CN106843052A - A kind of motion controller system - Google Patents
A kind of motion controller system Download PDFInfo
- Publication number
- CN106843052A CN106843052A CN201710093212.2A CN201710093212A CN106843052A CN 106843052 A CN106843052 A CN 106843052A CN 201710093212 A CN201710093212 A CN 201710093212A CN 106843052 A CN106843052 A CN 106843052A
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- China
- Prior art keywords
- control
- motion
- communication module
- motion controller
- control terminal
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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
- G05B19/0428—Safety, monitoring
-
- 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
- G05B2219/23—Pc programming
- G05B2219/23243—Specification language
-
- 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
- G05B2219/26—Pc applications
- G05B2219/2609—Process control
Abstract
The invention discloses a kind of motion controller system, it includes control terminal, at least one performs device, and each performs device includes motion controller, execution unit, wherein：Control terminal is provided with the first communication module and the control program for controlling execution unit；Control program is run by control terminal, and generates control instruction；Each motion controller is provided with driver, motion control chip, the second communication module；Motion controller is set up with control terminal and is connected to realize data interaction by the second communication module, the first communication module；Motion control chip is used to receive control instruction；Each execution unit receives the control of motion control chip, and performs corresponding actions.The motion controller system that the present invention is provided, control terminal is deployed to by by control program separate type, control program is carried out secondary development, and can write language by others, and such as .NET .JAVA is write, and improves expansibility.
Description
Technical field
The present invention relates to industrial movement control technology field, more particularly to a kind of motion controller system.
Background technology
Motion control (Motion Control) is typically referred in complex condition, and predetermined control program, planning are referred to
Order be transformed into desired mechanical movement, realize the accurate position control of mechanical movement, speed control, Acceleration Control, torque or
The control of power.
According to the difference using power source, motion control can be divided mainly into the electrical movement control using motor as power source
Make, controlled as the gas-liquid of power source and using fuel (coal, oil etc.) as the heat engine motion control of power source using gas and fluid
Deng.
Motion controller is exactly the nonshared control unit of the method for operation for controlling motor：Such as motor is by travel switch
Control A.C. contactor and realize that motor run object runs up and reach operation downwards after specified location, or use the time
Control motor forward/backward rotation turns to stop to turn to stop again for a moment again for a moment for a moment.
At present, the conventional structure of motion controller is the hardware integration Integral design by control program and motion controller,
This structure can be described as discrete, and discrete motion controller has the drawback that：
1st, discrete motion controller does not possess very strong disposal ability generally, only supports C language, it is difficult to support all kinds of normal
Use high-level software development environment, such as .NET .JAVA, cause that secondary development is less efficient, expansibility is poor.If desired will divide
Vertical motion controller supports the development languages such as .NET, JAVA of main flow, it is necessary to greatly increase the hardware of motion controller
Cost.
2nd, discrete motion controller does not support main flow development environment, is difficult with algorithm and the application code money of maturation
Source, secondary development is less efficient, and autgmentability is not strong.
3rd, discrete motion controller is in large-scale application scene is carried out, and synergistic mechanism is complex, realizes that difficulty is big.
For in the complicated applications for needing multiple motion controllers collaborations, current scheme is must respectively to write each fortune
The control program of movement controller, while, it is necessary to write Collaborative Control program.In the process of running, Collaborative Control program conduct
Main control end, motion controller realizes that overall coordination is transported as from control end, being controlled by the signaling between master and slave control end
OK.Control system is complicated and development difficulty is big.
The content of the invention
In view of the shortcomings of the prior art, it is an object of the invention to provide a kind of motion controller system, by the way that journey will be controlled
Sequence separate type is deployed to control terminal, control program is carried out secondary development, and can write language by others, such as
.NET .JAVA is write, and improves expansibility.
To achieve the above object, the invention provides a kind of motion controller system, it includes control terminal, at least one
Performs device, each performs device includes motion controller, execution unit, wherein：
Control terminal is provided with the first communication module and the control program for controlling execution unit；Control program is by controlling
Terminal operating processed, and generate control instruction；
Each motion controller is provided with driver, motion control chip, the second communication module；Motion controller passes through
Second communication module, the first communication module are set up with control terminal and are connected to realize data interaction；Motion control chip is used to connect
Receive control instruction；
Each execution unit receives the control of motion control chip, and performs corresponding actions.
Compared with prior art, motion controller system disclosed by the invention is deployed to control by by control program separate type
Terminal processed, and control instruction is generated in control terminal, control instruction is transmitted to motion controller, motion control by communication module
Coremaking piece receives control instruction, and controls execution unit to perform corresponding actions, in motion controller system disclosed by the invention
Control program can carry out secondary development, and can write language by others, improve expansibility；And due to using control
Terminal processes control program processed, multiple motion controllers are controlled using single control program, substantially reduce development difficulty.
According to another specific embodiment of the invention, the language of writing of control program includes C language, C Plus Plus .NET languages
Speech .JAVA language.
In the present invention, the use of language is write more, can enrich the code resource usage of ripe algorithm, function, reduce generation
Code migration and the difficulty of recycling.
According to another specific embodiment of the invention, driver is driven by motion control chip and network-driven is constituted.
According to another specific embodiment of the invention, control program is run by control terminal, raw after control program operation
Into control instruction, control instruction is sent to motion controller by the first communication module, the second communication module.
According to another specific embodiment of the invention, control terminal is mobile terminal.
According to another specific embodiment of the invention, control terminal includes：Mobile phone, flat board, computer, server.
In the present invention, user can select respective programmed environment the most familiar, improve development efficiency.
According to another specific embodiment of the invention, the second communication module, the first communication module are by wirelessly or non-wirelessly side
Formula is communicated.
According to another specific embodiment of the invention, motion controller is communication and hardware driving equipment, is controlled by receiving
The control program data of terminal processed perform operation.
According to another specific embodiment of the invention, control terminal uses single control program, is controlled simultaneously by network
Multiple motion controllers.
The beneficial effects of the invention are as follows：Control terminal is deployed to by by control program separate type, control terminal can be transported
The various operating systems of row, such as：Windows, linux, android, IOS, enable control program to write language by others,
Such as：C language, C++ .NET, JAVA, are easy to control program to carry out secondary development, improve expansibility.And by using control
Terminal processes control program processed, multiple motion controllers are controlled using single control program, substantially reduce development difficulty.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Brief description of the drawings
Fig. 1 is the structured flowchart of motion controller system in embodiment 1.
Specific embodiment
Embodiment 1
It is the structured flowchart of the motion controller system that the present embodiment is provided referring to Fig. 1.The motion controller system bag
Include：Control terminal 1, motion controller 2, execution unit 3.
Control terminal 1 is provided with control program, the first communication module 11.
In the present embodiment, control program is used to control execution unit 3, and control program is run in control terminal 1, and generates control
System instruction.Control program writes language including but not limited to C language, C Plus Plus .NET language .JAVA language, writes more
The use of language, can enrich the code resource usage of ripe algorithm, function, reduce the difficulty of code migration and recycling.
In the present embodiment, control terminal is mobile terminal.Control terminal is included but is not limited to：Mobile phone, flat board, computer, clothes
Business device, user can select respective programmed environment the most familiar, improve development efficiency.During specific implementation, can be according to actual feelings
Condition and demand choose control terminal, are not particularly limited herein.
Motion controller 2 is provided with driver, motion control chip 21, the second communication module 22.
In the present embodiment, motion controller 2 is communication and hardware driving equipment, by the control journey for receiving control terminal 1
Ordinal number is according to performing operation.Driver is driven by motion control chip and network-driven is constituted.Motion controller leads to by second
News module 22, the first communication module 11 are set up with control terminal 1 and are connected to realize data interaction；Motion control chip 21 is used to connect
Receive the control instruction that control terminal 1 sends.
In the present embodiment, the second communication module 22, the first communication module 11 are communicated by wirelessly or non-wirelessly mode.Example
Such as：Second communication module 22, the first communication module 11 are communicated by wifi or netting twine.
Execution unit 3 receives the control of motion control chip 21, and performs corresponding actions.
In the present embodiment, execution unit is motor.
During specific implementation, control program is run by control terminal 1, and control program is generated after being run on control terminal 1
Control instruction, the control instruction is sent to motion controller 1 by the first communication module 11, the second communication module 22；Motion control
After device processed receives the control instruction, control execution unit 3 makes corresponding actions.
Motion controller system disclosed in the present embodiment is deployed to control terminal by by control program separate type, and in control
Terminal processed generates control instruction, is transmitted to motion controller control instruction by communication module, and motion control chip receives control
System instruction, and control execution unit to perform corresponding actions, the control program in motion controller system disclosed by the invention can
Secondary development is carried out, and language can be write by others, improve expansibility.
Embodiment 2
The motion controller system that the present embodiment is provided includes：Control terminal, multiple performs devices.
Control terminal is provided with control program, the first communication module.
In the present embodiment, control terminal uses single control program, controls multiple motion controllers simultaneously by network.Control
Processing procedure sequence is used to control performs device, and control program is run in control terminal, and generates control instruction.Control program writes language
Speech includes but is not limited to C language, C Plus Plus .NET language .JAVA language, and various uses for writing language can enrich maturation
The code resource usage of algorithm, function, reduces the difficulty of code migration and recycling.
In the present embodiment, control terminal is mobile terminal.Control terminal is included but is not limited to：Mobile phone, flat board, computer, clothes
Business device, user can select respective programmed environment the most familiar, improve development efficiency.During specific implementation, can be according to actual feelings
Condition and demand choose control terminal, are not particularly limited herein.
Each performs device includes motion controller, execution unit.
Motion controller is equipped with driver, motion control chip, the second communication module.
In the present embodiment, motion controller is communication and hardware driving equipment, by the control program for receiving control terminal
Data perform operation, and driver is driven by motion control chip and network-driven is constituted.Motion controller is by the second communication
Module, the first communication module are set up with control terminal and are connected to realize data interaction；Motion control chip is used to receive control eventually
The control instruction that end sends.
In the present embodiment, the second communication module, the first communication module are communicated by wirelessly or non-wirelessly mode.For example：
Second communication module, the first communication module are communicated by wifi or netting twine.
Execution unit receives the control of motion control chip, and performs corresponding actions.
In the present embodiment, execution unit is motor.
During specific implementation, control terminal controls multiple performs devices simultaneously, i.e. control terminal controls each to perform dress simultaneously
Motion controller in putting, so that motion controller controls corresponding execution unit to make action.Specifically, control program is logical
Control terminal operation is crossed, control program generates control instruction after being run on control terminal, and the control instruction is by the first communication
Module, the second communication module send the motion controller into each performs device；Motion controller in each performs device
After receiving the control instruction, corresponding execution unit is each controlled to make corresponding actions.
Motion controller system disclosed in the present embodiment is deployed to control terminal by by control program separate type, and in control
Terminal processed generates control instruction, is transmitted to motion controller control instruction by communication module, and motion control chip receives control
System instruction, and control execution unit to perform corresponding actions, the control program energy in motion controller system disclosed in the present embodiment
Secondary development is enough carried out, and language can be write by others, improve expansibility.And control terminal uses single control
Program, multiple motion controllers are controlled by network simultaneously, substantially reduce development difficulty.
Although the present invention is disclosed above with preferred embodiment, the scope of present invention implementation is not limited to.Any
The those of ordinary skill in field, is not departing from invention scope of the invention, when that can make a little improvement, i.e., every according to this hair
Bright done equal improvement, should be the scope of the present invention and is covered.
Claims (9)
1. a kind of motion controller system, it is characterised in that the motion controller system includes that control terminal, at least one hold
Luggage is put, and each performs device includes motion controller, execution unit, wherein：
The control terminal is provided with the first communication module and the control program for controlling the execution unit；The control
Program is run by the control terminal, and generates control instruction；
Each motion controller is provided with driver, motion control chip, the second communication module；The motion controller
Set up with the control terminal and be connected to realize data interaction by second communication module, first communication module；Institute
Motion control chip is stated for receiving the control instruction；
Each execution unit receives the control of the motion control chip, and performs corresponding actions.
2. the system as claimed in claim 1, it is characterised in that the language of writing of the control program includes C language, C++ languages
Speech .NET language .JAVA language.
3. the system as claimed in claim 1, it is characterised in that the driver is driven by motion control chip and network drives
Dynamic composition.
4. the system as claimed in claim 1, it is characterised in that the control program is run by the control terminal, described
The control instruction is generated after control program operation, the control instruction passes through first communication module, the second communication module
Send to the motion controller.
5. the system as claimed in claim 1, it is characterised in that the control terminal is mobile terminal.
6. the system as claimed in claim 1, it is characterised in that the control terminal includes：Mobile phone, flat board, computer, service
Device.
7. the system as claimed in claim 1, it is characterised in that second communication module, first communication module pass through
Wirelessly or non-wirelessly mode is communicated.
8. the system as claimed in claim 1, it is characterised in that the motion controller is communication and hardware driving equipment, is led to
Cross and receive the control program data of the control terminal and perform operation.
9. the system as claimed in claim 1, it is characterised in that the control terminal uses single control program, by network
Multiple motion controllers are controlled simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710093212.2A CN106843052A (en) | 2017-02-21 | 2017-02-21 | A kind of motion controller system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710093212.2A CN106843052A (en) | 2017-02-21 | 2017-02-21 | A kind of motion controller system |
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| CN106843052A true CN106843052A (en) | 2017-06-13 |
Family
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| CN201710093212.2A Pending CN106843052A (en) | 2017-02-21 | 2017-02-21 | A kind of motion controller system |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102298336A (en) * | 2010-06-24 | 2011-12-28 | 深圳市雷泰控制技术有限公司 | Motion controller |
| CN104333593A (en) * | 2014-11-04 | 2015-02-04 | 成都乐创自动化技术股份有限公司 | Remote control method, fault diagnosis method and remote control system of motion controller |
| CN204354135U (en) * | 2014-12-29 | 2015-05-27 | 中国船舶重工集团公司第七二二研究所 | A kind of industrial robot motion control terminal |
| CN105479468A (en) * | 2015-12-29 | 2016-04-13 | 浙江瑞鹏机器人科技有限公司 | Remote robot motion controller |
-
2017
- 2017-02-21 CN CN201710093212.2A patent/CN106843052A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102298336A (en) * | 2010-06-24 | 2011-12-28 | 深圳市雷泰控制技术有限公司 | Motion controller |
| CN104333593A (en) * | 2014-11-04 | 2015-02-04 | 成都乐创自动化技术股份有限公司 | Remote control method, fault diagnosis method and remote control system of motion controller |
| CN204354135U (en) * | 2014-12-29 | 2015-05-27 | 中国船舶重工集团公司第七二二研究所 | A kind of industrial robot motion control terminal |
| CN105479468A (en) * | 2015-12-29 | 2016-04-13 | 浙江瑞鹏机器人科技有限公司 | Remote robot motion controller |
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Application publication date: 20170613 |
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