CN105373080A - Collaborative numerical control system based on soft bus - Google Patents

Collaborative numerical control system based on soft bus Download PDF

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Publication number
CN105373080A
CN105373080A CN201510831343.7A CN201510831343A CN105373080A CN 105373080 A CN105373080 A CN 105373080A CN 201510831343 A CN201510831343 A CN 201510831343A CN 105373080 A CN105373080 A CN 105373080A
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CN
China
Prior art keywords
module
control system
system based
flexible bus
collaborative
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Pending
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CN201510831343.7A
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Chinese (zh)
Inventor
张碧陶
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Individual
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Individual
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Priority to CN201510831343.7A priority Critical patent/CN105373080A/en
Publication of CN105373080A publication Critical patent/CN105373080A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/414Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4144Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using multiplexing for control system
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/34Director, elements to supervisory
    • G05B2219/34251Cnc works with different operating systems, windows, os-2, vms in parallel

Abstract

The invention discloses a collaborative numerical control system based on a soft bus. The collaborative numerical control system comprises a control unit, a power unit and a power supply unit. The power supply unit is connected with the control unit and the power unit. The control unit comprises a master CPU core module which is used for calculation, planning and scheduling of servo motor linkage angular displacement and angular velocity; a slave CPU core module which is used for servo motor current sampling and coordinate transformation; an AI/AO module which is used for input and output of external analog signals; and a DI/DO module which is used for input and output of external digital signals. The master CPU core module is connected with the slave CPU core module via a CPLD/FPGA module. The slave CPU core module is connected with the signal control end of a motor via the AI/AO module. The slave CPU core module is connected with the power unit via the DI/DO module. The maximum speed communication can be realized by the collaborative numerical control system without influence of external interference signals so that stability and reliability of data exchange can be guaranteed.

Description

A kind of collaborative digital control system based on flexible bus
Technical field
The present invention relates to fields of numeric control technique, specifically refer to a kind of collaborative digital control system based on flexible bus.
Background technology
Equipment manufacture carries as national economy every profession and trade provides the important task of equipment, and any country, in order to self development and safety, all will develop equipment manufacture as national strategy.With " machine-tool " that numerically-controlled machine and numerical control equipment are representative, it is the Typical Representative of advanced machinery manufacturing equipment in equipment manufacture, being the foundation stone realizing manufacturing technology and facility modernization, is also the Grand Equipments ensureing development for hi-tech industry and the modernization of national defense.
Digital control system comprises motion controller, servo-driver and servomotor three part, and respective function is: motion controller is by given position and speed command programming movement track and movement instruction is sent to servo-driver; Servo-driver converts switching signal to movement instruction, is controlled power-up sequence and the time of the three-phase electricity of motor by the break-make controlling driving power module; Servomotor completes corresponding motion according to the energising beat of three-phase electricity.
Common motion controller and the connected mode of servo-driver have following three kinds: analog quantity type, impulse type and bus-type.There is the shortcoming such as " zero wafts " and anti-interference difference in the transmission mode of analog quantity type; The shortcoming that the transmission mode of impulse type has is that servo-drive system cannot be differentiated, still runs according to given Pulse Width Control motor once there is many or few pulse; The shortcoming that the communication modes of bus-type exists is that communication protocol is complicated, to the processing power of hardware and stability requirement higher, cause traffic rate not high.
At present, in high-end digital control system, the communication mode of motion controller and servomechanism is all adopt bus communication substantially, and be subject to the impact of hardware and stability etc., digital control system bus communication speed is up to 50Mps in the world.The speed of traffic rate limits the mutual of information between digital control system, the real-time of further limit number Ore-controlling Role and response, and then affects numerical control device overall performance.
Summary of the invention
The object of the invention is to overcome weak point of the prior art, a kind of collaborative digital control system based on flexible bus is provided, the stability that the fastest traffic rate also can ensure to communicate can be realized, and then improve the overall performance of digital control system.
The object of the invention is to be achieved through the following technical solutions:
Based on a collaborative digital control system for flexible bus, comprise control module, power cell and the power supply unit for powering to each unit, described power supply unit is connected with control module, power cell, and described control module comprises:
Host CPU nucleus module, for servomotor interlock angular displacement and the calculating of angular velocity, planning and scheduling;
From core cpu module, for servomotor current sample, coordinate transform;
AI/AO module, for the input and output of external analog signal;
DI/DO module, for the input and output of external digital signal;
Described host CPU nucleus module by CPLD/FPGA module with from core cpu model calling, described from core cpu module by AI/AO module, be connected with the signal control end of motor, described from core cpu module pass through DI/DO module be connected with power cell.
Concrete, the described collaborative digital control system based on flexible bus also comprises:
232/485 serial port module, for outside serial communication;
Memory module, for memory file system numerical data and program;
Digital display module, for showing motor operating state and relevant alerting signal;
Network interface module, for networking with external unit, sharing data also implements monitoring in real time, and described 232/485 serial port module, memory module, digital display module, network interface module are connected with host CPU nucleus module.
Concrete, the described collaborative digital control system based on flexible bus also comprises encoder interfaces module, and described encoder interfaces module is connected with the scrambler of motor side, receives the subsidiary photoelectric encoder pulse signal of motor or rotary encoder output signal.
Concrete, the described collaborative digital control system based on flexible bus also comprises overvoltage or under-voltage protective module, overvoltage or under-voltage protective module and from core cpu model calling.
The present invention has the following advantages and beneficial effect compared to existing technology:
Host CPU nucleus module of the present invention be real-time read-write by shared drive formula from the communication of core cpu module, communication the most at a high speed can be realized, the communication of master-slave cpu nucleus module is realized by flexible bus in CPLD/FPGA inside, not by external interference effect of signals, the reliability of exchanges data can be ensured; Host CPU nucleus module with from the seamless link of core cpu module, ensure multiple from the synchronism of cpu to data processing.
Accompanying drawing explanation
Fig. 1 is the block diagram of the embodiment of the present invention based on the collaborative digital control system of flexible bus.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As Fig. 1, a kind of collaborative digital control system based on flexible bus, comprise control module, power cell and the power supply unit for powering to each unit, described power supply unit is connected with control module, power cell, and described control module comprises:
Host CPU nucleus module, for servomotor interlock angular displacement and the calculating of angular velocity, planning and scheduling;
From core cpu module, for servomotor current sample, coordinate transform;
AI/AO module, for the input and output of external analog signal;
DI/DO module, for the input and output of external digital signal;
Described host CPU nucleus module by CPLD/FPGA module with from core cpu model calling, described from core cpu module by AI/AO module, be connected with the signal control end of motor, described from core cpu module pass through DI/DO module be connected with power cell.
Described CPLD/FPGA module is the Networking Design of flexible bus, comprises communication protocol and formulates, the setting of baud rate and slave site planning etc.
Concrete, the described collaborative digital control system based on flexible bus also comprises:
232/485 serial port module, for outside serial communication;
Memory module, for memory file system numerical data and program;
Digital display module, for showing motor operating state and relevant alerting signal;
Network interface module, for networking with external unit, sharing data also implements monitoring in real time, and described 232/485 serial port module, memory module, digital display module, network interface module are connected with host CPU nucleus module.
Concrete, the described collaborative digital control system based on flexible bus also comprises encoder interfaces module, and described encoder interfaces module is connected with the scrambler of motor side, receives the subsidiary photoelectric encoder pulse signal of motor or rotary encoder output signal.
Concrete, the described collaborative digital control system based on flexible bus also comprises overvoltage or under-voltage protective module, overvoltage or under-voltage protective module and from core cpu model calling.
In the present embodiment, described power cell is energized three-phase AC by the control signal of control module according to certain rule, and then the angle of control motor, speed and torque etc.Specifically comprise with lower module:
Rectification module, for converting the three-phase mains of input to two direct currents;
Capacitance module, for carrying out filtering to the electric signal after rectification;
IPM module, for converting direct current to three-phase alternating current, described rectification module, capacitance module, IPM module are connected successively, the external three-phase mains of input end of described rectification module, and the output terminal of described IPM module connects motor.
Of the present inventionly take following flexible bus communication plan:
1) hardware connection mode:
In the present invention, according to practical situations, host CPU nucleus module can connect multiple from core cpu module (as shown in Figure 1 from cpu2 with from cpu3), forms Spatial Multi-Dimensional coordinate linkage and controls.Host CPU nucleus module, multiple address wire from core cpu module, data line and control line link the IO pin of CPLD/FPGA.
2) flexible bus design
According to communication protocol, in CPLD/FPGA module, design serial ports/parallel port transceiver, open up the memory headroom of certain memory space, definition host CPU nucleus module and the data transmit-receive mechanism (comprising clock, handshake etc.) from core cpu module.
3) implementation
First, according to data type, in the various data space of the memory configurations of the CPLD/FPGA module address that also definition is corresponding.Then, host CPU nucleus module is sent to data by address wire, data line and control line the internal memory of CPLD/FPGA.Then, read data by address wire, data line and control line at the internal memory that CPLD/FPGA is corresponding from core cpu module, complete host CPU nucleus module and send to the data from core cpu module.Otherwise, then send data to host CPU nucleus module from core cpu module.And then, realize the high speed real-time Communication for Power of master and slave core cpu module.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.

Claims (4)

1., based on a collaborative digital control system for flexible bus, comprise control module, power cell and the power supply unit for powering to each unit, described power supply unit is connected with control module, power cell, it is characterized in that, described control module comprises:
Host CPU nucleus module, for servomotor interlock angular displacement and the calculating of angular velocity, planning and scheduling;
From core cpu module, for servomotor current sample, coordinate transform;
AI/AO module, for the input and output of external analog signal;
DI/DO module, for the input and output of external digital signal;
Described host CPU nucleus module by CPLD/FPGA module with from core cpu model calling, described from core cpu module by AI/AO module, be connected with the signal control end of motor, described from core cpu module pass through DI/DO module be connected with power cell.
2. the collaborative digital control system based on flexible bus according to claim 1, is characterized in that, the described collaborative digital control system based on flexible bus also comprises:
232/485 serial port module, for outside serial communication;
Memory module, for memory file system numerical data and program;
Digital display module, for showing motor operating state and relevant alerting signal;
Network interface module, for networking with external unit, sharing data also implements monitoring in real time, and described 232/485 serial port module, memory module, digital display module, network interface module are connected with host CPU nucleus module.
3. the collaborative digital control system based on flexible bus according to claim 1, it is characterized in that, the described collaborative digital control system based on flexible bus also comprises encoder interfaces module, described encoder interfaces module is connected with the scrambler of motor side, receives the subsidiary photoelectric encoder pulse signal of motor or rotary encoder output signal.
4. the collaborative digital control system based on flexible bus according to claim 1, is characterized in that, the described collaborative digital control system based on flexible bus also comprises overvoltage or under-voltage protective module, overvoltage or under-voltage protective module and from core cpu model calling.
CN201510831343.7A 2015-11-25 2015-11-25 Collaborative numerical control system based on soft bus Pending CN105373080A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105959142A (en) * 2016-05-03 2016-09-21 中国铁路总公司 High reliability and security intelligent ethernet communication board
CN107065776A (en) * 2017-03-23 2017-08-18 马鞍山工蜂智能科技有限公司 A kind of industrial lathe automation control system
CN107329459A (en) * 2017-06-30 2017-11-07 张碧陶 A kind of digital control system of integrated motion control and logic control

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020091469A1 (en) * 2000-12-15 2002-07-11 Korea Institute Of Science And Technology Flexible and compact motor control module based on the can communication network
CN101502960A (en) * 2009-03-12 2009-08-12 上海交通大学 Modularization robot based on CORBA connector
CN202306828U (en) * 2011-10-27 2012-07-04 上海骏码交通科技有限公司 Traffic signal embedded-type control system based on 32-bit microprocessor
CN104391477A (en) * 2014-11-12 2015-03-04 上海交通大学 Drive-control integrated networked intelligent controller
CN104965802A (en) * 2015-06-11 2015-10-07 哈尔滨工程大学 Multifunctional radio frequency comprehensive integrated apparatus and system based on CORBA standard

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020091469A1 (en) * 2000-12-15 2002-07-11 Korea Institute Of Science And Technology Flexible and compact motor control module based on the can communication network
CN101502960A (en) * 2009-03-12 2009-08-12 上海交通大学 Modularization robot based on CORBA connector
CN202306828U (en) * 2011-10-27 2012-07-04 上海骏码交通科技有限公司 Traffic signal embedded-type control system based on 32-bit microprocessor
CN104391477A (en) * 2014-11-12 2015-03-04 上海交通大学 Drive-control integrated networked intelligent controller
CN104965802A (en) * 2015-06-11 2015-10-07 哈尔滨工程大学 Multifunctional radio frequency comprehensive integrated apparatus and system based on CORBA standard

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105959142A (en) * 2016-05-03 2016-09-21 中国铁路总公司 High reliability and security intelligent ethernet communication board
CN105959142B (en) * 2016-05-03 2020-09-04 中国铁路总公司 High-reliability and high-safety intelligent Ethernet communication board
CN107065776A (en) * 2017-03-23 2017-08-18 马鞍山工蜂智能科技有限公司 A kind of industrial lathe automation control system
CN107329459A (en) * 2017-06-30 2017-11-07 张碧陶 A kind of digital control system of integrated motion control and logic control

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Application publication date: 20160302

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