CN104765321A - Motion controller being compatible with various field bus protocols - Google Patents
Motion controller being compatible with various field bus protocols Download PDFInfo
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- CN104765321A CN104765321A CN201510030821.4A CN201510030821A CN104765321A CN 104765321 A CN104765321 A CN 104765321A CN 201510030821 A CN201510030821 A CN 201510030821A CN 104765321 A CN104765321 A CN 104765321A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
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Abstract
The invention provides a motion controller being compatible with various field bus protocols. The motion controller comprises an ARM core and interface, an FPGA core and interface and a power interface module which are connected; the ARM core and interface comprises a core scheduling module ARM, and the FPGA core and interface comprises a core scheduling module FPGA. The motion controller adopts a core scheduling module ARM and core scheduling module FPGA embedded type dual-core system structure, is suitable for a uniform software and hardware platform of the various field bus protocols, can be compatible with most of the field bus protocols, has good compatibility and wide applicability, can be connected with equipment of the various different protocols simultaneously, improves the flexibility of a motion control system, adopts an FPGA to process real-time link layer data and improves the stability and rapid responsibility of a link.
Description
Technical field
The invention belongs to field bus communication field, be specifically related to a kind of motion controller of compatible multiple fieldbus agreement.
Background technology
Along with the progress of electronics and the communication technology, industrial automatic control develops into the full-digital control of fieldbus gradually from the control mode of traditional point-to-point analog quantity or pulse signal.The equipment such as the control of industry spot, monitoring are integrated in a communication network by the mode of serial signal by it, can build field bus control system, and can set up industrial information control and management layer by procotol.Motion controller is the core of Fieldbus Control, it upwards can realize industrial network management by compatible Ethernet, downwards can compatible fieldbus networks, therefore, the compatible field bus protocol of motion controller directly determines flexibility and the applicability of a whole set of control system.
The field bus protocol that existing motion control field comprises is of a great variety, and also emerging in an endless stream based on various protocol development equipment, but up to the present also do not have a kind of can the unified software and hardware parametric controller of compatible various agreement, the interface causing various kinds of equipment is single, the wasting of resources, is difficult to realize the compatible widely of motion controller and applicability problem.
Summary of the invention
Problem to be solved by this invention is to provide a kind of motion controller of compatible multiple fieldbus agreement, on the analysis similarity of various field bus protocol type and the basis of intercommunity, invent the motion controller of the Embedded Double core architecture based on ARM+FPGA, and utilize the specification of various field bus protocol interface, devise the solution of various fieldbus based on double-core system, achieving can the motion controller of simultaneously compatible multiple fieldbus agreement, solve current bus type motion controller supported protocol type more single, be difficult to the problem realizing the compatible widely of motion controller and applicability.
For overcoming the above problems scheme of the present invention:
A kind of motion controller of compatible multiple fieldbus agreement, comprise ARM core and interface, fpga core and interface and power supply interface module, described ARM core and interface, fpga core and interface are connected with power supply interface module, described ARM core and interface comprise the kernel scheduling modules A RM of motion control, SD card interface, VGA display interface, Ethernet Ethernet interface, first USB interface, secondary USB interface, ARM debug serial port and CAN interface, its functional module is directly run (SuSE) Linux OS by ARM core and interface and is carried out control and management, described kernel scheduling modules A RM is directly connected with described SD card interface, described kernel scheduling modules A RM is connected with Ethernet Ethernet interface by one piece of PHY chip, described kernel scheduling modules A RM is directly connected with described first USB interface, described kernel scheduling modules A RM is directly connected with described secondary USB interface, described kernel scheduling modules A RM is connected with described ARM debug serial port by one piece of RS232 driving chip, described kernel scheduling modules A RM is connected with described CAN interface by one piece of CAN driving chip, described kernel scheduling modules A RM is connected with VGA display interface by one piece of VGA driving chip, described fpga core and interface comprise kernel scheduling module FPGA, JTAG mode interface, first Industrial Ethernet interface, second Industrial Ethernet interface, optical fiber interface, RS485 interface, RS232 interface, described FPGA interface and core are as the fieldbus expansion of motion control core scheduler module ARM, parallel processing is carried out by the IP kernel of FPGA interface and core inner, corresponding interface is carried out to the process of data link layer, and control to carry out data interaction with motion control core scheduler module ARM by GPMC bus and interruption, described kernel scheduling module FPGA is connected by PHY chip+isolating transformer with the first described Industrial Ethernet mouth, described kernel scheduling module FPGA is connected by PHY chip+isolating transformer with the second described Industrial Ethernet mouth, described kernel scheduling module FPGA is connected by PHY chip+photoelectric commutator with described optical fiber interface, described kernel scheduling module FPGA is connected by RS485 driving chip with described RS485 interface, described kernel scheduling module FPGA is connected by RS232 driving chip with described RS232 interface, described kernel scheduling module FPGA is directly connected with described JTAG mode interface, described kernel scheduling module FPGA is connected with kernel scheduling modules A RM by the control such as GPMC bus protocol and look-at-me.
The motion controller of above-mentioned a kind of compatible multiple fieldbus agreement, wherein, described kernel scheduling module FPGA is as fieldbus easily extensible module, its function processes the signal identified from fieldbus networks, carry out the process of data link layer, comprise the data-interface part with ARM, data link layer and physical layer link are selected, described physical layer link is selected to comprise network interface automated topology identification forwarding module and serial ports Link selection module, be used for processing network interface data and serial data respectively, described data link layer comprises the process of network interface data in link layer and the process of serial data link layer data, be used for processing the data link layer of network interface and the data link layer of serial ports respectively, described comprises network interface frame data buffer district and serial data frame buffer zone with the data-interface part of ARM, being used for respectively buffer memory sends and the network interface communication frame that accepts and serial communication frame, and carry out data interaction with kernel scheduling modules A RM.
The beneficial effect of this programme:
1. ARM core and interface run (SuSE) Linux OS, the real-time status feedback of the demand for control that application program produces according to man-machine interaction and actuator calculates to the director data of actuator, the field bus protocol interface compatible by actuator is transferred to each motion actuators by telecommunication cable, simultaneously also by telecommunication cable by the data of feedback and state to application program, realize fortune control, support program runs VGA Display interface and debug port, also supports the peripheral expansion of USB device, serial equipment etc. simultaneously.
2. fpga core and interface internal support the physical layer interface of existing most of bus, comprise serial communication and network interface communication physical layer, carry out communication level conversion by the driving chip of different communication protocol Physical layer and realize different bus interface, as RS485 interface and RS232 interface etc., for same bus interface, also the agreement of variety classes field bus communication can be realized by changing field bus communication application layer, such as, Industrial Ethernet interface can construct identical network interface link layer, drive can realize EtherCAT by different application layer protocols, numerous agreement based on real-time industrial ethernet Physical layer such as Powerlink, therefore, flexibility and the applicability widely of motion controller fully can be realized by the method for software reconfiguration, in addition, owing to can make full use of the advantage of FPGA parallel work-flow based on the fieldbus IP kernel expansion module of FPGA, multiple field bus protocol network can be controlled in a control cycle simultaneously, really can realize compatible multiple fieldbus networks agreement simultaneously.
3. kernel scheduling module FPGA is connected with kernel scheduling modules A RM by the control such as GPMC bus protocol and look-at-me, realize data interaction and the controlling functions of fieldbus expansion IP kernel and ARM, user can according to different control needs, field-bus interface in different motion controllers is selected to carry out the line of control system, then by the driving interface of application call different agreement, corresponding bus is operated, thus the different fieldbus networks that realization builds as required.
4. adopt kernel scheduling modules A RM and kernel scheduling module FPGA Embedded Double core architecture, be applicable to the unified hardware and software platform of various field bus protocol, can compatible most field bus protocol, there is well compatibility and widely applicability, the equipment of multiple different agreement can be connected simultaneously, improve the flexibility of kinetic control system, adopt FPGA process real-time link layer data, improve stability and the fast-response of link.
Accompanying drawing explanation
Fig. 1 is the general structure schematic diagram of motion controller of the present invention.
Fig. 2 is the connection diagram between each functional module of the present invention.
Fig. 3 is that the concrete signal of FPGA module of the present invention and peripheral hardware flows to schematic diagram.
Fig. 4 is the structural representation of FPGA module inside of the present invention.
Fig. 5 is that the concrete signal of ARM module of the present invention and peripheral hardware flows to schematic diagram.
Fig. 6 is the structural representation of ARM inside modules of the present invention.
Embodiment
As shown in the figure, a kind of motion controller of compatible multiple fieldbus agreement, comprise ARM core and interface 1, fpga core and interface 2 and power supply interface module 3, described ARM core and interface 1, fpga core and interface 2 are connected with power supply interface module 3, described ARM core and interface 1 comprise the kernel scheduling modules A RM11 of motion control, SD card interface 16, VGA display interface 17, Ethernet Ethernet interface 12, first usb 1 31, secondary USB interface 132, ARM debug serial port 14 and CAN interface 15, its functional module is directly run (SuSE) Linux OS by ARM core and interface 1 and is carried out control and management, described kernel scheduling modules A RM11 is directly connected with described SD card interface 16, described kernel scheduling modules A RM11 is connected with Ethernet Ethernet interface 12 by one piece of PHY chip 121, described kernel scheduling modules A RM11 is directly connected with the first described usb 1 31, described kernel scheduling modules A RM11 is directly connected with described secondary USB interface 132, described kernel scheduling modules A RM11 is connected with described ARM debug serial port 14 by one piece of RS232 driving chip 141, described kernel scheduling modules A RM11 is connected with described CAN interface 15 by one piece of CAN driving chip 151, described kernel scheduling modules A RM11 is connected with VGA display interface 17 by one piece of VGA driving chip 171, described fpga core and interface 2 comprise kernel scheduling module FPGA21, JTAG mode interface 26, first Industrial Ethernet interface 221, second Industrial Ethernet interface 222, optical fiber interface 23, RS485 interface 24, RS232 interface 25, described fpga core and interface 2 are as the fieldbus expansion of motion control core scheduler module ARM11, parallel processing is carried out by the IP kernel of fpga core and interface 2 inside, corresponding interface is carried out to the process of data link layer, and control to carry out data interaction with motion control core scheduler module ARM11 by GPMC bus and interruption, described kernel scheduling module FPGA21 is connected by PHY chip+isolating transformer 211 with the first described Industrial Ethernet mouth 221, described kernel scheduling module FPGA21 is connected by PHY chip+isolating transformer 211 with the second described Industrial Ethernet mouth 222, described kernel scheduling module FPGA21 is connected by PHY chip+photoelectric commutator 231 with described optical fiber interface 23, described kernel scheduling module FPGA21 is connected by RS485 driving chip 241 with described RS485 interface 24, described kernel scheduling module FPGA21 is connected by RS232 driving chip 251 with described RS232 interface 25, described kernel scheduling module FPGA21 is directly connected with described JTAG mode interface 26, described kernel scheduling module FPGA21 is connected with kernel scheduling modules A RM11 by the control such as GPMC bus protocol and look-at-me.
The motion controller of above-mentioned a kind of compatible multiple fieldbus agreement, wherein, described kernel scheduling module FPGA21 is as fieldbus easily extensible module, its function processes the signal identified from fieldbus networks, carry out the process of data link layer, comprise the data-interface part 211 with ARM, data link layer 212 and physical layer link select 213, described physical layer link 213 is selected to comprise network interface automated topology identification forwarding module 2131 and serial ports Link selection module 2132, be used for processing network interface data and serial data respectively, described data link layer 212 comprises network interface data in link layer process 2121 and serial data link layer data process 2122, be used for processing the data link layer of network interface and the data link layer of serial ports respectively, described comprises network interface frame data buffer district 2111 and serial data frame buffer zone 2112 with the data-interface part 211 of ARM, being used for respectively buffer memory sends and the network interface communication frame that accepts and serial communication frame, and carry out data interaction with kernel scheduling modules A RM.
ARM core and interface 1 run (SuSE) Linux OS and carry out control and management, Ethernet Ethernet interface 12 full duplex can accept simultaneously and sends ethernet data frame, the system bottom TCP/IP driver of kernel scheduling modules A RM11 is entered after the process of PHY chip 121, enable compatible Ethernet, first usb 1 31, secondary USB interface 132 and kernel scheduling modules A RM11 directly carry out the mutual of data by differential signal, ARM debug serial port 14 is converted into 232 signals of the compatible Transistor-Transistor Logic level of ARM for ARM debugging or as field bus communication mouth through RS232 driving chip 141, CAN interface 15 carries out alternately by CAN driving chip 151 with kernel scheduling modules A RM11, can the CAN interface of integrated motion controller.
Kernel scheduling module FPGA21 can accept the data in the first Industrial Ethernet interface 221, second Industrial Ethernet interface 222 at interfaces such as peripheral expansion net mouth, serial ports and light mouths, also can send data in network simultaneously, realize the network service of full duplex, electric signal in network is converted to differential signal through isolating transformer 2212 and is connected with PHY chip 2211, for shielding the interference in network, improve the stability of communication, PHY chip 2211 carries out exchanges data by RMII or MII mode and kernel scheduling module FPGA21; Optical fiber interface 23 works in a full-duplex mode equally, light signal in photoelectric commutator 2312 pairs of Networks of Fiber Communications processes, be converted to differential electric signal to process for PHY chip 2311, carry out exchanges data by RMII or MII mode and kernel scheduling module FPGA21; Signal of communication in RS485 interface 24, RS485 network by RS485 driving chip 241 Switching Core scheduler module FPGA21 compatible TTL232 signal carry out the exchange of data; Signal of communication in RS232 interface 25, RS232 network by RS232 driving chip 251 Switching Core scheduler module FPGA21 compatible TTL 232 signal carry out the exchange of data.
The structure of kernel scheduling modules A RM11 inside comprises ARM motion control program (111), application programming interfaces layer (112) and device drive layer (113), the core that ARM motion control program (111) is control system, effective control data of application programming interfaces layer (112) and feedback data are calculated iterative processing accordingly according to demand for control, to realize the functional realiey of whole fieldbus kinetic control system, in addition, the steering order of application program can be inputted by Man Machine Interface, application programming interfaces layer (112) achieves the total integrated interface library that various kinds of equipment drives, which includes the driving interface of all field-bus interface operations that motion controller is supported, upwards for application program provides operation entry, directly can build the bridge that application program communicates with hardware device downwards, comprise three classes, one class is the driving that Linux supports, there are Ethernet Applied layer interface (1121) and CAN Applied layer interface (1122), another kind of is the device drives expanded based on IP kernel network interface, comprise EtherCAT application programming interfaces (1123), the Applied layer interface (1125) of Powerlink Applied layer interface (1124) and all the other Industrial Ethernet, user can according to self needing the Applied layer interface expanding different types of field bus protocol network interface, last class is the device drives based on IP and serial ports expansion, comprise Modbus Applied layer interface (1126) and all kinds of serial communication protocol Applied layer interface (1127), user can according to self needing the Applied layer interface expanding different types of field bus protocol serial ports, device drive layer (113) comprise Linux support driving (1131), IP kernel FPGA network interface external drive (1132) and IP kernel serial ports expansion driving (1133), its major function runs driver, the hardware device of Direct driver plate level, carries out the driving task of hardware device.
ARM core and interface run (SuSE) Linux OS, the real-time status feedback of the demand for control that application program produces according to man-machine interaction and actuator calculates to the director data of actuator, the field bus protocol interface compatible by actuator is transferred to each motion actuators by telecommunication cable, simultaneously also by telecommunication cable by the data of feedback and state to application program, realize fortune control, support program runs VGA Display interface and debug port, also supports the peripheral expansion of USB device, serial equipment etc. simultaneously.
Fpga core and interface internal support the physical layer interface of existing most of bus, comprise serial communication and network interface communication physical layer, carry out communication level conversion by the driving chip of different communication protocol Physical layer and realize different bus interface, as RS485 interface and RS232 interface etc., for same bus interface, also the agreement of variety classes field bus communication can be realized by changing field bus communication application layer, such as, Industrial Ethernet interface can construct identical network interface link layer, drive can realize EtherCAT by different application layer protocols, numerous agreement based on real-time industrial ethernet Physical layer such as Powerlink, therefore, flexibility and the applicability widely of motion controller fully can be realized by the method for software reconfiguration, in addition, owing to can make full use of the advantage of FPGA parallel work-flow based on the fieldbus IP kernel expansion module of FPGA, multiple field bus protocol network can be controlled in a control cycle simultaneously, really can realize compatible multiple fieldbus networks agreement simultaneously.
Kernel scheduling module FPGA is connected with kernel scheduling modules A RM by the control such as GPMC bus protocol and look-at-me, realize data interaction and the controlling functions of fieldbus expansion IP kernel and ARM, user can according to different control needs, field-bus interface in different motion controllers is selected to carry out the line of control system, then by the driving interface of application call different agreement, corresponding bus is operated, thus the different fieldbus networks that realization builds as required.
Adopt kernel scheduling modules A RM and kernel scheduling module FPGA Embedded Double core architecture, be applicable to the unified hardware and software platform of various field bus protocol, can compatible most field bus protocol, there is well compatibility and widely applicability, the equipment of multiple different agreement can be connected simultaneously, improve the flexibility of kinetic control system, adopt FPGA process real-time link layer data, improve stability and the fast-response of link.
Be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses, the change that can expect easily or replacement, all should be encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (2)
1. the motion controller of a compatible multiple fieldbus agreement, comprise ARM core and interface, fpga core and interface and power supply interface module, it is characterized by, described ARM core and interface, fpga core and interface are connected with power supply interface module, described ARM core and interface comprise the kernel scheduling modules A RM of motion control, SD card interface, VGA display interface, Ethernet Ethernet interface, first USB interface, secondary USB interface, ARM debug serial port and CAN interface, its functional module is directly run (SuSE) Linux OS by ARM core and interface and is carried out control and management, described kernel scheduling modules A RM is directly connected with described SD card interface, described kernel scheduling modules A RM is connected with Ethernet Ethernet interface by one piece of PHY chip, described kernel scheduling modules A RM is directly connected with described first USB interface, described kernel scheduling modules A RM is directly connected with described secondary USB interface, described kernel scheduling modules A RM is connected with described ARM debug serial port by one piece of RS232 driving chip, described kernel scheduling modules A RM is connected with described CAN interface by one piece of CAN driving chip, described kernel scheduling modules A RM is connected with VGA display interface by one piece of VGA driving chip, described fpga core and interface comprise kernel scheduling module FPGA, JTAG mode interface, first Industrial Ethernet interface, second Industrial Ethernet interface, optical fiber interface, RS485 interface, RS232 interface, described FPGA interface and core are as the fieldbus expansion of motion control core scheduler module ARM, parallel processing is carried out by the IP kernel of FPGA interface and core inner, corresponding interface is carried out to the process of data link layer, and control to carry out data interaction with motion control core scheduler module ARM by GPMC bus and interruption, described kernel scheduling module FPGA is connected by PHY chip+isolating transformer with the first described Industrial Ethernet mouth, described kernel scheduling module FPGA is connected by PHY chip+isolating transformer with the second described Industrial Ethernet mouth, described kernel scheduling module FPGA is connected by PHY chip+photoelectric commutator with described optical fiber interface, described kernel scheduling module FPGA is connected by RS485 driving chip with described RS485 interface, described kernel scheduling module FPGA is connected by RS232 driving chip with described RS232 interface, described kernel scheduling module FPGA is directly connected with described JTAG mode interface, described kernel scheduling module FPGA is connected with kernel scheduling modules A RM by the control such as GPMC bus protocol and look-at-me.
2. the motion controller of a kind of compatible multiple fieldbus agreement as claimed in claim 1, it is characterized by, described kernel scheduling module FPGA is as fieldbus easily extensible module, its function processes the signal identified from fieldbus networks, carry out the process of data link layer, comprise the data-interface part with ARM, data link layer and physical layer link are selected, described physical layer link is selected to comprise network interface automated topology identification forwarding module and serial ports Link selection module, be used for processing network interface data and serial data respectively, described data link layer comprises the process of network interface data in link layer and the process of serial data link layer data, be used for processing the data link layer of network interface and the data link layer of serial ports respectively, described comprises network interface frame data buffer district and serial data frame buffer zone with the data-interface part of ARM, being used for respectively buffer memory sends and the network interface communication frame that accepts and serial communication frame, and carry out data interaction with kernel scheduling modules A RM.
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