects such as control flow, architecture, fieldbus, DLLs.These problems all need be included servo drive in digital control system, examine the function and the structure of servo drive again closely.
In lathe digital control, servo drive comprises servomotor and kinetic control system thereof, is mainly used in the rotating speed and the corner of control servomotor.Velocity mode is claimed in so-called rotating speed control again, and speed control just is used to control the rotating speed of main shaft; Mode position is claimed in so-called corner control again.Just position control is used to control the displacement of coordinate axis.In the present invention, servo drive is a mode position, and its digital control information that receives and carry out is the discrete location information of coordinate axis, and position feedback information is gone into system handles by the embedding formula in the servo drive.Rotating speed as for main shaft then is regarded as technological parameter, belongs to the switching value control of being with parameter.
Can know that from background technology in data stream association control, the core missions of digital control technology are interlock table and the servo-actuated tables that generates the cutter track curve.So-called control procedure in real time is exactly according to the control rhythm and pace of moving things in the servo-actuated table, the going round and beginning again of the assigning process of coordinate figure increment, process of transmitting, implementation.
For example, for realizing 5 interlocks of 5 coordinate axis such as X, y, Z, A, B, at first from the interlock table, read Δ X 1, Δ y 1, Δ Z 1, Δ A 1, Δ B 1And send to servo drives such as X, y, Z, A, B respectively through motion interface; Servo drives such as X, y, Z, A, B receive Δ X 1, Δ y 1, Δ Z 1, Δ A 1, Δ B 1After, write its position ring, drive 5 interlocks such as X, y, Z, A, B, realize resultant displacement Δ L 1Pass through Δ t again 1After, from the interlock table, read Δ X 2, Δ y 2, Δ Z 2, Δ A 2, Δ B 2And send to servo drives such as X, y, Z, A, B respectively through motion interface; Servo drives such as X, y, Z, A, B receive Δ X 2, Δ y 2, Δ Z 2, Δ A 2, Δ B 2After, write its position ring, drive 5 interlocks such as X, y, Z, A, B, realize resultant displacement Δ L 2So go round and begin again, thereby produce the desired resultant displacement of cutter track curve, until the terminal point of cutter track curve according to the control rhythm and pace of moving things.
Said interlock table and servo-actuated table are referred to as the associated data stream of said cutter track curve, generate parts by digital control information and generate.
L in the interlock table is cut apart
ΔL i(ΔX i、Δy i、ΔZ i、ΔA i、ΔB i)，i＝1，...，n，
Can be by Δ X i, Δ y i, Δ Z i, Δ A i, Δ B iBe separated into 5 sub-table, be referred to as the axle interlock table of said cutter track curve.If the axle interlock table of 5 of X, y, Z, A, B etc. is distributed to servo drives such as X, y, Z, A, B in supporting process; Digital control information distributes process of transmitting to be able to be separated into digital control information assigning process and digital control information process of transmitting; Thereby, and from the real-time control procedure of digital control information, separate digital control information assigning process non real-timeization.
So, for the cutter track curve of 5 interlocks such as X, y, Z, A, B, control procedure is exactly in the time of in fact, and servo drives such as X, y, Z, A, B are by the control rhythm and pace of moving things Δ t in the servo-actuated table i(i=1 ..., n), from Δ X i(i=1 ..., n), Δ y i(i=1 ..., n), Δ Z i(i=1 ..., n), Δ A i(i=1 ..., n), Δ B i(i=1 ..., n) wait and synchronously to read the coordinate figure increment in real time in 5 axle interlock tables and carry out.
The non real-timeization of digital control information assigning process causes the important improvement of following four aspects.
1), process model and architecture
Document " open cnc technology and in the state of development of China " (" aero-manufacturing technology "; 2010 the 3rd phases; The author: the Fu Hongya beam is complete) point out that the opening of digital control system can be divided into 3 types: the opening of the opening of cnc system software, process data model and hardware are implemented the opening of platform.
The process data model of digital control system is planning system structure and the basis of developing Numeric Control Technology.
Existing digital control system in open type object-oriented based on the IEEE definition; The process data model is used for describing function, behavior, the initiating process of each object of digital control system and the relation of handling each other between them, particularly clearly describes to a plurality of control tasks complicated, that have the requirement of different levels real-time.Thereby (Finite State Machine, process data model FSM) occupies an important position in the exploitation of digital control system in open type to adopt finite state machine.For example, CNS " GB/T18759.1-2002 mechanical electric equipment digital control system in open type part 1 general provisions ", " GB/T18759.2-2006 mechanical electric equipment digital control system in open type part 2: architecture " all clearly standard finite state machine model.Finite state machine is the abstract modeling tool of a kind of height of reaction equation system, as far as the developer, and complex structure, reusability is poor; As far as the user, then, has no opening just as the spider net type labyrinth.
Data stream association control is not object-oriented, but procedure-oriented must propose a kind of process model of opening according to numerically controlled process feature for digital control system in open type.
The present invention is divided into control flow four sub-processes such as digital control information generative process, digital control information assigning process, digital control information process of transmitting and digital control information implementation; And then, become the non real-time process with of the real-time control procedure separation of digital control information assigning process from digital control information.
After the digital control information assigning process separated from the real-time control procedure of digital control information, the architecture decoupling zero of said digital control system was that digital control information generates four functional parts such as parts, digital control information distribution member, digital control information transmit block, digital control information execution unit.The digital control information execution unit comprises servo drive and I/O device.
Said control flow can be divided into real-time process and non real-time process.From reconfigurability, the function of said four functional parts and structure should be examined closely again, and the control method of said real-time process and non real-time process should be examined closely again.
2), file structure
After the digital control information assigning process separates from the real-time control procedure of digital control information,, should come to examine closely again from the reconfigurability aspect, to support said real-time control procedure and non real-time assigning process as the structure of the DRC numerical control program of digital control processing.
3), DLL
Said routine interface refers to when exchanging job sequence between the different NC system, the DLL between the job sequence.
Between different NC system, the DRC numerical control program becomes DLL.After the digital control information assigning process separated from the real-time control procedure of digital control information, in control flow, file became the carrier of digital control information.Therefore, said DRC numerical control program file and operating system platform are irrelevant.Yet from reconfigurability, said DRC numerical control program should be irrelevant with fieldbus as DLL.
4), internal interface
After the digital control information assigning process separates from the real-time control procedure of digital control information; Axle interlock table is distributed to servo drive in non real-time; Control procedure is able to high simplified in real time; The real-time Communication for Power process of internal interface is able to high simplified, and the function of internal interface and structure should be examined closely again, to support the reconfigurability of real-time Communication for Power process.
The present invention proposes a kind of reconfigurable computer digital control system; From aspects such as the function of the function of the structure of the control method of open architecture, real-time process and the non real-time process of digital control system, DRC numerical control program and DLL, internal interface and structure, servo drive and structures said DRC controller is further improved, to adapt to the requirement of the industrial revolution for the third time the reconfigurable computer digital control system.
To combine accompanying drawing and specific embodiment that technical scheme of the present invention is described in detail below.
The process of workpiece generally can be divided into supporting process, exchanging knives process and feed process.
Supporting process relates to subsidiary function and the state setting by the control of I/O device.
Exchanging knives process relates to tool magazine control.For exchanging knives process, the generally conventional PLC control tool magazine of employing, or the control of adopting soft PLC to generate combinational logic flows controls exchanging knives process.The present invention does not relate to the control method of PLC and I/O device.
The feed process relates to the real-time control of cutter track curve.
Therefore, in the process of workpiece, digital control system has only three kinds of duties: the real-time control of subsidiary function operation, switching value control, cutter track curve.Data stream association control is instructed three type games to instruct with status command, switch order, track and is described this three kinds of duties.
One, movement instruction
1), status command and subsidiary function operation
Status command is used to describe subsidiary function.
Status command can be divided into system initialization status command and system running state instruction.
The system initialization status command is used for some parameters of setting/modification, for example sets the initiation parameter of servo drive, the initiation parameter of tool magazine etc.System running state instruction is used for the running status of initialization system, for example, be provided with automatically, manually, running statuses such as designated program section, startup, end, time-out, realize functions such as detection, parameter adjustment, fault diagnosis.
Status command comprises function byte, auxiliary byte.
(1), function byte
Function byte is 2 bytes, is used to describe the basic function of this status command, comprises identification code and instruction sign indicating number.
The 1st function byte is the sign of status command.
B 7: the sign of status command or switch order, for example, B 7=1;
B 6: the identification code of status command, for example, B 6=0;
B 5: the parameter state of identification-state instruction, band parameter/be not with parameter;
B 4～B 0: 5 condition codes, the number of identification parameter, 32 parameters of portability at most.
The 2nd function byte is the function code of status command, totally 256 bar states instruction.
(2), auxiliary byte
Auxiliary byte is a plurality of bytes, identifies the multiple parameter values of this status command, and each parameter accounts for 2 bytes.
Status command also comprises diagnostic instruction, is used for distributing a series of particular data of transmission to servo drive, with the fault in the diagnosis interlock table assigning process.
2), the real-time control of switch order and switch
Switch order is used to describe the parameter of switch and control thereof.
Need the technological parameter of control in real time if said switch carries, the present invention is regarded as the virtual coordinates axle.
Do not need the technological parameter of control in real time if said switch does not carry, then belong to conventional PLC control.Speed of mainshaft control can be considered the switch that carries parameter (rotating speed).
The tool changing instruction belongs to conventional PLC control.The present invention is regarded as a kind of switch order with the tool changing instruction.As routine techniques, the present invention does not relate to the concrete control procedure of tool changing instruction.
Switch order comprises function byte, auxiliary byte.
(1), function byte
Function byte is 2 bytes, is used to describe the basic function of this switch order, comprises identification code and instruction sign indicating number.
The 1st function byte is the sign of switch order.
B 7: the sign of status command or switch order, for example, B 7=0;
B 6: the identification code of switch order, for example, B 6=1;
B 5: the parameter state of sign switch order, band parameter/be not with parameter;
B 4～B 0: 5 condition codes, the number of identification parameter, 32 parameters of portability at most.
The 2nd function byte is the function code of switch order, totally 256 switch orders.
(2), auxiliary byte
Auxiliary byte is a plurality of bytes, identifies the multiple parameter values of this switch order, and each parameter accounts for 2 bytes.
For status command and switch order, user (or developer) can define its auxiliary byte voluntarily and the rewriting through interpretive routine defines its function voluntarily.Thereby the order format of status command and the order format of switch order all are open, support user's (or developer) secondary development.
3), the real-time control of track instruction and cutter track curve
In DRC control, for a cutter track curve, instruct with a track and to control servo drive, realize that coordinate axis links.
In DRC control, need the technological parameter of control in real time to carry by switch, this switch is called the virtual coordinates axle, and technological parameter is called the coordinate figure of this virtual coordinates axle.Therefore, in the present invention, coordinate axis comprises the virtual coordinates axle.
The track instruction has only a kind of form for one-byte instruction, and its order code is:
B 7: the sign of track instruction, for example, B 7=0;
B 6～B 0: 7 sequence codes are used for the track order number.
Sequence code is set up one-to-one relationship between the instruction of the track of cutter track curve and its entrained interlock table, servo-actuated table; The interlock table is used to control relevant coordinate axis interlock to produce desired resultant displacement; The servo-actuated table is used to control the time interval between the said resultant displacement.
In the present invention, the track instruction has only a kind of form, and is irrelevant with the curve type in the cutter track curve.
Two, DRC numerical control program
In the one-pass process, the track of center cutter is called cutter track curve (Tool Path).
By given data layout, the L of a cutter track curve is cut apart Δ X i, Δ y i, Δ Z i, Δ A i, Δ B i, Δ W i, Δ E i, Δ H iData file at storage space is referred to as the interlock table that L is cut apart.By given data layout, the T of this cutter track curve is cut apart Δ t i(i=1 ..., n) data file at storage space is referred to as the servo-actuated table that T is cut apart.L is cut apart with T and is cut apart the associated data stream that is referred to as the cutter track curve.
During T is cut apart, Δ t iBe signless 2 byte bigits.
During L is cut apart, coordinate figure increment (Δ X i, Δ y iDeng) be the signed bigit of former representation, most significant digit is sign bit (+/-), the just commentaries on classics/counter-rotating of respective coordinates axle.Particularly, coordinate figure increment (Δ X i, Δ y iDeng) feeding equivalent (nanometer or micron), the shared byte number of data can be different.
In the process of workpiece, numerical control device has only subsidiary function operation, the logic control of I/O device, three kinds of duties such as real-time control of cutter track curve.Therefore, the process of workpiece generally can be divided into supporting process, exchanging knives process and feed process.Supporting process relates to the subsidiary function operation, and exchanging knives process relates to tool magazine control, and the feed process relates to the real-time control of cutter track curve.
Corresponding with these three kinds of duties, digital control system has the instruction of three type games: status command, switch order, track instruction.According to the order that processing technology is confirmed, the instruction of user's user mode, switch order, track instruct the whole machining process process of describing workpiece.
Thisly confirmed that by processing technology the set of the movement instruction of order is exactly the nc program of this workpiece process, the present invention is referred to as the DRC numerical control program.
The DRC numerical control program is the digital product of digital control information manufacturing system manufacturing, thereby with the traditional form of control information, gives fully digitalization like drawing, G code program etc.
The DRC numerical control program is made up of movement instruction, is used to control the process of workpiece; Movement instruction comprises status command, switch order, track instruction;
Status command is used to operate subsidiary function.
Switch order is used to control the I/O device.
The track instruction is used to control servo drive, accomplishes the feed process of a cutter track curve.
Three, the structure of DRC numerical control program
As the digital product of digital control information, the structure of DRC numerical control program is the digitizing structure of product just.The structures shape of DRC numerical control program the function and the structure of DRC controller, otherwise the function of DRC controller and structure influence the structure of DRC numerical control program again.
The process of workpiece generally comprises a plurality of feed processes.Each feed process is accomplished the processing of a cutter track curve.
Article one, the cutter track curve is made up of the plurality of sections curve usually, and the geometry possibility of every section curve is identical also maybe be inequality, and therefore the identical also possibility of possibility is inequality for the coordinate axis of synthetic every section curve.
The present invention is not according to the geometry segmentation of curve, but by the coordinate axis segmentation of interlock.The coordinate axis that links in every section curve is identical, instructs with a track and describes.Thereby the processing of a cutter track curve reaches journey and often uses many track instructions.
Sequence code in the track instruction is used for to track instruction and numbers by processing sequence.
In the present invention, according to the coordinate axis of interlock, said interlock table is divided into an interlock table.For example, about Δ X i(i=1 ..., X axle interlock table n) is about Δ y i(i=1 ..., y axle interlock table n), or the like.
The track instruction is corresponding with axle interlock table, the servo-actuated epiphase of cutter track curve.
In the servo-actuated table status word is set, is used for identifying the coordinate axis that this section curve links.Status word is a byte, and the figure place of byte can be 32,16,8.For example, 8 status words can be specified the coordinate axis of 8 interlocks.From the low level to a high position, the enabled and the data channel of a servo drive of every control of status word.For example, status word " 11100000 " is specified the servo drive of axles such as X, y, Z, the servo drive that status word " 00011000 " is specified axles such as A, B.
With the figure place and the number of status word is customer parameter.The user can be provided with the figure place and the byte number of status word through status command.
In each interlock list file, mark sheet is set, is used for identifying the logical attribute of this section curve coordinate axis; The logical attribute of coordinate axis comprises feeding equivalent (nanometer, micron etc.), the shared byte number of data, also comprises servo parameters such as electronic gear ratio of gear.Therefore, in the time processing process, allow each coordinate axis to have different feeding equivalents, different data word joint numbers, different electronic gear ratio of gear, to adapt to the needs of high-speed, high precision processing.
For realizing comprising bulk informations such as filename, physical address, file structure, access control in the file directory by the name accessing file.
DRC numerical control program, axle interlock table, servo-actuated table all adopt Standard File Format, the information of its DLL abundant, quantity of information is big is that G code programming interface is difficult to realize.
The DRC numerical control program is an executable file; Axle interlock table, servo-actuated table are data file.DRC numerical control program, axle interlock table, servo-actuated table all adopt the standard file system such as FAT16, FAT32.
File system is the method for constituent act on disk.FAT (File Allocation Table) is an a kind of widely used levels of standards system.For the mass data storage that realizes SCM system and support SCM system and the computing machine that uses operating system, developed the chip of some file managers by name, CH376 for example, SL811, PB375A etc. through the file system swap data.The hard disk sector of file manager is built-in FAT16, FAT32 file system is analyzed firmware; Be used to read the relevant sevtor address such as FAT table, FDT table, BPB table and the address of data field; Need not the configuration operation system, thus the repertoire of file management accomplished independently: open, newly-built or deleted file, enumerate and search file, support long filenames etc.
Four, control flow
Data stream association control procedure-oriented disposes controlling resource according to the control flow of making digital control information.
The non real-timeization of axle interlock table assigning process causes the digital control information assigning process from the real-time control procedure of digital control information, to separate; Control flow therefore is divided into four sub-processes such as digital control information generative process, digital control information assigning process, digital control information process of transmitting and digital control information implementation, and the architecture of digital control system therefore decoupling zero is that digital control information generates four functional parts such as parts, digital control information distribution member, digital control information transmit block, digital control information execution unit.
From real-time, control flow can be divided into real-time process and non real-time process.Digital control information generative process and digital control information assigning process are the non real-time process, and digital control information process of transmitting and digital control information implementation are real-time process.
1), digital control information generative process
The digital control information generative process is exactly to make the process of associated data stream, the i.e. generative process of the interlock table of cutter track curve and servo-actuated table.The digital control information generative process comprises that also the generative process of DRC numerical control program is the programming process of process.
The digital control information generative process is non-real-time process.
Digital control information generates parts and generates the DRC numerical control program, comprises following content:
(1), according to the kinematics character of mechanical system, set up quadrature discrete coordinate system/nonopiate discrete coordinates system;
(2), according to the mechanical attributes of mechanical system, set up the textural constant database and be used to store said mechanical attributes; Said mechanical attributes comprises fine structure constant such as the displacement of the lines error, angular displacement error, backlass of coordinate axis, and coordinate system parameter such as the nonparallelism between the coordinate axis, non-perpendicularity;
(3), according to processing technology, carry out cutter track curve planning, accomplish cutter compensation and cutter track path planning, generation cutter track curve file;
(4), to geometric programming and the discrete motion planning of dispersing of every cutter track curve in the cutter track curve file, generate the axle interlock table and servo-actuated table of this cutter track curve, generate corresponding track instruction and an interlock table and servo-actuated table;
(5), according to user program, generate corresponding status command;
(6), according to user program, accomplish the switching value control in the I/O device, generate corresponding switch order;
(7), according to processing technology, linking status instruction, switch order, track instruction generate the DRC numerical control program; The last item movement instruction is for finishing " shutdown " status command of processing.
2), digital control information assigning process
The digital control information assigning process is exactly to servo drive distributing shaft interlock table.Distribute control information in the catalogue of axle interlock table.
Through axle interlock table is distributed to corresponding servo drive in advance, thus the assigning process non real-timeization of the table that will link.
3), digital control information process of transmitting
Digital control information process of transmitting and digital control information implementation relate to the operational process of DRC numerical control program.
DRC numerical control program operational process is the implementation of movement instruction just, comprises from the DRC numerical control program, reading movement instruction and the interpretive routine of carrying out this movement instruction.
In getting the finger process, the function byte of movement instruction writes the movement instruction register, other bytes of analyzing and processing, and the address of next bar movement instruction writes the movement instruction pointer; In the process of implementation, carry out the interpretive routine of this movement instruction, accomplish the function of said movement instruction appointment.
Be status command if decoding is judged to be, then carry out the interpretive routine of this status command;
Be switch order if decoding is judged to be, then carry out the interpretive routine of this switch order;
Be the track instruction if decoding is judged to be, then carry out the interpretive routine of this track instruction.
Status command and switch order implementation belong to supporting process, and less demanding to real-time belongs to routine techniques.
The implementation of track instruction is exactly the feed process, and just the real-time control procedure of a cutter track curve is the Core Feature of digital control system.
The process of workpiece generally comprises a plurality of feed processes.Each feed process is accomplished the processing of a cutter track curve.With the feed process of a cutter track curve of a track instruction description, every track instruction corresponding axle interlock table and a servo-actuated table.In the DRC numerical control program, the instruction of m bar track is generally arranged, thereby, m axle interlock table and m servo-actuated table are arranged.
Article one, the cutter track curve is made up of the plurality of sections curve usually, and the geometry of every section curve maybe be different.In invention, the different segment of curve of geometry is regarded as different cutter track curves.
After the digital control information assigning process non real-timeization, the axle interlock table of m bar track instruction is stored in the axle interlock list file storer of servo drive, and the servo-actuated table of m bar track instruction is stored in the servo-actuated list file storer of real-time control module.Thereby the axle interlock table that is necessary for after the separation is got in touch with the foundation of servo-actuated table.
Every sequence code is carried in the track instruction, identifies this position of track instruction in the DRC numerical control program.The axle interlock table that comprises every track instruction in the axle interlock table is as son file, and its catalogue comprises sequence code; The servo-actuated table that comprises every track instruction in the servo-actuated table is as son file, and its catalogue also comprises sequence code.Thereby for all track instructions, sequence code is that every track instruction has been set up corresponding relation with its interlock table, servo-actuated table.
So, after the digital control information assigning process non real-timeization, in the real-time control procedure of cutter track curve, link for controlling relevant coordinate axis, need only be according to the axially relevant unidirectional transmission synchronizing pulse of servo drive of status word specified coordinate.For narrating for simplicity, this group synchronizing pulse under the status word control is referred to as the interlock order.
Thereby after the digital control information assigning process non real-timeization, the digital control information process of transmitting just is reduced to according to control rhythm and pace of moving things Δ t i(i=1 ..., n), to the unidirectional transmission interlock of the servo drive order of the status word appointment of track instruction.
4), digital control information implementation
The digital control information implementation is exactly the process that servo drive is followed interlock order control coordinate axis feeding generation resultant displacement.
Servo drive reads the coordinate figure increment according to the L pointer after receiving the interlock order from axle interlock table, the writing position ring drives the coordinate axis feeding and produces resultant displacement; The L pointer adds 1, equals the last address of an interlock table until the L pointer.
Five, interface
The interface of digital control system generally can be divided into internal interface and external interface.
1), external interface
External interface refers to network interface.
Said network interface is used for exchange message between the workshop management net different digital control system, generally can adopt EPA interface etc., belongs to routine techniques.
2), interlock interface
The internal interface of digital control system is used for digital control information and generates exchange message between four functional parts such as parts, digital control information distribution member, digital control information transmit block, digital control information execution unit.The present invention is divided into real-time interface and non real-time interface with internal interface.
Real-time interface comprises interlock interface and I/O interface.The I/O interface is used for the switch transmit button instruction to the I/O device, belongs to routine techniques.
The present invention is referred to as the interface that links with real-time interface, is used for sending the interlock order to servo drive.
In the G code program, the real-time Communication for Power interface is very complicated, does not have reconfigurability, can only the different fieldbus of labor computational resource configuration.This situation causes CNS " GB/T18759.2-2006 mechanical electric equipment digital control system in open type part 2 architecture " to be provided with 5.6 sections, requires to support all kinds of fieldbus (for example CAN, Profibus, Sercos etc.).
In fact, existing 12 kinds more than of the international standard of fieldbus, the company standard of manufacturer is more.Unfortunately, many standards just mean does not have standard.
In existing digital control system in open type based on the IEEE definition; The coordinate figure increment that fieldbus adopts the cycle communication mode to produce to the real-time synchronous transmission interpolation of servo drive; Communication cycle becomes systematic parameter, and the compatibility of synchronization mechanism, data representation becomes the key of transmission in real time.
In the present invention; After the digital control information assigning process separates from the real-time control procedure of digital control information; Axle interlock table is distributed to servo drive in non real-time, and the real-time Communication for Power process deteriorates to according to the control rhythm and pace of moving things, to the unidirectional real-time transmission interlock order of the servo drive of status word appointment; Control procedure is able to high simplified in real time, and the interlock interface is able to high simplified.
At transmitting terminal, the interlock interface class is like pressing Δ t i(i=1 ..., rhythm and pace of moving things n) is the parallel interface of uni-directional transmission state word constantly; At receiving end, a servo drive is connected a similar interrupt control line with a data bit of interlock interface respectively.
For servo drive, the interlock order is synchronizing pulse just, and the interlock interface is not a communication interface.Thereby, in present technique, there is not the real-time Communication for Power process.
3), non real-time interface
The non real-time interface is used at supporting process to servo drive distributing shaft interlock table in non real-time.
Importantly, the assigning process of axle interlock table is a non real-time, does not have real-time problem thereby synchronization mechanism in real time, does not exist the cycle to communicate by letter thereby communication cycle no longer is a systematic parameter.Axle interlock table is normative document, does not have the problem of other formulation communication protocol.
Therefore, the non real-time interface can be any standard serial interface, comprises fieldbus, RS232 and RS485 interface, USB interface, mobile memory, wave point etc.
Six, DLL
So-called DLL refers to when exchanging job sequence between the different NC system, the routine interface between the job sequence.
In open existing digital control system, adopt the DLL of G code standard as nc program based on the IEEE definition.
Different with the nc program of existing G code, the DRC numerical control program is characterised in that:
1), G code program object-oriented, the DRC numerical control program is towards control flow
In existing digital control system in open type, adopt the DLL of G code standard as nc program based on the IEEE definition.The fifties in last century paper tape as the input basic physical medium the time, on paper tape, represent character for standard, formulated the coding standard of tape punch, i.e. the G code standard.
The G code program is OO.In the G code program, instruct with different interpolations and to describe the different curves in the cutter track curve.Must use different interpolation iterative algorithms to realize different interpolation instruction again for different curves, the real-time process of curve is by the real time implementation of interpolation iterative algorithm, thereby causes the interpolation iterative algorithm to become the real-time control algolithm of OO sealing.
In the DRC numerical control program, the track instruction is towards the process of cutter track curve.The DRC numerical control program is towards control flow.
2), the standardization of control information
In the interpolation iterative algorithm, each coordinate axis must have identical logical attribute.In case the logical attribute of coordinates axle is different; For example; Feeding equivalent (nanometer, micron etc.) is different, the byte number of data is not equal; Corresponding variation all will take place in the function of digital control system and structure, has restricted the opening and the reconfigurability of system from real-time control procedure and real-time Communication for Power process two aspects.
The G code standard is the primary product of infotech starting stage, receives the restriction of paper tape to have the very few defective of quantity of information inevitably.Each manufacturer thereby G code all carried out the expansion outside the basic semanteme; Cause the dependence of G code program and corresponding hardware; Nc program does not have interchangeability between different digital control systems, cause various digital control systems incompatible, and the exchange that hinders control information is with shared; The consistance that does not possess man-machine interface has restricted the opening and the reconfigurability of digital control system from the DLL aspect.
The axle interlock table of track instruction and servo-actuated table carry the needed whole digital control informations of processing cutter track curve, generate parts by digital control information and create in non real-time, allow each coordinate axis to have the different logical attribute.
DRC numerical control program, axle interlock table, servo-actuated table etc. all transmit in system with the form of levels of standards, and also the form with file transmits between different digital control systems.These files meet filespec, adopt such as standard file system such as FAT16, FAT32.Levels of standards becomes the carrier of digital control information, and is irrelevant with hardware platform, irrelevant with software platform such as operating system, has platform-neutral widely, realized the opening of digital control information.Levels of standards replaces the G code program, becomes a kind of standardized DLL that is easy to, and helps the standardization of control information.
Seven, the real-time control of cutter track curve
The implementation of track instruction relates to digital control information transmit block and servo drive.For the sake of simplicity, the digital control information transmit block abbreviates real-time control module as, comprises that the interlock coordinate axis is provided with module, the interlock order is provided with module, rhythm and pace of moving things control module, terminal point control module.
1, control module is sent the interlock order in real time
T pointer: the Δ t that is used for reading the servo-actuated table i(i=1 ..., n).
L pointer: the coordinate figure component that is used for reading an interlock table.
When carrying out the track instruction, track instruction execution module is provided with running mark, starts real-time control module.
Control module is being dominated the implementation that track instructs according to the control rhythm and pace of moving things in real time, and the real-time control procedure of coordinate axis interlock is converted into following process:
Step 1, interlock coordinate axis are provided with step: according to the sequence code of track instruction, the interlock coordinate axis is provided with module the first address of servo-actuated table is write the T pointer, and reading state word and write state word register from the servo-actuated table are specified the coordinate axis of interlock;
Step 2, interlock order are provided with step: according to the T pointer, the interlock order is provided with module and reads the Δ t in the servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that step 3, rhythm and pace of moving things controlled step: T are cut apart in the timer arrives, and pulse of rhythm and pace of moving things control module starting impulse generator output is sent the interlock order through the interlock interface to the servo drive of status word register appointment;
Step 4, terminal point controlled step: the terminal point of terminal point control module control track instruction, if the T pointer equals the last address of servo-actuated table, promptly arrive the terminal point of track instruction, close running mark; Otherwise, the next Δ t of T pointed i, repeating step 2 is to step 4;
Track instruction execution module is inquired about the running mark of real-time control module, if arrive the terminal point of track instruction, then carries out next bar movement instruction.
2, servo drive control coordinate axis feeding
Behind the servo drive receiving axes interlock table, with the execute flag set; According to the sequence code of the axle interlock table of track instruction, the first address of axle interlock table is write the L pointer; According to the mark sheet in the axle interlock list file, the logical attribute of coordinate axis is set.
After servo drive receives the interlock order, follow the interlock order, axle interlock module of meter control reads the coordinate figure increment according to the L pointer from its interlock table, and the writing position ring drives the coordinate axis feeding and produces resultant displacement; The L pointer adds 1, equals the last address of an interlock table until the L pointer, with the execute flag reset, prepares to carry out the axle interlock table of next bar track instruction.
So, the real-time control procedure of so-called cutter track curve is exactly according to the control rhythm and pace of moving things, and control is read the coordinate figure increment by the servo drive of status word appointment and write the process of its position ring from axle interlock table.Control module produces the interlock order in real time; Follow the interlock order, servo drive constantly drives the coordinate axis feeding and produces resultant displacement.So go round and begin again,, promptly arrive the terminal point of said track instruction until the last address of T pointer arrival servo-actuated table.
For example, for 5 interlocks such as X, y, Z, A, B, status word is " 11111000 ", and control procedure is exactly in the time of in fact, and control module is constantly with the control rhythm and pace of moving things Δ t in the servo-actuated table in real time i(i=1 ..., n) write T and cut apart timer, produce the interlock order and send the interlock order to servo drives such as X, y, Z, A, B through the interlock interface; Servo drives such as X, y, Z, A, B are then followed interlock order, separately axle interlock module of meter control from axle interlock table separately, constantly read Δ X synchronously respectively i, Δ y i, Δ Z i, Δ A i, Δ B iAnd the writing position ring, drive the coordinate axis feeding and produce resultant displacement.So renew in week, until the terminal point of said cutter track curve.
Eight, the system of architecture realizes technical scheme
In the existing digital control system in open type based on the IEEE definition, the interpolation cycle of real time operating system and the communication cycle of fieldbus are two system clocks.Follow the beat of interpolation cycle and communication cycle, the digital control information of cutter track curve constantly generates, distributes, sends, carries out, thereby goes round and begins again with the mode of the real-time iteration of the real-time iteration of digital control information and control procedure.In this architecture; The real-time control procedure of cutter track curve had both comprised the real-time iteration of digital control information and the real-time iteration of control procedure; Comprise the real-time Communication for Power process again, relate to a series of complicated factors such as software platform such as hardware platform, real time operating system such as figure place and arithmetic speed of kinematics/dynamic characteristic, the processor of technology characteristics, the mechanical system of geometric properties, the process of precision and speed, the cutter track curve of interpolation iterative algorithm.
The present technique scheme is according to the control flow configuration controlling resource of the generation of digital control information, distribution, transmission, execution, and wherein, generative process and assigning process are the non real-time process, and process of transmitting and implementation are real-time process.
The present technique scheme is reduced to the real-time control procedure of cutter track curve according to the control rhythm and pace of moving things Δ t in the servo-actuated table i(i=1 ..., n), order to the unidirectional transmission interlock of the servo drive of status word appointment through the interlock interface; Servo drive is then followed the interlock order, and the coordinate figure increment during said axle interlock is shown is the writing position ring one by one, drives the interlock of corresponding coordinate axle and produces resultant displacement.Thereby the decoupling zero of digital control information implementation is interlock information and executing process and positional information implementation.
The present technique scheme is with the control rhythm and pace of moving things Δ t in the servo-actuated table i(i=1 ..., n) replaced interpolation cycle, cancelled the control of real time operating system to real-time control procedure.The present technique scheme has replaced very complicated real-time Communication for Power with the interlock order of the simplest unidirectional transmission, has cancelled the control of existing field boundary bus to real-time control procedure.Thereby technique scheme has thoroughly been removed operating system and the restriction of existing field boundary bus to real-time control procedure, for the system realization technology of restructural digital control system has indicated direction.
Fig. 1 is the process illustraton of model based on control flow, and wherein solid line is represented real-time process, and dotted line is represented the non real-time process.For clarity sake, can in Fig. 1, increase the implementation of feedback information in the servo drive, like Fig. 2.
Process data model contrast with the existing digital control system in open type that defines based on IEEE; Above-mentioned process model has very clearly been described the architecture of digital control system in open type, has disclosed the technical scheme and the gordian technique of reasonable disposition controlling resource in the Different control flow process.
In order to be illustrated more clearly in the present technique scheme, and compare, take the example of an imagery with system's realization technology based on the existing digital control system in open type of IEEE definition.
Band performance's symphony, the symphony melody is equivalent to the cutter track curve, and various musical instruments are equivalent to coordinate axis, and the performer is equivalent to servo drive, and real time operating system then is equivalent to the conductor.
In existing digital control system in open type based on the IEEE definition; In the playing procedure (process of cutter track curve) of symphony melody; Stardom's (servo drive) does not know to play the symphony melody (cutter track curve) of what tune in advance; Conductor's (real time operating system) must be divided into some tunes (real-time interpolation calculates the coordinate figure increment) with the symphony melody by isometric timeslice (interpolation cycle) at the scene of playing; And every section song informed each performer (carrying out real-time Communication for Power through existing field boundary bus with servo drive) one by one through certain real-time mode, each performer every section song of real time record one by one plays.The extreme complicacy of this pattern is conspicuous.
In the present technique scheme, through rehearsal (discrete geometric programming and discrete motion planning), the symphony melody is by its inherent melody (not isometric rhythm and pace of moving things Δ t in the servo-actuated table i) be divided into some tunes, and be that each performer distributes a mark tune music score (distributing shaft interlock table) in proper order in advance, conductor's (control module in real time) need only be according to the control rhythm and pace of moving things Δ t in the servo-actuated table at the scene of playing i(i=1 ..., n), inform that with baton (sending the interlock order) each performer, each performer then follow order that baton sends and browse own music score (the axle interlock is shown) and play through the interlock interface.The height simplicity of this pattern also is conspicuous.
1, some definition
1), digital control information generates parts
Digital control information generates parts based on PC, comprises status command generation module, switch order generation module, track instruction generation module, DRC numerical control program generation module.
2), digital control information distribution member
The digital control information assigning process is exactly to give relevant servo drive with the coordinate figure increment assignment in the interlock table, for example, and with Δ X i, Δ y i, Δ Z i, Δ A i, Δ B iDistribute to the servo drive of 5 coordinate axis such as X, y, Z, A, B.
The digital control information distribution member comprises axle interlock list file storer, axle interlock table distribution module, serial line interface.
3) digital control information transmit block
The digital control information transmit block is used for sending the interlock order according to the control rhythm and pace of moving things in real time to the servo drive of status word appointment.For for simplicity, the digital control information transmit block renames as real-time control module.
In real time control module relates to from file memory and reads the Δ t the servo-actuated table i(i=1 ..., n) and status word.The servo-actuated list file is to follow the normative document that writes servo-actuated list file storer such as FAT16, FAT32 file system standard by the operating system of PC.In the present technique scheme; Control module also comprises servo-actuated list file storer in real time; And disposed the Sector analysis module of solidifying, and be used to read the relevant sevtor address such as FAT table, FDT table, BPB table and the address of data field, thus irrelevant with the hardware and software platform of PC.
In multi-CPU system, adopt dual port RAM usually as the data exchange interface between the CPU.In the present technique scheme, dual port RAM is used to store the servo-actuated list file, and in real time control module is connected with the PC system through dual port RAM, and reads PC and write the Δ t in the servo-actuated table in the dual port RAM i(i=1 ..., n) and status word, but with the operating system independent of PC.
4), digital control information execution unit
The digital control information execution unit comprises servo drive and I/O device.As routine techniques, this embodiment does not relate to the control stream that is used to control the I/O device.
The digital control information implementation be exactly servo drive with coordinate figure increment writing position ring, drive the coordinate axis feeding.
5), motion interface
Motion interface comprises non real-time interface, interlock interface.
Said non real-time interface is various standard serial interfaces, for example fieldbus, RS232 interface, RS485 interface, USB interface, mobile memory, wave point etc.
Said interlock interface, at transmitting terminal, the similar Δ t that presses i(i=1 ..., rhythm and pace of moving things n) is the parallel interface of uni-directional transmission state word constantly, comprises that status word register, T pointer, T cut apart timer, pulse producer; At receiving end, a servo drive is connected a similar interrupt control line with a data bit of interlock interface respectively.
6), numerical control application program system
The numerical control application program system comprises DRC numerical control program, interpretive routine storer, DRC numerical control program operation module.
DRC numerical control program operation module comprises that movement instruction gets finger print piece, status command execution module, switch order execution module, track instruction execution module.
Movement instruction is got the finger print piece and is used for the first address of DRC numerical control program is write the movement instruction pointer and reads movement instruction, and the function byte of movement instruction is write the movement instruction register, and the address of next bar movement instruction is write the movement instruction pointer; Said movement instruction pointer is used in reference to the address of fixing a movement instruction;
If movement instruction is a status command, the status command execution module is carried out the interpretive routine of this status command; If movement instruction is a switch order, the switch order execution module is carried out the interpretive routine of this switch order; If movement instruction is the track instruction, track instruction execution module is carried out the interpretive routine of this track instruction.
2, architecture
Fig. 3 is a kind of architectural schematic of reconfigurable CNC system; Fig. 4 to Fig. 6 is each functions of components module map, comprises PC system 1, interpretive routine storer 2, real-time control module 3, servo drive 4, I/O device 5, serial line interface 6, interlock interface 7, I/O interface 8.PC system 1 is connected with servo drive 4 through serial line interface 6, is connected with I/O device 5 through I/O interface 8.PC system 1 comprises that digital control information generates parts, digital control information distribution member, numerical control application program system; Be connected with real-time control module through the internal bus such as PCI; Be connected with the digital control information execution unit through serial line interface, I/O interface, constitute all-in-one-piece architecture.
PC system 1 can also be connected the two shared servo-actuated table with real-time control module through dual port RAM.
PC system 1 is used to generate the DRC numerical control program of control workpiece process, comprises status command generation module 11, switch order generation module 12, track instruction generation module 13, DRC numerical control program generation module 14, axle interlock table distribution module 15, DRC numerical control program operation module 16.
The function of above-mentioned module is:
Status command generation module 11 is used to generate the status command of control supporting process.
Switch order generation module 12 is used to generate the switch order of control I/O device.
Track instruction generation module 13 is used to generate the track instruction that the control servo drive is accomplished cutter track curve feed process.Track instruction generation module comprises discrete geometric programming module and discrete motion planning module.Discrete geometric programming module is used to generate the interlock table that the L that stores the cutter track curve is cut apart; Said L is cut apart and is used to control coordinate axis interlock generation resultant displacement; Said interlock list area is divided into each axle interlock table; The L that said axle interlock table is used to store relevant coordinate axis is cut apart component, controls this coordinate axis and produces axial translation.The T that the discrete motion planning module is used to store the cutter track curve is cut apart the servo-actuated table with status word; Said T is cut apart and is used to control the time interval between the said axial translation; Said status word is used to specify the coordinate axis of interlock.
DRC numerical control program generation module 14 is used for according to processing technology status command, switch order, track instruction being linked as the DRC numerical control program.
Axle interlock table distribution module 15 is used for through serial line interface 6 to servo drive 4 distributing shaft interlock tables.
DRC numerical control program operation module 16 is used to move the DRC numerical control program, and executing state instruction control supporting process, execution switch order are controlled I/O device 5, carried out the real-time control module 3 of track instruction startup is accomplished the cutter track curve through the interface 7 control servo drives 4 that link process through I/O interface 8.Comprise that movement instruction gets finger print piece 161, status command execution module 162, switch order execution module 163, track instruction execution module 164.Movement instruction is got finger print piece 161 and is used for the address of DRC numerical control program is write the movement instruction pointer and reads movement instruction, and the function byte of movement instruction is write the movement instruction register, and the address of next bar movement instruction is write the movement instruction pointer; Said movement instruction pointer is used in reference to the address of fixing a movement instruction.If said movement instruction is a status command, said status command execution module 162 is used to carry out the interpretive routine of this status command; If said movement instruction is a switch order, said switch order execution module 163 is used to carry out the interpretive routine of this switch order; If said movement instruction is the track instruction, said track instruction execution module 164 is used to carry out the interpretive routine of this track instruction.
Interpretive routine storer 2 is used to store the interpretive routine of above-mentioned status command, switch order, track instruction.
Control module 3 is connected with PC system 1 through internal bus in real time, is used for the control rhythm and pace of moving things Δ t according to the servo-actuated table i(i=1 ..., n), send the interlock order to servo drive 4 through interlock interface 7; Said interlock order be used to control between the said status word specified coordinate axle synchronously;
Servo drive 4 is provided with an interlock table initialization module 41 and axle interlock module of meter control 42.Behind the receiving axes interlock table, an axle interlock table initialization module 41 is used to be provided with execute flag, according to the sequence code of track instruction, the first address of axle interlock table is write the L pointer; According to the mark sheet in the axle interlock list file, the logical attribute of coordinate axis is set.Follow the interlock order; Axle interlock module of meter control 42 reads this coordinate figure increment and writing position ring from axle interlock table according to the L pointer; Drive the coordinate axis feeding and produce resultant displacement, equal the last address of said axle interlock table, close execute flag until the L pointer.
In the present technique scheme, axle interlock list file also comprises mark sheet; Said mark sheet is used to identify the logical attribute of this coordinate axis; Said logical attribute comprises byte number, the electronic gear ratio of gear of feeding equivalent, data.In the existing digital control system in open type based on the IEEE definition, the interpolation iterative algorithm requires the coordinate axis of interlock must have identical logical attribute.In case the logical attribute of coordinates axle is different; For example; Feeding equivalent (nanometer, micron etc.) is different, the byte number of data is not equal; Corresponding variation all will take place in the function of digital control system and structure, has restricted the opening and the reconfigurability of system from real-time control procedure and real-time Communication for Power process two aspects.Thereby this technical characterictic of present technique scheme has overcome above-mentioned defective.
In the present technique scheme; Serial line interface 6 only is used at non real-time process servo drive 4 transmission axle interlock tables; Thereby its concrete structure does not receive to appoint restriction, and fieldbus, RS232 interface, RS485 interface, USB interface or wave point etc. all can adopt.This just means, needn't be serial line interface 6 formulation standards, in other words, serial line interface 6 standardization.
In sum, in the present technique scheme, the system of reconfigurable computer digital control system realizes that technical scheme has following technical characterictic:
Control flow is divided into four sub-processes such as digital control information generative process, digital control information assigning process, digital control information process of transmitting and digital control information implementation and disposes the control corresponding resource;
Digital control information generative process and digital control information assigning process non real-timeization;
The DRC numerical control program that status command, switch order, track instruction are write is as DLL;
The track instruction has only a kind of form, and is irrelevant with the curve type in the cutter track curve.
The track instruction separates with interlock table, servo-actuated table; The axle interlock table of each coordinate axis in the interlock table is as son file independently, in supporting process, distributes to servo drive through the non real-time serial line interface and is stored in its interlock table storer; The servo-actuated table is provided with status word, is used to specify the coordinate axis of interlock, and the byte number of status word is a customer parameter; Axle interlock list file is provided with mark sheet, is used to be provided with the logical attribute of coordinate axis, thereby the handling problem of coordinate axis logical attribute is moved forward to servo drive;
Said file meets filespec, adopts such as standard file system such as FAT16, FAT32.Levels of standards becomes the carrier of digital control information, and is irrelevant with hardware platform, irrelevant with software platform such as operating system.
Aspect architecture, the PC system comprises that digital control information generates parts, digital control information distribution member, numerical control application program system; In real time control module is as the external unit of hard disk and so on, is connected with the PC system through the internal bus such as PCI or through the form that dual port RAM is shared the servo-actuated table.
The PC system transfers the control of the real-time control procedure of cutter track curve to real-time control module.Control module is then according to the control rhythm and pace of moving things Δ t in the servo-actuated table in real time i(i=1 ..., n), send the interlock order to the servo drive of status word appointment through the interlock interface; Servo drive is then followed the interlock order, and the coordinate figure increment during said axle interlock is shown is the writing position ring one by one, drives the interlock of corresponding coordinate axle and produces resultant displacement.
The present technique scheme above-mentioned technical characterictic farthest simplified the real-time control method of cutter track curve; Cause the architecture of reconfigurable computer digital control system and the major transformation of real-time control method, and solved the reconstruct problem of reconfigurable computer digital control system with very simple technological means.
Digital control method based on above-mentioned reconfigurable computer digital control system comprises the steps:
Step 1, DRC numerical control program generate step: be used for PC system 1 and generate the DRC numerical control program, comprise the steps:
Step 101, track instruction generate step: track instruction generation module generates the track instruction that the control servo drive is accomplished cutter track curve feed process, comprises discrete geometric programming step and discrete motion planning step; Discrete geometric programming step is used for discrete geometric programming module and generates the interlock table that the L that stores the cutter track curve is cut apart; Said L is cut apart and is used to control coordinate axis interlock generation resultant displacement; Said interlock list area is divided into each axle interlock table, and the L that is used to store each coordinate axis is cut apart component, controls this coordinate axis and produces axial translation; The discrete motion planning step is used for the discrete motion planning module and generates the T store the cutter track curve and cut apart the servo-actuated table with status word; Said T is cut apart and is used to control the time interval between the said axial translation; Said status word is used to specify the coordinate axis of interlock.
Step 102, status command generate step: the status command generation module generates the status command of control supporting process.
Step 103, switch order generate step: the switch order generation module generates the switch order of control I/O device.
Step 104, DRC numerical control program generate step: DRC numerical control program generation module is linked as the DRC numerical control program according to processing technology with said status command, said switch order, the instruction of said track.
Step 2, axle interlock table allocation step: axle interlock table distribution module 15 is distributed said axle interlock table through serial line interface 6 to servo drive 4.
Step 3, DRC numerical control program operating procedure: the said DRC numerical control program of DRC numerical control program operation module 16 operations comprises the steps:
Movement instruction is got the finger step: movement instruction is got finger print piece 161 first address of DRC numerical control program is write the movement instruction pointer and reads movement instruction; The function byte of movement instruction is write the movement instruction register, the address of next bar movement instruction is write the movement instruction pointer; Said movement instruction pointer is used in reference to the address of fixing a movement instruction;
The status command execution in step: if movement instruction is got the movement instruction that refers in the step is status command, 162 interpretive routines of carrying out this status command of status command execution module;
The switch order execution in step: if movement instruction is got the movement instruction that refers in the step is switch order, 163 interpretive routines of carrying out this switch order of switch order execution module;
Track instruction execution in step: if movement instruction is got the movement instruction that refers in the step is the track instruction, 163 interpretive routines of carrying out this track instruction of track instruction execution module.
PC system 1 at first to servo drive 4 distributing shafts interlock table, moves the DRC numerical control program through serial line interface 6 then.Wherein running orbit when instruction, track instruction execution module 164 starts real-time control module 3, transfers the control of the real-time control procedure of cutter track curve to real-time control module 3.
Control module 3 is according to the control rhythm and pace of moving things Δ t in the servo-actuated table in real time i(i=1 ..., n), send the interlock order to servo drive 4 through interlock interface 7; 4 of each servo drives are followed interlock order, with the writing position ring one by one of the coordinate figure increment in the axle interlock table separately, drive coordinate axis feeding separately, produce resultant displacement.So go round and begin again, equal the last address of servo-actuated table until the T pointer, promptly arrive the terminal point of this track instruction, close running mark, DRC numerical control program operation module is carried out next bar movement instruction.
Track instruction execution module 164 is transferred control after the real-time control module 3 to, is in query State, inquires about the running status of real-time control module 3.If running mark is closed, then carry out next bar movement instruction, until carrying out stop instruction, finish the process of workpiece.
Particularly, the real-time control procedure of cutter track curve comprises the steps:
Step a, interlock coordinate axis are provided with step: according to the sequence code of said track instruction, the interlock coordinate axis is provided with module 31 first address of servo-actuated table is write the T pointer, and reading state word and write state word register from the servo-actuated table are specified the coordinate axis of interlock;
Step b, interlock order are provided with step: according to the T pointer, the interlock order is provided with module 32 and reads the Δ t in the servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that step c, rhythm and pace of moving things controlled step: T are cut apart in the timer arrives, and pulse of rhythm and pace of moving things control module 33 starting impulse generators output is sent the interlock order through interlock interface 7 to the servo drive 4 of status word register appointment;
Steps d, interlock table controlled step: follow said interlock order, the axle interlock module of meter control 41 of servo drive 4 reads the coordinate figure increment according to the L pointer from its interlock table, and the writing position ring drives the coordinate axis feeding and produces resultant displacement;
Step e, terminal point controlled step: the terminal point of terminal point control module 34 control track instructions, if the T pointer equals the last address of servo-actuated table, promptly arrive the terminal point of said track instruction, close running mark; Otherwise, the next Δ t of T pointed i, repeating step b is to step e.
For the reconstruct of mechanical system, at first must carry out motion planning to mechanical system.
The CAD/CAM/CAE broad application; Particularly the CAE technology is found the solution analytical calculation and the optimal design of structural behaviour of the problem such as multi-dimensional movement relation, rigidity, stability, dynamic response, thermal deformation of complex mechanical system with area of computer aided, has become requisite numerical evaluation instrument in motion planning and the structure optimization of mechanical system.Therefore, in this embodiment, the motion planning of mechanical system is regarded as conventional CAE technology.
The reconstruct of the reconfigurable computer digital control system in this embodiment relates to following problem.
1), the reconstruct problem of discrete coordinates system
After the mechanical system reconstruct, CAE carries out motion planning and structure optimization to mechanical system, obtains the kinematic relation of mechanical system.To the mechanical system after the reconstruct, must rebuild discrete coordinates system.
2), the reconstruct problem of textural constant database
After the mechanical system reconstruct, mechanical attributes changes.According to the mechanical attributes after the mechanical system reconstruct, reconstruct textural constant database; Said mechanical attributes comprises fine structure constant such as the displacement of the lines error, angular displacement error, backlass of coordinate axis, and coordinate system parameter such as the nonparallelism between the coordinate axis, non-perpendicularity.
3), the reconstruct problem of status command and switch order
Status command relates to the subsidiary function operation, and switch order relates to the switching value control in the I/O device, and the two is all inseparable with the ad hoc structure of mechanical system, belongs to personalized function.After the mechanical system reconstruct, status command and switch order often need reconstruct.
In the present technique scheme, the definition of status command and switch order and explanation operation thereof are open all based on PC.The function that the user can define the parameter value in its auxiliary byte voluntarily and define voluntarily through the realization of rewriting interpretive routine.
Definition status instruction and switch order in PC are write it and explained that working procedure all carries out at client layer, and be irrelevant with hardware platform, the software platform of PC, is reconfigurable.
4), the reconstruct problem of real-time control procedure
The key problem of digital control system is to control the cutter track curve in real time.Corresponding to the reconstruct of mechanical system, the real-time control procedure of cutter track curve must need reconstruct.
The reconstruct of control procedure in real time relates to the reconstruct of track instruction and the reconstruct of interlock interface.
Existing digital control system in open type based on the IEEE definition is an object-oriented rather than processor-oriented.In interpolation iteration control method, the iterative process that real-time control procedure is a digital control information is again the iterative process of real-time control procedure.Thereby; Control procedure is inseparable with the geometric properties of cutter track curve, the technology characteristics of process, the kinematics/dynamic characteristic of mechanical system etc. in real time; Inseparable with hardware platforms such as the figure place of CPU, arithmetic speeds; Inseparable with software platforms such as real time operating systems, inseparable with the interpolation iterative algorithm.The real-time control procedure of cutter track curve can't be opened, and does not have reconfigurability.For different curve types, must define special-purpose interpolation instruction and dispose specific interpolation module, thereby it is not restructural that the substandard interpolation of G code is instructed.
Track instruction in the present technique scheme has only a kind of form, and is only relevant with the number of the coordinate axis that links, irrelevant with the curve type in the cutter track curve.There is not the reconstruct problem.
Prior art is regarded as ultra-modem technology with 5 interlocks.In the present technique scheme, the coordinate axis of interlock is specified by the status word in the servo-actuated table, and the figure place of status word and byte number then are customer parameters.8 coordinate axis interlocks of one 8 status word may command, 16 coordinate axis interlocks of one 16 status word may command.Thereby, for the overwhelming majority's user, there is not the reconstruct problem.If the number of axle of mechanical system surpasses the figure place of a status word, in the present technique scheme, customer parameter that need only status word is set to 2 or 2 above bytes, and disposes the interlock interface more than 2 or 2, thereby also need not reconstruct.The form of the track instruction that the present technique scheme proposes is applicable to any mechanical system, has versatility widely.
The present technique scheme is reduced to the real-time control module of startup with the real-time control procedure of cutter track curve.Through the Sector analysis module of built-in curing, the operating system independent of its operation and PC also need not dispose any embedded real-time operating system.
The interlock interface of present technique scheme and non-realtime traffic interface, the interlock order is synchronizing pulse just.At transmitting terminal, the interlock interface class is like pressing Δ t i(i=1 ..., the n) rhythm and pace of moving things of the appointment parallel interface of uni-directional transmission state word constantly; At receiving end, a servo drive is connected with a data bit of interlock interface respectively, and the interlock interface class is like an interrupt control line.Thereby there is not the reconstruct problem in the interlock interface that the present technique scheme proposes.
5), the reconstruct problem of non real-time interface
The non real-time interface is a standard serial interface, and other standard serial interfaces under for example the USB interface of standard or UART support belong to routine techniques.For the reconstruct of mechanical system, said non real-time interface need not reconstruct.
In sum; After the mechanical system reconstruct; For reconfigurable computer digital control system proposed by the invention, the real-time control procedure of track instruction and cutter track curve, interlock interface and non real-time interface all need not reconstruct, and what need reconstruct only limits to discrete coordinates system and textural constant database; And, write it and explain working procedure in instruction of the client layer of PC definition status again and switch order.Thereby the present technique scheme is converted into the routine techniques means among the PC with the reconstructing method of reconfigurable computer digital control system, has good reconfigurability, has solved the reconstruct problem of reconfigurable computer digital control system fully.
Concrete, the reconstructing method of the reconfigurable computer digital control system of present technique scheme comprises the steps:
Step 1, reconstruct discrete coordinates system: PC system reconfiguration discrete coordinates system; Said discrete coordinates is to comprise quadrature discrete coordinate system and nonopiate discrete coordinates system.
Step 2, reconstruct textural constant database: PC system reconfiguration textural constant database; The fine structure constant of said textural constant database storing coordinate axis and coordinate system parameter; The fine structure constant of said coordinate axis comprises displacement of the lines error, angular displacement error, backlass; Said coordinate system parameter comprises nonparallelism, the non-perpendicularity between the coordinate axis.
Step 3, reconstituted state instruction: PC system reconfiguration status command;
Step 4, reconstruct switch order: PC system reconfiguration switch order.
Above content is the further explain that combines concrete preferred implementation that the reconfigurable computer digital control system is done, and can not assert that practical implementation of the present invention is confined to these explanations.For example, the connected mode of PC system and real-time control module the concrete mode that in present embodiment, adopts, can also adopt other multiple connected modes.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace in other respects, all should be regarded as belonging to protection scope of the present invention.

Claims (12)

1. a reconfigurable computer digital control system is characterized in that, comprises PC system, interpretive routine storer, real-time control module, servo drive, I/O device, serial line interface, interlock interface, I/O interface;
Said PC system is connected with said servo drive through serial line interface; Be connected with said I/O device through the I/O interface; Be used to generate the DRC numerical control program of control workpiece process, comprise status command generation module, switch order generation module, track instruction generation module, DRC numerical control program generation module, axle interlock table distribution module, DRC numerical control program operation module;
Said status command generation module is used to generate the status command of control supporting process;
Said switch order generation module is used to generate the switch order of control I/O device;
Said track instruction generation module is used to generate the track instruction that the control servo drive is accomplished cutter track curve feed process;
Said DRC numerical control program generation module is used for according to processing technology status command, switch order, track instruction being linked as the DRC numerical control program;
Wherein, said track instruction generation module comprises discrete geometric programming module and discrete motion planning module;
Said discrete geometric programming module is used to generate the interlock table that the L that stores the cutter track curve is cut apart; Said L is cut apart and is used to control coordinate axis interlock generation resultant displacement; Said interlock list area is divided into each axle interlock table, and the L that said axle interlock table is used to store relevant coordinate axis is cut apart component, controls this coordinate axis and produces axial translation;
The T that said discrete motion planning module is used to store the cutter track curve is cut apart the servo-actuated table with status word; Said T is cut apart and is used to control the time interval between the said axial translation; Said status word is used to specify the coordinate axis of interlock;
Said axle interlock table distribution module is used for distributing said axle interlock table through said serial line interface to said servo drive;
Said DRC numerical control program operation module is used to move said DRC numerical control program, and executing state instruction control supporting process, execution switch order start said real-time control module is controlled said servo drive completion cutter track curve through said interlock interface process through said I/O interface control I/O device, the instruction of execution track;
Said interpretive routine storer is used to store the interpretive routine of said status command, said switch order, the instruction of said track;
Said real-time control module is used for the control rhythm and pace of moving things Δ t according to said servo-actuated table i(i=1 ..., n), send the interlock order to said servo drive through said interlock interface; Said interlock order be used to control between the said status word specified coordinate axle synchronously;
Said servo drive is provided with an interlock table initialization module and axle interlock module of meter control;
Said axle interlock table initialization module is used to be provided with execute flag, according to the sequence code of said track instruction, the address of said axle interlock table is write the L pointer;
Follow said interlock order, said axle interlock module of meter control reads this coordinate figure increment and writing position ring according to the L pointer from said axle interlock table, drive the coordinate axis feeding and produce resultant displacement.
2. reconfigurable computer digital control system as claimed in claim 1, its characteristic are that also the byte number of said status word is a customer parameter.
3. reconfigurable computer digital control system as claimed in claim 1, its characteristic are that also said axle interlock list file also comprises mark sheet; Said mark sheet is used to identify the logical attribute of this coordinate axis; Said logical attribute comprises byte number, the electronic gear ratio of gear of feeding equivalent, data.
4. reconfigurable computer digital control system as claimed in claim 1, its characteristic are that also each data bit of said interlock interface connects a servo drive respectively.
5. reconfigurable computer digital control system as claimed in claim 1, its characteristic are that also said serial line interface is fieldbus, RS232 interface, RS485 interface, USB interface or wave point.
6. like any described reconfigurable computer digital control system in the claim 1 to 5; Its characteristic also is, said DRC numerical control program operation module comprises that movement instruction gets finger print piece, status command execution module, switch order execution module, track instruction execution module;
Said movement instruction is got the finger print piece and is used for the address of DRC numerical control program is write the movement instruction pointer and reads movement instruction, and the function byte of movement instruction is write the movement instruction register, and the address of next bar movement instruction is write the movement instruction pointer; Said movement instruction pointer is used in reference to the address of fixing a movement instruction;
If said movement instruction is a status command, said status command execution module is used to carry out the interpretive routine of this status command;
If said movement instruction is a switch order, said switch order execution module is used to carry out the interpretive routine of this switch order;
If said movement instruction is the track instruction, said track instruction execution module is used to carry out the interpretive routine of this track instruction.
7. reconfigurable computer digital control system as claimed in claim 6, its characteristic are that also said track instruction execution module is provided with running mark, starts said real-time control module;
Said real-time control module comprises that the interlock coordinate axis is provided with module, the interlock order is provided with module, rhythm and pace of moving things control module, terminal point control module;
Said interlock coordinate axis is provided with module and is used for the address of servo-actuated table is write the T pointer, and reading state word and write state word register from said servo-actuated table are specified the coordinate axis that links;
Said interlock order is provided with the Δ t that module is used for reading said servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that T is cut apart in the timer arrives, and said rhythm and pace of moving things control module is used for pulse of starting impulse generator output, sends the interlock order through the interlock interface to the servo drive 4 of said status word register appointment;
Said terminal point control module is used to control the terminal point of said track instruction, if said T pointer equals the last address of said servo-actuated table, promptly arrives the terminal point of said track instruction, closes running mark; Otherwise, the next Δ t of T pointed i
8. reconfigurable computer digital control system as claimed in claim 7, its characteristic are that also said real-time control module also comprises servo-actuated list file storer and Sector analysis module, are connected with said PC system through internal bus;
Said servo-actuated list file storer is used for receiving and storing said servo-actuated list file;
Said Sector analysis module is used to read said servo-actuated list file.
9. reconfigurable computer digital control system as claimed in claim 7, its characteristic are that also said real-time control module is connected with the PC system through dual port RAM;
The said servo-actuated table of storage in the said dual port RAM.
10. the digital control method of a reconfigurable computer digital control system is characterized in that, comprises the steps:
Step 1, DRC numerical control program generate step: be used for the PC system and generate the DRC numerical control program, comprise the steps:
Step 101, track instruction generate step: track instruction generation module generates the track instruction that the control servo drive is accomplished cutter track curve feed process, comprises discrete geometric programming step and discrete motion planning step; Discrete geometric programming step is used for discrete geometric programming module and generates the interlock table that the L that stores the cutter track curve is cut apart; Said L is cut apart and is used to control coordinate axis interlock generation resultant displacement; Said interlock list area is divided into each axle interlock table, and the L that is used to store each coordinate axis is cut apart component, controls this coordinate axis and produces axial translation; The discrete motion planning step is used for the discrete motion planning module and generates the T store the cutter track curve and cut apart the servo-actuated table with status word; Said T is cut apart and is used to control the time interval between the said axial translation; Said status word is used to specify the coordinate axis of interlock.
Step 102, status command generate step: the status command generation module generates the status command of control supporting process.
Step 103, switch order generate step: the switch order generation module generates the switch order of control I/O device.
Step 104, DRC numerical control program generate step: DRC numerical control program generation module is linked as the DRC numerical control program according to processing technology with said status command, said switch order, the instruction of said track.
Step 2, axle interlock table allocation step: axle interlock table distribution module is distributed said axle interlock table through serial line interface to servo drive.
Step 3, DRC numerical control program operating procedure: DRC numerical control program operation module is moved said DRC numerical control program, comprises the steps:
Movement instruction is got the finger step: movement instruction is got the finger print piece first address of DRC numerical control program is write the movement instruction pointer and reads movement instruction; The function byte of movement instruction is write the movement instruction register, the address of next bar movement instruction is write the movement instruction pointer; Said movement instruction pointer is used in reference to the address of fixing a movement instruction;
The status command execution in step: if movement instruction is got the movement instruction that refers in the step is status command, and the status command execution module is then carried out the interpretive routine of this status command;
The switch order execution in step: if movement instruction is got the movement instruction that refers in the step is switch order, and the switch order execution module is then carried out the interpretive routine of this switch order;
Track instruction execution in step: if movement instruction is got the movement instruction that refers in the step is the track instruction, and track instruction execution module is then carried out the interpretive routine of this track instruction.
11. the digital control method of reconfigurable computer digital control system as claimed in claim 10, its characteristic also is: said track instruction execution in step is provided with running mark, and starts following real-time controlled step:
Step a, interlock coordinate axis are provided with step: according to the sequence code of said track instruction, the interlock coordinate axis is provided with module the first address of servo-actuated table is write the T pointer, and reading state word and write state word register from the servo-actuated table are specified the coordinate axis of interlock;
Step b, interlock order are provided with step: according to the T pointer, the interlock order is provided with module and reads the Δ t in the servo-actuated table i(i=1 ..., n) and write T and cut apart timer;
The timing that step c, rhythm and pace of moving things controlled step: T are cut apart in the timer arrives, and pulse of rhythm and pace of moving things control module starting impulse generator output is sent the interlock order through the interlock interface to the servo drive of status word register appointment;
Steps d, interlock table controlled step: follow said interlock order, the axle interlock module of meter control of servo drive reads the coordinate figure increment according to the L pointer from its interlock table, and the writing position ring drives the coordinate axis feeding and produces resultant displacement;
Step e, terminal point controlled step: the terminal point of terminal point control module control track instruction, if the T pointer equals the last address of servo-actuated table, promptly arrive the terminal point of said track instruction, close running mark; Otherwise, the next Δ t of T pointed i, repeating step b is to step e.
12. the reconstructing method of a reconfigurable computer digital control system is characterized in that, comprises the steps:
Step 1, reconstruct discrete coordinates system: PC system reconfiguration discrete coordinates system; Said discrete coordinates is to comprise quadrature discrete coordinate system and nonopiate discrete coordinates system.
Step 2, reconstruct textural constant database: PC system reconfiguration textural constant database; The fine structure constant of said textural constant database storing coordinate axis and coordinate system parameter; The fine structure constant of said coordinate axis comprises displacement of the lines error, angular displacement error, backlass; Said coordinate system parameter comprises nonparallelism, the non-perpendicularity between the coordinate axis.
Step 3, reconstituted state instruction: PC system reconfiguration status command; Said status command is used to control supporting process;
Step 4, reconstruct switch order: PC system reconfiguration switch order; Said switch order is used to control the I/O device.
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