CN110286617A - The digital dynamic static controller of double-core and its application method - Google Patents
The digital dynamic static controller of double-core and its application method Download PDFInfo
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- CN110286617A CN110286617A CN201910476521.7A CN201910476521A CN110286617A CN 110286617 A CN110286617 A CN 110286617A CN 201910476521 A CN201910476521 A CN 201910476521A CN 110286617 A CN110286617 A CN 110286617A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000012360 testing method Methods 0.000 claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 20
- 238000013500 data storage Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000007667 floating Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000004154 testing of material Methods 0.000 abstract description 5
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The present invention provides a kind of digital dynamic static controller of double-core and its application methods, comprising: first processor and second processor are connected between the first processor and the second processor by cache parallel communications；Wherein, the first processor has multiple data acquisition channels, and multiple data acquisition channels are connect with testing machine sensor, for acquiring the state parameter of the testing machine；The first processor is also used to generate pid control signal, to realize the closed-loop control to the testing machine；The second processor and computer communicate to connect, and the data for acquiring the first processor are transferred to the computer.The present invention is able to carry out multi-channel signal acquiring, realizes dynamic and static loading control, meets the application demand of Material Testing Machine.
Description
Technical field
The present invention relates to Industrial Engineering Technology fields, and in particular, to the digital dynamic static controller of double-core and its application
Method.
Background technique
In many fields of development in science and technology, closed-loop control (PID) system of quick response is needed to carry out data acquisition and control
System load.Material Testing Machine needs to realize loading procedure static loading control and moves when carrying out material mechanical performance test
State load control, to meet the method for testing materials of various criterion requirement.
Existing test machine control system is roughly divided into three classes currently on the market: (1) computer-internal inserts capture card and letter
The system of number output card carries out signal acquisition and closed-loop control operation, Windows by the Testing Software under computer Windows
For non-real-time multi-task schedule system, so that signal acquisition and the period of time T of closed-loop control operation can fluctuate, closed-loop control is
Operation control is carried out based on cycle T, the fluctuation of T causes the decline of control precision and unstability to increase；(2) exchange is used
The test machine control system of servo-system realizes average rate load by the speed closed loop of AC servo, has basically reached position
The load on control of speed control and sample elasticity section is moved, such mode does not have versatility, can only be used in specific control
System requires, and cannot achieve closed-loop control load for the testing machine of hydraulic loaded, there is significant limitation.(3) it realizes basic
Closed-loop control require TT&C system, can carry out power, displacement, the closed-loop control of strain and channel switching, but itself because use
Lower 8 bit CPU of arithmetic speed, closed-loop control adjust frequency and are usually less than 300Hz, and the floating-point of double precision can not be supported to transport
It calculates, cannot achieve dynamically load control, can not also carry out the load control of extremely low speed.
For first two control system, there are biggish limitations, and the development for not being well positioned to meet Material Testing Machine needs
It asks.The testing machine closed-loop control system that can be inquired, the visualization closed-loop control PID ginseng of Patent No. CN200820060215.2
Number regulating system is a kind of system for configuring liquid crystal display and being shown and realizing closed-loop parameters adjusting, has had been provided with channel and closed
The ability of ring control uses 8051 series CPU, and closed loop adjusts frequency 300Hz, single-precision floating point operation, but it is merely able to
It is suitble to the testing machine of static loading control.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of digital dynamic static controller of double-core and its
Application method.
The digital dynamic static controller of a kind of double-core provided according to the present invention, comprising: first processor and second processing
Device is connected between the first processor and the second processor by cache parallel communications；Wherein, at described first
Reason device has multiple data acquisition channels, and multiple data acquisition channels are connect with testing machine sensor, described for acquiring
The state parameter of testing machine；The first processor is also used to generate pid control signal, to realize the closed loop to the testing machine
Control；The second processor and computer communicate to connect, and the data for acquiring the first processor are transferred to described
Computer.
Optionally, the first processor is additionally provided with input/output end port, data storage port and status monitoring
Port；Wherein, the input/output end port is for receiving external logic input signal (such as switching value), control output signal
(such as relay), synchronous triggering signal；The data storage port connects sensor plug, pin-saving chip；The shape
For state monitoring port for receiving control signal, the control signal includes: scram button signal, limit switch signal, servo system
The signals such as system.
Optionally, the state parameter of the testing machine includes: strain, force value, displacement.
Optionally, the first processor and the second processor are all made of 32bit ARM CPU.
Optionally, for the first processor for switching any channel closed-loop control, it is 5KHz that closed-loop control, which adjusts frequency,；
Wherein, closed-loop control, which is adjusted, uses double-precision floating points operation, and highest dynamically load frequency is 50Hz, and low speed load reaches 1 ×
10-7mm/s。
Optionally, the second processor is additionally provided with input/output end port, data storage port and temperature and humidity and adopts
Collect port；Wherein, the input/output end port is for receiving external logic input (such as switching value) signal, logic output (ratio
Such as relay) signal；The data storage port connects FLASH memory, for storing equipment running status data；The temperature
Humidity collection port connects Temperature Humidity Sensor, for obtaining environmental data.
Optionally, the second processor is communicated by network interface or serial communication mode is communicated to connect with the computer；
When using network interface communication connection mode, the transmission rate of maximum data frame is 1KHz.
Optionally, the second processor is additionally provided with DAC output port, and the DAC output port is as expanded application
Interface.
In addition, the present invention also provides a kind of application methods of the digital dynamic static controller of double-core, using any of the above-described
The digital dynamic static controller of the double-core carries out the control to testing machine, to realize Measurement of Material Mechanical Performance；It is described
Method includes:
The first processor and the second processor are powered on and initialized；
The running parameter of the first processor and the second processor is set；
Create task；
Each task carries out timeslice division according to priority level and data processing amount；
Task schedule is carried out according to priority and timeslice, and task is executed according to task schedule sequence.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The digital dynamic static controller of double-core provided by the invention and its application method, are able to carry out multi channel signals and adopt
Collection realizes dynamic and static loading control, meets the application demand of Material Testing Machine, and data-handling efficiency is high, and control flexibly, can
Scalability is strong.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the principle architecture diagram that one embodiment of the invention provides；
Fig. 2 is the work flow diagram of second processor in one embodiment of the invention；
Fig. 3 is the work flow diagram of first processor in one embodiment of the invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
When Material Testing Machine carries out mechanical property test to material, loading procedure progress closed-loop control, realization are displaced,
The control of force value, strain etc. loads, and completes static or dynamic material mechanical performance test.But existing control system is only
It can be suitably used for the testing machine of static loading.It is communicated using serial ports with computer, peak transfer rate 115.2Kbps.String
Mouthful communication distance cannot be greater than 15m, 115.2Kbps is the maximum rate of serial ports of computers, and communication distance is also under this rate
Reduce the accuracy to guarantee communication data.Due to being single precision numerical operation, it is unable to satisfy the test of extremely low rate tensile
Method, for example realize and be displaced loading speed: 1 × 10-7mm/s。
The digital dynamic static controller of a kind of double-core provided in this embodiment, comprising: first processor and second processor,
It is connected between first processor and second processor by cache parallel communications；Wherein, first processor has multiple numbers
According to acquisition channel, multiple data acquisition channels are connect with testing machine sensor, for acquiring the state parameter of testing machine；At first
Reason device is also used to generate pid control signal, to realize the closed-loop control to testing machine；Second processor and computer communication link
It connects, the data for acquiring first processor are transferred to computer.
In a kind of possible embodiment, first processor is additionally provided with input/output end port, data storage port,
And status monitoring port.Wherein, the state parameter of testing machine includes: strain, force value, displacement.
In a kind of possible embodiment, first processor and second processor are all made of 32bit ARM CPU.
In a kind of possible embodiment, any channel closed-loop control is can be switched in first processor, and closed-loop control is adjusted
Frequency is 5KHz；Wherein, closed-loop control uses double-precision floating points operation, and highest dynamically load frequency is 50Hz, low speed load
Reach 1 × 10-7mm/s。
In a kind of possible embodiment, second processor is additionally provided with input/output end port, data storage port,
And humiture collection port.
In a kind of possible embodiment, second processor passes through network interface communication or serial communication mode and computer
Communication connection；When using network interface communication connection mode, the transmission rate of maximum data frame is 1KHz.
In a kind of possible embodiment, second processor is additionally provided with DAC output port, DAC output port conduct
Expanded application interface.
Specifically, the digital dynamic static controller of double-core uses 32bit high speed ARM core in one embodiment of the invention, closes
It is 5KHz that ring, which controls to adjust frequency, and closed loop operation control uses double-precision floating points, and dynamically load frequency reaches 50Hz, low speed load
Reach 1 × 10-7Mm/s, any channel can carry out closed-loop control and can be smooth seamless switching.
Fig. 1 is the principle architecture diagram that one embodiment of the invention provides, as shown in Figure 1, including control CPU (first processor)
With communication cpu (second processor), two CPU cooperate, control CPU realize Signal acquiring and processing, high speed PID arithmetic,
Output, status monitoring, data storage, the exchange of logic input/output operations, high-speed data etc. are driven, communication cpu is realized and calculated
Machine communication, data storage, logic input/output operations, environmental data collecting, extension DAC output control, high-speed data exchange
Deng.Optionally, two CPU can use 32bitARM, to realize the efficient process of data.
In addition, the present invention also provides a kind of application methods of the digital dynamic static controller of double-core, using any of the above-described
The digital dynamic static controller of double-core carry out the control to testing machine to realize Measurement of Material Mechanical Performance；Method includes:
First processor and second processor are powered on and initialized；
The running parameter of first processor and second processor is set；
Create task；
Each task carries out timeslice division according to priority level and data processing amount；
Task schedule is carried out according to priority and timeslice, and task is executed according to task schedule sequence.
Fig. 2 is the work flow diagram of second processor in one embodiment of the invention, as shown in Fig. 2, second processor powers on
After carry out system initialization, running parameter initialization and operating variable parameter initialization are carried out on piece chip, read later
The running parameter of setting, creation task simultaneously carry out task run switching.Based on preemptive type Real-time Multi-task System, each task is pressed
Priority level and data processing amount according to task carry out timeslice division, and task scheduling system is carried out according to priority and timeslice
Task schedule establishes semaphore between task and can carry out data exchange.Mode, the transmission speed of data frame are communicated to connect in network interface
Rate is up to 1KHz, to meet the volume of transmitted data of 50Hz dynamically load control.
Fig. 3 is the work flow diagram of first processor in one embodiment of the invention, as shown in figure 3, first processor powers on
After carry out system initialization, running parameter initialization and operating variable parameter initialization are carried out on piece chip, read later
The running parameter of setting, creation task simultaneously carry out task run switching.Based on preemptive type Real-time Multi-task System, each task is pressed
Priority level and data processing amount according to task carry out timeslice division, and task scheduling system is carried out according to priority and timeslice
Task schedule establishes semaphore between task and can carry out data exchange.PID arithmetic, waveform occur, express passway data acquire
It is 5KHz Deng, task switching rate, to meet the high-speed computation processing requirement of dynamically load control.
In the present embodiment, using high speed 32bit ARM Dinuclear Systems, and by the division of processor active task, 5KHz is realized
Closed-loop control.High-speed data exchanges between two CPU, realizes the real-time exchange processing of data.Each CPU, which is run on, to be robbed
The Real-time Multi-task System of formula is accounted for, task carries out priority management, it is ensured that fast worktodo is handled in time.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (9)
1. a kind of digital dynamic static controller of double-core characterized by comprising first processor and second processor, it is described
It is connected between first processor and the second processor by cache parallel communications；Wherein, the first processor tool
Standby multiple data acquisition channels, multiple data acquisition channels are connect with testing machine sensor, for acquiring the testing machine
State parameter；The first processor is also used to generate pid control signal, to realize the closed-loop control to the testing machine；
The second processor and computer communicate to connect, and the data for acquiring the first processor are transferred to the calculating
Machine.
2. the digital dynamic static controller of double-core according to claim 1, which is characterized in that the first processor is also set
It is equipped with input/output end port, data storage port and status monitoring port；Wherein, the input/output end port is for connecing
Receive external logic input signal, control output signal, synchronous triggering signal；The data storage port connection sensor plug,
Pin-saving chip；The status monitoring port for receive control signal, the control signal include: scram button signal,
Limit switch signal, servo-system signal.
3. the digital dynamic static controller of double-core according to claim 1, which is characterized in that the state of the testing machine is joined
Number includes: strain, force value, displacement.
4. the digital dynamic static controller of double-core according to claim 1, which is characterized in that the first processor and institute
It states second processor and is all made of 32bit ARM CPU.
5. the digital dynamic static controller of double-core according to claim 1, which is characterized in that the first processor is used for
Switch any channel closed-loop control, it is 5KHz that closed-loop control, which adjusts frequency,；Wherein, closed-loop control, which is adjusted, uses double-precision floating points
Operation, highest dynamically load frequency are 50Hz, and low speed load reaches 1 × 10-7mm/s。
6. the digital dynamic static controller of double-core according to claim 1, which is characterized in that the second processor is also set
It is equipped with input/output end port, data storage port and humiture collection port；Wherein, the input/output end port is used for
Receive external logic input signal, logic output signal；The data storage port connects FLASH memory, sets for storing
Standby running state data；The humiture collection port connects Temperature Humidity Sensor, for obtaining environmental data.
7. the digital dynamic static controller of double-core according to claim 1, which is characterized in that the second processor passes through
Network interface communication or serial communication mode and the computer communicate to connect；When using network interface communication connection mode, maximum data
The transmission rate of frame is 1KHz.
8. the digital dynamic static controller of double-core according to claim 1, which is characterized in that the second processor is also set
It is equipped with DAC output port, the DAC output port is as expanded application interface.
9. a kind of application method of the digital dynamic static controller of double-core, which is characterized in that any in application such as claim 1-8
The digital dynamic static controller of double-core described in carries out the control to testing machine, to realize Measurement of Material Mechanical Performance；Institute
The method of stating includes:
The first processor and the second processor are powered on and initialized；
The running parameter of the first processor and the second processor is set；
Create task；
Each task carries out timeslice division according to priority level and data processing amount；
Task schedule is carried out according to priority and timeslice, and task is executed according to task schedule sequence.
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