CN110320935B - Remote automatic control method and device for rotary table - Google Patents
Remote automatic control method and device for rotary table Download PDFInfo
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- CN110320935B CN110320935B CN201810268026.2A CN201810268026A CN110320935B CN 110320935 B CN110320935 B CN 110320935B CN 201810268026 A CN201810268026 A CN 201810268026A CN 110320935 B CN110320935 B CN 110320935B
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Abstract
The embodiment of the invention discloses a method and a device for remotely and automatically controlling a rotary table, which relate to the remote automatic control technology, can realize remote control of different rotary tables and have stronger universality. The device comprises: (1) the system comprises a control computer, (2) a turntable remote automatic control unit, a serial communication interface control unit, a network communication interface control unit, a GPIB (general purpose interface bus) bus interface control unit and the like, wherein the turntable remote automatic control unit is used for loading turntable type information and turntable control information configuration files and realizing flow control, (3) the programmable communication interface control unit, such as the serial communication interface, the network communication interface control unit, the GPIB bus interface control unit and the like, is used for realizing the sending and receiving of a turntable control instruction, and (4) the programmable communication interface, such as the serial communication interface, the network communication interface control unit, the GPIB bus interface control unit and the like, is mainly used for the turntable remote automatic control.
Description
Technical Field
The invention relates to the technical field of remote automatic control, in particular to a method and a device for remotely and automatically controlling a rotary table.
Background
The turntable is a test device for providing reference information such as position, speed and the like, is used in an inertial navigation system element calibration test, and can realize the test and the test of the position, the speed, the acceleration and the like of the inertial navigation system by setting the position, the speed and the acceleration of the turntable.
On the one hand, the control of the rotary table can be realized by the local control device, when the control of the rotary table is realized by the local control device, the position or the speed of the rotary table needs to be manually set, the operation steps of the whole test process are complicated, the efficiency is very low, and the manual operation errors are easy to occur.
On the other hand, a turntable manufacturer also provides a program control protocol interface, and a remote computer can realize automatic programmable control through the program control protocol, but because inertial navigation calibration projects are different, the related turntable models are also different, and remote control protocol interfaces provided by manufacturers of different turntables are different, so that the remote control of different turntables needs to be designed repeatedly, and a large amount of resources are wasted.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a device for remotely and automatically controlling a rotary table, which can realize remote control of different rotary table models and have strong universality.
The technical solution of the invention is as follows:
on one hand, the remote automatic control method of the rotary table comprises the following steps:
sequentially sending each control command in each piece of control information to the turntable through serial, network or GPIB bus control, wherein the communication interface type and attribute of the turntable are read from the turntable type information configuration file;
judging whether the turntable supports the program control feedback state according to the turntable state information read from the turntable control information configuration file;
if the rotary table supports the program control feedback state, determining that the current control command is a repeated sending, sending cancellation or sending success state according to the position control information, the rate control information, the parking information in the control command and the acquired feedback state until each control command in the control information is executed completely, starting a timer in a timing module after each control information is executed completely, initializing a timer starting count value, acquiring the current count value of the counter in real time, calculating the time of acquired data according to the count value during starting and the reference frequency, and acquiring the time until the next row of control information is executed continuously until each control information is executed completely;
if the turntable does not support the program control feedback state, after a control command is sent each time, a timer in the timing module is started, the timer is initialized to start counting values, calculating the rotation time of the rotary table by a timer, and carrying out time sequence control of sending control commands according to the position control information, the speed control information, the parking information and the rotation time of the rotary table in the configuration file until all the control commands in the control information are sent, after each piece of control information is executed, a timer in the timing module is started, the timer is initialized to start counting values, the current count value of the counter is obtained in real time, the time of the acquired data is calculated according to the count value when the counter is started and the reference frequency, the time of the turntable at the position or the speed is controlled by the timer according to the data acquisition time, and the next row of control information is continuously executed until each piece of control information is completely executed;
the control information in the above process is obtained from a turntable control information configuration file, the turntable control information configuration file includes at least one piece of control information, each piece of control information includes at least one control command, and each control command includes turntable rotation position control information and parking information, or includes turntable rotation rate control information and parking information.
Further, the method also comprises the following steps:
the information in the configuration file of the type information of the rotary table and the configuration file of the control information of the rotary table is revised again, so that the remote automatic control of the rotary tables with different models at different communication rates can be realized.
On the other hand, the remote automatic control device for the rotary table comprises a rotary table remote automatic control unit (2), a programmable communication interface control unit (3) and a programmable communication interface (4);
the turntable remote automatic control unit (2) is used for loading turntable type information and a turntable control information configuration file and realizing flow control, and is connected with the programmable communication interface (4) through a computer bus, the programmable communication interface (4) comprises a serial, network or GPIB bus interface, the programmable communication interface control unit is used for realizing the sending and receiving of a turntable control instruction, the turntable type information at least comprises a turntable serial number, a turntable name, a turntable model, a control file name, a communication interface type and attribute setting, the control file name is the name of a turntable control information file, and the communication interface type generally comprises programmable control interfaces such as serial communication, network interface or GPIB bus control and the like. The method comprises the steps that interface attribute setting should include data information such as the type and communication format of an interface to which the interface belongs, turntable control information at least comprises a control command group number, a control project name, turntable running time, control command time sequence control and a control mark, the control command time sequence control comprises the sending content and the sending time sequence control of a plurality of instructions of a control project, the control command sending time sequence comprises two control modes, if the turntable supports a feedback state, the sending command time sequence and control command feedback information cooperate to determine the rotation time sequence of the turntable, after the turntable state meets requirements, data acquisition time is controlled through a timer provided by a turntable control unit, and if the feedback information cannot be acquired, the sending time sequence is controlled through the timer provided by the turntable control unit;
the turntable remote automatic control unit (2) comprises: the device comprises a timer module (5), a file read-write control module (6), a control command management module (7) and a configuration information display editing module (8); the system comprises a timer module (5) used for managing the time sequence of command sending, a timer in the timer module (5) is started, the timer is initialized to start counting values, the current counting values of the timer are obtained in real time, the timing time is calculated according to the counting values and the reference frequency when the timer is started, a file read-write control module (6) used for read-write control and management of configuration files, a control command management module (7) used for management of turntable control commands, and a configuration information display editing module (8) used for displaying information in the configuration files and realizing dynamic modification editing;
the accurate control of the turntable control method is mainly realized through two control strategies, for the turntable which does not support the feedback type of the real-time information of the turntable, after a control command is sent by a timer module (5) every time, a timer in the timing module is started, the starting count value of the timer is initialized, the rotation time of the turntable is calculated through the timer, the time sequence control of the sending of the control command is carried out according to the position control information, the speed control information, the parking information and the rotation time of the turntable in a configuration file until all the control commands in the control information are sent, after the execution of each piece of control information is finished, the timer in the timing module is started, the starting count value of the timer is initialized, the current count value of the counter is obtained in real time, the time of the acquired data is calculated according to the count value during the starting and the reference frequency, and the time control of the turntable at the position and the speed is carried out by the timer according to the data acquisition time, when the acquisition time is up, the next row of control information is continuously executed until each piece of control information is completely executed;
for the turntable supporting the real-time information feedback function, after each piece of control information is executed, a timer in a timing module (5) is started, the starting count value of the timer is initialized, the current count value of the counter is obtained in real time, the time of the acquired data is calculated according to the count value and the reference frequency when the counter is started, and the next row of control information is continuously executed until each piece of control information is executed;
the turntable remote automatic control unit (2) has the functions of turntable feedback information acquisition and decision control, and can sense the state change of the turntable in real time, so that the turntable is accurately controlled.
The method and the device for remotely and automatically controlling the rotary table provided by the embodiment of the invention realize the dynamic binding of the rotary table type information and the rotary table control information by dynamically configuring the rotary table type information and the rotary table control information. The turntable type information is used for configuring model information of the turntable, attribute setting information of remote control and configuration index of a turntable control information file. The turntable control information is used for configuring position, speed, direction, acceleration and other control command information of the turntable remote control. The automatic control of the turntables of a plurality of models is realized through the cooperation of the two types.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a system block diagram of a remote automatic control device of a turntable according to an embodiment of the present invention;
FIG. 2 is a block diagram of a remote automatic control unit of the turntable according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a method for remotely and automatically controlling a turntable according to an embodiment of the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the device structures and/or processing steps that are closely related to the scheme according to the present invention are shown in the drawings, and other details that are not so relevant to the present invention are omitted.
Firstly, turntable type information to be remotely controlled is added into a turntable type information file, the file comprises the remote control interface type (serial communication, network interface or GPIB bus interface type) of the turntable, interface attributes (communication formats such as communication channels and baud rate), turntable control command configuration file information (used for indexing a specific control command file), and the turntable type information file comprises a plurality of types of turntable information needing remote control.
And then dynamically adding configuration information of a control command file of the turntable of a specific model, wherein the configuration files are grouped and configured according to position groups or speed groups, swinging instructions, parking instructions and the like, each group of control information comprises control position sequence and control position names of the turntable, control commands for controlling the turntable to reach the position, time for rotating the turntable at the position and the like, and particularly, when the turntable supports the control commands to perform feedback, control command feedback information (feedback position, speed, current state and the like) is also required to be included. The control command of the program control turntable reaching the position is core control information, and the information comprises the sending time sequence, the sending content, the feedback acquisition content and the like of the control command.
The turntable type information and the turntable control information are written into a configuration file, a turntable remote automatic control unit loads the configuration file, a programmable control unit such as a serial communication unit, a network interface, a GPIB (general purpose interface bus) interface and the like sets the port attribute which is remotely controlled according to the turntable type information, and then the turntable remote automatic control unit remotely communicates with a turntable control computer according to a remote control time sequence, a control command and a feedback acquisition mode specified by the turntable control information configuration file to realize the remote automatic control of the turntable. After the remote automatic control of the rotary table is realized, the use mode is flexible, the test efficiency can be improved, and the manual operation errors are avoided. Particularly, the method can dynamically configure the type information and the control information of the turntables with various models, and realize the automatic control management of the turntables with various models.
Apparatus for remote automatic control of a turntable, the apparatus comprising: (1) the system comprises a control computer, (2) a turntable remote automatic control unit which is used for loading turntable type information and turntable control information configuration files and realizing flow control, (3) programmable communication interface control units such as serial, network and GPIB bus interfaces which are used for realizing the sending and receiving of turntable control instructions, and (4) programmable communication interfaces such as serial, network and GPIB bus interfaces. .
The control computer (1) is connected with programmable communication interfaces (4) such as serial, network and GPIB bus interfaces through a computer bus, and the turntable remote automatic control unit (2) and the serial, network and GPIB bus communication interface control unit (3) are arranged in the control computer (1).
Wherein, the remote automatic control unit (2) of the rotary table comprises: (5) the timer module is used for managing the time sequence of command sending, the timer module realizes the high-precision timing function, after a timer in the timing module is started, the timer starts counting values, the timer counting values at the end of timing are obtained, and the timing time is calculated according to the counting values at the start and the reference frequency. The timing precision of the timer module can reach microsecond level, the correctness of time sequence control and the accurate control of the rotation and static processes of the rotary table are ensured, and therefore the accurate control of data acquisition time in each test state is ensured when the inertial navigation system utilizes the rotary table for testing. (6) The device comprises a file read-write control module used for read-write control and management of configuration files, (7) a control command management module used for management of turntable control commands, and (8) a configuration information display editing module used for displaying information in the configuration files and realizing dynamic modification editing.
The timer module is used for realizing functions of automatically timing, waiting for Sleep, sending messages to an application program at regular time in a delay process and the like, and has the following interfaces:
(1) void Reset (): starting a timer and starting timing;
(2) double OnGetTime (): calculating timing time;
(3) a void Sleep (double m _ Gap), wherein m _ Gap is the delay waiting time;
(4) void OnMsgSleep (double m _ Gap): m _ Gap is delay waiting time, and is different from the Sleep function (3) in that a program can respond to and process Windows messages when waiting, so that the program is not halted;
when the timer module runs, firstly, a Reset () function is executed to initialize a timer starting count value, the starting count value is obtained by calling a Windows API function QueryPerformancecounter (), and then the timing time is calculated by an OnGetTime () function. The specific calculation method of the timing time comprises the following steps: the count value at the end of the time counting is acquired by calling QueryPerformanceCounter (), the count frequency is acquired by calling Windows API function QueryPerformanceFrequency (), and the timing time is (count value at the end of the time counting-start count value) × 1000/count frequency.
The turntable type information at least comprises a turntable serial number, a turntable name, a turntable model, a control file name, a communication interface type, attribute setting and the like, and the control file name is the name of the turntable control information file and the communication interface type generally comprises a serial communication interface, a network interface, GPIB bus control and other programmable control interfaces. The interface attribute setting should include data information such as a channel and a communication format of an interface;
the turntable control information at least comprises a control command group number, a control command group internal sequence number, a control project name, turntable operation (data acquisition) time(s), control command time sequence control, control command feedback information, a control mark and the like. The control command time sequence control comprises the sending content and the sending time sequence control of a plurality of instructions of the control item, the control command sending time sequence comprises two control modes, if the rotary table supports a feedback position or a feedback state, the sending command time sequence and the control command feedback information cooperate to determine the control time sequence, and if the feedback information cannot be obtained, the sending time sequence is controlled by a timer provided by the rotary table control unit.
The turntable remote automatic control unit (2) loads a turntable type information configuration file at first, the reading of the turntable type, the communication interface type and the attribute setting information is realized through a file read-write control module (6), the turntable type information configuration file is managed according to the turntable type item, and the corresponding configuration information is obtained through a turntable type index. The type and attribute configuration of the remote control interface are set through a programmable communication interface control unit (3) such as a serial communication interface, a network communication interface and the like. Then loading a control information configuration file of a turntable of a certain type in the turntable type information configuration file, realizing the read-write control and management of the file through a file read-write control module (6), classifying position control information, rate control information, parking information and the like according to functions by the turntable control information file, acquiring certain type of control information through function names or sequence numbers, wherein each type of control information can contain a plurality of preset sub-position and sub-rate information, and controlling the turntable to control the motion scheme of the turntable according to a preset programmable sequence. The management of the turntable control command is realized through the control command management module (7), and the dynamic modification and editing of the information in the configuration file can be realized through the configuration information display editing module (8). For each item of control information in the turntable control information file, the turntable remote automatic control unit (2) sends control commands to the turntable local control computer unit one by one through the serial, network and GPIB bus control programmable communication interface control unit (3), when the control command is sent, the turntable remote automatic control unit (2) decides the repeated sending, cancellation or success state of the current command according to the obtained feedback state if the turntable in the configuration information supports the program control feedback state according to the control mode of the control time sequence module, if the turntable in the configuration information does not support the program control feedback state, the self timer module (5) is used for carrying out the time sequence control of the command sending according to the turntable rotation time, the time is delayed until the next control command is sent until all the control commands in the row of control information are sent completely, and then the timer module (5) controls the time of the rotary table at the position according to the data acquisition time, or the remote automatic control unit (2) of the rotary table controls the time according to the obtained feedback state, and the time is acquired until the next line of control information is continuously executed until each item of control information is completely executed.
The turntable accurate control of the turntable control method is mainly realized through two control strategies, for the turntable which does not support the turntable real-time information feedback type, the timer module (5) realizes the high-precision autonomous timing function, the timing precision can reach microsecond level, the correctness of time sequence control and the accurate control of the rotation and static processes of the turntable are ensured, and therefore the accurate control of the movement control time of the turntable in each test state is ensured when the inertial navigation system is calibrated or tested by using the turntable.
For the rotary table supporting the real-time information feedback function, the rotary table remote automatic control unit (2) has the rotary table feedback information acquisition and control decision function, and can sense the state change of the rotary table in real time, so that the accurate control of the rotary table is achieved.
By adding or modifying the turntable type information and the turntable control information, the remote automatic control of the turntables of different models can be realized.
Referring to fig. 1, the apparatus for remote automatic control of a turntable provided by the present invention is implemented by a control computer, a serial, network and GPIB bus communication interface connected to the control computer by a computer bus, a turntable remote automatic control unit, and a serial communication interface control unit.
Referring to fig. 2, a block diagram of the remote automatic control unit of the turntable of the present invention is shown, wherein a timer module is used for timing management of command transmission; the file read-write control module is used for read-write control and management of the configuration file; control command management module for managing turntable control command, (8) configuration information display editing module for displaying information in configuration file and implementing dynamic modification editing.
Referring to fig. 3, a working flow chart of the present invention is shown, and the specific process is as follows:
firstly, turntable type information and turntable control information are configured, and the specific content of the turntable type information to be configured is shown in table 1. The serial number item is used for identifying the serial number of the type of the rotary table, and the serial number items are accumulated from 1 in sequence to represent the number of the rotary tables of different types. And the turntable name item is used for identifying the name of the turntable so as to distinguish the turntable. And the control file name item is used for identifying the name of the turntable control information file, and the file is a txt file. The communication interface controls setting items, set contents are enclosed through { }, and internal information of the { }' comprises two parts, the middle part passes through; "separate, the first part is the serial port number; the second part is serial port parameters including baud rate, data bit, stop bit and check mode, and the serial port parameters are passed through the following steps: "separate. The turntable type item is used for distinguishing the data format of the turntable control command and is divided into an ASCII format and a hexadecimal format.
TABLE 1
The specific content of the turntable control information to be configured is shown in table 2. The sequence number items are used for identifying the number of the turntable control flow program, and are accumulated from 1 in sequence to represent the number of control items in the turntable control flow. And the item name item is used for identifying a specific control item. The data acquisition time (seconds) term is used to identify the time in seconds that the turntable is stationary. { control command, whether a state is read back or not, shaft selection, namely, rotating time s of a turntable when the read back state is not judged, set contents are included by ' { } ', and information in the ' { } ' comprises two parts, and the middle part is shown by ': the first part is a control command, and the formats of the turntable control commands of different models are different; the second part is whether to read back the status information fed back by the turntable; the third part is a controlled turntable shaft; the fourth part is the turntable rotation time s when the read-back state is not judged, and represents the delay waiting time after the control instruction is sent. If the flag entry is tested, if the row control information is executed, 0 does not execute, 1 executes.
TABLE 2
The turntable type information and the turntable control information are configured and then stored in a configuration file, and the turntable remote automatic control unit loads the turntable type information configuration file at first and then loads the corresponding turntable control information file according to the turntable control information file name in the control file name column in the configuration file. And the file read-write control module (6) loads the configuration information and stores the configuration information in the memory of the computer for the remote automatic control unit of the rotary table to call.
The turntable remote automatic control unit initializes the serial port parameters according to the serial port control setting information in the turntable type information configuration file, the control command management module (7) executes the control information in the turntable control information configuration file line by line after the initialization is successful, and sends the control commands to the turntable line by line through the serial communication interface control unit, when the data format of the turntable control command is in an ASCII mode, the serial communication interface control unit converts an ASCII command into hexadecimal and then sends the hexadecimal command, when one control command is sent, the timer module (5) carries out delay waiting according to the rotation time of the turntable, the time is delayed until the next control command is sent until all the control commands in the row of control information are sent, then the time is delayed according to the data acquisition time, and the time is delayed until the next row of control information is continuously executed until the execution of each row of control information is finished.
For the rotary table supporting the real-time information feedback function, the rotary table remote automatic control unit (2) has the rotary table feedback information acquisition and control decision function, and can sense the state change of the rotary table in real time, so that the accurate control of the rotary table is achieved.
And the information in the turntable type information configuration file is revised again, so that the remote automatic control of the turntables of different models at different communication rates can be realized.
And the information in the turntable control information configuration file is revised again, so that different turntable control processes can be realized.
The remote automatic control of the rotary table is realized in a dynamic configuration mode, the use mode is flexible, the test efficiency can be improved, and human misoperation is avoided.
Referring to table 3, a configuration file for turntable type information according to an embodiment of the present invention includes configuration information of turntable a and turntable B. The turntable control information configuration file corresponding to the turntable A is CtrlFileA.txt, the control instruction is sent out through a COM1 port, and the initialization parameters of the COM1 port are as follows: baud rate 9600bps, 8-bit data bit, 1-bit stop bit, no parity, turntable model TYPE _ CHARACTER, representing a control command data format in ASCII format. The turntable control information configuration file corresponding to the turntable B is CtrlFileB.txt, the control command is sent out through a COM2 port, and the initialization parameters of the COM2 port are as follows: the baud rate is 38400bps, 8-bit data bits, 1-bit stop bits and no parity, the turntable model is TYPE _ HEX, and the data format of the representative control command is hexadecimal.
TABLE 3
Referring to table 4, the turntable control information of the turntable a according to the embodiment of the present invention is used for position control, and the control command data format is ASCII format. Line 1 in the file indicates that the outer frame of the turntable is turned to the north-pointing position, the middle frame is turned to the sky-pointing position, and the inner frame is turned to the east-pointing position, and the turntable state is not read back. Sending a U410000U instruction to rotate the outer frame of the turntable for a delay time of 5 s; sending a U421800U instruction to rotate the middle frame of the rotary table, wherein the rotation time delay is 12 s; sending a U431800U instruction to rotate the inner frame of the turntable for a delay time of 5 s; and when all 3 frames of the rotary table are rotated in place, the rotary table is static for 60s for data acquisition, and after the data acquisition is finished, the control information of the rest rows in the configuration file is continuously sent, wherein the execution process is the same as that in the 1 st row. If the test flag is 0, the row control information is not executed.
TABLE 4
Referring to table 5, the turntable control information of turntable a according to the embodiment of the present invention is used for rate control, and the control command data format is ASCII format, and the turntable status is not read back. Line 1 in the file shows that a control instruction of U210100U is sent to control the outer frame of the turntable to rotate at a speed of-10 degrees/s, the rotation delay time is 5s, when the speed of the turntable is stable, data is collected for 10s, after the data is collected, the control information of the rest lines in the configuration file is continuously sent, and the execution process is the same as that of line 1. If the test flag is 0, the row control information is not executed.
TABLE 5
Referring to table 6, the content of the turntable control information configuration file of the turntable a according to the embodiment of the present invention is used for position control, the format of the control command data is hexadecimal, and the turntable state is read back and controlled according to the feedback state. Line 1 in the file indicates that the outer frame of the turntable is turned to the north-pointing position, the middle frame is turned to the sky-pointing position, and the inner frame is turned to the east-pointing position. Sending an AA AA 5555810000000050C 300810000000000000013 command to rotate the turntable, and reading the state of the turntable back if the turntable is rotated in place; and sending an AA 5555810000000000000081A 0 BB 0D 0050C 3007B command to enable the turntable to rotate, reading the state of the turntable again, standing the turntable for 30s for data acquisition after the turntable rotates to the position, and continuously sending control information of other rows in the configuration file after the data acquisition is finished, wherein the execution process is the same as that in the 1 st row. If the test flag is 0, the row control information is not executed.
TABLE 6
The method and the device for remotely and automatically controlling the rotary table provided by the embodiment of the invention realize the dynamic binding of the rotary table type information and the rotary table control information by dynamically configuring the rotary table type information and the rotary table control information. The turntable type information is used for configuring model information of the turntable, attribute setting information of remote control and configuration index of a turntable control information file. The turntable control information is used for configuring position, speed, direction, acceleration and other control command information of the turntable remote control. The automatic control of the turntables of a plurality of models is realized through the cooperation of the two types.
Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
The above devices and methods of the present invention can be implemented by hardware, or can be implemented by hardware and software. The present invention relates to a computer-readable program which, when executed by a logic section, enables the logic section to realize the above-described apparatus or constituent section, or to realize the above-described various methods or steps. The present invention also relates to a storage medium such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, or the like, for storing the above program.
The many features and advantages of these embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of these embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The invention has not been described in detail and is in part known to those of skill in the art.
Claims (3)
1. A remote automatic control method for a rotary table is characterized by comprising the following steps:
sequentially sending each control command in each piece of control information to the turntable through serial, network or GPIB bus control, wherein the communication interface type and attribute of the turntable are read from the turntable type information configuration file;
judging whether the turntable supports the program control feedback state according to the turntable state information read from the turntable control information configuration file;
if the rotary table supports the program control feedback state, determining that the current control command is a repeated sending, sending cancellation or sending success state according to the position control information, the rate control information, the parking information in the control command and the acquired feedback state until each control command in the control information is executed completely, starting a timer in a timing module after each control information is executed completely, initializing a timer starting count value, acquiring the current count value of the counter in real time, calculating the time of acquired data according to the count value during starting and the reference frequency, and acquiring the time until the next row of control information is executed continuously until each control information is executed completely;
if the turntable does not support the program control feedback state, after a control command is sent each time, a timer in the timing module is started, the timer is initialized to start counting values, calculating the rotation time of the rotary table by a timer, and carrying out time sequence control of sending control commands according to the position control information, the speed control information, the parking information and the rotation time of the rotary table in the configuration file until all the control commands in the control information are sent, after each piece of control information is executed, a timer in the timing module is started, the timer is initialized to start counting values, the current count value of the counter is obtained in real time, the time of the acquired data is calculated according to the count value when the counter is started and the reference frequency, the time of the turntable at the position or the speed is controlled by the timer according to the data acquisition time, and the next row of control information is continuously executed until each piece of control information is completely executed;
the control information in the above process is obtained from a turntable control information configuration file, the turntable control information configuration file includes at least one piece of control information, each piece of control information includes at least one control command, and each control command includes turntable rotation position control information and parking information, or includes turntable rotation rate control information and parking information.
2. The method of claim 1, further comprising the steps of:
the information in the configuration file of the type information of the rotary table and the configuration file of the control information of the rotary table is revised again, so that the remote automatic control of the rotary tables with different models at different communication rates can be realized.
3. The remote automatic control device for the rotary table is characterized by comprising a rotary table remote automatic control unit (2), a programmable communication interface control unit (3) and a programmable communication interface (4);
the turntable remote automatic control unit (2) is used for loading turntable type information and a turntable control information configuration file and realizing flow control, and is connected with the programmable communication interface (4) through a computer bus, the programmable communication interface (4) comprises a serial, network or GPIB bus interface, the programmable communication interface control unit is used for realizing the sending and receiving of a turntable control instruction, the turntable type information at least comprises a turntable serial number, a turntable name, a turntable model number, a control file name, a communication interface type and attribute setting, the control file name is the name of a turntable control information file, the communication interface type generally comprises a serial communication, network interface or GPIB bus control programmable control interface, the interface attribute setting comprises data information including the type and communication format of the interface, and the turntable control information at least comprises a control command group number, a communication format and the like, The method comprises the steps of controlling the name of an item, the running time of a rotary table, controlling a command time sequence and controlling whether a mark is controlled or not, wherein the control command time sequence comprises the sending content and the sending time sequence control of a plurality of instructions of the control item, the control command sending time sequence comprises two control modes, if the rotary table supports a feedback state, the sending command time sequence and control command feedback information cooperate to determine the rotary table rotating time sequence, after the rotary table state meets the requirement, the data acquisition time is controlled through a timer provided by a rotary table control unit, and if the feedback information cannot be acquired, the sending time sequence is controlled through the timer provided by the rotary table control unit;
the turntable remote automatic control unit (2) comprises: the device comprises a timing module (5), a file read-write control module (6), a control command management module (7) and a configuration information display editing module (8); the timing module (5) is used for managing the time sequence of command sending, after a timer in the timing module (5) is started, the timer is initialized to start counting values, the current counting values of the timer are obtained in real time, the timing time is calculated according to the counting values and the reference frequency when the timer is started, the file read-write control module (6) is used for read-write control and management of configuration files, the control command management module (7) is used for management of turntable control commands, and the configuration information display editing module (8) is used for displaying information in the configuration files and realizing dynamic modification editing;
the method of claim 1, wherein the precise control of the turntable is mainly achieved by two control strategies, for the turntable not supporting the real-time information feedback type of the turntable, the timing module (5) starts a timer in the timing module after sending a control command each time, initializes the start count value of the timer, calculates the rotation time of the turntable by the timer, and performs the timing control of sending the control command according to the position control information, the rate control information, the parking information and the rotation time of the turntable in the configuration file until all the control commands in the control information are sent, starts the timer in the timing module after each piece of the control information is executed, initializes the start count value of the timer, obtains the current count value of the counter in real time, and calculates the time of the collected data according to the count value at the start and the reference frequency, the timer controls the time of the turntable at the position and the speed according to the data acquisition time, and the next row of control information is continuously executed until the time of acquisition is up until each piece of control information is completely executed;
for the turntable supporting the real-time information feedback function, after each piece of control information is executed, a timer in a timing module (5) is started, the starting count value of the timer is initialized, the current count value of the counter is obtained in real time, the time of the acquired data is calculated according to the count value and the reference frequency when the counter is started, and the next row of control information is continuously executed until each piece of control information is executed;
the turntable remote automatic control unit (2) has the functions of turntable feedback information acquisition and decision control, and can sense the state change of the turntable in real time, so that the turntable is accurately controlled.
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