CN102621909A - Bending mechanism motion control system - Google Patents
Bending mechanism motion control system Download PDFInfo
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- CN102621909A CN102621909A CN2012100983009A CN201210098300A CN102621909A CN 102621909 A CN102621909 A CN 102621909A CN 2012100983009 A CN2012100983009 A CN 2012100983009A CN 201210098300 A CN201210098300 A CN 201210098300A CN 102621909 A CN102621909 A CN 102621909A
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Abstract
The invention relates to a bending mechanism motion control system, which comprises an upper computer, a motion control card and a central processor. The motion control card is connected with a plurality of motors which are disposed on the periphery of a bending mechanism to control the same and provided with drivers, and the central processor is connected with the motion control card through a VME (virtual memory environment) bus and is connected with the upper computer through a network. High stability and reliability of the bending mechanism motion control system are achieved by the aid of the motion control card based on the VME bus and the central processor based on network communication. Flexible data chaining configuration among various records can be realized by establishing motor records, transmission records and virtual machine records in the central processor, and accordingly, controlled motion amount of the bending mechanism and position of the motors are controlled effectively and complex motion of the bending mechanism can be realized.
Description
Technical field
The present invention relates to a kind of bending mechanism kinetic control system.
Background technology
Bending mechanism is one of the key equipment at synchrotron radiation light beam line station, and kinetic control system must realize the bending accurate motion control of 6 dimensions of mirror comprises horizontal translation, vertical translation, rolls the angle and regulate, throw that the angle is regulated, pivot angle is regulated and bend and regulate.With the vertical direction is example; First motor, second motor, the 3rd motor Union Movement could regulate mirrored cabinet vertical translation, roll the angle and throw the angle; Control system is direct controlled volume with these three amounts of exercise: when regulating vertical translation, and the identical distance of first motor, second motor and the 3rd motor past simultaneously just perhaps negative direction motion; Second motor and the 3rd motor identical distance of moving in the opposite direction respectively when the angle is rolled in adjusting; The direction of second motor and the 3rd motor movement is the same with distance when regulating the throwing angle, the past direction mobile phase on the contrary of first motor distance together.The position of first motor, second motor and the 3rd motor and the relational expression of three controlled volumes are following:
Throw angle=atg (((second motor+the 3rd motor)-2* first motor)/2) (1)
Roll angle=atg ((the 3rd motor-second motor)/(spacing of the 3rd motor and second motor)) (2)
Vertical translation=(2* first motor+second motor+the 3rd motor)/4 (3)
Existing bending mechanism kinetic control system all is to utilize labview software to drive the single motor motion through the mode transmitting control commands of serial communication, and the position of motor obtains through calculated off-line.Because the shortcoming of serial communication is conspicuous, and calculated off-line wastes time and energy, and is efficient inadequately.For this reason, need a kind of reliable and stable more flexible and efficient kinetic control system at present, to satisfy the control needs.
Summary of the invention
In order to solve the problem that above-mentioned prior art exists, the present invention aims to provide a kind of bending mechanism kinetic control system, with dirigibility and the high efficiency of raising to the control effect of bending mechanism, and the stability and the reliability of raising self-operating.
A kind of bending mechanism kinetic control system of the present invention, it comprises:
Host computer;
Control the motion control card that motor that many of said bending mechanism have driver is connected with the periphery; And
Through VME bus and said motion control card connection, and the central processing unit that is connected with said host computer through network; Corresponding relation between the preset motion controlled volume that it provides according to said host computer on the one hand and the target location of this motion controlled volume and said motor; To said motion control card output control signal; Make this motion control card control said motor movement to the target location according to said control signal; On the other hand according to the real time position of the motor that provides from the real time position and the said host computer of the detected motor of said motion control card and the corresponding relation between the motion controlled volume; Upgrade the corresponding relation between the target location of said motion controlled volume and this motion controlled volume and said motor, and the motion controlled volume after said host computer output is upgraded.
In above-mentioned bending mechanism kinetic control system, said central processing unit comprises:
Dynamic data base;
The motor instance is created module; It is set up in said dynamic data base and is used to store the target location of every said motor and the electromechanical recording of real time position, and the virtual electromechanical recording that is used to store the motion controlled volume of a said preset motion controlled volume and a renewal; And
The computing instance is created module, and it sets up corresponding relation and the real time position of motor and the transmission record of the corresponding relation between the motion controlled volume between the target location that is used to store said motion controlled volume and said motor in said dynamic data base;
Wherein, said virtual electromechanical recording, transmission record and electromechanical recording data link successively form through path, and export said control signal; Said electromechanical recording, transmission record and virtual machine write down data link successively, form backward channel, and export the motion controlled volume after the said renewal; Data link between a plurality of said transmission records.
In above-mentioned bending mechanism kinetic control system, said central processing unit also comprises and is used to store the automatic memory module from the real time position of the detected motor of said motion control card.
In above-mentioned bending mechanism kinetic control system, said central processing unit also comprises the input/output control module that is connected with said host computer through network, and it is connected with said dynamic data base.
In above-mentioned bending mechanism kinetic control system, in said through path, virtual electromechanical recording links with PP (Process Passive, passive processing) mode and transmission record data.
In above-mentioned bending mechanism kinetic control system, in said through path, transmit record and link with PP mode and electromechanical recording data.
In above-mentioned bending mechanism kinetic control system, in said backward channel, electromechanical recording links with the transmission record data with CP (Continuous Process handles continuously) mode.
In above-mentioned bending mechanism kinetic control system, in said backward channel, transmit record and link with the virtual machine record data with NPP (No Process Passive does not handle) mode.
In above-mentioned bending mechanism kinetic control system, link with NPP mode data between a plurality of said transmission records.
In above-mentioned bending mechanism kinetic control system, said motion control card is connected with every said driver through a connector.
Owing to adopted above-mentioned technical solution, the present invention has realized the high stability and the reliability of control system through adopting the motion control card and central processing unit of communicating by letter Network Based based on the VME bus; And through in central processing unit, setting up electromechanical recording, transmitting record and virtual machine record; Realized the flexible data link configuration between each record; Thereby realized efficient control, and then made bending mechanism realize complicated motion the motion controlled volume and the motor position of bending mechanism.
Description of drawings
Fig. 1 is the structural representation of a kind of bending mechanism kinetic control system of the present invention.
Embodiment
Below in conjunction with accompanying drawing, provide preferred embodiment of the present invention, and describe in detail.
As shown in Figure 1, the present invention, promptly a kind of bending mechanism kinetic control system, it comprises:
Host computer 1;
Have the motion control card 2 that the motor 5 of driver 4 is connected with many of periphery control bending mechanism (not shown), specifically, motion control card 2 passes through connector 3 and is connected with every driver 4. And
Be connected, also pass through the central processing unit 6 that network is connected with host computer 1 with motion control card 2 through the VME bus; Corresponding relation between the preset motion controlled volume that it provides according to host computer 1 on the one hand and the target location of this motion controlled volume and motor; To motion control card 2 output control signals; Make this motion control card control motor movement to the target location according to control signal; On the other hand according to the real time position of the motor that provides from the real time position and the host computer 1 of motion control card 2 detected motors and the corresponding relation between the motion controlled volume; Corresponding relation between the target location of renewal motion controlled volume and this motion controlled volume and motor, and the motion controlled volume after host computer 1 output is upgraded; Specifically:
The motor instance is created module 62; It is set up in dynamic data base 61 and is used to store the target location of every motor 5 and the electromechanical recording 601 of real time position, and the virtual electromechanical recording 602 that is used to store the motion controlled volume of a preset motion controlled volume and a renewal;
The computing instance is created module 63, and it sets up corresponding relation and the real time position of motor and the transmission record 603 of the corresponding relation between the motion controlled volume between the target location that is used for storing moving controlled volume and motor in dynamic data base 61;
Be used to store automatic memory module 64 from the real time position of motion control card 2 detected motors 5; And
The input/output control module 65 that is connected and is connected with host computer 1 through network with dynamic data base 61;
Wherein, Virtual electromechanical recording 602, transmit record 603 and electromechanical recording 601 data link successively; Form through path, and the output control signal, in this through path; Virtual electromechanical recording 602 is with the PP mode and transmit record 603 data and link, transmits to write down 603 and link with PP mode and electromechanical recording 601 data; Electromechanical recording 601, transmission record 603 and virtual machine record 602 data link successively; Form backward channel; And the motion controlled volume after the output renewal; In this backward channel, electromechanical recording 601 links with transmitting record 603 data with the CP mode, and transmission record 603 writes down 602 data with NPP mode and virtual machine and links; Link with NPP mode data between a plurality of transmission records 603;
In the present embodiment, host computer 1 adopts and has the PC of controlling the interface; Motion control card 2 adopts MAXv-8000 template card; Central processing unit 6 adopts MVME5500 template card, and its inner each module all realizes based on experimental physics and industrial control system (EPICS).
Because simple motion control can only be realized in single motor record 601; Therefore; The present invention can carry out data transmission, because these records operate in 61 li of dynamic data bases through between different motor record 601, virtual machine record 602 and transmission record 603, setting up link; Host computer 1 can dispose and link these records; And transmit record 603 through configuration and realize the logic arithmetic relation between the motor 5 of bending mechanism, thereby to motion control card 2 control signal corresponding is provided, be that bending mechanism can be realized complicated motion.
Data mode commonly used has PP, NPP and CP mode between the EPICS record; The OUT territory is used PP and this dual mode of NPP usually; Export to value target record and trigger its execution when adopting the PP mode, just export to data target record and do not trigger its execution when adopting the NPP mode.PP and CP dual mode can be used in the INPUT territory, and receiving target data recorded and triggering are carried out oneself when adopting PP, accept the data of target record when adopting CP continuously and trigger oneself execution.Therefore, in the present embodiment, the each data transfer of through path all need trigger logic and the algorithm calculations of transmitting in the record 603 and trigger the control signal that electromechanical recording 601 produces motion control card 2, adopts the PP mode can trigger these incidents; Backward channel is just read back the positional value of motor 5 to calculate and is fed back to virtual machine record 602 at last; Adopt the CP mode can guarantee promptly that motor position reads back continuously and triggers and transmit record 603 and calculate, adopt the NPP mode to guarantee that motor position feeds back to virtual machine record 602 in real time and do not trigger through path again.
In addition, though the monocycle on-link mode (OLM) between single motor record 601, virtual machine record 602 and the transmission record 603 can solve the problem that a plurality of motors are controlled a plurality of controlled volumes simultaneously, and do not disturb mutually between each controlled volume.But when after directly controlling certain motor, controlling motors through virtual machine record 602 again, will go wrong, motor single action and interlock meeting just be dried scratching mutually.This be because; When the single action motor; The value of virtual machine record 602 is real time altering along with the change in location of motor 5; But the intermediate variable that transmits 603 li of records does not have to change along with the change of the positional value of motor 5, but is keeping the last numerical value that receives from virtual machine record 602 constant, therefore when passing through virtual machine record 602 control motors once more; Pass the real time position state that all intermediate variables that record 603 receives can not reflect all motors, at this moment just cause virtual machine record 602 mistake can occur to link between the electromechanical recording 601.
For this reason; Through the data link between a plurality of transmission record 603, promptly adopt two closed loop on-link mode (OLM)s in the present embodiment, can well solve in the bending mechanism a plurality of motors 5 collaborative problem of regulating a plurality of physical quantitys that is synchronized with the movement; Determining the value of controlled physical quantity Y, Pitch and Y simultaneously such as vertical direction three motor y1, y2 and y3; Any one position change in three motors, the value of three controlled physical quantitys all can be along with changes, and other two controlled volumes remain unchanged when requiring to regulate certain controlled volume; And when regulating certain motor separately, the link in the software between controlled volume and the motor mistake can not occur; At this moment, through the data link between a plurality of transmission records 603, can play the effect of synchronous each intermediate variable.
Above-described, be merely preferred embodiment of the present invention, be not in order to limiting scope of the present invention, the above embodiment of the present invention can also be made various variations.Be that every simple, equivalence of doing according to the claims and the description of application of the present invention changes and modification, all fall into the claim protection domain of patent of the present invention.The present invention not detailed description be the routine techniques content.
Claims (10)
1. a bending mechanism kinetic control system is characterized in that, said system comprises:
Host computer;
Control the motion control card that motor that many of said bending mechanism have driver is connected with the periphery; And
Through VME bus and said motion control card connection, and the central processing unit that is connected with said host computer through network; Corresponding relation between the preset motion controlled volume that it provides according to said host computer on the one hand and the target location of this motion controlled volume and said motor; To said motion control card output control signal; Make this motion control card control said motor movement to the target location according to said control signal; On the other hand according to the real time position of the motor that provides from the real time position and the said host computer of the detected motor of said motion control card and the corresponding relation between the motion controlled volume; Upgrade the corresponding relation between the target location of said motion controlled volume and this motion controlled volume and said motor, and the motion controlled volume after said host computer output is upgraded.
2. bending mechanism kinetic control system according to claim 1 is characterized in that, said central processing unit comprises:
Dynamic data base;
The motor instance is created module; It is set up in said dynamic data base and is used to store the target location of every said motor and the electromechanical recording of real time position, and the virtual electromechanical recording that is used to store the motion controlled volume of a said preset motion controlled volume and a renewal; And
The computing instance is created module, and it sets up corresponding relation and the real time position of motor and the transmission record of the corresponding relation between the motion controlled volume between the target location that is used to store said motion controlled volume and said motor in said dynamic data base;
Wherein, said virtual electromechanical recording, transmission record and electromechanical recording data link successively form through path, and export said control signal; Said electromechanical recording, transmission record and virtual machine write down data link successively, form backward channel, and export the motion controlled volume after the said renewal; Data link between a plurality of said transmission records.
3. bending mechanism kinetic control system according to claim 2 is characterized in that, said central processing unit also comprises and is used to store the automatic memory module from the real time position of the detected motor of said motion control card.
4. according to claim 2 or 3 described bending mechanism kinetic control systems, it is characterized in that said central processing unit also comprises the input/output control module that is connected with said host computer through network, it is connected with said dynamic data base.
5. bending mechanism kinetic control system according to claim 4 is characterized in that, in said through path, virtual electromechanical recording links with PP mode and transmission record data.
6. bending mechanism kinetic control system according to claim 5 is characterized in that, in said through path, transmits record and links with PP mode and electromechanical recording data.
7. bending mechanism kinetic control system according to claim 4 is characterized in that, in said backward channel, electromechanical recording links with CP mode and transmission record data.
8. bending mechanism kinetic control system according to claim 7 is characterized in that, in said backward channel, transmits record and links with NPP mode and virtual machine record data.
9. according to any described bending mechanism kinetic control system among the claim 5-8, it is characterized in that, link with NPP mode data between a plurality of said transmission records.
10. according to any described bending mechanism kinetic control system among claim 1,2,3, the 5-8, it is characterized in that said motion control card is connected with every said driver through a connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100983009A CN102621909A (en) | 2012-04-06 | 2012-04-06 | Bending mechanism motion control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100983009A CN102621909A (en) | 2012-04-06 | 2012-04-06 | Bending mechanism motion control system |
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| CN102621909A true CN102621909A (en) | 2012-08-01 |
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Citations (4)
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| CN2453467Y (en) * | 2000-12-14 | 2001-10-10 | 中国科学院西安光学精密机械研究所 | Mechanism for bending precision crystal |
| US20020145713A1 (en) * | 2001-02-21 | 2002-10-10 | Canon Kabushiki Kaisha | Scanning exposure apparatus, scanning exposure method, and device manufacturing method |
| CN1648889A (en) * | 2005-02-05 | 2005-08-03 | 上海微电子装备有限公司 | Synchronous bus controller of step scanning projection photo etching machine and synchronous control system |
| CN101149566A (en) * | 2005-02-05 | 2008-03-26 | 上海微电子装备有限公司 | Step scan projection stepper synchronous control system |
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2012
- 2012-04-06 CN CN2012100983009A patent/CN102621909A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2453467Y (en) * | 2000-12-14 | 2001-10-10 | 中国科学院西安光学精密机械研究所 | Mechanism for bending precision crystal |
| US20020145713A1 (en) * | 2001-02-21 | 2002-10-10 | Canon Kabushiki Kaisha | Scanning exposure apparatus, scanning exposure method, and device manufacturing method |
| CN1648889A (en) * | 2005-02-05 | 2005-08-03 | 上海微电子装备有限公司 | Synchronous bus controller of step scanning projection photo etching machine and synchronous control system |
| CN101149566A (en) * | 2005-02-05 | 2008-03-26 | 上海微电子装备有限公司 | Step scan projection stepper synchronous control system |
Non-Patent Citations (3)
| Title |
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| 卢启鹏，彭忠琦: "压弯机构在同步辐射光束线中的应用", 《光机电信息》 * |
| 胡勇，郑丽芳，李纪堂，刘松强: "基于EPICS的运动控制系统", 《核电子学与探测技术》 * |
| 胡勇: "同步辐射光束线中的运动控制系统的研究", 《中国科学院研究生院博士学位论文》 * |
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Application publication date: 20120801 |