CN111443963A - Numerical control system of reconfigurable formula - Google Patents
Numerical control system of reconfigurable formula Download PDFInfo
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- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
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- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- G—PHYSICS
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Abstract
The invention relates to a reconfigurable numerical control system, which comprises a human-computer interaction interface, a task control module, a motion control module and a P L C module, wherein a display screen plug-in manager is arranged in the human-computer interaction interface, all display screen plug-ins under an interface plug-in directory are loaded, the display screen plug-ins are added into an interface display screen according to the return values of standard interface functions of the display screen plug-ins, a process plug-in manager is arranged in the task control module, all process plug-ins under the process plug-in directory are dynamically loaded during execution, the functions of the process plug-ins are executed according to the return values of the standard interface functions of the process plug-ins, an algorithm plug-in manager is arranged in the motion control module, all algorithm plug-ins under the algorithm plug-in directory are dynamically loaded during execution, and the functions of the algorithm plug-ins are executed according to the return values of the standard interface functions of the algorithm plug-ins.
Description
Technical Field
The invention relates to the field of numerical control, in particular to a reconfigurable numerical control system.
Background
With the continuous development of electronic information technology, the demand of users on a special numerical control system is more and more strong, product diversification and personalized process demand become the main characteristics of a novel manufacturing system, and the realization of the process integration capability and personalized function of a domestic special numerical control system is restricted by the current lower openness degree of a secondary development platform. Meanwhile, the continuously shortened delivery date prompts the numerical control system to have faster market response capability; the current numerical control system has the defects of inextensible functions and long customization period.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a reconfigurable numerical control system, which solves the problems that the functions of the numerical control system cannot be expanded and the customization period is long.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a reconfigurable numerical control system comprises a numerical control system,
the human-computer interaction interface is connected with the task control module and used for receiving the state information sent by the task control module, displaying the state information and sending an operation instruction to the task control module;
the task control module is connected with the motion control module and the P L C module, decomposes the received operation instruction and sends the operation instruction to the motion control module and the P L C module, collects machine tool state information of the motion control module and sends the machine tool state information to the human-computer interaction interface, collects IO state information of the P L C module and sends the IO state information to the human-computer interaction interface;
the motion control module is connected with the external servo equipment, outputs position and speed information and controls the external servo equipment;
the P L C module is connected with the IO equipment and outputs a control signal to the IO equipment to control the IO equipment;
setting a display screen plug-in manager in a human-computer interaction interface, loading all display screen plug-ins in an interface plug-in directory, and adding the display screen plug-ins to an interface display screen according to a return value of a standard interface function of the display screen plug-ins; a process plug-in manager is arranged in the task control module and is used for dynamically loading all process plug-ins in a process plug-in directory during execution and executing the functions of the process plug-ins according to the return values of the standard interface functions of the process plug-ins; and an algorithm plug-in manager is arranged in the motion control module and used for dynamically loading all algorithm plug-ins in the algorithm plug-in directory during execution and executing the function of the algorithm plug-ins according to the return value of the standard interface function of the algorithm plug-ins.
The standard interface function of the display screen plug-in comprises three standard functions, wherein
The first standard function returns a character string which represents the name of the plug-in and is displayed in a function list of an interface display screen;
a second standard function returns an icon representing a plug-in icon and is displayed in a function list of the interface display screen;
and returning a function screen interface for entering the function screen by clicking the plug-in.
The standard interface function of the process plug-in or the standard interface function of the algorithm plug-in comprises four standard functions, wherein
A fourth standard function, which returns an integer variable representing a function number and is used for judging whether to execute the function during execution;
a fifth standard function, which returns an integer variable representing the function type and used for describing the execution sequence of the function;
a sixth standard function, returning a function address, and performing rule verification by calling the function;
and the seventh standard function returns a function address and realizes the plug-in function by calling the function.
The method for generating the display screen plug-in comprises the following steps: and realizing corresponding plug-in standard interface functions and plug-in functions in the plug-ins, and compiling and generating a plug-in package in a dynamic link library form based on an rcs library, a header file of an abstract data structure and a shared interface library under the same development environment as the numerical control system.
The generation method of the process plug-in and the algorithm plug-in comprises the following steps: and realizing corresponding plug-in standard interface functions and plug-in functions in the plug-ins, and compiling and generating a plug-in package in a dynamic link library form based on rcs libraries and header files of abstract data structures in the same development environment as the numerical control system.
The communication mechanism between the human-computer interaction interface and the task control module is an NM L communication channel mechanism in an RCS library.
The shared interface library is generated by an abstract data access interface and an NM L access interface in a dynamic link mode;
the abstract data access interface is formed by abstracting and packaging state data between the human-computer interaction interface and the task control module;
the NM L access interface is formed by packaging an NM L channel establishment interface, a data operation interface and a command operation interface between a human-computer interaction interface and a task control module;
and a universal command message class is adopted between the human-computer interaction interface and the task control module as a command interface.
The state data comprises machine tool state, IO state, system parameters, system variables and alarm information.
The NM L channels include a command channel, a status channel, a parameter channel, a variable channel, and an alarm channel.
The general command message class encapsulates a command number and a command message with unified encapsulation and analysis rules, wherein the command number is used for identifying a specific command; the command message is a 1024-byte character array and is used for storing received and transmitted data fields, the man-machine interaction interface writes member types and member sequences of the command message through a command message protocol, and the task control module analyzes the member types and the member sequences of the command message through the command message protocol.
The invention has the following beneficial effects and advantages:
1. the numerical control system supports dynamic embedding of a 'process extension packet' and an 'algorithm extension packet', quickly meets the process requirements of a special customized machine type, and has strong expandability;
2. the numerical control system supports overloading, modifying, adding or deleting expansion functions, quickly constructs numerical control systems of different grades and types, and has strong reconfigurability;
3. the software development defect that the whole body is moved by pulling in the numerical control software development process is overcome, the stability and the reliability of the original functions of the product are ensured while the new functions are developed, and the test time cost is saved.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a schematic diagram of an API sharing interface library.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Fig. 1 shows a system configuration of the present invention.
The numerical control system is divided into a numerical control system basic main framework, a system expansion function plug-in library and an API (application program interface) shared interface library, wherein the numerical control system basic main framework realizes the basic function of the numerical control system, the inter-module communication function and the plug-in management function, and the numerical control system basic main framework comprises four functional modules, specifically a human-machine interface (HMI), a task control module, a motion control module and a P L C module.
The human-machine interaction interface (HMI) realizes the display function of each state of the numerical control system, reads the operation instruction of a user and sends the command to the control layer; the man-machine interaction interface does not process any actual processing, so that the man-machine interaction interface can be regarded as an external application program of the numerical control system;
the 'task control module' is the hub of the whole system, reads the operation information from the 'human-computer interaction interface' module, then decomposes the operation information into the operation of the motion controller and the P L C controller, and finally monitors the motion controller and the P L C to complete the actual operation.
The motion control module is mainly used for finishing the relative motion and control between the cutter and the workpiece, and comprises a motion interpolation algorithm, acceleration and deceleration control, motion track planning, PID control and the like;
the programmable logic controller (P L C) processes user ladder diagram edition and compilation, executes operation instructions such as logic operation, sequence control, timing, counting and arithmetic operation according to logic files with semaphore state as condition, and controls various electric switches.
According to different characteristics and requirements of communication among the modules, the following communication mechanism is adopted:
1) aiming at the application characteristics that a task control module does not need high communication rate in communication with a human-computer operation interface, a process module can run in different kernels and a remote communication mode is used, all communication information between the task control module and an upper human-computer interaction interface module is realized by adopting an NM L communication channel mechanism in an RCS library, and the task control module comprises five NM L channels in the design, wherein the five NM L channels comprise a machine tool state and I/O state channel returned from a task scheduling module, a system parameter channel, a system variable channel, an alarm information channel and a control command channel sent from the human-computer interaction interface;
2) aiming at the characteristic that the motion control module and the P L C module require higher communication speed, the communication between the task scheduling module and the motion control module and the communication between the task scheduling module and the P L C control module are realized by a shared memory mechanism.
In order to support the secondary development function and the development of the display screen plug-in, the 'human-computer interaction interface' and the 'task scheduling module' are communicated and interact by using a unified interface.
The command interface is designed to provide a general message class based on NM L channel to realize the control command transmission of 'human-computer interaction interface' and 'task scheduling module' by a general command protocol method, the general message class encapsulates a command number and a command message with a uniform encapsulation and analysis rule, the command number is used for identifying a specific message, the message is a 1024-byte character array and is used for storing a data field for receiving and transmitting, the uniform encapsulation and analysis rule of the message is responsible for by a message management class, the principle is that a mobile pointer in the class controls the initial address of each message member data to be read, and a control layer provides a command message protocol description to a user layer, and based on the protocol description, the member type and member sequence of the user layer command can utilize the provided interface to perform secondary development of functions.
The data interface is designed as follows: data abstraction and encapsulation are carried out on the state interface data of the human-computer interaction interface and the task control module, and the method comprises the following steps: and forming an abstract data access interface by machine tool state data, I/O state, system parameters and alarm information.
In order to enable the numerical control system to support dynamic embedding of an 'extended function plug-in package', numerical control systems of different grades and types are quickly constructed, so that the numerical control system has strong reconfigurability; and reserving a plug-in interface in the main frame of the numerical control system and managing the plug-in interface through a plug-in manager.
The plug-in manager in the interface main body frame is designed as follows: loading all the plug-ins in a specified plug-in directory when the system is started, adding the plug-ins into an interface background screen, and clicking the functions that the plug-ins can enter the screen in the background screen; it is specified that the plug-in must dynamically derive the following 3 functions:
·QString pluginName()；
returning a character string which represents the name of the plug-in and displaying the character string in a function list of a background screen;
·QIcon pluginIcon()；
returning an icon representing a plug-in icon, and displaying the icon in a function list of a background screen;
·GJPage*pluginPage()；
returning to a GJPage function screen, and clicking the function of the screen which can be accessed by the plug-in the background screen;
the plug-in manager in the main body framework of the process interpreter module and the motion control module is designed as follows: dynamically loading plug-ins under a process/algorithm plug-in directory during program operation, and specifying that the plug-ins must dynamically derive the following 4 functions:
·int pluginIndex()；
returning an integer variable representing a function number for judging whether to execute the function in the program operation;
·int pluginType()；
returning an integer variable representing the function type for describing when to execute the function;
·Func*plugincheckFunc()；
returning a function address, and calling the function in the plug-in to verify the grammar and the specification;
·Func*pluginExecFunc()；
returning a function address, and calling the function in the plug-in to realize the function of the plug-in;
the main program judges whether the plug-in is executed or not according to the function return value, when the plug-in is executed, which function in the plug-in is called when the plug-in is executed, and therefore the extended function is achieved.
The extended function plug-in library of the system is a collection of extended function plug-in packages such as a display screen plug-in package, a process plug-in package, an algorithm plug-in package and the like. The method comprises the steps that an extended function plug-in package is realized based on a modularized design idea, and extensible, reusable and customizable modularized functions in the numerical control system are stripped from main body software of the numerical control system through module decoupling, data abstraction and function encapsulation, so that the functions are realized in a plug-in program;
the method for generating the display screen plug-in comprises the following steps: and realizing corresponding plug-in standard interface functions and plug-in functions in the plug-ins, compiling and generating a plug-in package in a dynamic link library form based on an rcs library, a header file of an abstract data structure and a shared interface library under the same development environment as the numerical control system, and providing the numerical control system for use.
The generation method of the process plug-in and the algorithm plug-in comprises the following steps: and realizing corresponding plug-in standard interface functions and plug-in functions in the plug-ins, compiling and generating a plug-in package in a dynamic link library form based on the rcs library and the header files of the abstract data structures in the same development environment as the numerical control system, and providing the numerical control system for use.
According to the requirements of numerical control systems of different grades and types, the function embedding, the unloading and the modification can be realized only by adding, deleting and replacing the specified extended function plug-in package under the specified directory of the numerical control system under the condition of not modifying the main software of the numerical control system.
FIG. 2 is a diagram of an API sharing interface library.
The API shared interface library is an interface which is provided by the numerical control system for the HMI module main body program, the display screen plug-in and the secondary development application program;
the specific implementation method comprises the following steps:
and abstracting and secondarily packaging all interactive data of the human-computer interaction interface and the task control module, including data of a machine tool, I/O (input/output) states, system variables, machine tool parameters, alarm information and the like, so as to form an abstract data access interface.
One machine tool data is uniquely determined through a data number, a channel number and a sub-index;
one IO data is uniquely determined through an IO type and an IO address;
one system variable data is uniquely determined by a data number and a channel number;
one system parameter data is uniquely determined by a parameter number, a channel number and an axis number;
an NM L channel operation interface of a human-computer interaction interface and a task control module comprises the establishment of a NMl channel, a data reading interface and a command sending interface which are encapsulated to form an NM L access interface;
the abstract data access interface and NM L access interface are formed as a dynamically linked library and provide HMI module subject programs, display screen plug-ins, and secondary development user usage.
Claims (10)
1. A reconfigurable numerical control system comprises a numerical control system,
the human-computer interaction interface is connected with the task control module and used for receiving the state information sent by the task control module, displaying the state information and sending an operation instruction to the task control module;
the task control module is connected with the motion control module and the P L C module, decomposes the received operation instruction and sends the operation instruction to the motion control module and the P L C module, collects machine tool state information of the motion control module and sends the machine tool state information to the human-computer interaction interface, collects IO state information of the P L C module and sends the IO state information to the human-computer interaction interface;
the motion control module is connected with the external servo equipment, outputs position and speed information and controls the external servo equipment;
the P L C module is connected with the IO equipment and outputs a control signal to the IO equipment to control the IO equipment;
the method is characterized in that: setting a display screen plug-in manager in a human-computer interaction interface, loading all display screen plug-ins in an interface plug-in directory, and adding the display screen plug-ins to an interface display screen according to a return value of a standard interface function of the display screen plug-ins; a process plug-in manager is arranged in the task control module and is used for dynamically loading all process plug-ins in a process plug-in directory during execution and executing the functions of the process plug-ins according to the return values of the standard interface functions of the process plug-ins; and an algorithm plug-in manager is arranged in the motion control module and used for dynamically loading all algorithm plug-ins in the algorithm plug-in directory during execution and executing the function of the algorithm plug-ins according to the return value of the standard interface function of the algorithm plug-ins.
2. The reconfigurable numerical control system of claim 1, wherein: the standard interface function of the display screen plug-in comprises three standard functions, wherein
The first standard function returns a character string which represents the name of the plug-in and is displayed in a function list of an interface display screen;
a second standard function returns an icon representing a plug-in icon and is displayed in a function list of the interface display screen;
and returning a function screen interface for entering the function screen by clicking the plug-in.
3. The reconfigurable numerical control system of claim 1, wherein the process plug-in standard interface function or algorithm plug-in standard interface function comprises four standard functions, wherein
A fourth standard function, which returns an integer variable representing a function number and is used for judging whether to execute the function during execution;
a fifth standard function, which returns an integer variable representing the function type and used for describing the execution sequence of the function;
a sixth standard function, returning a function address, and performing rule verification by calling the function;
and the seventh standard function returns a function address and realizes the plug-in function by calling the function.
4. The reconfigurable numerical control system of claim 1, wherein: the method for generating the display screen plug-in comprises the following steps: and realizing corresponding plug-in standard interface functions and plug-in functions in the plug-ins, and compiling and generating a plug-in package in a dynamic link library form based on an rcs library, a header file of an abstract data structure and a shared interface library under the same development environment as the numerical control system.
5. The reconfigurable numerical control system of claim 1, wherein: the generation method of the process plug-in and the algorithm plug-in comprises the following steps: and realizing corresponding plug-in standard interface functions and plug-in functions in the plug-ins, and compiling and generating a plug-in package in a dynamic link library form based on rcs libraries and header files of abstract data structures in the same development environment as the numerical control system.
6. The reconfigurable numerical control system according to claim 1, wherein the communication mechanism between the human-computer interaction interface and the task control module is NM L communication channel mechanism in the RCS library.
7. The reconfigurable numerical control system according to claim 4, wherein the shared interface library is generated by an abstract data access interface, NM L access interface in a dynamic link manner;
the abstract data access interface is formed by abstracting and packaging state data between the human-computer interaction interface and the task control module;
the NM L access interface is formed by packaging an NM L channel establishment interface, a data operation interface and a command operation interface between a human-computer interaction interface and a task control module;
and a universal command message class is adopted between the human-computer interaction interface and the task control module as a command interface.
8. The reconfigurable numerical control system of claim 7, wherein: the state data comprises machine tool state, IO state, system parameters, system variables and alarm information.
9. The reconfigurable numerical control system supporting secondary development according to claim 7, wherein the NM L channels include a command channel, a status channel, a parameter channel, a variable channel and an alarm channel.
10. The reconfigurable numerical control system of claim 7, wherein: the general command message class encapsulates a command number and a command message with unified encapsulation and analysis rules, wherein the command number is used for identifying a specific command; the command message is a 1024-byte character array and is used for storing received and transmitted data fields, the man-machine interaction interface writes member types and member sequences of the command message through a command message protocol, and the task control module analyzes the member types and the member sequences of the command message through the command message protocol.
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