CN109240219A - A kind of multi-axis motion controller - Google Patents
A kind of multi-axis motion controller Download PDFInfo
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- CN109240219A CN109240219A CN201811202814.8A CN201811202814A CN109240219A CN 109240219 A CN109240219 A CN 109240219A CN 201811202814 A CN201811202814 A CN 201811202814A CN 109240219 A CN109240219 A CN 109240219A
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- axis
- slave station
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- main website
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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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
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35026—Design of machine tool, of cnc machine
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of multi-axis motion controllers, and by each axis motion control signal of serial bus transmission, communication main website of the controller as universal serial bus, each axis servo-driver is slave station.Pass through each axis motion control signal of serial bus transmission, control and feedback signal are monitored between main website and each kinematic axis mutually, realize the collaboration closed-loop control of each axis, realize more excellent motion control effects, after slave station receives broadcast, address number value high to Low successively sends from low to high or sequentially answer signal, other slave stations monitor this signal, the slave station for sending answer signal by previous station sends answer signal and completes, then our station sends answer signal, a kind of such communication modes, it ensure that multiaxis Collaborative Control, improve the effect of motion control.
Description
Technical field
The present invention relates to fields of numeric control technique, specially a kind of multi-axis motion controller.
Background technique
In general, the workflow of the kinetic control system of machining center or mechanical arm is: first parsing program in machine code, hold
Line code instruction, moves interpolation, sends pulse signal to servo-driver and executes motion control, therefore, program analytic ability is inserted
It mends processing capacity and motor driver communication cycle and the motor driver internal control period successively constitutes high-speed motion control effect
The bottleneck of fruit, since motor driver lags, and is unable to fully the performance of servo-driver, leads to rail when in high-speed machining center
Mark error increases, and in the high-speed motion of mechanical arm, due to dynamic (dynamical) complexity of arm, control is unable to reach optimal
Effect generates biggish vibration, in communication and controlling unit, typically there is Ethercat and POWERLINK this type at present
Scheme, both schemes take full advantage of the bandwidth of Ethernet, have a feature of high real-time and high reliability, but this type
Scheme be the scheme that will be controlled with communication independent process, the Collaborative Control between each axis needs to realize by master controller,
This controller type, when handling multiaxis coupling control, it is necessary to pass through this link of bus control unit, lead to control effect
Decline, or even produces some safe hidden danger, so, people are badly in need of a kind of novel multi-shaft motion controller to solve above-mentioned ask
Topic.
Summary of the invention
The present invention provides a kind of multi-axis motion controller, following technical solution: a kind of multi-axis motion controller, by serial
Each axis motion control signal of bus transfer, communication main website of the controller as universal serial bus, each axis servo-driver is slave station, main
The data frame sent of standing is the parameter setting for controlling signal or slave station, and it is feedback signal and ginseng that slave station, which sends reply data frame,
The signal in bus is monitored mutually in number setting between main website and each kinematic axis, each axis cooperates with closed-loop control, and main website is with broadcast data
The mode of frame sends the control signal of each kinematic axis, and for each axis control signal assemble in broadcast data frame, slave station receives broadcast
After data frame, the corresponding information of each axis is extracted, slave station monitors the data frame in bus, once it is full to listen to our station response condition
Foot, our station send reply data frame, and slave station carries out the control of this slave station according to the control and answer signal listened to, main website and
Multi-shaft interlocked slave station is integrally formed the closed-loop control of position and speed.
Preferably, the main website and multi-shaft interlocked slave station are integrally formed the closed-loop control of position and speed, limit main website
Displacement and speed control signal be open loop output, and the realization of position and speed closed loop is worked in coordination by multi-shaft interlocked slave station
It realizes.
Compared with prior art, beneficial effects of the present invention: the present invention is scientific and reasonable, safe and convenient to use, by serial
Each axis motion control signal of bus transfer monitors mutually control and feedback signal between main website and each kinematic axis, realize each
The collaboration closed-loop control of axis, realizes more excellent motion control effects.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described, it should be understood that preferred embodiment described herein is only used
In the description and interpretation present invention, it is not intended to limit the present invention.
Embodiment 1: the present invention provides a kind of technical solution, a kind of multi-axis motion controller, and the universal serial bus is RS485
Electric bus can also be CAN and LVDS electric bus in addition to RS485, and the present embodiment is RS485 asynchronous serial port, most high pass
News rate is 10Mbps, and communication main website of the controller as universal serial bus, each axis servo-driver is slave station, referred to as by controller
For main website, each axis servo-driver is referred to as slave station, slave station without the initiative for sending data frame, the communication in any period by
Main website initiates, and the data frame that main website is sent is the parameter setting for controlling signal or slave station, and it is feedback that slave station, which sends reply data frame,
Signal and parameter setting.
Embodiment 2: the present invention provides a kind of technical solution, and a kind of multi-axis motion controller, main website is with broadcast data frame
Mode sends the control signal of each kinematic axis, and each axis control signal assemble is in broadcast data frame, when main website controls 4 slave stations, 4
When a slave station is the servo-driver of 4 axis, main website broadcast data frame format are as follows: 1 number of axle evidence × N of data frame type+address+the
The 4th number of axle evidence × N+CRC16H+CRC16L of+the 2 the 3rd number of axle evidence × N+ of number of axle evidence × N+, wherein be inside 1 byte, × N is indicated
Occupy N byte, CRC16 is 16CRC check byte, and CRC16H is high byte, and CRC16L is low byte, this data frame is 3+4 × N
Byte.
Slave station response frame format are as follows: data frame type+address+reply data × M+CRC16H+CRC16L, wherein be inside 1
Byte, × M expression occupy M byte, and CRC16 is CRC check byte, and CRC16H is high byte, and CRC16L is low byte, this data
Frame is 3+M byte.
The target that data are sent in the form of broadcast frame is to ensure that the certainty of communication data, the data of host fixed cycle property
It sends, even if reply data has time uncertainty, but slave is immediately performed number after completely receiving broadcast data frame
According to frame, the synchronism of each axis ensure that.
Embodiment 3: the present invention provides a kind of technical solution, and a kind of multi-axis motion controller is completely wide when receiving host
After multicast data frame, the slave that address number is 1, immediate answer, after slave 2,3,4 listens to the response of slave 1, slave 2 is answered
Answer, same principle, slave 3,4 is sequentially completed response, and a communication cycle is completed, response sequence be address from low to high, the phase
Between, slave 1 monitors the response message of slave 2,3,4, and information is extracted from response message, the Collaborative Control for 4 axis.
The embodiment that one main website controls multiple slave stations is as follows.Main website broadcast frame N=1 described above, instruction type are
Displacement control.The displacement bias value (incremental coordinates) that one byte represents a slave station is (- 128~127), signed number；
Slave station indicates 16 axial displacement values (absolute coordinate) (- 32768~32767), there is symbol for the acknowledgement frame M=2 of this instruction type
Number.Main website issues motion control signal by broadcast frame, and the information that this signal includes is mini line segment, and increment is used to sit
Mark.
Embodiment 4: the present invention provides a kind of technical solution, a kind of multi-axis motion controller, in the field of servo drive control
Close, introducings of encoder feedback signal can determine the actual displacement value of each axis, main website in progress curve INTERPOLATION CONTROL OF PULSE or
When speed control, with reference to the actual displacement value of each axis, to form the closed-loop control by main website, each axis is not necessarily in this case
With reference to the operation conditions of other axis, control is host, and as a kind of difference, opposite control program, host is only provided respectively
The setting value of axial displacement or speed, and servo-driver slave station, this structure are transferred in displacement or the closed-loop control of speed power
Have different controllers in the performance of host, simplify the design of host, improve reliability, control performance also accordingly mentions
Rise, shortcoming is that the control strategy of slave becomes complicated, facts proved that, two kinds of control strategies be it is complementary, be suitble to different
Occasion, the present invention uniformly realize two kinds of control strategies.
Embodiment 5: the present invention provides a kind of technical solution, a kind of multi-axis motion controller, and slave station is set between main website
Collaboration, such as the K:1 proportional to 2 displacements of station of slave station 1, slave station 1 is reference with the displacement of slave station 2, and slave station 1 is ignored host and sent at this time
Displacement bias value, shift value is obtained according to 2 actual value of slave station multiplied by ratio K, and under this mode, acceptor's slave station 1 does not stand erectly
Control is connect, for example, being better than control in linear interpolation occasion or thread turning occasion in this control mode performance and existing
In the mode of host.
Embodiment 6: the present invention provides a kind of technical solution, a kind of multi-axis motion controller, and slave station is set between main website
Collaboration, if 1 station 2 of slave station station 3 carries out arc screw insertion, slave station 1 controls X-axis movement, and slave station 2 controls Y-axis movement, and slave station 3 is controlled
Z axis movement processed, 1 slave station 2 of slave station ignores the displacement bias value that host is sent at this time, and shift value converts according to 3 actual value of slave station
At circular arc XY shaft position, under this mode, 1 slave station 2 of slave station is not directly controlled at acceptor station.
Embodiment 7: the present invention provides a kind of technical solution, a kind of multi-axis motion controller, and slave station is set between main website
Collaboration, in manipulator control occasion, under different position and postures, the model parameter of the position and speed closed-loop control of each axis is not
With, at this point, host only sets out each axis displacement of targets, and when some axis physical locations seriously lag, other axis
Corner to adapt to these axis lag amendment, that is, be subject to lag axis displacement, the pose tracing point of main website is cached,
Guarantee pose track so as far as possible without departing from setting pose track, to reach the level of optimal control, core of the invention is closed
Key is, to realize that the control of this lag compensation type provides feasible hardware supported.
One embodiment for stating lag compensation of 4 slave stations of the invention, can be following scenario described.It is assumed that each slave station
The displacement setting value of main website is stored among caching, is formed list { X0, X1 ..., Xn }, { Y0, Y1 ..., Yn }, Z0,
Z1,…,Zn},{U0,U1,…,Un}.If X-axis seriously lags the position for only reaching X1, Y-axis target position is set in Y1, Z
The same situation of axis U axis.This amendment scheme, it is ensured that track reaches expected setting, and delay is only had on the time.
Embodiment 8: the present invention provides a kind of technical solution, a kind of multi-axis motion controller, the communication between main website and slave station
Safe mechanism for correcting errors is as follows: main website sends error in data, and slave station sends back to wrong responses frame, any one slave station response erroneous frame,
Slave station regards this period Communications failure, and in this case, main website sends one for answering immediately after all slave station responses
The error correction frame of erroneous frame slave station is answered, if obtaining correct response, restores normal communication, if error code is that displacement bias value is set
Fixed, then error correction frame contains the displacement of targets position for response erroneous frame slave station, for determining displacement of targets setting value.
Based on above-mentioned, the present invention has the advantages that by each axis motion control signal of serial bus transmission, main website and each fortune
Control and feedback signal are monitored between moving axis mutually, the collaboration closed-loop control of each axis is realized, realizes more excellent fortune
Dynamic control effect, is different from the scheme such as each kinematic axis of POWERLINK main website Time-sharing control, and each kinematic axis monitors other kinematic axis
Signal, and with the control of this kinematic axis of this signal correction, main website sends the control signal of each kinematic axis, slave station in a broadcast manner
After receiving broadcast, the low to high or high to Low of address number value successively sequentially sends answer signal, other slave station prisons
This signal is listened, is completed once sending answer signal by the slave station that previous station sends answer signal, then our station sends response letter
Number, a kind of such communication modes ensure that multiaxis Collaborative Control, improve the effect of motion control, data are with broadcast frame shape
The target that formula is sent is to ensure that the certainty of communication data, and the data of host fixed cycle property are sent, even if reply data has
Time uncertainty, but slave is immediately performed data frame after completely receiving broadcast data frame, ensure that the synchronization of each axis
Property.
Finally, it should be noted that being not intended to restrict the invention the foregoing is merely preferred embodiment of the invention, to the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, for those skilled in the art, still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Protect range.
Claims (2)
1. a kind of multi-axis motion controller, by each axis motion control signal of serial bus transmission, controller is as universal serial bus
Communication main website, each axis servo-driver be slave station, main website send data frame be control signal or slave station parameter setting,
It is feedback signal and parameter setting that slave station, which sends reply data frame,；
It is characterized in that, monitor the signal in bus between main website and each kinematic axis mutually, each axis cooperates with closed-loop control, main website with
The mode of broadcast data frame sends the control signal of each kinematic axis, and in broadcast data frame, slave station connects each axis control signal assemble
After receiving broadcast data frame, the corresponding information of each axis is extracted, slave station monitors the data frame in bus, answers once listening to our station
Condition satisfaction is answered, our station sends reply data frame, and slave station carries out the control of this slave station according to the control and answer signal that listen to
System, main website and multi-shaft interlocked slave station are integrally formed the closed-loop control of position and speed.
2. a kind of multi-axis motion controller according to claim 1, it is characterised in that: the main website and it is multi-shaft interlocked from
Station is integrally formed the closed-loop control of position and speed, and the displacement and speed control signal for limiting main website are exported as open loop, and position
Realization with speed closed loop is worked in coordination realization by multi-shaft interlocked slave station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811202814.8A CN109240219A (en) | 2018-10-16 | 2018-10-16 | A kind of multi-axis motion controller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811202814.8A CN109240219A (en) | 2018-10-16 | 2018-10-16 | A kind of multi-axis motion controller |
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| CN109240219A true CN109240219A (en) | 2019-01-18 |
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| CN201811202814.8A Pending CN109240219A (en) | 2018-10-16 | 2018-10-16 | A kind of multi-axis motion controller |
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Cited By (5)
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| CN110851392A (en) * | 2019-11-13 | 2020-02-28 | 中广核研究院有限公司北京分公司 | Communication method and communication system based on Modbus RTU protocol |
| CN111200844A (en) * | 2019-12-31 | 2020-05-26 | 苏州卓彩智能科技有限公司 | Multi-slave machine bidirectional communication method |
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| CN112311641A (en) * | 2020-12-30 | 2021-02-02 | 深圳市法拉第电驱动有限公司 | CAN communication-based communication method and system for upper computer and lower computer |
| CN113268037A (en) * | 2021-04-23 | 2021-08-17 | 哈尔滨工业大学（深圳） | Multi-axis cooperative control method based on time synchronization |
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|---|---|---|---|---|
| CN111687830A (en) * | 2019-03-15 | 2020-09-22 | 广州市韦德电气机械有限公司 | Multi-axis bus link method and driving system of robot driving and controlling all-in-one machine |
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| CN112311641B (en) * | 2020-12-30 | 2021-04-06 | 深圳市法拉第电驱动有限公司 | CAN communication-based communication method and system for upper computer and lower computer |
| CN113268037A (en) * | 2021-04-23 | 2021-08-17 | 哈尔滨工业大学（深圳） | Multi-axis cooperative control method based on time synchronization |
| CN113268037B (en) * | 2021-04-23 | 2022-04-29 | 哈尔滨工业大学（深圳） | Multi-axis cooperative control method based on time synchronization |
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Application publication date: 20190118 |