CN108279630B - Bus-based distributed motion control system and method - Google Patents
Bus-based distributed motion control system and method Download PDFInfo
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- CN108279630B CN108279630B CN201810085193.3A CN201810085193A CN108279630B CN 108279630 B CN108279630 B CN 108279630B CN 201810085193 A CN201810085193 A CN 201810085193A CN 108279630 B CN108279630 B CN 108279630B
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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
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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
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
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Abstract
The invention discloses a distributed motion control system based on a bus, which comprises: a master controller for generating motion control parameters and transmitting the motion control parameters; the system comprises a plurality of slave station devices, wherein the master station controller is connected with the plurality of slave station devices in a bus mode, the slave station devices are used for receiving motion control parameters sent by the master station controller, and the slave station devices are used for calculating real-time position data, speed data and/or torque data of the motor according to the motion control parameters and driving the motor to operate. The invention can simplify the motion control algorithm of the master station, reduce the calculation amount of the master station, and fully utilize the control advantages and the calculation performance of the slave station, thereby improving the working efficiency of the system and improving the reliability and the stability of the control process.
Description
Technical Field
The invention relates to a motor motion control system of a robot in the field of industrial automation, in particular to a distributed motion control system and a distributed motion control method based on a bus.
Background
At present, in industrial motion control, a fieldbus is a communication mode which is widely applied. The current mainstream bus-based motion control scheme is to perform position, velocity or torque calculation in the controller and periodically send it to the slave driver via the bus.
The prior art documents are referred to: chinese patent application publication No. CN106125676A discloses a robot control system that uses a high-performance processor to perform a large number of calculations based on a mainstream bus motion control scheme. The Chinese patent application with the publication number of CN107203177A discloses a multi-axis motion control system based on FPGA, wherein an ARM chip is used as a motion control controller, an FPGA chip is used as a motion control data processor, and the high performance of the FPGA is utilized to control 8 slave axes to operate. Referring to fig. 1, the above solution has the following problems:
firstly, the controller 100 needs to perform a large amount of position calculation for each slave station 101, the calculation needs to be performed in each control cycle, the calculation amount is linearly multiplied with the increase of slave station 101 devices mounted on the bus, and finally the calculation amount exceeds the operation capability of the controller 100, and in order to solve the problem, the processor performance can only be continuously upgraded;
secondly, in order to complete a large amount of position calculation, the controller 100 can only increase the control period, and the precision and performance of the controller 100 are greatly reduced; because the controller 100 needs to maintain the position calculation, the bus master station and the PLC logic at the same time, the probability of bus error is increased due to insufficient hardware resources allocated to the bus, and the slave station 101 is controlled by an error;
in addition, although the semiconductor technology is rapidly developed and the computing capability of the embedded processor is stronger, in many application scenarios, the number of the slave stations 101 is large, and the motion control calculation of the slave stations 101 consumes a large amount of processor resources, and in order to solve this problem, only means of upgrading the processor performance or increasing the control period is adopted, which puts a great pressure on the cost and performance of the controller 100.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a bus-based distributed motion control system and method, which can simplify the motion control algorithm of the master station, reduce the computation of the master station, and fully utilize the control advantages and computation performance of the slave stations, thereby improving the working efficiency of the system and the reliability and stability of the control process.
In order to solve the technical problems, the invention adopts the following technical scheme.
A distributed bus-based motion control system, comprising: a master controller for generating motion control parameters and transmitting the motion control parameters; the system comprises a plurality of slave station devices, wherein the master station controller is connected with the plurality of slave station devices in a bus mode, the slave station devices are used for receiving motion control parameters sent by the master station controller, and the slave station devices are used for calculating real-time position data, speed data and/or torque data of the motor according to the motion control parameters and driving the motor to operate.
Preferably, the master station controller comprises an ARM processor, a PLC control module and a master station bus communication module.
Preferably, the motion control parameters generated by the master station controller include motion position data, motion pattern data, acceleration time data and/or deceleration time data.
Preferably, the slave station device comprises a motion control module, a driving module and a slave station bus communication module.
Preferably, the master station controller is provided with an address mapping table corresponding to a plurality of slave station devices, the master station controller sends a data packet to a designated slave station device according to the address mapping table, the slave station device obtains motion control parameters in the data packet and transmits the motion control parameters to a motion control module, and the motion control module calculates real-time position data, speed data and/or torque data of the motor according to the motion control parameters and loads the real-time position data, the speed data and/or the torque data to a driving module so that the driving module drives the motor to operate.
Preferably, the master station controller and the plurality of slave station devices establish a topology through an EtherCAT bus protocol.
A distributed motion control method based on bus is realized on the basis of a system, the system comprises a master station controller and a plurality of slave station devices, the master station controller is connected with the plurality of slave station devices in a bus mode, and the method comprises the following steps: step S1, the master station controller generates motion control parameters; step S2, the master station controller transmitting the motion control parameters to a designated slave station device; a step S3 of the slave device receiving the motion control parameter; step S4, the slave station device calculates real-time position data, speed data and/or torque data of a motor according to the motion control parameters; and step S5, the slave station device drives the motor to operate according to the calculation result in the step S4.
Preferably, the master station controller comprises an ARM processor, a PLC control module and a master station bus communication module, and the slave station device comprises a motion control module, a driving module and a slave station bus communication module.
Preferably, in step S1, the motion control parameters generated by the master controller include motion position data, motion pattern data, acceleration time data and/or deceleration time data.
Preferably, in step S2, the master controller is provided with an address mapping table corresponding to a plurality of slave devices, and the master controller sends a packet to a designated slave device according to the address mapping table; in step S4, the slave device obtains the motion control parameters in the data packet, and transmits the motion control parameters to the motion control module, and the motion control module calculates real-time position data, speed data, and/or torque data of the motor according to the motion control parameters and loads the real-time position data, speed data, and/or torque data to the driving module, so that the driving module drives the motor to operate.
In the distributed motion control system based on the bus, the master station controller generates motion control parameters and then sends the motion control parameters to the appointed slave station equipment, and after the slave station equipment receives the motion control parameters, the slave station equipment calculates real-time position data, speed data and/or torque data of a motor according to the motion control parameters so as to drive the motor to operate. Compared with the prior art, the invention puts a large number of motion control algorithms in the slave station equipment, so that the control advantages and the calculation performance of the slave station are fully utilized; meanwhile, the invention reduces the calculation pressure of the master station controller, the master station only needs to concentrate on the motion logic control, the calculation amount increase caused by the increase of the number of the slave stations is greatly reduced, the control period is also reduced, and the performance of the controller is exerted to the maximum; secondly, based on the motion control scheme of the invention, the resources allocated to the bus master station by the controller are greatly increased, and the reliability and stability of the master station are ensured; in addition, the invention reduces the requirement on the hardware platform of the controller, has the same performance, and the controller adopting the scheme has lower cost. Based on the characteristics, the invention makes outstanding progress in the field of robot motion control, is suitable for popularization and application in the field and has better application prospect.
Drawings
Fig. 1 is a block diagram showing components of a robot control system in the prior art.
FIG. 2 is a block diagram of the bus-based distributed motion control system of the present invention.
Detailed Description
The invention is described in more detail below with reference to the figures and examples.
The invention discloses a distributed motion control system based on a bus, please refer to fig. 1, which comprises a master controller 1 and a plurality of slave devices 2, wherein:
the master station controller 1 is used for generating motion control parameters and sending the motion control parameters;
the master station controller 1 is connected to a plurality of slave station devices 2 in a bus mode, the slave station devices 2 are used for receiving motion control parameters sent by the master station controller 1, and the slave station devices 2 are used for calculating real-time position data, speed data and/or torque data of the motor according to the motion control parameters and driving the motor to operate.
In the system, after the master station controller 1 generates the motion control parameters, the motion control parameters are sent to the specified slave station device 2, and after the slave station device 2 receives the motion control parameters, the real-time position data, the speed data and/or the torque data of the motor are calculated according to the motion control parameters, so that the motor is driven to operate. Compared with the prior art, the invention puts a large number of motion control algorithms in the slave station equipment, so that the control advantages and the calculation performance of the slave station are fully utilized; meanwhile, the invention reduces the calculation pressure of the master station controller, the master station only needs to concentrate on the motion logic control, the calculation amount increase caused by the increase of the number of the slave stations is greatly reduced, the control period is also reduced, and the performance of the controller is exerted to the maximum; secondly, based on the motion control scheme of the invention, the resources allocated to the bus master station by the controller are greatly increased, and the reliability and stability of the master station are ensured; in addition, the invention reduces the requirement on the hardware platform of the controller, has the same performance, and the controller adopting the scheme has lower cost. Based on the characteristics, the invention makes outstanding progress in the field of robot motion control, is suitable for popularization and application in the field and has better application prospect.
In this embodiment, the master station controller 1 includes an ARM processor, a PLC control module, and a master station bus communication module. Further, the motion control parameters generated by the master station controller 1 include motion position data, motion pattern data, acceleration time data and/or deceleration time data.
With regard to the composition of the slave, the slave device 2 includes a motion control module 20, a driving module 21, and a slave bus communication module.
As a preferable mode, the master controller 1 is provided with an address mapping table corresponding to a plurality of slave devices 2, the master controller 1 sends a data packet to a designated slave device according to the address mapping table, the slave device obtains a motion control parameter in the data packet and transmits the motion control parameter to the motion control module 20, and the motion control module 20 calculates real-time position data, speed data and/or torque data of a motor according to the motion control parameter and loads the real-time position data, speed data and/or torque data to the driving module 21, so that the driving module 21 drives the motor to operate.
Regarding a specific bus mode, the master station controller 1 and the plurality of slave station devices 2 establish a topology structure through an EtherCAT bus protocol.
In order to better describe the technical solution of the present invention, the present invention also discloses a distributed motion control method based on a bus, which is implemented based on a system, the system includes a master station controller 1 and a plurality of slave station devices 2, the master station controller 1 is connected to the plurality of slave station devices 2 by a bus, the method includes:
step S1, the master station controller 1 generates motion control parameters;
step S2, the master station controller 1 transmits the motion control parameters to the specified slave station device 2;
step S3, the slave device 2 receiving the motion control parameter;
step S4, the slave station apparatus 2 calculates real-time position data, speed data, and/or torque data of the motor based on the motion control parameter;
in step S5, the slave station apparatus 2 drives the motor to operate according to the calculation result in step S4.
In step S1 of the method, the motion control parameters generated by the master station controller 1 include motion position data, motion pattern data, acceleration time data and/or deceleration time data.
In step S2, the master controller 1 includes an address mapping table corresponding to the plurality of slave devices 2, and the master controller 1 transmits a packet to a designated slave device based on the address mapping table.
In step S4, the slave device obtains the motion control parameters in the data packet, and transmits the motion control parameters to the motion control module 20, and the motion control module 20 calculates real-time position data, speed data, and/or torque data of the motor according to the motion control parameters and loads the real-time position data, speed data, and/or torque data to the driving module 21, so that the driving module 21 drives the motor to operate.
In the practical application process of the distributed motion control system and method based on the bus, the following embodiments can be referred:
the invention is used in an industrial motion control system, a controller in the system organizes various motion parameters in a user writing program according to a certain rule and sends the parameters to a bus through a bus master station, a slave station device obtains corresponding data from the master station according to the station number of the slave station device, the slave station device analyzes the data into the corresponding parameters and then carries out operation through a motion control module of the slave station device, and a driving module of the slave station device sends pulses to a motor to drive the motor to operate according to the calculation result.
The system of the invention is composed of a master station controller and a plurality of slave station devices, wherein a hardware platform of the master station is an embedded platform processor such as ARM and the like, runs a real-time operating system or a bare computer, and mainly comprises a PLC logic control module and a bus master station communication module, when a control logic executes a motion instruction, parameters and data required by the instruction are calculated only when the instruction is started, the parameters are transmitted to the slave station devices through a bus, and the controller monitors the motion control state in real time through the bus in the motion process.
After receiving the data, the slave station communication module transmits the parameters to the slave station equipment, and a motion control engine in the slave station equipment calculates the real-time position according to the parameters and transmits the real-time position to an internal driving module for execution; after the movement is finished, the slave station device feeds the result back to the controller through the bus, and the controller controls the logic to continue executing.
The bus simulation is the topological structure of the EtherCAT bus, and the EtherCAT is a high-speed field bus with wide application, simple structure and reliable performance; the slave station device is a slave station driver integrating drive and control, and comprises a bus slave station communication module, a motion control module and a drive module.
Referring to fig. 2, a user organizes motion control data by writing a PLC program, calls a bus to issue the data, the bus itself adjusts the number of a data packet according to a certain algorithm, and a corresponding slave station device finds a corresponding data packet according to the number after the bus data arrives, and acquires the data issued by the controller. The data contains the motion control parameters needed by the slave station equipment, and the parameters are transmitted to the motion control module by referring to a data address mapping table appointed by the master station controller and the slave station equipment in advance. The motion control module calculates real-time position, speed or torque according to the parameters and aiming at different motion modes, real-time data is transmitted to the driving module, and the driving module sends pulses to drive the motor to operate.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the technical scope of the present invention should be included in the scope of the present invention.
Claims (6)
1. A distributed motion control system based on a bus is characterized by comprising:
a master controller (1) for generating motion control parameters and transmitting said motion control parameters;
the system comprises a plurality of slave station devices (2), wherein the master station controller (1) is connected to the plurality of slave station devices (2) in a bus mode, the slave station devices (2) are used for receiving motion control parameters sent by the master station controller (1), and the slave station devices (2) are used for calculating real-time position data, speed data and/or torque data of a motor according to the motion control parameters and driving the motor to operate;
the master station controller (1) comprises an ARM processor, a PLC control module and a master station bus communication module;
the motion control parameters generated by the master station controller (1) comprise motion position data, motion mode data, acceleration time data and/or deceleration time data.
2. The bus-based distributed motion control system of claim 1, wherein the slave device (2) comprises a motion control module (20), a driver module (21) and a slave bus communication module.
3. The bus-based distributed motion control system of claim 2, wherein the master controller (1) is provided with an address mapping table corresponding to a plurality of slave devices (2), the master controller (1) sends a data packet to a specified slave device according to the address mapping table, the slave device obtains the motion control parameters in the data packet and transmits the motion control parameters to the motion control module (20), and the motion control module (20) calculates real-time position data, speed data and/or torque data of the motor according to the motion control parameters and loads the real-time position data, speed data and/or torque data to the driving module (21) for the driving module (21) to drive the motor to operate.
4. A bus-based distributed motion control system according to claim 1, wherein the master station controller (1) establishes a topology with a plurality of slave station devices (2) via EtherCAT bus protocol.
5. A distributed bus-based motion control method, which is implemented based on a system including a master station controller (1) and a plurality of slave station devices (2), wherein the master station controller (1) is connected to the plurality of slave station devices (2) by a bus, and the method includes:
step S1, the master station controller (1) generates motion control parameters;
step S2, the master station controller (1) transmitting the motion control parameters to a designated slave station device (2);
a step S3, the slave device (2) receiving the motion control parameter;
step S4, the slave station device (2) calculates real-time position data, speed data and/or torque data of the motor according to the motion control parameters;
a step S5, in which the slave station device (2) drives a motor to operate according to the calculation result in the step S4;
the master station controller (1) comprises an ARM processor, a PLC control module and a master station bus communication module, and the slave station equipment (2) comprises a motion control module (20), a driving module (21) and a slave station bus communication module;
in step S1, the motion control parameters generated by the master station controller (1) include motion position data, motion pattern data, acceleration time data, and/or deceleration time data.
6. The bus-based distributed motion control method according to claim 5, wherein in step S2, the master controller (1) is provided with an address mapping table corresponding to a plurality of slave devices (2), and the master controller (1) transmits a packet to a specified slave device according to the address mapping table; in the step S4, the slave device acquires the motion control parameters in the data packet, and transmits the motion control parameters to the motion control module (20), and the motion control module (20) calculates real-time position data, speed data, and/or torque data of the motor according to the motion control parameters and loads the real-time position data, speed data, and/or torque data to the driving module (21), so that the driving module (21) drives the motor to operate.
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| CN109581942A (en) * | 2019-01-28 | 2019-04-05 | 上海太易检测技术有限公司 | A kind of weight sorting system and method for alleviating host pressure |
| CN110515358B (en) * | 2019-08-26 | 2021-07-20 | 杭州芯控智能科技有限公司 | Control method of automatic production line parallel control system based on integrated controller |
| CN111293833B (en) * | 2020-01-21 | 2022-06-03 | 深圳市雷赛软件技术有限公司 | Motion data display method, motion data display device, motor driver, motor system, and medium |
| CN113031479A (en) * | 2021-03-09 | 2021-06-25 | 深圳市微秒控制技术有限公司 | Motor positioning control system and method |
| CN117032066A (en) * | 2023-10-09 | 2023-11-10 | 成都特隆美储能技术有限公司 | PLC control method of mobile energy storage system |
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| JP2000066706A (en) * | 1998-08-21 | 2000-03-03 | Matsushita Electric Ind Co Ltd | Robot controller and its control method |
| WO2008044486A1 (en) * | 2006-10-06 | 2008-04-17 | Kabushiki Kaisha Yaskawa Denki | Multistation communication apparatus |
| CN103425106B (en) * | 2013-08-08 | 2015-12-23 | 华南理工大学 | The master/slave station control system of a kind of EtherCAT based on Linux and method |
| CN103439951A (en) * | 2013-08-29 | 2013-12-11 | 华南理工大学 | Information intelligent terminal system of EtherCAT field bus |
| CN106873541A (en) * | 2015-12-13 | 2017-06-20 | 姚秋丽 | A kind of EtherCAT Distributed Servo kinetic control systems based on DSP |
| CN105929797A (en) * | 2016-05-30 | 2016-09-07 | 深圳市微秒控制技术有限公司 | Six-axis joint robot distributed control system and method |
| CN206311941U (en) * | 2016-12-23 | 2017-07-07 | 山东代代良智能控制科技有限公司 | A kind of real-time synchronization robot torsion torque control system of use EtherCAT agreements |
| CN107632593A (en) * | 2017-10-12 | 2018-01-26 | 深圳市雷赛控制技术有限公司 | A kind of control method and equipment of EtherCAT buses |
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Denomination of invention: A Distributed Motion Control System and Method Based on Bus Effective date of registration: 20231018 Granted publication date: 20200505 Pledgee: Shenzhen small and medium sized small loan Co.,Ltd. Pledgor: SHENZHEN VMMORE CONTROL TECHNOLOGY Co.,Ltd. Registration number: Y2023980061572 |