CN104932385A - Multi-axis control system and method for wave simulation - Google Patents
Multi-axis control system and method for wave simulation Download PDFInfo
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- CN104932385A CN104932385A CN201510382133.4A CN201510382133A CN104932385A CN 104932385 A CN104932385 A CN 104932385A CN 201510382133 A CN201510382133 A CN 201510382133A CN 104932385 A CN104932385 A CN 104932385A
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- multiaxis
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- wave simulation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
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Abstract
The invention relates to a multi-axis control system and method for wave simulation. The multi-axis control system for wave simulation comprises a host computer and at least one multi-axis manager. Each multi-axis manager comprises controllers connected by a CAN bus. The host computer issues motion instructions through Ethernet. The host computer is connected to multi-axis controllers through I/O ports. The multi-axis controllers transmit the motion instructions to the corresponding controllers through the CAN buses so that corresponding motions are carried out. The motion instructions are transmitted to the multi-axis managers through Ethernet, and the CAN bus-based multi-axis managers control wave generation units to complete corresponding motions on the basis of the motion instructions. In this way, the real-time performance, accuracy and reliability of wave simulation control can be ensured.
Description
Technical field
The present invention relates to a kind of multi-axis control system for wave simulation and method.
Background technology
Current wave simulation control system generally adopts three kinds of control modes such as bus type, network type and plate card type, mainly contains the field bus systems such as EtherCAT, SQYNET, RS485, the motion control card control system of Industrial Ethernet Control System and Based PC.
Wherein, field bus system price is higher, limited transmission distance system, the more difficult realization of Long-distance Control, and proprietary degree is high, not easily compatible with miscellaneous equipment; Industrial Ethernet Control System data transmission real-time is comparatively difficult to ensure card, and that easily causes between each push wave plate is asynchronous; Kinetic control system based on board is formed primarily of motion control card and computing machine, and motion control card generally inserts in the PCI/PCIE slot of computing machine, limited transmission distance, and cable expense is large, interface is many, is unfavorable for installation and maintenance, and extensibility is not enough.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of multi-axis control system for wave simulation and method, is intended to solve that synchronism in prior art is poor, limited transmission distance system, problem on the high side.
Embodiments provide a kind of multi-axis control system for wave simulation, the described multi-axis control system for wave simulation comprises host computer, at least one multiaxis manager, described multiaxis manager comprises the controller connected by CAN, described host computer issues movement instruction by Ethernet, described host computer is connected by I/O port with multi-axis controller, and movement instruction is transferred to corresponding controller to perform corresponding motion by CAN by described multi-axis controller.
The embodiment of the present invention further provides a kind of multijoint control method for wave simulation, and described method comprises the steps:
Host computer is connected with multiaxis manager by Ethernet;
Host computer generates movement instruction according to spectral data, and sends described movement instruction;
Multiaxis manager receives described movement instruction, and by CAN, movement instruction is transferred to the motion that corresponding controller controls to perform correspondence.
The multi-axis control system for wave simulation that the embodiment of the present invention provides and method, by too net transmitting moving instruction axle manager at the most, multiaxis manager based on CAN controls to make ripple unit according to movement instruction and completes corresponding motion, guarantees real-time, accuracy and reliability that wave simulation controls.
Accompanying drawing explanation
A kind of structural representation of the multi-axis control system for wave simulation that Fig. 1 provides for the embodiment of the present invention;
The another kind of structural representation of the multi-axis control system for wave simulation that Fig. 2 provides for the embodiment of the present invention;
The process flow diagram of the multijoint control method for wave simulation that Fig. 3 provides for the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Fig. 1 shows a kind of structural representation of the multi-axis control system for wave simulation that the embodiment of the present invention provides, for convenience of description, illustrate only the part relevant to the embodiment of the present invention, the multi-axis control system for wave simulation that the embodiment of the present invention provides, the described multi-axis control system for wave simulation comprises host computer 1, n multiaxis manager 2, described multiaxis manager 2 comprises the controller connected by CAN, described host computer 1 issues movement instruction by Ethernet to multiaxis manager 2, described host computer 1 is connected by I/O port with multi-axis controller 2, movement instruction is transferred to corresponding controller to perform corresponding motion by CAN by described multi-axis controller 3.
In the present embodiment, described host computer can be PC controller, utilize PC controller fast operation and the large feature of memory capacity, all Motion trajectory are realized by PC controller, improve interpolation rate and the control accuracy of control system, a PC controller can control at most 32 multiaxis managers, accessible at most 16 the CAN nodes of multi-axis controller, accessible 4 digital drive unit of controller, an I/O station can be accessed by and is no less than 16 input/output signals, and this control system theory can control at most 256 kinematic axiss.
Fig. 2 shows the another kind of structural representation of the multi-axis control system for wave simulation that the embodiment of the present invention provides, for convenience of description, illustrate only the part relevant to the embodiment of the present invention, the multi-axis control system for wave simulation that the embodiment of the present invention provides, its synchro control 80 axle, host computer realizes making wave datum and imports, trace generator, the functions such as data transmission and condition monitoring, be connected by Industrial Ethernet between host computer with multiaxis manager, realize making the mutual of wave datum and I/O status data, the transfer rate of Industrial Ethernet is more than 100M/S, transmission range 100m, and undertaken growing distance expansion by junction network equipment, solve the problem of big data quantity and transmission range.Multiaxis manager, I/O station and controller set up a CAN LAN (Local Area Network), and multiaxis manager and controller are the embedded unit adopting ARM9 exploitation, run WINCE real-time system; Make full use of real-time and the reliability of CAN, in addition, movement instruction computing host computer realizes, transmission data between multiaxis manager and controller are only the mode bit of speed, acceleration, displacement and feedback, data volume is little, do not affect transfer rate and synchronism, CAN LAN (Local Area Network) adopts short frame structure, the reliability of transmission and real-time are guaranteed further, and the synchronism between each unit CAN LAN (Local Area Network) realizes synchronously triggering by unified access I/O port transmission level signal.Therefore whole control system has good real-time, reliability and extendability, meet the requirement of wave simulation system.
In the present embodiment, described host computer also for importing spectral data, and generates movement instruction by third-order spline interpolation algorithm.Movement locus is generated according to " third-order spline interpolation method ", be compiled into target trajectory code, form movement instruction, then movement instruction is sent to each multiaxis manager by Ethernet, realize motion control by multiaxis manager, described movement instruction comprises: startup is made ripple, stopped making ripple, single shaft reset, multiaxis reset, the running orbit generating correspondence according to spectral data, single shaft stepping, multiaxis stepping.
In the present embodiment, host computer is for each multiaxis manager, and increase a real-time thread, thread priority is set in real time, to realize the real-time of ethernet communication.Except the direct access controller of tight sudden-stop function processes, other exterior I/O accesses I/O station, to alleviate the load of controller, improves stability and reliability.
In the present embodiment, described host computer is by I/O port to multiaxis manager outputs level signals, and when described host computer exports level signal from low to high by I/O port, then ripple is made in described multiaxis manager startup; Or described host computer is when exporting level signal from high to low by I/O port, then described multiaxis manager stops making ripple.
Fig. 3 shows the process flow diagram of the multijoint control method for wave simulation that the embodiment of the present invention provides, for convenience of description, illustrate only the part relevant to the embodiment of the present invention, the multijoint control method for wave simulation that the embodiment of the present invention provides, described method comprises the steps:
Step S11, host computer is connected with multiaxis manager by Ethernet.
In the present embodiment, be connected by Industrial Ethernet between host computer with multiaxis manager, the transfer rate of Industrial Ethernet is more than 100M/S, transmission range 100m, and undertaken growing distance expansion by junction network equipment, solve the problem of big data quantity and transmission range.
In the present embodiment, after host computer start-up routine, first start the webserver, the webserver is an independently process, and priority is in real time, multiaxis manager relevant in webserver automatic search LAN (Local Area Network), and attempts connecting; Often successfully set up a connection, a newly-increased data exchange threads, the priority also real-time rank of thread, guarantees the real-time of network communication.
Step S12, host computer generates movement instruction according to spectral data, and sends described movement instruction.
In the present embodiment, after the whole successful connection of multiaxis manager, can import spectral data, host computer uses third-order spline interpolation algorithm to generate movement instruction, and the webserver is distributed to multiaxis manager movement instruction.The type of movement instruction comprises startup and makes ripple, stops making ripple, single shaft reset, multiaxis reset, the running orbit generating correspondence according to spectral data, single shaft stepping, multiaxis stepping.PC control Software Development Platform is VC2012, and operating system is WIN7.
Further, described method also comprises: after ripple is made in startup, and host computer gathers wave height data; Judge whether described wave height data meet default wave spectrum, if meet, stop making ripple; Otherwise described spectral data is revised, again forms spectral data.
In the present embodiment, host computer starts Wave Data collecting thread according to demand, and this thread is set to normal rank, by the wave height data analysis collected, judge whether the wave of simulating meets test demand, thus determine the need of carrying out motion trace data correction.
Step S13, multiaxis manager receives described movement instruction, and by CAN, movement instruction is transferred to the motion that corresponding controller controls to perform correspondence.
In the present embodiment, multi-axis controller completes corresponding motion according to the movement instruction type received.When host computer and multiaxis manager are set up after network is connected, program enters network communication event and I/O synchronous event is monitored, and different action responses is carried out in the different motion instruction according to receiving.When receive make the instruction of ripple orbiting motion time, multiaxis manager is stored into this track data in register according to number order, when receive more than 30s make wave datum time, multiaxis manager can respond making ripple enabled instruction, makes ripple enabled instruction and namely starts when receiving and make marble thread.Realize synchronous by same level I/O level signal between host computer with multiaxis manager, when host computer exports level signal from low to high, multiaxis manager then starts makes ripple; When host computer exports level signal from high to low, multiaxis manager then stops making ripple immediately, and ensure the synchronism between each multiaxis manager, the operating system of multiaxis manager is WINCE, and control software design adopts VS2012 exploitation.
The multi-axis control system for wave simulation that the embodiment of the present invention provides and method, its synchronism mainly comprises the synchronous error in synchronous error between multiaxis manager and multiaxis manager in CAN LAN (Local Area Network).Because being triggered by same I/O level signal between multiaxis manager, each sub-multiaxis manager will detect this signal within a refresh cycle, therefore the synchronism between each multiaxis manager can ensure within a refresh cycle, the refreshing frequency of this multiaxis manager is 1000HZ, then the synchronous error of multiaxis manager is within 1ms.CAN itself has good real-time, and the data of high priority can be transmitted the soonest in 134 is delicate; The embodiment of the present invention provides multiaxis manager CAN local network transport distance within 20m, and communication speed can reach 1M/S, adopts short frame communication simultaneously, further increases communication speed.The priority design of the communication between controller and multiaxis manager is the highest, therefore the synchronous error of CAN LAN (Local Area Network) is for being less than or equal to 8 × 134=1.072ms in theory, and therefore the synchronous error of this multi-axis control system is less than or equal to 2.5ms.The interval, reference mark of rough-water test is generally 20ms, and 2.5ms is only 1/8 of interval, a reference mark, can not impact wave simulation, meets the requirement of rough-water test.Run with identical movement locus (each movement locus comprises 8192 data points, and data point is spaced apart 20ms) by 80 axle units, continuously run 2 hours, the synchronous error of each axle all to control between 1/4 point in interval time.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention; make some equivalent alternative or obvious modification without departing from the inventive concept of the premise; and performance or purposes identical, all should be considered as belonging to the scope of patent protection that the present invention is determined by submitted to claims.
Claims (10)
1. for the multi-axis control system of wave simulation, it is characterized in that, the described multi-axis control system for wave simulation comprises host computer, at least one multiaxis manager, described multiaxis manager comprises the controller connected by CAN, described host computer issues movement instruction by Ethernet, described host computer is connected by I/O port with multi-axis controller, and movement instruction is transferred to corresponding controller to perform corresponding motion by CAN by described multi-axis controller.
2. as claimed in claim 1 for the multi-axis control system of wave simulation, it is characterized in that, described host computer also for importing spectral data, and generates movement instruction by third-order spline interpolation algorithm.
3. as claimed in claim 1 for the multi-axis control system of wave simulation, it is characterized in that, described movement instruction comprises: startup is made ripple, stopped making ripple, single shaft reset, multiaxis reset, the running orbit generating correspondence according to spectral data, single shaft stepping, multiaxis stepping.
4. as claimed in claim 1 for the multi-axis control system of wave simulation, it is characterized in that, described host computer passes through I/O port to multiaxis manager outputs level signals.
5. as described in claim 1 or 4 for the multi-axis control system of wave simulation, it is characterized in that, when described host computer exports level signal from low to high by I/O port, then described multiaxis manager starts and makes ripple; Or described host computer is when exporting level signal from high to low by I/O port, then described multiaxis manager stops making ripple.
6. for the multijoint control method of wave simulation, it is characterized in that, described method comprises the steps:
Host computer is connected with multiaxis manager by Ethernet;
Host computer generates movement instruction according to spectral data, and sends described movement instruction;
Multiaxis manager receives described movement instruction, and by CAN, movement instruction is transferred to the motion that corresponding controller controls to perform correspondence.
7., as claimed in claim 6 for the multijoint control method of wave simulation, it is characterized in that, described method also comprises:
After ripple is made in startup, host computer gathers wave height data;
Judge whether described wave height data meet default wave spectrum, if meet, stop making ripple; Otherwise described spectral data is revised, regenerates spectral data.
8., as claimed in claim 6 for the multijoint control method of wave simulation, it is characterized in that, described method also comprises:
Accessing I/O level signal by unification between described host computer with each multiaxis manager carries out synchronous.
9. as described in claim 6 or 8 for the multijoint control method of wave simulation, it is characterized in that, described method also comprises:
When described host computer exports level signal from low to high by I/O port, then ripple is made in described multiaxis manager startup;
When described host computer exports level signal from high to low by I/O port, then described multiaxis manager stops making ripple.
10. as claimed in claim 6 for the multijoint control method of wave simulation, it is characterized in that, described movement instruction comprises: startup is made ripple, stopped making ripple, single shaft reset, multiaxis reset, the running orbit generating correspondence according to spectral data, single shaft stepping, multiaxis stepping.
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| CN112649176B (en) * | 2020-11-30 | 2021-09-21 | 大连理工大学 | Absorption type wave generating device based on water tank and method thereof |
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