CN103135445B - Based on the restructural servomechanism installation of component technology - Google Patents
Based on the restructural servomechanism installation of component technology Download PDFInfo
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Abstract
The present invention relates to embedded software technology field, particularly relate to the software assembly architecture of servomechanism installation.Host computer controls servomotor by servo-driver, and servo-driver sets up whole software architecture by assembly, and inter-module is connected in the mode of data cube computation and/or control linkage; Described servo-driver is divided into three levels: application layer, with key-course component interaction, completes configuration and the monitoring of servo operation state; Key-course, the control core in servomechanism installation, controls and monitors the operating condition of servomotor; Drive layer, drive servomechanism installation and outside input-output unit alternately, together with key-course assembled, the common running driving servomotor.Reusability of the present invention is good, reconstruct new system simple, and the opening of system is good.
Description
Technical field
The present invention relates to embedded software technology field, particularly relate to the software assembly architecture of servomechanism installation.
Background technology
Traditional AC motor servo system, due to the difference of control objectives and method, causes the difference of control algolithm and system hardware and software structure very large.And the high coupling between traditional servo software and hardware and the irrationality of software architecture, make the research and development of many new products have to start from scratch, and researched and developed function and can not get reusing, wasted a large amount of human and material resources.
In the performance history of common software, in the face of the dynamic change of demand, widely used method uses component model, by developing new assembly or reusing existing functional module, dynamically or statically changes the connection of assembly, ressemble new system.
But need a large amount of basic-level supports during popular at present general purpose module model running, cannot embedded system be applicable to.Existing embedded component model, also due to the limitation of self, can not be applicable to high performance servomechanism installation completely.
Summary of the invention
For prior art above shortcomings, the invention provides a kind of restructural development model of servomechanism installation, to solve the problem being difficult to Fast Construction new system when problem that in existing servomechanism installation performance history, software and hardware coupling causes greatly existing functional module to be difficult to reuse and application demand change.
The technical scheme that the present invention is adopted for achieving the above object is: based on the restructural servomechanism installation of component technology, host computer controls servomotor by servo-driver, described servo-driver sets up whole software architecture by assembly, and inter-module is connected in the mode of data cube computation and/or control linkage; Described servo-driver is divided into three levels:
Application layer, comprises servo external command resolution component, alarming and managing and man-machine interface class component, with key-course component interaction, completes configuration and the monitoring of servo operation state;
Key-course, comprises the data configuration assembly in Serve Motor Control algorithm assembly, technique class component and servomechanism installation, the control core in servomechanism installation, controls and monitor the operating condition of servomotor;
Drive layer, comprise Serve Motor Control driven unit, fieldbus driven unit and servomechanism installation I O interface driver assembly, drive servomechanism installation and outside input-output unit alternately, together with key-course assembled, the common running driving servomotor.
Described assembly is according to basic module model construction.
Described basic module model comprises interface interchange, input/output date flow, and the output of one of them assembly can as the input of other assemblies; Its component comprises:
Assembly base attribute, comprises assembly name, assembly ID and component description;
Service interface, the functional interfaces realized in assembly, is supplied to other assembly or module is called, and then provides corresponding service;
Request interface, assembly needs the functional interface completed with the form called by the external interface provided by other assembly or module.
Described assembly can be combined into a new composite component by multiple assembly; The attribute of described composite component is made up of the attribute of sub-component, and the service interface of sub-component all or selectively selects the service interface of a part as composite component, and all or part of request interface of sub-component constitutes the request interface of composite component.
Described data cube computation exists with the form of data sharing, dynamic-configuration can be carried out by host computer, be specially component internal and calculate the rear data exported through writing shared data by data block reception, input for other assemblies is read data and is completed other and calculates or operation, or reads in for other non-assembly modules and perform corresponding behavior act.
Described control linkage is the direct connection of inter-module, the selection connection of inter-module and the connection between assembly and non-assembly; The form called with functional interface exists, and is specially mutually calling and mutually calling between interface in assembly and non-assembly module of the interface of assembly.
The present invention has following beneficial effect:
1 reusability is good.The functional module designed in servomechanism installation performance history, has clear and definite constrained input and service interface and request interface, so still can be reused in the R&D process of new product.
The new system of 2 reconstruct is simple.Have in mind during component model design in future, consider and splice and combine, the replacement (assembling) of assembly can be accomplished when constructing new system easily, and then construct new system.
The opening of 3 systems is good.This design not only can solve demand instantly, and design has an eye on the future, in the future demand change or developer increases new function time, without the need to demolition or rebuild whole framework, only need design New Parent or change corresponding assembly and re-construct system.
Accompanying drawing explanation
Fig. 1 is basic module model of the present invention;
Fig. 2 is the data stream phenogram of inter-module;
Fig. 3 is the control flow check phenogram of inter-module;
Fig. 4 is composite component schematic diagram;
Fig. 5 is the servomechanism installation software architecture diagram of one embodiment of the invention;
Fig. 6 is the servo driving hardware and software platform of one embodiment of the invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
A kind of software assembly architecture in servomechanism installation, whole framework is set up according to abstract component model, connection between each assembly comprises data cube computation and/or control linkage, in servomechanism installation, the whole framework of software is divided into and drives layer, key-course and application layer three levels, and each layer is linked and packed by corresponding function assembly and forms.
Component model is except comprising the interface interchange that generally adopts, and further comprises the input/output date flow that other component models do not have, the output of one of them assembly can as the input of other assemblies.
The connected mode of assembly is called two kinds of forms with data sharing and functional interface and is existed, or exists wherein a kind of, or two kinds of modes all exist, and wherein the mode of data cube computation can carry out dynamic-configuration by upper computer software.
Driving class component in layered architecture refers to drive fieldbus or the component type mutual with outside input-output unit in servomechanism installation, comprise Serve Motor Control driven unit, fieldbus driven unit and servomechanism installation I O interface driver assembly, be assembled together with control class component, the common running driving servomotor.
Control class component in layered architecture is the control core in servomechanism installation, comprise the data configuration assembly in Serve Motor Control algorithm assembly, technique class component and servomechanism installation, configuration component together with control algolithm assembled, can ACTIVE CONTROL and monitoring servomotor operating condition; Technique class component is introduced, controlled working technique in servomechanism installation.
Application class assembly in layered architecture comprises servo external command resolution component, alarming and managing and man-machine interface class component, mutual with control class component, completes configuration and the monitoring of servo operation state.
As shown in Figure 1, based on the restructural servomechanism installation of component technology, comprise
Core concept of the present invention there is provided a kind of software architecture in servomechanism installation, according to abstract component model, by the angle linkage function assembly respectively from data stream and control flow check, and then construct a kind of servo-drive system of opening, the connection configuration of inter-module may be static, also may be dynamic.
The invention provides the software assembly architecture in a kind of servomechanism installation, its a kind of embodiment as shown in Figure 5, Figure 6.
The component of the basic component model of basic module model comprises: the parts such as assembly base attribute, service interface, request interface, as shown in Figure 1.Wherein, base attribute may comprise the sign (as assembly name, assembly ID, component description etc.) of assembly, the constrained input of assembly, the object introducing the constrained input of assembly is, by using the input of the output of an assembly as the assembly of current discussion, realize the data flow connection between assembly; Service interface is the functional interfaces realized in finger assembly, and it is supplied to other assembly or module is called, and then provides corresponding service; Request interface is that finger assembly needs the form called by external interface and the function completed, and the interface of this external call needs to be provided by other assembly or module.
The data stream that in component model, existence two is separate and control flow check.Illustrate as described in (2), (3), (5).
The data stream of inter-module characterizes the data sharing between description of data stream assembly, and as shown in Figure 2, OUT represents and writes shared data, and IN represents and reads shared data.In assembly, input (IN) shares data block Data with output (OUT), namely the data that component internal exports after calculating are received by data block Data through OUT, IN for other assemblies reads data and completes other and calculates or operation, or reads in for other non-assembly modules and perform corresponding behavior act.
Mutually the calling and mutually calling between interface in assembly and non-assembly module of the interface of the control flow check characterization control stream description of inter-module assembly, as shown in Figure 3, the performance of this control flow check may comprise 3 kinds of situations: the direct connection of inter-module, the selection connection of inter-module and the connection between assembly and non-assembly.There is the direct call relation of interface between assembly C1 and C2, belong to the direct connection in control flow check.And the annexation between assembly C3 and C1 or C2 does not have so obvious, the determination of concrete call relation has been come by middleware M, Dynamic Selection when this may occur in the code cutting before operation or run.The interface service that the connection situation of assembly and non-inter-module is such as provided by the non-assembly module invocation component C3 in outside.
Assembly Combination application demand occur and more time, if basic module model can not meet application demand, may need the combination of multiple assembly, as shown in Figure 4, multiple sub-component is combined into a new composite component.The attribute of composite component is made up of the attribute of sub-component, and the service interface of sub-component all or selectively selects the service interface of a part as composite component, and all or part of request interface of sub-component constitutes the request interface of composite component.
During assembled assembled, respectively from the data stream in servomechanism installation and control flow check two angles, structure servo-drive system.From data stream angle, the connection of assembly is completed by the constrained input in assembly, as shown in Figure 2, the output of assembly C2 is as the input of assembly C1, with this coupling assembling C1 and C2, more can specify the function of each assembly with the data stream in device for clue, be convenient to extraction and the exploitation of assembly in servo-drive system performance history; From the angle of control flow check, completed the connection of assembly by interface interchange relation, illustrate and refer to (3).
Assembled can occur in the early stage that compiling connects, also can by the connection of each assembly in host computer application deployment servomechanism installation.
Based on the fundamental characteristics of component model proposed above and servo, adopt the architecture introduction of layering how on software level, to construct reconfigurable servo body architecture below, point 3 levels, be respectively and drive layer, key-course and application layer.Its software architecture as shown in Figure 5.
Consider the 26S Proteasome Structure and Function of servo-drive system, be extracted the assembly that can ensure that servo normally works, have Communication Interface Module (USB), PWM assembly, QEP assembly, Meter assembly, OSCI assembly and communication protocol component etc. respectively.Wherein front 3 assemblies belong to driving layer, and latter two assembly belongs to key-course.For the ease of completing the co-ordination of inter-module, devise a communication protocol component in application layer, it is mutual that this assembly also facilitates between servo-drive system and host computer simultaneously.
Below servo body architecture is specifically set forth from driving layer, key-course and application layer 3 aspects respectively.
Drive layer
Hardware driving layer is in below real time operating system, as shown in Figure 6, hardware is carried out isolate, abstract and encapsulation, accordant interface is provided to operating system and upper strata, the degree of coupling that this kind design will greatly reduce application software and hardware, therefore can support the hardware of plurality of specifications with unified software.
The efficient micro-kernel that real time operating system selects 32 bit DSPs to support.
From servo structure with functionally consider, extract 3 assemblies: Communication Interface Module, PWM assembly, QEP assembly.
1. Communication Interface Module (USB): this assembly function mainly ensures host computer or the transmission of data between controller and servomechanism installation.USB control chip adopts the PDIUSBD12 chip of Philips company, the USB encapsulated in Communication Interface Module based on DSP/BIOS drives, data read and write interface is provided to external module or non-assembly module, when IO demand changes, as long as it is constant to ensure to be supplied to the interface that external module calls, just not needing the module to calling data read and write interface to change, ensure that the expansibility of system and the low Coupling Design of inter-module.
2.PWM assembly: the pulsed modulation for motor controls.The peripheral circuit that hardware adopts the dsp chip TMS320F28335 of Texas Instrument to provide.F28335 can export the PWM ripple of 6 tunnel symmetries, and the Dead Time of often pair of PWM ripple and polarity are programmable, for controlling three phase AC induction machine.PWM driver is encapsulated in assembly.
3.QEP assembly: for corner and the velocity survey of motor.The peripheral circuit that hardware adopts the dsp chip TMS320F28335 of Texas Instrument to provide, coordinates with the angle measurement element such as incremental optical-electricity encoder, realizes the calculating that motor speed and position are fed back.QEP driver is encapsulated in assembly.
Key-course
This layer is mainly about management and the realization of Electric Machine Control.Analyze from architectural characteristic and functional characteristic, mark off 3 assemblies: Meter assembly, Oscilloscope assembly and control algolithm assembly.
1.Meter assembly: for the assembly output variable in Real-Time Monitoring servomechanism installation.Have four data pin, four output variables can be monitored simultaneously.The controling parameters that during use, Update Table pin connects, makes the monitored variable of corresponding pointed, and monitored variate-value can be saved in corresponding built-in variable in real time, is then transferred to host computer or for other assemblies.
2.Oscilloscope assembly: for the assembly output variable in Real-Time Monitoring servomechanism installation, be stored in data buffer by monitored value, for debugging acid curve plotting figure.Have four data pin, four object output variables can be monitored simultaneously.Revise pointer connection control parameter during use, make the monitored variable of corresponding pointed, monitored variate-value can be saved in corresponding internal buffer in real time.As shown in Figure 5, its connected mode is similar with Meter assembly, and Meter assembly is replaced with Oscilloscope assembly, can draw corresponding condition curve image data, realize oscillographic function for host computer.
3. control algolithm assembly: adopt Field orientable control method, the electromagnetic torque of permagnetic synchronous motor is strictly directly proportional to stator current amplitude, in order to obtain suitable electromagnetic torque, needs the size accurately controlling stator current amplitude.
Application layer
This layer achieves a communication protocol component, also may comprise other application assemblies, and the main task of communication protocol component has been the parsing of external control order.Communication frame comprises the fields such as start byte, data length, order code, data content, check code, end byte, possesses good self descriptiveness and extensibility.The command frame that controller or host computer send and the consolidation form that Frame adopts agreement to specify send.In Fig. 5, the connected mode of assembly such as warning, other man-machine interfaces and the connected mode of communication protocol component are also similar, call two kinds of connected modes with together with other assembled by data pin or service and request interface.
Hardware platform mainly comprises five modules such as power module, power driver module, control module, communication unit and cell encoder, as shown in Figure 6.Often kind of Development of Module goes out multiple specification, and user freely forms various application system as required.
Power module is rectification or rectification/feedback unit, and three-phase alternating current is rectified into direct current, supplies each power model (inverter), has the module of feedback function also direct current to be fed back to electrical network.Rectification and energy feedback function can realize the sine of grid side electric current in switching process, work in unity power factor, and can realize the two-way flow of energy.Voltage type PWM Reversible Rectifiers adopts and entirely controls device, devices function is at high frequency state, PWM gating pulse is produced with the DSP of high speed, high arithmetic capability, because turning on and off of switching device is all controlled, so the current waveform of PWM rectifier is also controlled, its perfect condition is that AC-input voltage and electric current can keep same-phase or antiphase, and being namely same-phase during rectification, is antiphase during inversion.Now net power scale factor is approximately 1, and the harmonic content of input current, close to zero, eliminates the harmonic pollution to electrical network.Due to PWM rectifier sampling VD, therefore can also adjust DC voltage, when load changes, there is response speed faster, make VD be stabilized in certain setting value.This technology overcomes the shortcoming of conventional rectifier power supply, also has current on line side for sinusoidal wave, and net side power factor is approximately 1, dynamic response faster, is easy to modularization, the plurality of advantages such as electric energy transmitted in both directions.
Power driver module, comprises the circuit such as DC-AC inverter, protection, data acquisition.The power device of apolegamy different capacity can form the drive unit of various power requirements.Driver module is inversion unit, and the DC inverter of 540V or 600V is become three-phase alternating current.For high-power PWM drive unit, select IGBT as the main power device of high-power PWM drive unit Converting Unit.Select specific driving circuit for different capacity device, designed, designed builds protection circuit as the case may be, considers emc issue and thermal design emphatically.
Control module, adopt the high-performance digital signal processor (DigitalSignalProcessor of employing 32 bit arithmetic function, be called for short DSP), complete digital vector controlled and the Close loop servo control of efficient real-time, extensive on-site programmable gate array FPGA realizes the functions such as exterior I/O signal management, the process of universal command interface, fault-signal process, controling parameters setting, Data inputing, state display, serial communication, the process of universaling coder interface.
Communication unit, provides servo-drive system to arrive outside field-bus interface.Due to the present situation that current multiple fieldbus coexists, this platform field bus unit adopts standardized interface shape, by the exchange of Different field bus unit, realizes the multiple fieldbus interface of servo-drive system.
Cell encoder, realizes Multi-encoding device interface, rotary comprise increment type, support SSI bus (river of rubbing) more, support EDAT2.2 (Heidenhain), sine and cosine, rotary transformer; Orthoscopic comprise increment type, band distance codes, EDAT2.2, inductosyn etc.;
Servo-driver software and hardware one-piece construction as shown in Figure 6, introduces technical module storehouse and real-time data base in the key-course of software platform.
Technical module storehouse, the store and management of various technical module in completion system.In product servo, user can select the function such as electronic gear, setup control angle, electric cam in product servo as required, thus has saved the cost of controller.Utilize the combination of software module to realize different functions, greatly strengthen the versatility of product.Adopt component technology to design technical module storehouse, to improve its general-purpose capability, facilitating the upgrading of software, debugging and safeguard, is the important development direction of servo Software for Design.
Real-time data base, the storage of completion system real time data, renewal and management.The data meeting real-time update that peripheral hardware gathers is in real-time data base, and the real time data required for other module all derives from real-time data base.
In Fig. 6, motion control arithmetic storehouse, the store and management of various control algolithm in completion system.Automatically identify controlled device during system electrification, then automatic or manual selects best control algolithm, makes the effect that control reaches best.
Claims (3)
1. the restructural servomechanism installation based on component technology, host computer controls servomotor by servo-driver, it is characterized in that, described servo-driver sets up whole software architecture by assembly, and inter-module is connected in the mode of data cube computation and/or control linkage; Described servo-driver is divided into three levels:
Application layer, comprises servo external command resolution component, alarming and managing and man-machine interface class component, with key-course component interaction, completes configuration and the monitoring of servo operation state;
Key-course, comprises the data configuration assembly in Serve Motor Control algorithm assembly, technique class component and servomechanism installation, the control core in servomechanism installation, controls and monitor the operating condition of servomotor;
Drive layer, comprise Serve Motor Control driven unit, fieldbus driven unit and servomechanism installation I O interface driver assembly, drive servomechanism installation and outside input-output unit alternately, together with key-course assembled, the common running driving servomotor;
Described assembly is according to basic module model construction;
Described basic module model comprises interface interchange, input/output date flow, and the output of one of them assembly can as the input of other assemblies; Its component comprises:
Assembly base attribute, comprises assembly name, assembly ID and component description;
Service interface, the functional interfaces realized in assembly, is supplied to other assembly or module is called, and then provides corresponding service;
Request interface, assembly needs the functional interface completed with the form called by the external interface provided by other assembly or module;
Described assembly can be combined into a new composite component by multiple assembly; The attribute of described composite component is made up of the attribute of sub-component, and the service interface of sub-component all or selectively selects the service interface of a part as composite component, and all or part of request interface of sub-component constitutes the request interface of composite component.
2. the restructural servomechanism installation based on component technology according to claim 1, it is characterized in that, described data cube computation exists with the form of data sharing, dynamic-configuration can be carried out by host computer, be specially component internal and calculate the rear data exported through writing shared data by data block reception, input for other assemblies is read data and is completed other and calculates or operation, or reads in for other non-assembly modules and perform corresponding behavior act.
3. the restructural servomechanism installation based on component technology according to claim 1, is characterized in that, described control linkage is the direct connection of inter-module, the selection connection of inter-module and the connection between assembly and non-assembly; The form called with functional interface exists, and is specially mutually calling and mutually calling between interface in assembly and non-assembly module of the interface of assembly.
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| CN101604149A (en) * | 2009-05-13 | 2009-12-16 | 上海源致信息技术有限公司 | Full-digital intelligent control system for electric actuating mechanism |
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| US7742855B2 (en) * | 2005-01-26 | 2010-06-22 | Valeo Equipements Electriques Moteur | Method for operating a motor vehicle alternator-starter |
| CN101169659A (en) * | 2007-11-28 | 2008-04-30 | 上海微电子装备有限公司 | Control system integrated test set |
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