CN106094663A - A kind of multi-axis motion controller communication system based on RTX+DSP - Google Patents
A kind of multi-axis motion controller communication system based on RTX+DSP Download PDFInfo
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- CN106094663A CN106094663A CN201610705482.XA CN201610705482A CN106094663A CN 106094663 A CN106094663 A CN 106094663A CN 201610705482 A CN201610705482 A CN 201610705482A CN 106094663 A CN106094663 A CN 106094663A
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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
- G05B19/0423—Input/output
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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
- G05B2219/25257—Microcontroller
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of multi-axis motion controller communication system based on RTX+DSP, relate to the robot controller communications field.PC end uses development platform based on Windows XP+RTX, and in Visual Studio 2005, programming is respectively created Windows process and RTX process, exchanges data by shared drive.Windows process realizes external world's instruction input by MFC interface and relative motion calculates, and is responsible for triggering the related linear program of RTX portion simultaneously, and RTX process is responsible for location point planning and the data transmit-receive with Control card.DSP module realizes the ethernet communication with PC end by configuring W5300 chip, realizes data communication by dual port RAM between DSP and FPGA simultaneously, and DSP completes the calculating of position ring, and FPGA completes the calculating of speed ring and electric current loop.The division of labor of whole multi-axis motion controller communication system is clearly, it is easy to accomplish, give full play to the function of each part, requirement of real-time and the communicating requirement of Multi-axis motion control can have been met simultaneously.
Description
Technical field
The present invention relates to the robot controller communications field, particularly relate to a kind of Multi-axis motion control based on RTX+DSP
Device communication system.
Background technology
Along with development and the robot controller of computer technology are open, the urgent needs of autgmentability, Based PC
Robot controller has been a kind of trend, because PC has the advantages such as versatility, low cost and good communication function.
Windows operating system has abundant Graphics Data Interface, and has user base widely.Use the universal PC of Windows
Meet very much the demand of open architecture controller, be a good selection.Kinetic control system based on windows platform by
In modern industry control, large-scale application has been obtained in the advantage such as open high, expansibility is good.
Windows is the general-purpose operating system, it is difficult to meets robot multiaxis and controls required scheduling feature in real time.Therefore exist
RTX is few in the past uses Windows to carry out real-time application and development.The RTX product of IntervalZero company is by Windows
Add real-time performance and compensate for this defect, and provide the utility creating and debugging real-time application, additionally
Soft hardware performance can be measured and finely tune.
Find through retrieval, Chinese patent mandate Publication No. CN203324763U, entitled " a kind of Multi-axis motion control
Device " patent in give the design architecture of a kind of Multi-axis motion control from host computer to digitial controller, but upper
The not configuration of machine part is specifically designed to the module of real-time Communication for Power, and communication mode is different from this programme, real-time and communication efficiency
Compared with this programme relatively low.
Therefore, those skilled in the art is devoted to develop a kind of multi-axis motion controller communication system based on RTX+DSP
System, it is achieved host computer PC controls for the real-time of robot motion, is effectively increased precision and effect that multi-axis robot controls
Rate.
Summary of the invention
Because the drawbacks described above of prior art, the technical problem to be solved is how to realize multiaxial motion control
In device processed the connection of multiple chips with communicate, take full advantage of advantage and the performance of each chip, the independent division of labor is integrated the most mutually.
For achieving the above object, the invention provides a kind of multi-axis motion controller communication system based on RTX+DSP, bag
Including real-time control platform and multi-axis motion controller, described real-time control platform builds Windows XP and RTX in PC end；Institute
Stating multi-axis motion controller and include W5300 module, DSP module and FPGA module, described real-time control platform passes through RTX private network
Block the RJ45 network interface external with in described W5300 module to be connected.
Further, described real-time control platform is configured to be respectively created based on Visual Studio 2005
Windows process and RTX process, carry out data interaction by shared drive between described Windows process and RTX process.
Further, described Windows process includes the data input unit at MFC interface and described Multi-axis motion control
The kinematic calculation part of device.
Further, described Windows process is configured to the location point information calculated is write into described shared drive,
Wait that described RTX process is called when being triggered.
Further, described RTX process includes data receiver and the transmission realizing communicating with described multi-axis motion controller
Thread, and the position planning thread of the single-point motion required for realizing multi-axis motion controller and the position of continuous multiple spot motion
Planning thread.
Further, triggering of described thread is realized by the thread flag bit of shared drive part, described thread mark
The assignment operation of position is determined by user's input operation of MFC interface portion.
Further, described W5300 module and described DSP module are configured to the mode of data wire and address wire and enter
Row communication, is configured and controls described W5300 module by described DSP module in the way of triggering interruption.
Further, described DSP module and described FPGA module carry out data sharing, described DSP module by dual port RAM
In the way of accessing external memory storage, the dual port RAM memory space to described FPGA module is written and read accessing.
Further, the described DSP module of described multi-axis motion controller receives the position from described real-time control platform
Put instruction, the computing with the positional value of feedback subtracts each other the position ring carrying out each axle, the velocity amplitude of each axle is sent to simultaneously
Described FPGA module, is completed the computing of speed ring and electric current loop by described FPGA module.
Further, the data receiver interrupt priority level of described DSP module is higher than data and sends interrupt priority level.
Multi-axis motion controller data communication system of the present invention, including RTX Real time capable module, controller W5300 mould
Block, controller DSP module and controller FPGA module.User operates under Windows MFC controls interface, sends and controls
Instruction, instruction passes to RTX by the form of shared drive servo position point after correlation machine people's kinematic calculation
Real time capable module, RTX module is according to ethernet communication protocol TCP/IP, by the way of creating socket, in real time to controller end
Ethernet communication protocol stack chips W 5300 send control information, W5300 chip is configured by DSP and controls, passing through simultaneously
Servo-information in motor control is delivered to PC end by W5300 chip to carry out showing and processing.DSP end and FPGA are double by sharing
Mouth RAM carries out data communication.DSP termination is carried out after receiving the location point information of PC end and the positional information of FPGA module feedback
Position closed loop processes, and by shared RAM, the result of process is passed to FPGA module and carries out the control of speed ring and electric current loop,
The multiaxis realizing robot eventually controls in real time.
In technique scheme, the communication with RTX module that controls under Windows realizes being by Visual
Studio is programmed, creates what multiple thread realized.
In technique scheme, the control of PC end is divided into 2 parts, and interface operation part is issued operation life by operator
Order, orders by being converted into a series of location point, by shared drive, by these location points after carrying out relative motion calculating
Share to RTX real-time operation part.RTX portion creates multiple thread for realizing the difference in functionality of Multi-axis motion control, line
The change of the value triggering the thread flag bit relying on shared drive part of journey realizes, the selection of user determine.RTX grasps in real time
Make part according to network communication protocol by RTX special network adapter, carry out data communication with Control card, it is achieved with controller DSP
The data of module send and receive capabilities in real time.
In technique scheme, DSP model used is the TMS F28335 chip of TI company.
In technique scheme, Ethernet protocol chip stack W5300 is configured and controls by DSP, and W5300 is by specially
Door network interface is connected by netting twine with the RTX special network adapter of PC end, it is achieved the real-time communication of DSP and PC end.
In technique scheme, being connected by data wire and address wire between DSP and W5300, DSP uses the side interrupted
Formula carries out ethernet communication by W5300.According to motor control requirement, data receiver interrupt priority level is higher than in data transmission
Disconnected priority.
In technique scheme, connected by data wire and address wire between DSP and FPGA, by setting up in FPGA
Dual port RAM, DSP can be written and read operation in the way of accessing external memory storage to the data being saved in this region, thus
The data communication between DSP and FPGA can be realized.
The real time kinematics controller communication module based on Windows XP+RTX+DSP of the present invention, have employed RTX real-time
Expansion module, the real time data in controller motor control receives and sends can not be affected by the process of Windows own, can
To meet occasion real-time being controlled to the more much higher axle motion planning and robot control of requirement.
In the motion controller communication module of the present invention, the data processing module of PC end and input/output module are with RTX number
In 2 engineerings, programming is completed respectively according to communication module, and by shared drive partial sharing data message, so can be effective
Reduce the difficulty of upper strata programming development, realize process clear logic, functional independence, it is simple to the test of communication function simultaneously.
The controller communication module hardware of the present invention is well defined, and takes full advantage of the respective of PC, W5300, DSP and FPGA
Advantage, have employed common communication protocol and connected mode, functions divides clear, it is easy to piecemeal realization of debugging,
Reduce cost and the cycle of exploitation, ensure that real-time and the high efficiency of communication simultaneously.
Below with reference to accompanying drawing, the technique effect of design, concrete structure and the generation of the present invention is described further, with
It is fully understood from the purpose of the present invention, feature and effect.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a preferred embodiment of the present invention；
Fig. 2 is Windows process and the structure function schematic diagram of RTX process of a preferred embodiment of the present invention；
Fig. 3 is the allomeric function schematic diagram of a preferred embodiment of the present invention；
Fig. 4 is each module connection structure schematic diagram of a preferred embodiment of the present invention；
Fig. 5 is the communication connection mode of DSP and W5300 of a preferred embodiment of the present invention；
Fig. 6 is the flow chart of the DSP module communication function realization of a preferred embodiment of the present invention.
Detailed description of the invention
Elaborating embodiments of the invention below in conjunction with the accompanying drawings, the present embodiment is with technical solution of the present invention premise
Under implement, give detailed embodiment and concrete operating process, but protection scope of the present invention be not limited to following
Embodiment.
As it is shown in figure 1, the hardware components of the present invention is specifically by a desk-top meter of multinuclear being provided with Windows XP system
Calculation machine, the standard network interface card of RTX support and netting twine, multiaxial motion drives control integrative control board composition.Wherein multiaxial motion drives control one
Body Control card includes again the interconnection portion between W5300 module, DSP module, FPGA module and module.
Desktop computer is provided with RTX Real time capable module, and desktop computer is provided with the Visual Studio2005 volume of Microsoft simultaneously
Journey environment.The realization of RTX module real-time function needs the network interface card first adding RTX support to be dedicated as and Multi-axis motion control board
Communication.
In the multi-axis motion controller communication system of the present invention, the top level control system of PC end mainly realizes motor control
The calculating of the data of the source location of each axle of middle robot produces and issues, and is responsible for receiving multi-axis motion controller anti-simultaneously
The location point coordinate of each axle of feedback.
In Visual Studio 2005 programmed environment, need in same solution, to set up 2 engineerings respectively
Source location in the kinematic calculation and data communication of the source location and feedback position that realize multiaxial motion
Issue and the reception of feedback position point, realized, as shown in Figure 2 by Windows process and RTX process respectively.
In Windows scheduler module, create MFC operation interface, MFC interface be responsible for receiving from robot manipulation person
Operational order, these order after corresponding kinematic calculation, be converted into a series of source location.By 2
Shared drive region between engineering, can share to RTX scheduler module by these location points.
In RTX scheduler module, the location point information provided according to Windows scheduler module, determining movement time
After position planning horizon, the position planning required for Multi-axis motion control can be completed.In the process carrying out position planning
In, the location point information of the multiple axles in real time position planning produced, by the way of Windows Sockets, can be with real-time underground
Issue multi-axis motion controller module, do not affected by the process of Windows itself, the effect of motor control can be increased substantially
Rate, it is ensured that the accuracy of motor control and ageing.
In RTX scheduler module, create multiple thread for the several functions realizing in motor control, such as single-point motion
With continuous motor function.In multiple threads, the triggering of each thread depends on the thread mark of the shared drive part of these 2 engineerings
Will position realizes, and the change of the value of thread flag bit realizes at Windows scheduler module.In MFC interface portion, when operator selects
After having selected corresponding motor control pattern, can enter and process function accordingly, to selected control mould in processing function
The mark position 1 of its respective thread of formula.Trigger the related linear program in RTX process therewith, complete position planning and data communication.
The Content of Communication of PC end and each module of multi-axis motion controller is as shown in Figure 3.PC end passes through RTX real-time communication module
The target location value of each axle calculated is sent to W5300 and DSP module, receives the fortune that DSP and W5300 module sends simultaneously
Dynamic state parameter, such as the location feedback value of each axle.Positional value and the positional value of feedback that DSP module sends according to RTX complete respectively
The position ring of axle calculates, and the velocity amplitude of each axle calculated is sent to FPGA module, receives the number of FPGA module feedback simultaneously
Value.FPGA module completes the speed ring of each axle and the calculating of electric current loop, it is achieved the three close-loop control of motor.
The communication task of DSP module specifically includes that the instruction of real-time reception PC PC control and configuration parameter；Periodically
End status data etc. is controlled to PC.From the point of view of systemic-function, the former requirement of real-time is higher, since it is desired that according to
Control instruction completes real-time closed loop control.Therefore, it is embodied on interrupt priority level, is then that data receiver interrupts being higher than data
Send and interrupt.
The concrete function flow chart that the communication function of DSP module realizes is as shown in Figure 6.In the present embodiment, status data
Timing send use DSP28335 CPU timer 0 (TINT0) realize, its CPU priority is 5, and PIE group priority is 7；
Data receiver uses external interrupt (XINT1) to realize by GPIO, and its CPU interrupt priority level is 5, and PIE group priority is 4.Logical
Cross and write interruption mask register (GPIOXINT1SEL), interrupt configuration register (XINT1CR), and a mouthful function address is broken in centering
It is configured, ethernet communication can be realized.
Connected mode such as Fig. 4 institute between each module on PC end and Multi-axis motion control board and Multi-axis motion control board
Show.Ethernet communication protocol stack chips W 5300 is connected with the adapter of RJ45 model, the adapter of RJ45 model by netting twine with
The special network adapter of RTX Real time capable module connects, it is achieved that PC end and the connection of Multi-axis motion control board.Ethernet communication protocol stack
Chips W 5300 is connected with DSP28335 and data communication by data wire and address wire, in addition also needs to read-write and enables letter
Number, interrupt signal, chip selection signal and reset signal etc., as shown in Figure 5.Communication modes between DSP module and FPGA module
Realized by dual port RAM.Specific implementation is one piece of dual port RAM of establishment inside FPGA, and DSP module can be led to simultaneously
The mode crossing access external memory storage is written and read operation to this block dual port RAM, it is achieved the data sharing between DSP and FPGA.
The preferred embodiment of the present invention described in detail above.Should be appreciated that the ordinary skill of this area is without wound
The property made work just can make many modifications and variations according to the design of the present invention.Therefore, all technical staff in the art
The most on the basis of existing technology by the available technology of logical analysis, reasoning, or a limited experiment
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a multi-axis motion controller communication system based on RTX+DSP, it is characterised in that include that real-time control platform is with many
Axle motion controller, described real-time control platform builds Windows XP and RTX in PC end；Described multi-axis motion controller bag
Including W5300 module, DSP module and FPGA module, described real-time control platform is by RTX special network adapter and described W5300 module
Upper external RJ45 network interface is connected.
2. multi-axis motion controller communication system based on RTX+DSP as claimed in claim 1, it is characterised in that described reality
Time control platform be configured to be respectively created Windows process and RTX process based on Visual Studio 2005, described
Data interaction is carried out by shared drive between Windows process and RTX process.
3. multi-axis motion controller communication system based on RTX+DSP as claimed in claim 2, it is characterised in that described
Windows process includes the data input unit at MFC interface and the kinematic calculation part of described multi-axis motion controller.
4. multi-axis motion controller communication system based on RTX+DSP as claimed in claim 3, it is characterised in that described
Windows process is configured to the location point information calculated is write into described shared drive, waits that described RTX process is triggered
Time call.
5. multi-axis motion controller communication system based on RTX+DSP as claimed in claim 2, it is characterised in that described RTX
Process includes the data receiver realizing communicating with described multi-axis motion controller and sends thread, and realizes Multi-axis motion control
The position planning thread of the single-point motion required for device and the position planning thread of continuous multiple spot motion.
6. multi-axis motion controller communication system based on RTX+DSP as claimed in claim 5, it is characterised in that described line
Triggering of journey is realized by the thread flag bit of shared drive part, and the assignment operation of described thread flag bit is by MFC interface portion
The user's input operation divided determines.
7. multi-axis motion controller communication system based on RTX+DSP as claimed in claim 1, it is characterised in that described
W5300 module and described DSP module are configured to the mode of data wire and address wire and carry out communication, by described DSP module
In the way of triggering interruption, described W5300 module is configured and controls.
8. multi-axis motion controller communication system based on RTX+DSP as claimed in claim 1, it is characterised in that described DSP
Module and described FPGA module carry out data sharing by dual port RAM, and described DSP module is to access in the way of external memory storage pair
The dual port RAM memory space of described FPGA module is written and read accessing.
9. multi-axis motion controller communication system based on RTX+DSP as claimed in claim 1, it is characterised in that described many
The described DSP module of axle motion controller receives the position command from described real-time control platform, with the positional value phase of feedback
Subtract the computing of the position ring carrying out each axle, the velocity amplitude of each axle is sent to described FPGA module simultaneously, by described FPGA
Module completes the computing of speed ring and electric current loop.
10. multi-axis motion controller communication system based on RTX+DSP as claimed in claim 1, it is characterised in that described
The data receiver interrupt priority level of DSP module is higher than data and sends interrupt priority level.
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| CN109358559A (en) * | 2018-12-12 | 2019-02-19 | 阿斯科纳科技（深圳）有限公司 | Integrate the intelligence fortune control device of motion control and multiaxis driving |
| CN113037150A (en) * | 2021-03-15 | 2021-06-25 | 成都卡诺普自动化控制技术有限公司 | Method for realizing multi-axis control of industrial robot based on DSP + FPGA servo |
| CN113726226A (en) * | 2021-08-03 | 2021-11-30 | 九江精密测试技术研究所 | Combined control system of combined rotary table |
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