CN102402188A - Realization method for reconfigurable general controller of non-standard numerical equipment - Google Patents
Realization method for reconfigurable general controller of non-standard numerical equipment Download PDFInfo
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- CN102402188A CN102402188A CN2010102802174A CN201010280217A CN102402188A CN 102402188 A CN102402188 A CN 102402188A CN 2010102802174 A CN2010102802174 A CN 2010102802174A CN 201010280217 A CN201010280217 A CN 201010280217A CN 102402188 A CN102402188 A CN 102402188A
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Abstract
Disclosed is a realization method for a reconfigurable general controller of non-standard numerical equipment. Most of present controllers of non-standard numerical equipment are special controllers and are controllers only used for single kinematics modes, once control structures are changed, the controllers are required to be redesigned, and the controllers do not have generality, interchangeability and reconfigurable ability. By the aid of the realization method for the non-standard numerical equipment capable of reconfiguring the general controller, a hardware structure of the general controller is reconfigurable, an industrial personal computer is used as an upper computer, a card board of a lower computer is expanded based on an FPGA (field programmable gate array), real-time system tasks are completed by the FPGA, and task configuration for the FPGA is carried out according to needs. The realization method can lead the controller of the non-standard numerical equipment to have the generality, the interchangeability and the reconfigurable ability.
Description
[technical field]:
The invention belongs to advanced manufacturing technology and movement control technology field, be specifically related to a kind of implementation method of nonstandard digital equipment restructural general purpose controller.
[background technology]:
Nonstandard digital equipment manipulator is to be in series through rotation or linear joint by some connecting rods, can regard an open kinematic chain as.One end of open chain is fixed on the pedestal, and the other end is an end effector, in order to the operation object, accomplishes various operations.Nonstandard digital equipment controller is most critical, a most important parts in the nonstandard digital equipment system.Mostly existing nonstandard digital equipment manipulator controller is nonshared control unit; Be enclosed construction; Can only be to be applicable to that single movement learns the single controller of model,, not have versatility, interchangeability and a restructural ability in case control structure changes CONTROLLER DESIGN again.The application of virtual instrument technique makes and can make up modular control system like configuration softwares such as LabView, but the user is had the control system of specific (special) requirements, adopt LabView just to be difficult to realize or the realization cost too high.And virtual instrument technique has only been realized the software restructural, the effect of also be unrealized at hardware aspect " plug and play ".Therefore, study a kind of modularization, reconfigurable, the nonstandard digital equipment general purpose controller that satisfies the different demands of user is significant.
[summary of the invention]:
The objective of the invention is to overcome existing nonstandard digital equipment controller and do not have a problem of versatility, interchangeability and restructural ability, a kind of implementation method of nonstandard digital equipment restructural general purpose controller is provided.Realize the universalization of nonstandard digital equipment controller, feasible controller like nonstandard digital equipment such as robotization special plane, production line, tiered warehouse facility, packaging machine, glue spreader, automatic welder(welding machine), checkout equipment, 2-3 degree of freedom conveying robots has versatility, interchangeability and restructural ability.
The implementation method of nonstandard digital equipment restructural general purpose controller provided by the invention is:
The first, make up nonstandard digital equipment general purpose controller hardware configuration based on FPGA (Field Programmable Gate Array), realize the hardware restructural.The embedded nonstandard digital equipment manipulator parametrization kinematics model of controller software storehouse comprises RR, PP, RP, PR, RRR, RRP, RPR, RPP, PPR, PPP, PRR, 12 kinds of parametrization kinematics models of PRP (P-representes linear joint, and R-representes rotary joint).This model bank has possessed parameterized characteristic, has satisfied the requirement that nonstandard digital equipment manipulator controller possesses versatility.
The second, realize nonstandard digital equipment general purpose controller motion-control module based on PCL6045B;
Three, parameterized kinematics model is called by controller, and then realizes the trajectory planning of nonstandard digital equipment manipulator, accomplishes the motion control of nonstandard digital equipment manipulator.
The embedded parametrization kinematics model of restructural general purpose controller provided by the invention storehouse is not to a certain nonstandard digital equipment manipulator, but is directed against a kind of abstract operation machine kinematics model that nonstandard digital equipment manipulator is set up.The parameter input comprises degree of freedom, connecting rod, the secondary parameter of joint motions.Learn in the model at this abstract motion, number of degrees of freedom, both possibly be 1, also possibly be 2 or 3, and any one movable joint both possibly be a linear joint, also possibly be rotary joint.The user can selection operation machine kinematics model, and carries out degree of freedom, connecting rod, the secondary structural parameters input of joint motions.The structure type that can select like the 3DOF kinematics model has 8 kinds, is respectively RRR, RRP, RPR, RPP, PPR, PPP, PRR, PRP.
Restructural general purpose controller hardware configuration of the present invention is host computer with the industrial computer; Expanded the slave computer integrated circuit board based on FPGA (FieldProgrammable Gate Array); System real time task is accomplished by FPGA, and as required FPGA is carried out the task configuration, realizes the versatility of controller.With the VC++6.0 platform construction open module control system software, software configuration is divided into human-machine interface layer and slave computer Drive Layer, communicates through dynamic link, can change different brands hardware as required, realizes the interchangeability of different brands hardware.
Advantage of the present invention and good effect:
The invention provides nonstandard digital equipment restructural general purpose controller implementation method.The present invention has following technique effect:
(1) method of the present invention's proposition makes nonstandard digital equipment controller have versatility, according to the difference of nonstandard digital equipment manipulator form, need only select corresponding kinematics model and import the D-H parameter to get final product at human-computer interaction interface.
(2) when nonstandard digital equipment manipulator joint was damaged, controller can be discerned this joint automatically, and selects kinematics model to finish the work automatically, has certain fault-tolerant ability.
(3) when nonstandard digital equipment manipulator structural change, need only get final product selecting corresponding kinematics model and import the D-H parameter, the controller of application this method has the restructural ability.
(4) the present invention can be used for the control of nonstandard digital equipment, also can be used for other kinetic control system.
[description of drawings]:
Fig. 1 hardware system structure;
Fig. 2 motion-control module architecture design;
The nonstandard digital equipment manipulator of Fig. 3 controller architecture synoptic diagram.
[embodiment]:
Embodiment 1:
Below in conjunction with specific embodiment the present invention is further described:
1, Hardware Design
System hardware comprises control and AD/DA two parts, and industrial computer serves as the control core as man-machine interaction with the reconfigurable logic device FPGA, based on the isa bus agreement, has expanded AD capture card, IO card, motion control card, DA output card etc.System architecture is as shown in Figure 1.
(1) AD acquisition module
The AD capture card is responsible for the analog signal sensors data acquisition, as analog to digital converter, as required by the fpga chip dynamic-configuration, realizes the synchronous conversion and the output of multi-channel analog signal by the AD7892-1 cake core.AD7892-1 is that 12 of the low-power consumption single supplies that U.S. AD company produces have the analog to digital converter that sampling keeps function; Can walk abreast or serial output; The AD7892-1 input reference signal for ± 10V perhaps ± 5V (can be provided with); Input signal overvoltage protection voltage is ± 17V that sample conversion speed is 500kSPS.The synchronism that the AD capture card can guarantee in test process, each sensor to be read and to the requirement of real time data acquisition can obtain the higher detection precision.
(2) IO module
Numeral I/O module adopts four 8255 programmable parallel interface chips to constitute, in order to input and the output of spread F PGA.8255 chips have A mouth, B mouth and 3 I/O ports of C mouth.The I/O card selects 8255 chips under the working method of mode 1, and the A mouth is as parallel input port, and the B mouth is as parallel delivery outlet, the cue when the C mouth is worked with the B mouth as the A mouth.
(3) motion-control module
Based on the PCL6045B chip design three-axis moving control card, motion control card is communicated by letter through parallel bus with main fpga chip, and motion control card can be expanded.As shown in Figure 2.
(4) DA output module
The DA output module constitutes with two TLV5613 chips, has two-way DA output.TLV5613 is 12 bit parallel D/A converters, and its data setup time is 1us under fast mode, and low-speed mode is 3.5us down.
2, software system design
Control system has adopted Windows operating system, and in order accurately to accomplish control and data acquisition task in real time, Control Software should though the Windows system is the multitask TSOS, also can obtain higher timing accuracy based on real time operating system.The Windows system exists dual mode to obtain timer clock, and a kind of is WM-TIMER clock message, and another kind is a multimedia timer.The Windows system is its controlling mechanism with Message Processing, and WM-TIMER clock message always comes the last of message queue, and when a plurality of WM-TIMER clock message, the Windows system can be merged into all WM-TIMER clock message a message and carry out.Thereby this mode can not satisfy the requirement of system real time.And the multimedia timer resource that multimedia timer is the Windows system to be provided, timing accuracy can reach 1ms, can satisfy the requirement of system to real-time.Therefore, control system application of multimedia timer is accomplished the real-time task of upper computer software.
Different according to nonstandard digital equipment to the requirement of control system, utilize VC++6.0 software can make up modular TT&C system software fast based on Object-oriented Technique.Press TT&C system function branch, be divided into like lower module: data acquisition and processing module, graphic presentation and print module, data memory module, parameter are provided with module, communication module, system control module etc.Control system overall operation structure is as shown in Figure 3.
Claims (1)
1. the implementation method of a nonstandard digital equipment restructural general purpose controller is characterized in that concrete implementation method is:
(1) makes up nonstandard digital equipment general purpose controller hardware configuration based on FPGA (Field Programmable Gate Array); With the industrial computer is host computer; Expanded the slave computer integrated circuit board based on FPGA, system real time task is accomplished by FPGA, and as required FPGA is carried out the task configuration;
(2) realize nonstandard digital equipment general purpose controller motion-control module based on PCL6045B;
(3) parameterized kinematics model is called by controller, and then realizes the trajectory planning of nonstandard digital equipment manipulator, accomplishes the motion control of nonstandard digital equipment manipulator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102802174A CN102402188A (en) | 2010-09-14 | 2010-09-14 | Realization method for reconfigurable general controller of non-standard numerical equipment |
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| CN2010102802174A CN102402188A (en) | 2010-09-14 | 2010-09-14 | Realization method for reconfigurable general controller of non-standard numerical equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968356A (en) * | 2019-03-18 | 2019-07-05 | 华南理工大学 | Mechanical arm force-feedback control system and method based on Embedded Motion |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1580998A (en) * | 2004-05-20 | 2005-02-16 | 上海交通大学 | Reconstituted digital control module |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1580998A (en) * | 2004-05-20 | 2005-02-16 | 上海交通大学 | Reconstituted digital control module |
Non-Patent Citations (2)
| Title |
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| 刘振忠: "非标数字装备通用控制器运动控制技术研究", 《中国优秀硕士学位论文全文数据库》 * |
| 刘振忠等: "非标数字装备通用控制平台运动控制研究", 《中国科技论文在线》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968356A (en) * | 2019-03-18 | 2019-07-05 | 华南理工大学 | Mechanical arm force-feedback control system and method based on Embedded Motion |
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Application publication date: 20120404 |