CN106647571A - Motion control system and method capable of supporting cognition - Google Patents
Motion control system and method capable of supporting cognition Download PDFInfo
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- CN106647571A CN106647571A CN201611160491.1A CN201611160491A CN106647571A CN 106647571 A CN106647571 A CN 106647571A CN 201611160491 A CN201611160491 A CN 201611160491A CN 106647571 A CN106647571 A CN 106647571A
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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
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Abstract
The invention discloses a motion control system and method capable of supporting cognition. The system comprises an Ethernet interface unit, an Ethernet control unit, an SRAM storage unit, a main control unit, a control unit, an indicating lamp unit, a power supply unit, a motion control function library module, a control module, an EtherCAT bus communication module, and a program monitoring module. The main control unit is in star-shaped connection with the Ethernet control unit, the SRAM storage unit, a communication interface conversion unit, a key unit, the indicating lamp unit and the power supply unit. The power supply unit supplies power to all units. The system can carry out the real-time collection and transmission of data needed by a servo driver, and also can carry out the unified management of a CANopen application layer model defined by the data. The invention also can proposes a solution capable of supporting cognitive learning.
Description
Technical field
The present invention relates to real-time communication movement control technology field, more particularly to a kind of to support cognitive motion control side
Method.
Background technology
Motion control (MC) is a branch of automation, and it uses some equipment such as hydraulic pressure for being commonly referred to as servo control mechanism
Pump, linear execution machine or motor are controlling position or the speed of machine.Motion control is in robot and the neck of Digit Control Machine Tool
Application in domain is more more complicated than the application in special purpose machinery, commonly known as general because latter movement's form is simpler
Motion control (GMC).Motion control is widely used in packaging, printing, weaving and assembly industry.
Motion control originates from the SERVO CONTROL of early stage.Briefly, motion control is exactly the position to mechanical moving element
Put, speed etc. carries out control management in real time so as to it is anticipated that movement locus and the kinematic parameter of regulation moved.It is early
The movement control technology of phase is mainly along with the development of Numeric Control Technology, robot technology and factory automation technology
's.The motion controller of early stage actually can with the special controller of independent operating, often without the need for other processor and
Operating system support, can be with complete independently motion control function, the other functions of process specifications and human-computer interaction function.This
Quasi-controller can become the motion controller of independent operating.This quasi-controller mainly for special numerical controlled machinery and other from
Dynamicization equipment and design, often the function of correlation devised according to the technological requirement of application industry, user only needed to according to it
Protocol requirement is write using machining code file, and using RS232 or DNC modes controller is transferred to, and controller can be completed
Related action.This quasi-controller tends not to leave its specific technological requirement and inter-trade application, the opening of controller
Depend only on the machining code agreement of controller, user can not recombinate the kinetic control system of oneself according to application requirement.
With developing rapidly for motion control field, the continuous lifting of real-time Communication for Power demand, industrial control unit (ICU) direction is by passing
The Synchronization Control in seconds of system is developed to Microsecond grade control.EtherCAT bussing techniques are exactly to be adapted to more at a high speed
Communication speed and propose.At present the bussing technique of industrial circle main flow includes Powerlink, CAN etc., coordinates different
Manufacturer is multi-field to be related to, and Real-time Communication Technology has been extended into more fields.
For motion control field, Ge great producers are proposed the solution communicated based on high-speed bus.Motion control
Product is mainly based on motion control card and motion model storehouse.But have cured motion-control module existing motion controller more,
In the face of application scenarios change, control is required when change, will be carried out redesigning and be recompilated the work such as deployment, therefore
Greatly limit the flexibility of motion controller.Simultaneously communication protocol species is numerous between existing motion controller and driver
It is many, it is therefore desirable to which that standard set communication protocol definition goes out the application layer protocol form of a set of versatility.
In sum, motion controller should support cognitive learning on the basis of motion control function is realized, also, realize
On-line tuning to actual motion control effect.On the other hand for communication protocol is different, the skimble-scamble problem of standard, base is designed
In the motion controller of CANopen application layer protocols, the unification of motion control parameter is mapped in the unified address model of structure,
And real-time control is carried out by communication layers EtherCAT interface.
The content of the invention
The technical problem to be solved is, there is provided a kind of motion control method for supporting cognition.For existing
There is above-mentioned weak point present in technology, overcome the shortcomings of that existing controller is present, there is provided one kind is based on EtherCAT technologies
Motion control method, servo-driver desired data can not only be carried out Real-time Collection and transmission, moreover it is possible to by data definition
Go out CANopen application layer models to be managed collectively.Simultaneously the invention allows for the solution of a set of support cognitive learning.
To solve above-mentioned technical problem, the invention provides a kind of support cognitive kinetic control system, including：Ethernet
Interface unit, Ethernet control unit, SRAM memory cell, main control unit, control unit, indicator unit, power supply unit, with
And：Motion control function library module, control module, EtherCAT bus communication modules, program monitor module.
The main control unit preferably respectively with Ethernet control unit, SRAM memory cell, communication interface converting unit, press
Key unit, indicator unit, power supply unit are in Y-connection；Said supply unit is powered for all units.
Said supply unit preferably further includes step-down switching power supply module and its periphery protection, filtering, mu balanced circuit；
The input of the step-down switching power supply module is connected with anti-surge circuit, makes this gateway have the performance of anti-lightning and impact；
The 220V alternating voltages of input are changed into 5V DC voltages by the step-down switching power supply module；The step-down switching power supply module and
The output end of linear voltage regulator is both provided with filter circuit.
The motion control function library module, can be used for setting up control algolithm storehouse according to the Controlling model of controlled device；
The control module, can be used for controlling the application program main logic process that controlled device performs movement instruction；
The EtherCAT bus communications module, the bus communication that can be used between controller and servo-driver, bag
Include state acquisition and instruction transmission；
Described program monitors module, can be used for processing the request response of motion controller, including network
Update request and the interrupt requests based on hardware button.
To solve above-mentioned technical problem, invention further provides a kind of support cognitive motion control as described in aforementioned any one
The using method of system processed, comprises the following steps：
Step S1：Upper electricity, initializes motion controller；
Step S2：Motion control main program is performed, while trigger performing watcher thread and EtherCAT bus communication threads；
Step S3：By EtherCAT bus protocols, network structure is checked, initialize servo-driver, Real-time Collection is watched
Take Drive Status information；
Step S4：Servo-driver state parameter and motion control instruction parsing Motion Controlling Model are read, motion is generated
Control instruction, if motion control instruction is sky, waits；
Step S5：Real-time Transmission motion control instruction, repeat step S3；
Step S6：If triggering hardware interrupts triggering, execution step S1；If triggering network updates request, configuration processor
Download, finish rear execution step S1.
To solve above-mentioned technical problem, the present invention separately supports cognitive motion control method there is provided a kind of, including following
Step：
Main control unit performs motion control host process, and triggers EtherCAT bus communications thread and watcher thread；
By EtherCAT bus communication threads, network structure, initial is checked according to EtherCAT bus communications layer protocol
Change servo-driver；
Semaphore is monitored by watcher thread：When interrupt signal is listened to, then main control unit resets；When listening to
When the change that cognitive thread sends is asked, online updating is carried out；
Meanwhile, the motion control task that host computer is sent is parsed by motion control host process：According to motion control task
Determine the list of servo-driver state information parameters and motion control instruction；
According to EtherCAT bus application layer protocol Real-time Collection servo-driver status informations, and parse motion control mould
Type generates control command real-time Transmission to servo-driver.
The servo-driver status information is preferably encapsulated according to CIA402 application layer protocols, including status word, real-time speed
Degree information, real-time torque information, real-time end positional information, current kinetic control model.
The motion control instruction is preferably encapsulated according to CIA402 application layer protocols, including coding line, velocity information, moment of torsion
Information, terminal position information, motion control pattern.
The cognitive thread be preferred for parse controller configuration information, monitoring system host state machine, inspection system storehouse is more
Auxiliary control lines journey that is new and thinking host process transmission change request.
The cognitive thread sends change request and preferably includes：When cognitive thread is in supervisory control device host state machine and operation
Find that host state machine or Runtime Library have redaction during storehouse, or, when the cognitive learning based on historical data finds there is more optimization ginseng
When number is produced, from cognitive thread to host process change request, host process calling system more new demand servicing are sent.
The beneficial effect that the present invention is produced includes：
1. motion control is carried out using the motion controller for supporting cognition, it is adaptable to motion control conceptual phase, debugging rank
Section and later maintenance stage, the life cycle of whole motion control product is covered, enable motion controller to greatest extent
The different controlled devices of adaptation, greatly reduce maintenance cost, while be adapted to during algorithm research being wanted to on-line debugging
Ask, durability is strong.
2. the design realizes the online updating of Motion Function Module by way of watcher thread so that motion controller
Compound movement control scene can be to greatest extent applied to, while relying on EtherCAT EBIs to realize real-time control, net
Network structure is very flexible.
3. the unitized of motion control Applied layer interface can be realized really.The built-in EtherCAT communication protocols of motion controller
View, and servo-driver state parameter and control command are communicated in real time by CANopen application layer protocols, and can
Ensure and within 100 microseconds, realize fast and effectively motion control solution synchronizing cycle.
Description of the drawings
Fig. 1 is the kinetic control system structure chart that cognition is supported described in the embodiment of the present invention；
Fig. 2 is the motion control method fundamental diagram that cognition is supported described in the embodiment of the present invention；
Fig. 3 is the kinetic control system worker state machine schematic diagram that cognition is supported described in the embodiment of the present invention.
Specific embodiment
To make the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously referring to the drawings embodiment pair
The present invention is further described, but the invention is not limited in these embodiments.
The present invention supports cognitive motion control method, it is adaptable to which various motion control application scenarios, it is right to be particularly suited for
The control field that cognitive learning is required.
EtherCAT (Ethernet auto-control technology) is that the scene of an open architecture based on Ethernet is total
Linear system is united, and the CAT in EtherCAT titles is Control Automation Technology (auto-control technology) lead-in
Female abbreviation.Initially researched and developed by Elektro Beckhoff GmbH (Beckhoff Automation GmbH).EtherCAT
New standard is set up in the flexibility of real-time performance and topology for system, meanwhile, it also is compliant with or even reduces fieldbus
Use cost.The characteristics of EtherCAT, also includes high precision apparatus synchronization, optional cable redundancy, and feature security protocol
(SIL3)。
EtherCAT agreements are optimized for process data, and it is directly transferred to ethernet frame, or is compressed to
In UDP/IP data messages.The EtherCAT network segment of the udp protocol in other subnets makes in the case of being addressed by router
With.Ethernet frame may include several EtherCAT messages, each message dedicated for particular memory region, the storage region
Size can be worked out up to the logical process mirror image of 4GB.Because Data-Link is independently of EtherCAT terminal physical sequentials, therefore can be right
EtherCAT terminals are arbitrarily addressed.Can be broadcasted, multicast and be communicated between slave station.
EtherCAT agreements can also process usually acyclic parameter communication.The structure and implication of parameter passes through
CANopen equipment professional etiquettes are set, and these equipment professional etiquettes are used for plurality of devices classification and application.EtherCAT also supports to meet
The subordinate professional etiquette of IEC61491 standards.The professional etiquette is controlled application and is generally approved with SERCOS names by global motion.
In addition to meeting the data exchange of main website/slave station principle, EtherCAT is also highly adaptable between controller (main
Stand/main website) communication.The process data network variable that can freely address and various parameters, diagnosis, programming and remotely control
Service, can meet numerous requirements.Data-interface for main website/slave station and main website/main website communication is identical.
CANopen is a kind of high level of framework on control area net（CAN） road (Controller Area Network, CAN)
Communication protocols agreement, including communication sub-protocol and equipment sub-protocol, often use in embedded systems, are also that Industry Control is commonly used
A kind of fieldbus.
More than the Internet that CANopen realizes in the osi model agreement of (including Internet).CANopen standards include
Addressing scheme, several little communication agreements and the application layer defined in equipment agreement.CANopen support network managements,
Communication between monitoring of tools and node, including an easy transport layer, can process segmentation transmission of data and combinations thereof.
Generally speaking Data Link Layer and physical layer can be with CAN come implementation.In addition to CANopen, also there are other communications protocols (such as
EtherCAT) the equipment agreement of implementation CANopen.
CANopen carries out drafting and examination for standard by nonprofit organization CiA (CAN in Automaion), substantially
CANopen equipment and communicate sub- contracting definition in CAN in Automation (CiA) draft standard 301..Pin
Son agreement to individual plants is expanded again based on CiA301.Such as it is directed to the CiA401 of I/O modules and for motion control
The CiA402 of system.
In one embodiment of this invention, it is to realize that the technical scheme that the object of the invention is adopted is：One kind is supported cognitive
Motion control method, comprise the following steps：
Main control unit performs motion control host process, and triggers EtherCAT bus communications thread and watcher thread；
By EtherCAT bus communication threads, network structure, initial is checked according to EtherCAT bus communications layer protocol
Change servo-driver；
Semaphore is monitored by watcher thread：When interrupt signal is listened to, then main control unit resets；When listening to
When the change that cognitive thread sends is asked, online updating is carried out；
Meanwhile, the motion control task that host computer is sent is parsed by motion control host process：According to motion control task
Determine the list of servo-driver state information parameters and motion control instruction；
According to EtherCAT bus application layer protocol Real-time Collection servo-driver status informations, and parse motion control mould
Type generates control command real-time Transmission to servo-driver.
The servo-driver status information is encapsulated according to the application layer protocols of CIA 402, including status word, real-time speed letter
Breath, real-time torque information, real-time end positional information, current kinetic control model.
The motion control instruction is encapsulated according to the application layer protocols of CIA 402, including coding line, velocity information, moment of torsion letter
Breath, terminal position information, motion control pattern.
The cognitive thread is that, for parsing controller configuration information, monitoring system host state machine, inspection system storehouse updates
And think that host process sends the auxiliary control lines journey of change request.
The cognitive thread sends change request and refers to when cognitive thread is in supervisory control device host state machine and Runtime Library
It was found that host state machine or Runtime Library have redaction, when the cognitive learning based on historical data finds to have more Optimal Parameters to produce,
Change request, host process calling system more new demand servicing are sent from cognitive thread to host process.
The host process calling system more new demand servicing, by motion-control module more new file current kinetic control module is replaced
In part to be updated object code file, reconnect and generate the motion-control module that can call and comprise the following steps：
When more new content is main state machine, system update service will stop current all services, restart host process
Host state machine renewal has been completed；
When more new content is Runtime Library, system update service will stop current Runtime Library update section point related service, and
System is linked to redaction library file again, you can complete online updating；
When more new content is Optimal Parameters, system update service Optimization of Information Retrieval parameter name first searches motion control
Initial address and side-play amount of the module in internal memory；Then memory access interface is called according to initial address and side-play amount, will be transported
Dynamic control module more new file writes current memory；Finally by the original method of attachment of motion-control module, motion control is realized
The renewal of functional module, and complete signal to host process transmission renewal.
Below by drawings and Examples, technical scheme is described in further detail.
In another embodiment of the invention, as shown in figure 1, supporting the motion control of cognition described in the embodiment of the present invention
System construction drawing.In figure, the motion controller hardware unit of the present invention mainly includes that Ethernet interface unit, Ethernet control are single
Unit, SRAM memory cell, main control unit, control button and indicator unit and power supply unit.Master control list in data processing unit
Unit and Ethernet control unit, SRAM memory cell, communication interface modular converter, control button, indicator unit, power supply unit
In Y-connection；Said supply unit is that other all units are powered in data processing unit.
The AM335x series Cortex-A8 processors and its peripheral circuit that the main control unit is produced by TI companies is constituted；
IS61WV102416BLL chips and its peripheral circuit group that the SRAM memory cell is produced by ISSI companies
Into；
The DP83848CVV chips and its peripheral circuit that the Ethernet control unit is produced by TI companies is constituted；
The indicator unit is made up of paster LED；
Step-down switching power supply module and its periphery protection, filtering, voltage stabilizing that said supply unit is produced by Jin Shengyang companies
Circuit is constituted.Anti-surge circuit is connected with the input of step-down switching power supply module, makes this gateway that there is anti-lightning and impact
Performance；The 220V alternating voltages of input are changed into 5V DC voltages by step-down switching power supply module, due to the work of above-mentioned each unit
Voltage is all 3.3V, therefore voltage is reduced into 3.3V using AS1117 linear voltage regulators, in step-down switching power supply module and linearly
The output end of voltage-stablizer all devises filter circuit.
The sports application of the present invention mainly includes that motion control function storehouse, control host process, EtherCAT buses are led to
Letter thread and program watcher thread composition.
Described motion control function storehouse, is the control algolithm storehouse set up according to the Controlling model of controlled device；
Described control host process, is to control the application program main logic process that controlled device performs movement instruction.
Described EtherCAT bus communication threads, are the bus communications between controller and servo-driver, including shape
State gathers and instructs transmission.
Described program watcher thread, is the request response for processing motion controller, including network renewal
Request and the interrupt requests based on hardware button.
In one more embodiment of the present invention, as shown in Fig. 2 supporting the motion control of cognition described in the embodiment of the present invention
Method fundamental diagram.The present invention supports that cognitive motion controller, its implementation procedure are comprised the steps of：
Step S1：Upper electricity, initializes motion controller；
Step S2：Motion control main program is performed, while trigger performing watcher thread and EtherCAT bus communication threads；
Step S3：By EtherCAT bus protocols, network structure is checked, initialize servo-driver, Real-time Collection is watched
Take Drive Status information；
Step S4：Servo-driver state parameter and motion control instruction parsing Motion Controlling Model are read, motion is generated
Control instruction, if motion control instruction is sky, waits；
Step S5：Real-time Transmission motion control instruction, repeat step S3；
Step S6：If triggering hardware interrupts triggering, execution step S1；If triggering network updates request, configuration processor
Download, finish rear execution step S1.
Below just the motion control application program part specific embodiment of the present invention is described in further details.This enforcement
Require to guarantee to keep being stably connected between motion controller and servo-driver in example.
In next embodiment of the invention, as shown in figure 3, supporting the motion control system of cognition described in the embodiment of the present invention
System worker state machine schematic diagram.Motion controller is connected into 24v direct currents, starts controller, by the beginning of motion control host process
Beginningization motion controller, while triggering watcher thread and EtherCAT communication threads.In the presence of application task, controller state
Execution state is switched to, motion control is resolved according to servo-driver state parameter and Motion Controlling Model, generate motion control
Instruction, and be transmitted by EtherCAT bus protocols, motion controller state switches to halted state after instruction is issued.
When application task is not present, controller state directly switches to halted state.When motion controller initialization failure is then moved
State is error condition in this cycle of controller.When in the state of execution, there is nonfatal error and then holds from newly in motion controller
OK, motion controller state switches to halted state if there is gross error.
Wherein described motion controller watcher thread and EtherCAT communication thread Exactly-onces, and motion controller
Task status switching is periodically performed in motion controller main program.
When motion controller watcher thread receives interrupt signal amount, motion controller interrupts current execution task, closes
Close watcher thread and EtherCAT bus communication threads.If interrupt signal amount is Reset signals, motion controller is re-executed
Host process is initialized；If interrupt signal amount is Close signals, closedown campaign controller host process.
When motion controller watcher thread receives the motion-control module more new signal SIGEV_ sent by host computer
During INTR, host process to mission thread sends SIGEV_SIGNAL, stops current kinetic control task, and will be by EtherCAT
Servo-driver motion state is switched to halted state by bus, is started simultaneously at and is received the motion-control module sent of host computer more
New file, it is to be received after the completion of host computer to main control unit send receipt completion signal SIGEV_DOWN.
Host process calls main control unit inline operations system update service, replaces to be updated in current kinetic control module
Partial object code file, reconnects and generates the motion-control module that can be called, and to host process SIGEV_NONE, weight are sent
New initialization main control unit.
Described system update service, be based on shared drive technology realize for online to motion control function block
The service of renewal, the service will be registered in the service mount directory of main control unit embedded systems, is opened with device power initialization
It is dynamic.The described concrete implementation procedure of more new demand servicing, comprises the steps：
Step S1：The cognitive thread of parsing updates request, obtains more fresh target source.
Step S2：If judging, target source is main state machine, and system update service will stop current all services, open again
Dynamic host process has completed host state machine renewal；
Step S3：If judging, more new content is Runtime Library, and system update service will stop current Runtime Library update section split-phase
Service is closed, and system is linked to redaction library file again, you can complete online updating；
Step S4：If judging, more new content is Optimal Parameters, and system update service Optimization of Information Retrieval parameter name first is searched
Initial address and side-play amount of the motion-control module in internal memory, then calls internal storage access to connect according to initial address and side-play amount
Motion-control module more new file is write current memory by mouth；
Step S5：The renewal of motion control function module is realized finally by the original method of attachment of motion-control module, and
Renewal is sent to host process complete signal.
When motion controller EtherCAT communication threads are triggered, then motion controller will be by EtherCAT buses and watching
Take driver to be communicated.Status information and control instruction are packaged according to the application layer protocols of CIA 402, motion control is realized
The uniformity of the interface format of system, and ensure the versatility of motion controller.The described application layer protocols of CIA 402 are
The communication standard that CANopen specifies for motion control field, according to CIA402 protocol definitions in EtherCAT communication process
Data dictionary, as shown in table 1, movement instruction definition includes control word data object, operational mode definition and operating instruction definition
Deng；As shown in table 2, motion feedback definition includes status word data object, movement pattern data definition and motion state definition.
The movement instruction of table 1 defines table
| Call number | Type | Definition |
| 0x607A:00 | 4 bytes | Position command value |
| 0x60FF:00 | 4 bytes | Speed value |
| 0x6071:00 | 2 bytes | Torque command value |
| 0x6060:00 | 1 byte | Operational mode |
| 0x6040:00 | 2 bytes | Control word |
The motion feedback of table 2 defines table
| Call number | Type | Definition |
| 0x6064:00 | 4 bytes | Physical location |
| 0x6077:00 | 2 bytes | Actual torque |
| 0x606C:00 | 4 bytes | Actual speed |
| 0x60F4:00 | 4 bytes | Tracking error |
| 0x6061:00 | 1 byte | Actual motion state |
| 0x6041:00 | 2 bytes | Status word |
The present invention has good interactivity and versatility, using cognitive Motion Controller with High Speed is supported, can be significantly
The shortening motion control function R＆D cycle of degree, reduce controller development cost.Simultaneously general high speed EtherCAT communication connects
Mouth can allow motion controller of the present invention to be adapted to various motion control scenes.
The above, is only several embodiments of the present invention, and any type of restriction is not done to the present invention, although this
It is bright to be disclosed as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art are not taking off
In the range of technical solution of the present invention, make a little variation using the technology contents of the disclosure above or modification is equal to
Effect case study on implementation, belongs in the range of technical scheme.
Claims (10)
1. it is a kind of to support cognitive kinetic control system, it is characterised in that to include：Ethernet interface unit, Ethernet control are single
Unit, SRAM memory cell, main control unit, control unit, indicator unit, power supply unit, and：Motion control function storehouse mould
Block, control module, EtherCAT bus communication modules, program monitor module.
2. support according to claim 1 cognition kinetic control system, it is characterised in that the main control unit respectively with
Too net control unit, SRAM memory cell, communication interface converting unit, push-button unit, indicator unit, power supply unit are in star
Connection；Said supply unit is powered for all units.
3. the kinetic control system of cognition is supported according to claim 1, it is characterised in that said supply unit is further wrapped
Include step-down switching power supply module and its periphery protection, filtering, mu balanced circuit；The input connection of the step-down switching power supply module
There is anti-surge circuit, make this gateway that there is the performance of anti-lightning and impact；The 220V that the step-down switching power supply module will be input into
Alternating voltage is changed into 5V DC voltages；The output end of the step-down switching power supply module and linear voltage regulator is both provided with filtered electrical
Road.
4. the kinetic control system of cognition is supported according to claim 1, it is characterised in that
The motion control function library module, for setting up control algolithm storehouse according to the Controlling model of controlled device；
The control module, for controlling the application program main logic process that controlled device performs movement instruction；
The EtherCAT bus communications module, adopts for the bus communication between controller and servo-driver, including state
Collection and instruction transmission；
Described program monitors module, and the request for processing motion controller is responded, and including network request is updated
With the interrupt requests based on hardware button.
5. a kind of using method of the kinetic control system for supporting cognition as any one of Claims 1 to 4, its feature exists
In comprising the following steps：
Step S1：Upper electricity, initializes motion controller；
Step S2：Motion control main program is performed, while trigger performing watcher thread and EtherCAT bus communication threads；
Step S3：By EtherCAT bus protocols, network structure is checked, initialize servo-driver, Real-time Collection servo is driven
Dynamic device status information；
Step S4：Servo-driver state parameter and motion control instruction parsing Motion Controlling Model are read, motion control is generated
Instruction, if motion control instruction is sky, waits；
Step S5：Real-time Transmission motion control instruction, repeat step S3；
Step S6：If triggering hardware interrupts triggering, execution step S1；If triggering network updates request, configuration processor is downloaded,
Finish rear execution step S1.
6. it is a kind of to support cognitive motion control method, it is characterised in that to comprise the following steps：
Main control unit performs motion control host process, and triggers EtherCAT bus communications thread and watcher thread；
By EtherCAT bus communication threads, check that network structure, initialization are watched according to EtherCAT bus communications layer protocol
Take driver；
Semaphore is monitored by watcher thread：When interrupt signal is listened to, then main control unit resets；When listening to cognition
When the change that thread sends is asked, online updating is carried out；
Meanwhile, the motion control task that host computer is sent is parsed by motion control host process：Determined according to motion control task
The list of servo-driver state information parameters and motion control instruction；
According to EtherCAT bus application layer protocol Real-time Collection servo-driver status informations, and parse Motion Controlling Model life
Into control command real-time Transmission to servo-driver.
7. the motion control method of cognition is supported according to claim 6, it is characterised in that the servo-driver state letter
Breath is encapsulated according to CIA402 application layer protocols, including status word, real time speed information, real-time torque information, real-time end position
Information, current kinetic control model.
8. support according to claim 6 cognition motion control method, it is characterised in that the motion control instruction according to
CIA402 application layer protocols are encapsulated, including coding line, velocity information, torque information, terminal position information, motion control pattern.
9. the motion control method of cognition is supported according to claim 6, it is characterised in that the cognitive thread is used to parse
Controller configuration information, monitoring system host state machine, inspection system storehouse updates and thinks the auxiliary that host process sends change request
Control thread.
10. the motion control method of cognition is supported according to claim 6, it is characterised in that the cognitive thread sends and becomes
More request includes：Find that host state machine or Runtime Library have new edition when cognitive thread is in supervisory control device host state machine and Runtime Library
This, or, when the cognitive learning based on historical data finds there are more Optimal Parameters to produce, sent from cognitive thread to host process
Change request, host process calling system more new demand servicing.
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| CN201611160491.1A CN106647571B (en) | 2016-12-15 | 2016-12-15 | Motion control system and method supporting cognition |
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| CN201611160491.1A CN106647571B (en) | 2016-12-15 | 2016-12-15 | Motion control system and method supporting cognition |
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| Publication Number | Publication Date |
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| CN106647571B CN106647571B (en) | 2020-06-23 |
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