CN102411353A - Driving and control integrated controller and control system - Google Patents
Driving and control integrated controller and control system Download PDFInfo
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- CN102411353A CN102411353A CN2011103434776A CN201110343477A CN102411353A CN 102411353 A CN102411353 A CN 102411353A CN 2011103434776 A CN2011103434776 A CN 2011103434776A CN 201110343477 A CN201110343477 A CN 201110343477A CN 102411353 A CN102411353 A CN 102411353A
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Abstract
The invention discloses a driving and control integrated controller comprising an interface, an industrial control computer module which is used for operating an application level operation system and a user application program and realizing human-machine interaction, a movement controller which is used for controlling and planning movement, a driver which is used for driving an actuating part, and a programmable logic controller which is used for logically processing and completing input and output control; the driving and control integrated controller is provided with a system which comprises an application level, a real-time scheduling level and a real-time control level; the real-time scheduling level is configured into an embodiment body with higher scheduling priority to that of a Kernel core in a computer operation system; the user application program works on the real-time scheduling layer after being downloaded to the driving and control integrated controller; scheduling is carried out according to the set priority, so that the user application program can start to actuate within a corresponding time slice and complete relevant work of the real-time control level, so that a preset real-time requirement is met.
Description
Technical field
The present invention relates to industrial control system, particularly relate to a kind of drive control integrated industry automatic control controller and control system.(application number: 200910105508.7) disclosed content is attached to this paper with way of reference to the Chinese patent that the applicant applied for.
Background technology
At present,, need provide to possess better real-time and interaction, have good secondary development property for adapting to the Industry Control Application demand that promotes day by day, and more compact structure, industrial control system that cost performance is higher.
Summary of the invention
Fundamental purpose of the present invention is exactly the deficiency to prior art, and a kind of control system of driving control integrated controller and using this controller is provided.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
A kind ofly drive control integrated controller, its characteristic is following,
Saidly drive control integrated controller and comprise interface; Be used to move application layer operating system; User application and the industrial control computer module I PC (Industrial Personal Computer) that realizes man-machine interaction; The motion controller MC (Motion Controller) that is used for motion control and motion planning; Be used for the driver of driving execution parts and be used for logical process and the programmable logic controller (PLC) PLC (Programmable Logic Controller) of completion input and output control;
Saidly drive control integrated controller and have a system that comprises application layer, Real-Time Scheduling layer and real-time key-course, the said application layer developing instrument software that is used to run application supplies user's exploitation and program compiler, realizes that communication and man-machine interface are mutual; Said Real-Time Scheduling layer is used for the application program of run user exploitation, and the operational order on the said real-time key-course of Real-Time Scheduling is operated hardware; Said real-time key-course is used to carry out said operational order, accomplishes control operation;
Said Real-Time Scheduling layer is configured to the realization body higher than the Kernel kernel priority level of computer operating system; User application downloads to and saidly is operated in said Real-Time Scheduling layer after driving control integrated controller; Priority by setting is dispatched; To guarantee that the user application that said industrial control computer module is written into begins to carry out in corresponding timeslice, accomplishes the related work of said real-time key-course, to satisfy preset real-time requirement.
Preferably, said real-time key-course comprises the motion-control module that is used to realize said motion control and motion planning and according to the driver module of the output drive motor of said motion-control module;
Said motion control comprises position control, speed control and Current Control; Carrying out relevant position of Electric Machine Control and velocity estimation, stator current estimation and coordinate resolves; According to the drive control signal of result of calculation generation motor, to accomplish the speed control and the Current Control of motor.
Preferably, said position and velocity estimation are according to the rotor-position or the operating position that are installed in the position sensor feedback calculated signals motor of motor side or loaded work piece platform side, and then the speed of estimation rotor or worktable;
It is the current sensor measurement value according to being installed in said driver module that said stator current estimation and coordinate resolve, and estimates each phase current of alternating current generator, and then accomplishes the required friendship direct sum orthogonal conversion of AC Motor Control;
The speed control of said motor and Current Control are closed-loop control, and the feasible rotor of being estimated or the speed of worktable, the given target speed value and the current value of current tracking system of motor are realized the stable operation of motor.
Preferably, said motion planning comprises real time kinematics planning, and said real time kinematics planning comprises the trapezoidal and S type motion planning that is used to realize a position motion and continuous path motion.
Preferably, said motion control also comprises the distributed control based on multiple fieldbus.
Preferably, said real-time key-course also comprises the Logic control module and the network control module of the network equipment control that is used for management that is used for through the control operation of I/O equipment completion logic.
Preferably, said application layer comprises functional interface module, I/O configuration module and human-computer interaction module;
Said I/O configuration module is used to dispose configuration info, and configuration info is sent to said Real-Time Scheduling layer;
Said functional interface module is used for the functional module resource to said Real-Time Scheduling layer being provided;
Said human-computer interaction module is used to generate human-computer interaction interface, to show the operation information of said real-time key-course.
Preferably, said Real-Time Scheduling layer comprises the real time execution system, and said real time execution system calls resource according to said configuration info from said functional interface module, finally call the operational order that is solidificated in said real-time key-course;
Said real time execution system comprises code translation module and complicated algorithm module;
Said code translation module is resolved the data layout that the file decoding unit in the said functional module is compiled;
Said complicated algorithm module is accomplished the complicated algorithm computing that the resulting data of said code translation module parses need be carried out; Obtain the discernible input information of said real time execution system; The complicated algorithm module preferably includes speed pre-service submodule, curve fitting submodule and compound movement track descriptor module; In order to accomplish further parsing, so that effectively identification and the execution of said real time execution system to user's input information.
Preferably, said real time execution system also comprises configuration module, data interaction module and fault diagnosis module;
Said configuration module receives the configuration info that the user is also transmitted through internal bus through the I/O configuration block configuration in the application layer; The configuration info that input information that said real-time key-course obtains according to said complicated algorithm module and said configuration module receive calls instruction corresponding and carries out corresponding operation;
Said data interaction module is used for the operation information that the said real-time key-course of monitoring is in real time carried out, and it is transferred on the human-computer interaction interface of application layer shows;
Said fault diagnosis module is used for monitoring in real time the fault-signal of said real-time key-course, and the human-computer interaction interface that said fault-signal transfers to said application layer is shown.
Preferably, said industrial control computer module and said programmable logic controller (PLC) are realized on same cpu chip or chipset;
Said motion controller and said driver are realized on digital signal processor;
Saidly drive control integrated controller and also comprise field programmable gate array and power model;
Said interface comprises Man Machine Interface module, ethernet interface module, field-bus interface module and I/O interface module;
Said field programmable gate array is the platform that said industrial computer module, said digital signal processor and each external apparatus interface module are carried out information interaction;
Said digital signal processor is to drive the platform that control integrated controller is controlled in real time;
Said power model is the power amplification unit and the said power supply unit that drives control integrated controller of driving execution parts;
Said Man Machine Interface module is said industrial computer module and human-computer interaction device's a interface unit;
Said I/O interface module is the interface unit of said digital signal processor and external signal;
Said field-bus interface module is the physical layer interface unit of fieldbus;
Said ethernet interface module is the physical layer interface unit of Ethernet.
A kind ofly drive control integrated control system, its characteristic is following:
Saidly drive control integrated control system and comprise that for example motor, human-computer interaction device and aforesaid any drive control integrated controller to execution unit;
Said execution unit is the topworks of motion, and its controlled terminal is coupled to the said output terminal that drives the drive signal of control integrated controller;
Said human-computer interaction device is the mutual platform of user and controller information, can comprise monitor and keyboard etc.
Preferably, saidly drive control integrated control system and also comprise I/O equipment and ethernet device;
Said I/O equipment drives control integrated controller and links to each other with said through fieldbus, be used for system outside low speed controlled device mutual, the conversion of accomplishing the input and output physical message with communicate by letter;
Said ethernet device drives control integrated controller and links to each other with said through Ethernet, be used for system outside high speed controlled device mutual, the conversion of accomplishing the input and output physical message with communicate by letter.
The present invention has the advantage of following aspect:
Of the present inventionly drive control integrated controller and adopt incorporate platform, comprise industrial control computer module, motion controller, driver and programmable logic controller (PLC), and it has a system that comprises application layer, Real-Time Scheduling layer and real-time key-course; Wherein, The industrial control computer module is as upper control module; Can move for example Windows system of computer desktop operating system; As application program operation platform and user application development platform, can realize man-machine interaction, technical flow design, the processing of graphic/text instruction stream, system debug work etc.; Motion controller is as real-time processing module, and various I/O controls of mechanical system and safeguard protection work are accomplished in the position planning of feasible system, speed and acceleration planning, real time kinematics control; Through the integrated controller hardware framework of combining closely of this employing; And the particular system framework that utilizes application layer, Real-Time Scheduling layer and real-time key-course to constitute; And make the priority of the scheduling of control program in the Real-Time Scheduling layer with respect to the system operation system program; With originally separate and function organic combination that industrial process control, motion control, driving and the FPGA of function singleness handled in a controller, thereby be able to provide powerful, real time kinematics control efficiently and functions such as planning, man-machine interaction processing and logical process.
The present invention compares with embedded control system in the past; The latter adopts microcontroller MCU mode can only realize simple communication and man-machine interaction, and the present invention then can move such as powerful desktop computer operating systems such as Windows XP/CE, and powerful and various communication mode is provided; Runs user applications; Accomplish functions such as complicated man-machine interaction, instruction stream processing, system debug, industrial control computer module operational system integration tool on application layer, Real-Time Scheduling layer and three layers of mechanism of real-time key-course wherein, it is as computer programmable Design of Automatic Control System instrument; For each module of the effective organizations of user system provides effective ways; The user can more flexibly, openly carry out system configuration, accomplishes secondary development, customizes the user program of oneself.
Simultaneously; The present invention compares with most control system in the past; The latter accomplishes user application in operating system such as Windows system applies layer through the design of instruments such as VC++/VB/Delphi; User application also is operated in the Windows application layer, dispatched by the Windows Kernel of Windows operating system and since the Windows operating system a lot of different application programs; Windows operating system is according to each application program of priority scheduling, thereby can't guarantee the time of running of user application.The present invention is for realizing the validity and the real-time of motion control and motion planning; And accomplish in real time by various I/O controls of drive system and safeguard protection work; On the basis that application layer, Real-Time Scheduling layer and real-time key-course three-tier system framework are provided; Further the Real-Time Scheduling layer is configured to a realization body higher than the Kernel kernel priority level of computer operating system; User application is operated in the Real-Time Scheduling layer after downloading to and driving control integrated controller, dispatches by the priority of setting, and begins to carry out in corresponding timeslice so that be written into the user application of industrial control computer module; Accomplish the related work of real-time key-course by the motion controller in the integrated controller, programmable logic controller (PLC) etc. by said timeslice, to satisfy preset real-time requirement.Thereby; The present invention sets up between industrial control computer module, motion controller, driver and the programmable logic controller (PLC) and drives the real-time and high efficiency interactive between control integrated controller and the external unit, has satisfied the real-time demand of Industry Control Application effectively.
In addition; The present invention compares with the controlling schemes (for example adopting IPC or PLC or motion control card mode) of in the past Open architecture; The latter need select each parts to carry out external combination through different components supplying merchants and build a big control system; Interaction is poor between the each several part; Transmission link increases greatly on signal path, has caused the increase and the transmission information quality unnecessary decline of auxiliary signal, the bottleneck of the complicated and entire system performance that causes connecting between system module.Use the control integrated controller that drives of the present invention, the electrical system of equipment is much compact, compares with control system in the past, and the present invention can reduce a large amount of lines of intermodule, makes the apparatus control system cost of having practiced thrift simple and compact for structure, effective.
To sum up, of the present inventionly drive control integrated controller powerful reliable real time kinematics control and functions such as planning, man-machine interaction processing and logical process can be provided; Use the controller system framework that the present invention proposes, compare technical scheme in the past, the complexity that reaches the industrial control system of same application function level reduces greatly, and system forms modularization more, and cost is lower; The three-tier system framework that is adopted provides the system integration instrument based on CPAC (computer programmable robotization controlization), the deviser can be quickly and easily the integral control system platform application in each different field.
Description of drawings
Fig. 1 is the structured flowchart that drives control integrated control system of one embodiment of the invention;
Fig. 2 is the control integrated controller inner structure block diagram that drives of one embodiment of the invention;
Fig. 3 is the system architecture diagram that drives control integrated controller and control system of one embodiment of the invention.
Embodiment
Below combine accompanying drawing that the present invention is further specified through embodiment.
Referring to Fig. 1; According to embodiments of the invention; Drive control integrated controller and comprise industrial control computer module I PC, motion controller MC, programmable logic controller (PLC) PLC, driver Driver and relevant interface; Wherein, industrial control computer module I PC is used to move application layer operating system, user application and realization man-machine interaction; Motion controller MC is used for motion control and motion planning; Driver Driver is used for the driving execution parts; Programmable logic controller (PLC) PLC is used for logical process and accomplishes relevant input and output control.
Referring to Fig. 3; Saidly drive control integrated controller and have a system that comprises application layer, Real-Time Scheduling layer and real-time key-course; Wherein, The said application layer developing instrument software that is used to run application supplies user's exploitation and program compiler, realizes short range or telecommunication and this machine or the man-machine interface alternation function of network; Said Real-Time Scheduling layer is used for the application program of run user exploitation, and the operational order on the said real-time key-course of Real-Time Scheduling is operated hardware; Said real-time key-course is used to carry out said operational order, accomplishes control operation.
According to embodiments of the invention; Said Real-Time Scheduling layer is configured to the realization body higher than the Kernel kernel priority level of computer operating system; User application downloads to and saidly is operated in said Real-Time Scheduling layer after driving control integrated controller; Priority by setting is dispatched; Guarantee that the user application that the industrial control computer module is written into begins to carry out in corresponding timeslice, and by drive in the control integrated controller module for example motion controller, driver, programmable logic controller (PLC) in the implementation of user application, accomplishes relevant work at said real-time key-course, thereby satisfy the real-time manipulation request of presetting.
In certain embodiments; Industrial control computer module I PC realizes comprising functions such as man-machine interaction, instruction stream processing, system debug; And; Industrial control computer module I PC is also based on the system that comprises application layer, Real-Time Scheduling layer and real-time key-course, and the operational system integration tool provides the function of controlling schemes being carried out secondary development.In an instantiation; Said industrial computer module adopts powerful industrial computer dedicated cpu chipset; The capacity that can articulate surpasses the DOM dish of 4G, can move such as powerful desktop operating systems such as Windows XP/CE, and powerful and various communication mode is provided; Be used for runs user applications, accomplish functions such as complicated man-machine interaction, instruction stream processing, system debug; Said man-machine interaction is used to user instruction input and the parametric variable setting provides interface, be convenient to system for the user provide various graphically, digitizing and text system information; Said instruction stream is handled and is used for accomplishing instruction parsing, the accessible movement instruction of output movement controller; Said system debug is used for debug system motion-control module and driver module, reaches the performance requirement of system.
Said application layer can comprise functional interface module, I/O configuration module and human-computer interaction module, and wherein, said I/O configuration module is used to dispose configuration info, and configuration info is sent to said Real-Time Scheduling layer; Said functional interface module is used for the functional module resource to said Real-Time Scheduling layer being provided; Said human-computer interaction module is used to generate human-computer interaction interface, to show the operation information of said real-time key-course.
In certain embodiments, said Real-Time Scheduling layer comprises the real time execution system, and said real time execution system calls resource according to said configuration info from said functional interface module, finally call the operational order that is solidificated in said real-time key-course.Said real time execution system comprises code translation module and complicated algorithm module, and said code translation module is resolved the data layout that the file decoding unit in the said functional module is compiled; Said complicated algorithm module is accomplished the complicated algorithm computing that the resulting data of said code translation module parses need be carried out; Obtain the discernible input information of said real time execution system; The complicated algorithm module preferably includes speed pre-service submodule, curve fitting submodule and compound movement track descriptor module; In order to accomplish further parsing, so that effectively identification and the execution of said real time execution system to user's input information.
Said real time execution optimum system choosing also comprises configuration module, data interaction module and fault diagnosis module.Said configuration module receives the configuration info that the user is also transmitted through internal bus through the I/O configuration block configuration in the application layer; The configuration info that input information that said real-time key-course obtains according to said complicated algorithm module and said configuration module receive calls instruction corresponding and carries out corresponding operation; Said data interaction module is used for the operation information that the said real-time key-course of monitoring is in real time carried out, and it is transferred on the human-computer interaction interface of application layer shows; Said fault diagnosis module is used for monitoring in real time the fault-signal of said real-time key-course, and the human-computer interaction interface that said fault-signal transfers to said application layer is shown.
In a preferred embodiment; Said real-time key-course comprises the motion-control module that is used to realize said motion control and motion planning and according to the driver module of the output drive motor of said motion-control module, wherein said motion control comprises position control, speed control and Current Control.Be different from conventional motion control; Except that can be used for realizing such as straight line, circular interpolation operation, produce the conventional func such as position planning completing place control and motion tracking; Said motion control also can be carried out like Electric Machine Control relevant position and velocity estimation, stator current is estimated and coordinate resolves; Drive control signal according to result of calculation generation motor to accomplish the speed control and the Current Control of motor, reaches better control performance.
In some more excellent embodiment; Said position and velocity estimation are according to the rotor-position or the operating position that are installed in the position sensor feedback calculated signals motor of motor side or loaded work piece platform side, and then estimate the speed of rotor or worktable through observer; It is the current sensor measurement value according to being installed in said driver module that said stator current estimation and coordinate resolve, and estimates each phase current of alternating current generator, and then accomplishes the required friendship direct sum orthogonal conversion of AC Motor Control; But the control strategy of the speed control of said motor and Current Control applying closed loop and algorithm make the speed of above-mentioned rotor of estimating or worktable, the given target speed value and the current value of current tracking system of motor, realize the stable operation of motor.
Said motion planning generally includes real time kinematics planning, the trapezoidal and S type motion planning that said real time kinematics planning for example is complicacy etc., and these motion plannings can make controlled device accomplish required motion of some position and continuous path motion.
Said motion control preferably also comprises the distributed control based on multiple fieldbus.For example, said distributed control is supported at a high speed and two kinds of fieldbus of low speed simultaneously, realizes the control of Automation of Manufacturing Process control and high-speed real-time.
In certain embodiments, said real-time key-course can also comprise the Logic control module and the network control module of the network equipment control that is used for management that is used for through the control operation of I/O equipment completion logic.For example, accomplish control and management through network control module at real-time key-course to high-speed network appliance.
In addition, said real-time key-course can also be used for implementation system protection etc.
Said driving in the control integrated controller, said driver can be to be used for various motor-driven types, and driver is realized the amplification of power, accomplish the driving to execution unit.In various embodiments, driver can comprise module and comprise rectification module, inversion module, switch power module, coherent signal collection and conditioning module, security protection module and correlation behavior detection module etc.For example, through driver module, accomplish the rectifying and wave-filtering to the input AC electricity, the inversion and the relevant defencive function of the required three-phase alternating current of Electric Machine Control.
Said programmable logic controller (PLC) is used to realize logical process, accomplishes various input and output logic control operations.Said programmable logic controller (PLC) can be accomplished the logical process to the process control amount based on system integration instrument programming carrying out secondary development.Programmable logic controller (PLC) can be the programmable logic controller (PLC) of separate configurations, and said programmable logic controller (PLC) is preferably realized on same computer CPU chip or chipset with said industrial control computer module.
Fig. 2 has showed the control integrated controller inside structure of driving of a kind of specific embodiment.This controller comprises control section and interface section; Control section comprises industrial computer module 101 (cpu chip group), extensive on-site programmable gate array FPGA 102, real time kinematics control DSP103, power model 104; The interface section comprises Man Machine Interface module 105, I/O interface module 106, field-bus interface module 107 and ethernet interface module 108, is used for being connected with outside human-computer interaction device, I/O equipment, fieldbus and the Ethernet of controller.
On the other hand, the present invention also provides a kind of control integrated control system of driving, said drive control integrated control system comprise execution unit for example motor, human-computer interaction device and aforementioned any embodiment drive control integrated controller.Said execution unit is the topworks of motion, and its controlled terminal is coupled to the said output terminal that drives the drive signal of control integrated controller; Said human-computer interaction device is the mutual platform of user and controller information, can comprise monitor and keyboard etc.
Saidly drive control integrated control system and can also comprise I/O equipment and ethernet device.Said I/O equipment drives control integrated controller and links to each other with said through fieldbus, be used for system outside low speed controlled device mutual, the conversion of accomplishing the input and output physical message with communicate by letter.Said ethernet device drives control integrated controller and links to each other with said through Ethernet, be used for system outside high speed controlled device mutual, the conversion of accomplishing the input and output physical message with communicate by letter.
Referring to Fig. 1, a kind of control integrated control system of driving of preferred embodiment comprises again: drive control integrated controller 100, motor 200, human-computer interaction device HMI300, I/O equipment 400, ethernet device 500, fieldbus 600 and Ethernet 700.
Drive control integrated controller 100 and be responsible for runs user applications, accomplish the work such as driving, network control, logical process of motion-related planning, motion control, motor according to movement instruction; Motor 200 is topworkies of motion, is to drive one of control integrated controller 100 direct controlling object; Human-computer interaction device 300 is the mutual platforms of user and controller information, can comprise monitor and keyboard etc.; It is mutual with the outside low speed controlled device of application system that I/O equipment 400 can be used for driving control integrated controller 100, the conversion of accomplishing the input and output physical message with communicate by letter; It is mutual that ethernet device 500 can be used for driving the outside high speed controlled device of control integrated controller 100 and system, the conversion of accomplishing the input and output physical message with communicate by letter; Fieldbus 600 is to drive the physical channel that control integrated controller 100 and I/O equipment 400 carry out information interaction; Ethernet 700 is to drive the physical channel that control integrated controller 100 and ethernet device 500 carry out information interaction.
Fig. 3 at length showed one preferred embodiment adopted by application layer, Real-Time Scheduling layer and the system architecture formed of key-course in real time.Application layer comprises functional interface module S811, I/O configuration module S812 and human-computer interaction module S813.Wherein human-computer interaction module is used to generate human-computer interaction interface, to show the hardware operation information and the failure message of real-time key-course, realizes man-machine real-time, interactive.The user can give the system configuration configuration info according to the use needs through the I/O configuration module S812 of application layer, and functional interface module S811 is used for functional resources to the Real-Time Scheduling layer being provided.Real time execution system in the Real-Time Scheduling layer calls related resource according to configuration info from functional interface module S811, finally be solidificated in the DSP of real-time key-course, the operational order of FPGA through visit, and hardware is operated.
The Real-Time Scheduling layer comprises code translation module S821, complicated algorithm module S822, configuration module S823, fault diagnosis module S824 and data interaction module S825.Code translation module S821 resolves the data layout that the file decoding unit of using in the layer function module S811 is compiled; Complicated algorithm module S822 completion code collector S821 resolves the complicated algorithm computing that resulting data need be carried out, and obtains the discernible input information of real time execution system; Complicated algorithm module S822 can comprise submodules such as speed pre-service, curve fitting, the description of compound movement track, accomplishes the further parsing to user's input information, so that effectively identification and the execution of real time execution system.Configuration module S823 receives the user disposed and passed through the internal bus transmission through the I/O configuration module S812 in the application layer configuration info.The configuration info that the input information that obtains according to complicated algorithm module S822 of key-course in real time, and configuration module receives calls instruction corresponding and carries out corresponding operation.Fault diagnosis module S824 is the fault-signal carried out of the real-time key-course hardware of monitoring in real time, and the human-computer interaction interface that failure message transfers to application layer is shown, to realize better process control.Data interaction module S825 is the operation information carried out of the real-time key-course of monitoring in real time, and it is transferred on the human-computer interaction interface of application layer shows.The operation information of key-course comprises fault-signal and hardware information in real time.
Key-course comprises motion-control module S831, driver module S832, Logic control module S833 and network control module S834 in real time.Wherein the content of motion-control module S831 control comprises a position motion, continuous path motion and high-speed synchronous motion, accomplishes special-purpose rectilinear motion, curvilinear motion and motion tracking respectively.Driver module S832 accomplishes the driving to various motors.Logic control module S833 can also can be used for the completion logic control operation by the motion-control module S831 management of real-time key-course by the real time execution system management of Real-Time Scheduling layer.Network control module S834 accomplishes the control and the management of the network equipment.
Among Fig. 3, motor S841, I/O equipment S842 and network equipment S843 are the controlled devices of driving control integrated controller.
As stated; The present invention proposes a kind of control integrated automatic control system of driving; System and framework thereof are good with realization property, complexity is low, it is integrated to be easy to, mode has realized functions such as system management, motion control, logical process cheaply, can be as the control platform in multiple different application field.
Above content is to combine concrete preferred implementation to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.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, all should be regarded as belonging to protection scope of the present invention.
Claims (12)
1. one kind is driven control integrated controller, it is characterized in that,
Said drive control integrated controller comprise interface, be used to move application layer operating system, user application and realization man-machine interaction the industrial control computer module, be used for motion control and motion planning motion controller, be used for the driver of driving execution parts and be used for logical process and accomplish the programmable logic controller (PLC) of input and output control;
Saidly drive control integrated controller and have a system that comprises application layer, Real-Time Scheduling layer and real-time key-course, the said application layer developing instrument software that is used to run application supplies user's exploitation and program compiler, realizes that communication and man-machine interface are mutual; Said Real-Time Scheduling layer is used for the application program of run user exploitation, and the operational order on the said real-time key-course of Real-Time Scheduling is operated hardware; Said real-time key-course is used to carry out said operational order, accomplishes control operation;
Wherein said Real-Time Scheduling layer is configured to the realization body higher than the Kernel kernel priority level of computer operating system; User application downloads to and saidly is operated in said Real-Time Scheduling layer after driving control integrated controller; Priority by setting is dispatched; To guarantee that the user application that said industrial control computer module is written into begins to carry out in corresponding timeslice, accomplishes the related work of said real-time key-course, to satisfy preset real-time requirement.
2. as claimed in claim 1ly drive control integrated controller, it is characterized in that,
Said real-time key-course comprises the motion-control module that is used to realize said motion control and motion planning and according to the driver module of the output drive motor of said motion-control module;
Said motion control comprises position control, speed and Current Control; Carrying out relevant position of Electric Machine Control and velocity estimation, stator current estimation and coordinate resolves; According to the drive control signal of result of calculation generation motor, to accomplish the speed control and the Current Control of motor.
3. as claimed in claim 2ly drive control integrated controller, it is characterized in that,
Said position and velocity estimation are according to the rotor-position or the operating position that are installed in the position sensor feedback calculated signals motor of motor side or loaded work piece platform side, and then the speed of estimation rotor or worktable;
It is the current sensor measurement value according to being installed in said driver module that said stator current estimation and coordinate resolve, and estimates each phase current of alternating current generator, and then accomplishes the required friendship direct sum orthogonal conversion of AC Motor Control;
The speed control of said motor and Current Control are closed-loop control, and the feasible rotor of being estimated or the speed of worktable, the given target speed value and the current value of current tracking system of motor are realized the stable operation of motor.
4. describedly drive control integrated controller like claim 2 or 3, it is characterized in that,
Said motion planning comprises real time kinematics planning, and said real time kinematics planning comprises the trapezoidal and S type motion planning that is used to realize a position motion and continuous path motion.
5. describedly drive control integrated controller like claim 2 or 3, it is characterized in that,
Said motion control also comprises the distributed control based on multiple fieldbus.
6. describedly drive control integrated controller like claim 2 or 3, it is characterized in that,
Said real-time key-course also comprises the Logic control module and the network control module of the network equipment control that is used for management that is used for through the control operation of I/O equipment completion logic.
7. each describedly drives control integrated controller like claim 1-3, it is characterized in that,
Said application layer comprises functional interface module, I/O configuration module and human-computer interaction module;
Said I/O configuration module is used to dispose configuration info, and configuration info is sent to said Real-Time Scheduling layer;
Said functional interface module is used for the functional module resource to said Real-Time Scheduling layer being provided;
Said human-computer interaction module is used to generate human-computer interaction interface, to show the operation information of said real-time key-course.
8. as claimed in claim 7ly drive control integrated controller, it is characterized in that,
Said Real-Time Scheduling layer comprises the real time execution system, and said real time execution system calls resource according to said configuration info from said functional interface module, finally call the operational order that is solidificated in said real-time key-course;
Said real time execution system comprises code translation module and complicated algorithm module;
Said code translation module is resolved the data layout that the file decoding unit in the said functional module is compiled;
Said complicated algorithm module is accomplished the complicated algorithm computing that the resulting data of said code translation module parses need be carried out; Obtain the discernible input information of said real time execution system; The complicated algorithm module preferably includes speed pre-service submodule, curve fitting submodule and compound movement track descriptor module; In order to accomplish further parsing, so that effectively identification and the execution of said real time execution system to user's input information.
9. describedly drive control integrated controller like claim 7 or 8, it is characterized in that,
Said real time execution system also comprises configuration module, data interaction module and fault diagnosis module;
Said configuration module receives the configuration info that the user is also transmitted through internal bus through the I/O configuration block configuration in the application layer; The configuration info that input information that said real-time key-course obtains according to said complicated algorithm module and said configuration module receive calls instruction corresponding and carries out corresponding operation;
Said data interaction module is used for the operation information that the said real-time key-course of monitoring is in real time carried out, and it is transferred on the human-computer interaction interface of application layer shows;
Said fault diagnosis module is used for monitoring in real time the fault-signal of said real-time key-course, and the human-computer interaction interface that said fault-signal transfers to said application layer is shown.
10. each describedly drives control integrated controller like claim 1 to 9, it is characterized in that,
Said industrial control computer module and said programmable logic controller (PLC) are realized on same cpu chip or chipset;
Said motion controller and said driver are realized on digital signal processor;
Saidly drive control integrated controller and also comprise field programmable gate array and power model;
Said interface comprises Man Machine Interface module, ethernet interface module, field-bus interface module and I/O interface module;
Said field programmable gate array is the platform that said industrial computer module, said digital signal processor and each external apparatus interface module are carried out information interaction;
Said digital signal processor is to drive the platform that control integrated controller is controlled in real time;
Said power model is the power amplification unit and the said power supply unit that drives control integrated controller of driving execution parts;
Said Man Machine Interface module is said industrial computer module and human-computer interaction device's a interface unit;
Said I/O interface module is the interface unit of said digital signal processor and external signal;
Said field-bus interface module is the physical layer interface unit of fieldbus;
Said ethernet interface module is the physical layer interface unit of Ethernet.
11. one kind is driven control integrated control system, it is characterized in that,
Said drive control integrated control system comprise execution unit for example motor, human-computer interaction device and claim 1 to 10 each describedly drive control integrated controller;
Said execution unit is the topworks of motion, and its controlled terminal is coupled to the said output terminal that drives the drive signal of control integrated controller;
Said human-computer interaction device is the mutual platform of user and controller information, can comprise monitor and keyboard etc.
12. as claimed in claim 11ly drive control integrated control system, it is characterized in that,
Saidly drive control integrated control system and also comprise I/O equipment and ethernet device;
Said I/O equipment drives control integrated controller and links to each other with said through fieldbus, be used for system outside low speed controlled device mutual, the conversion of accomplishing the input and output physical message with communicate by letter;
Said ethernet device drives control integrated controller and links to each other with said through Ethernet, be used for system outside high speed controlled device mutual, the conversion of accomplishing the input and output physical message with communicate by letter.
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| CN104730961A (en) * | 2015-04-15 | 2015-06-24 | 安徽凡尔电液技术有限公司 | Intelligent industrial control machine |
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