CN111665752B - FPGA-based loading and unloading machine motion control system and method - Google Patents
FPGA-based loading and unloading machine motion control system and method Download PDFInfo
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- CN111665752B CN111665752B CN202010460337.6A CN202010460337A CN111665752B CN 111665752 B CN111665752 B CN 111665752B CN 202010460337 A CN202010460337 A CN 202010460337A CN 111665752 B CN111665752 B CN 111665752B
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- 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
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- 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
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- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention belongs to the field of control systems of nuclear power plant material loading and unloading machines, and particularly relates to a motion control system and a motion control method of a material loading and unloading machine based on an FPGA (field programmable gate array), which are used for performing motion control on the material loading and unloading machine of a nuclear power plant, wherein the control system comprises a main controller (1) and an FPGA device (2) connected with the main controller (1), and the FPGA device (2) is used for selecting a motion mode corresponding to a motion instruction according to the motion instruction sent by the main controller (1) and controlling the motion of the material loading and unloading machine by adopting the motion mode. The invention realizes high-speed parallel processing while satisfying high function customization, reduces uncertainty of the system to the maximum extent, ensures that necessary measures are taken in time when danger occurs, and has better reliability and safety compared with the prior control system. The interlocking bypass running operation independently running on the FPGA device (2) ensures the best control flexibility of the material loading and unloading machine, realizes the double-shaft synchronous control of the cart of the material loading and unloading machine, and avoids the phenomenon that the cart is stopped due to the fact that the cart moves partially and the movement is blocked.
Description
Technical Field
The invention belongs to the field of control systems of nuclear power station material loading and unloading machines, and particularly relates to a motion control system and method of a material loading and unloading machine based on an FPGA (field programmable gate array).
Background
The loading and unloading machine is a key device for completing reactor refueling during shutdown refueling of the pressurized water reactor nuclear power plant, and loading and unloading work of fuel assemblies is carried out between a reactor core and a fuel transfer system according to a specified path. From the experience of the use of the loading and unloading machine of the nuclear power station, a motion control system of the loading and unloading machine is a key component of equipment, and the realization of all the functions of the equipment directly depends on whether the motion control can be reliable or not and the operation is high-efficient. All the signals related to the motion control are collected, processed and output to be executed by the system completely, quickly and correctly. Aiming at the importance of a loading and unloading machine in the overhaul refueling of a pressurized water reactor nuclear power station, a motion control system is very important. The control system of the loading and unloading machine based on data display disclosed at present is based on a PLC (programmable logic controller) technology, is based on a circular scanning method, depends on a software operating system, cannot realize the simultaneous, accurate and reliable control of the operation of different mechanisms, and has the problems of deviation, jamming, extrusion and the like in the operation of mechanical equipment. Motion control has the problem of low performance, system closure, the reliability is not good, leads to the robustness of system not good, can influence the time that equipment lasts reliable operation, causes direct economic loss, and what most typical is just lead to the both sides motor of the cart of loading and unloading material machine can not synchronous operation under the circumstances of interlocking bypass operation, and it is too big to receive mechanical resistance when leading to the cart operation, and mechanical mechanism card is dead, takes place system's trouble and directly parks. The "cart" is a member in which the loader/unloader performs a function of operating vertically (in the longitudinal direction of the nuclear reactor pool) in the horizontal direction. The 'trolley' is a component for the loading and unloading machine to perform the transverse (width direction of the nuclear reactor pool) operation function in the horizontal direction; the lifting device also comprises a main lifting mechanism arranged on the trolley and used for lifting operation in the nuclear reactor water pool; wherein the cart has two axles and the dolly has one axle.
Disclosure of Invention
Aiming at the defects of the motion control system based on the PLC, the motion control function of the material loading and unloading machine is realized by adopting a brand-new design idea, the main controller and the FPGA device are integrated under the same control platform, and based on the parallel processing of the FPGA, the hardware circuit has the characteristics of no operating system and high openness, the FPGA technology is applied to the motion control of the material loading and unloading machine, the hardware control circuit can be flexibly deployed by utilizing software, the parallel data processing, logic judgment and decision of a hardware circuit layer are realized, the correct response is immediately made when the working condition of danger occurs, and the performance and the reliability of the motion control are ensured to reach the new height. The multifunctional electric heating cooker has various characteristics of function customization, excellent performance, stability and reliability. Meanwhile, the control function can be independently completed by the FPGA without depending on a main controller, and the problem that motors on two sides of the cart in the operation of the interlocking bypass cannot synchronously operate under the control of the original PLC is solved.
In order to achieve the above purpose, the technical scheme adopted by the invention is a handling machine motion control system based on an FPGA, which is used for performing motion control on a handling machine of a nuclear power station, wherein the handling machine is composed of a plurality of different operating mechanisms, the operating mechanisms of the handling machine comprise a cart, a trolley and a main lifting mechanism, the handling machine motion control system comprises a main controller and an FPGA device connected with the main controller, and the FPGA device is used for selecting a motion mode corresponding to a motion instruction according to the motion instruction sent by the main controller and controlling the motion of the handling machine by adopting the motion mode.
Further, in the present invention,
the main controller is used for carrying out logic judgment according to the input and selection of an operator and the state of each operating mechanism of the loading and unloading machine and sending different motion instructions aiming at each operating mechanism; the motion command sent by the main controller comprises parameters related to motion, such as speed, acceleration, direction and target position;
the FPGA device is an FPGA control platform provided with an FPGA chip, and comprises a data communication module connected with the main controller, a motion mode selection module, a motion execution module and a result output module which are sequentially connected in series, wherein the data communication module is also respectively connected with the motion mode selection module and the motion execution module, and also comprises a high-speed signal acquisition module connected with the motion execution module;
the data communication module is used for establishing a data exchange channel between the main controller and the FPGA device and sending the motion instruction to the motion mode selection module and the motion execution module; the data communication module is also used for defining the quantity, the name and the numerical value of data; the data refers to data exchanged between the main controller and the FPGA device, and the data comprises the motion instruction;
the high-speed signal acquisition module is connected with a plurality of external sensors arranged on the material loading and unloading machine, the external sensors are used for acquiring external signals, the high-speed signal acquisition module is used for carrying out parallel acquisition and mathematical operation processing on the external signals acquired by the external sensors, and simultaneously transmitting the external signals and the results of the mathematical operation processing to the motion execution module; the external signals comprise switching values, analog values and encoder digital signals; the acquisition of the external signal and the mathematical operation processing are completed in parallel;
the motion mode selection module is used for selecting a correct motion mode based on the equipment state of the material loading and unloading machine according to the external signal and the motion instruction sent by the main controller, and transmitting the selected motion mode to the motion execution module;
the motion pattern includes:
two shafts of the cart run synchronously in an automatic mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
two shafts of the cart run synchronously in a manual mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
the motion execution module is used for calling an internal check of the FPGA chip to calculate the position, the speed and the acceleration related to the motion of the running mechanism according to the motion mode and the external signal; the motion execution module can call different kernels of the FPGA chip to respectively perform the operation on different operation mechanisms; the operation result can control each operation mechanism to respectively realize respective operation, so that the operation of the motion mode is realized; the operation result comprises given speed, direction and enabling signals;
the result output module is connected with an external servo driver, the operating mechanism of the material loading and unloading machine is driven by a servo motor, and the servo driver is used for driving the servo motor; the result output module is used for outputting the operation result of the motion execution module to the servo driver, and driving the servo motor through the servo driver, so that the operation mechanism of the material loading and unloading machine operates according to the motion mode.
The system further comprises a fault error processing module, wherein the fault error processing module is respectively connected with the data communication module, the motion execution module, the result output module and the high-speed signal acquisition module, and is used for simultaneously processing error information transmitted by the motion execution module and the high-speed signal acquisition module, classifying the error information after analysis and sending a response instruction to the motion execution module to stop motion, and simultaneously transmitting the related error information and the response instruction to the main controller through the data communication module.
Further, the data communication module, the motion mode selection module, the motion execution module, the result output module, the fault error processing module and the high-speed signal acquisition module are all formed by editable circuits in the FPGA chip and are connected with one another.
Further, the main controller can modify motion related parameters on the FPGA device, wherein the motion related parameters comprise an acceleration set value, a speed set value, a PID (proportion integration differentiation) regulation set value and a deviation fault set value; the data communication module is also used for transmitting all the external signals and process data obtained from the FPGA device to the main controller.
Further, the high-speed signal acquisition module is also used for transmitting the external signal and the result of the mathematical operation processing to the fault error processing module.
Further, the interlock bypass operation in the motion mode is independently operated on the FPGA device without the direct participation of the main controller, and all the operation mechanisms can be controlled to operate at a default slow speed, and the slow setting value can be modified in real time according to requirements.
In order to achieve the above purpose, the invention also discloses a method for controlling the movement of the loading and unloading machine based on the FPGA, which is used for the system for controlling the movement of the loading and unloading machine based on the FPGA, and comprises the following steps:
step S1, the main controller makes logic judgment according to the input and selection of the operator and the state of each running mechanism of the loading and unloading machine, and sends different motion instructions for each running mechanism to a data communication module;
step S2, the data communication module sends the motion command to the motion mode selection module, and the motion mode selection module selects the corresponding motion mode based on the device status according to the motion command and the external signal acquired by the high-speed signal acquisition module, and transmits the information of the selected motion mode to the motion execution module;
the motion pattern includes:
two shafts of the cart run synchronously in an automatic mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
two shafts of the cart run synchronously in a manual mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
step S3, the motion execution module calls the FPGA chip to calculate the position, speed and acceleration related to the motion of the running mechanism according to the selected motion mode information and the external signal acquired by the high-speed signal acquisition module, and the calculation result can trigger different kernels to complete the running of different running mechanisms, so as to realize the running of the selected motion mode; the operation result comprises given speed, direction and enabling signals;
and step S4, the result output module sends the operation result of the motion execution module to an external servo driver, and the servo driver drives the servo motor to realize that the operation mechanism of the material loading and unloading machine operates according to the selected motion mode.
Further, in the present invention,
in step S1, the method further includes the step of receiving, by the main controller, feedback information from the FPGA device, where the feedback information includes a feedback position and a fault error;
in step S2, the interlock bypass operation is performed independently on the FPGA device without the direct participation of the main controller, and all the operation mechanisms can be controlled to operate at a default slow speed, where the slow setting value can be modified in real time according to the requirement;
in step S3, the method further includes that the fault error processing module processes the error information transmitted by the motion execution module and the high-speed signal acquisition module at the same time, classifies the error information after analysis, sends a response instruction to the motion execution module to stop motion, and transmits the related error information and the response instruction to the main controller through the data communication module.
The invention has the beneficial effects that:
1. the invention aims at the problems that the existing loading and unloading machines of domestic and foreign nuclear power stations have no special system for controlling the motion of the loading and unloading machines, and the reliability and the function are poor. After the motion control method based on FPGA programming is adopted, high-speed parallel processing is realized while high function customization is met, the uncertainty of the system is reduced to the maximum extent, necessary measures are ensured to be taken in time when danger occurs, and the motion control method has better reliability and safety compared with the traditional control system.
2. The control method based on FPGA (field programmable gate array) is adopted, and the FPGA technology can be used for customizing a complex hardware control circuit through software. So as to achieve high reliability, high certainty, high real-time performance and real parallel operation. The main controller generates a motion command according to requirements, can move in multiple axes simultaneously, and selects a speed control mode. And the data is transmitted to the FPGA through an internal high-speed data bus. And the diversified motion control function is completed through a program module constructed based on the FPGA kernel module. Meanwhile, the motion process is monitored on the FPGA, signals of an external sensor are acquired at a high speed through the FPGA, correct response is made on the FPGA in a very short time, and the motion is stopped, so that the safety of equipment and personnel is protected. While the movement pattern and parameters can be dynamically changed.
3. The interlocking bypass operation independently operated on the FPGA device 2 not only ensures the best control flexibility of the material loading and unloading machine, but also realizes the double-shaft synchronous control of the cart of the material loading and unloading machine, and avoids the phenomenon that the cart is blocked and stops moving due to deviation.
4. By improving the performance and reliability of the control method, the robustness of the motion control of the material loading and unloading machine is integrally improved.
Drawings
Fig. 1 is a schematic diagram of a motion control system of a loading and unloading machine based on an FPGA according to an embodiment of the present invention;
in the figure: the method comprises the following steps of 1-a main controller, 2-an FPGA device, 3-a data communication module, 4-a motion mode selection module, 5-a motion execution module, 6-a result output module, 7-a fault error processing module and 8-a high-speed signal acquisition module.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1, the present invention provides a motion control system for a stoker based on FPGA, which is used for motion control of a stoker of a nuclear power plant, wherein the stoker is composed of a plurality of different operation mechanisms, and the operation mechanisms of the stoker include a cart, a trolley, and a main lifting mechanism. The system mainly comprises a main controller 1, an FPGA device 2, a data communication module 3, a motion mode selection module 4, a motion execution module 5, a result output module 6, a fault error processing module 7, a high-speed signal acquisition module 8 and the like.
The main controller 1 is configured to perform logic judgment according to input and selection of an operator and states of each operating mechanism of the material handling machine, and send different motion instructions for each operating mechanism, where the motion instruction sent by the main controller 1 includes motion-related parameters, such as speed, acceleration, direction, and target position. The main controller 1 can modify the motion related parameters on the FPGA device 2, wherein the motion related parameters comprise an acceleration set value, a speed set value, a PID (proportion integration differentiation) regulation set value and a deviation fault set value; the data communication module 3 is also used to transmit all external signals and process data obtained on the FPGA device 2 to the main controller 1.
The FPGA device 2 is used for selecting a motion mode corresponding to the motion instruction according to the motion instruction sent by the main controller 1, controlling the motion of the material handling machine by adopting the motion mode, and conveying the motion mode to a servo driver of the material handling machine.
The FPGA device 2 is an FPGA control platform provided with an FPGA chip, and the data communication module 3, the motion mode selection module 4, the motion execution module 5, the result output module 6, the fault error processing module 7 and the high-speed signal acquisition module 8 are all formed by editable circuits in the FPGA chip and are connected with one another.
The data communication module 3 is connected with the main controller 1, the motion mode selection module 4, the motion execution module 5 and the result output module 6 are sequentially connected in series, the data communication module 3 is further connected with the motion mode selection module 4 and the motion execution module 5 respectively, the high-speed signal acquisition module 8 is connected with the motion execution module 5, and the fault error processing module 7 is connected with the data communication module 3, the motion execution module 5, the result output module 6 and the high-speed signal acquisition module 8 respectively.
The data communication module 3 is used for establishing a data exchange channel between the main controller 1 and the FPGA device 2, realizing internal data exchange and sending a motion instruction to the motion mode selection module 4 and the motion execution module 5; the data communication module 3 is also used for defining the quantity, the name and the numerical value of data; the data refers to data exchanged between the main controller 1 and the FPGA device 2, and the data includes a motion instruction.
The high-speed signal acquisition module 8 is connected with a plurality of external sensors arranged on the loading and unloading machine, the external sensors are used for acquiring external signals, the high-speed signal acquisition module 8 is used for carrying out parallel acquisition and mathematical operation processing on the external signals acquired by the external sensors, and simultaneously transmitting the external signals and the results of the mathematical operation processing to the motion execution module 5; the high-speed signal acquisition module 8 is also used for transmitting an external signal and a result of mathematical operation processing to the fault error processing module 7. The external signals acquired by the high-speed signal acquisition module 8 comprise switching values (limit switches), analog values and encoder digital signals; the acquisition of external signals and the mathematical operation processing are finished in parallel; the acquisition speed mainly depends on the performance of the high-speed signal acquisition module 8.
The motion mode selection module 4 is used for selecting a correct motion mode based on the equipment state of the loading and unloading machine according to an external signal and a motion instruction sent by the main controller 1, and transmitting the selected motion mode to the motion execution module 5;
the motion mode includes:
two shafts of the cart run synchronously in an automatic mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
two shafts of the cart run synchronously in a manual mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
the interlocking bypass operation in the motion mode is independent operation on the FPGA device 2 under the condition that the main controller 1 does not need to directly participate, all motion interlocking conditions can be bypassed, all the operation mechanisms can be controlled to operate at a default slow speed only by interlocking motion direction instructions in acquired external signals with limit position switches of the operation mechanisms, a slow set value can be modified in real time according to requirements, meanwhile, the motion shafts on two sides of the cart can guarantee real-time synchronous operation, and the mechanical mechanisms are prevented from being locked.
The motion execution module 5 is used for calling a kernel of the FPGA chip to calculate the position, the speed and the acceleration related to the motion of the running mechanism according to the motion mode and the external signal sent by the motion mode selection module 4; the motion execution module 5 can call different cores of the FPGA chip to respectively calculate different operation mechanisms; the operation result can control each operation mechanism of the loading and unloading machine to respectively realize respective operation, thereby realizing the operation of the motion mode; the result of the operation includes speed given, direction, enable signal, etc.
The result output module 6 is connected with an external servo driver, the operation mechanism of the material loading and unloading machine is driven by a servo motor, and the servo driver is used for driving the servo motor; the result output module 6 is used for outputting the operation result of the movement execution module 5 to the servo driver, and driving the servo motor through the servo driver, so that the operation mechanism of the loading and unloading machine operates according to the movement mode.
The fault error processing module 7 is used for processing the error information transmitted by the motion execution module 5 and the high-speed signal acquisition module 8 at the same time, classifying the error information after analysis, sending a response instruction to the motion execution module 5 to stop motion, and transmitting the related error information and the response instruction to the main controller 1 through the data communication module 3.
The invention also provides a method for controlling the motion of the loading and unloading machine based on the FPGA, which is used for the motion control system of the loading and unloading machine based on the FPGA and comprises the following steps:
step S1, the main controller 1 makes logic judgment according to the input and selection of the operator and the state of each running mechanism of the loading and unloading machine, and sends different motion instructions aiming at each running mechanism to the data communication module 3; the main controller 1 receives feedback information from the FPGA device 2, wherein the feedback information comprises a feedback position, a fault error and the like;
step S2, the data communication module 3 sends the motion instruction to the motion mode selection module 4, and the motion mode selection module 4 selects a corresponding motion mode based on the device status according to the motion instruction and the external signal acquired by the high-speed signal acquisition module 8, and transmits the information of the selected motion mode to the motion execution module 5; the movement pattern comprises
Two shafts of the cart run synchronously in an automatic mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
two shafts of the cart run synchronously in a manual mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
the interlocking bypass operation is carried out on the FPGA device 2 independently without the direct participation of the main controller 1, all motion interlocking conditions can be bypassed, all the running mechanisms can be controlled to run at a default slow speed only by interlocking motion direction instructions in acquired external signals with limit position switches of the running mechanisms, a slow set value can be modified in real time according to requirements, and meanwhile, the motion shafts on the two sides of the cart can ensure real-time synchronous operation, so that the mechanical mechanisms are prevented from being locked;
step S3, the motion executing module 5 calls the cores of the FPGA chip to calculate the position, speed, and acceleration related to the motion of the operating mechanism according to the information of the selected motion mode and the external signal acquired by the high-speed signal acquiring module 8, and the result of the calculation can trigger different cores to complete the operation of different operating mechanisms, thereby implementing the operation of the selected motion mode; the result of the operation includes speed setting, direction, enable signal, etc.; the fault error processing module 7 simultaneously processes the error information transmitted by the motion execution module 5 and the high-speed signal acquisition module 8, classifies the error information after analysis, sends a response instruction to the motion execution module 5 to stop motion, and simultaneously transmits the related error information and the response instruction to the main controller 1 through the data communication module 3;
in step S4, the result output module 6 sends the operation result of the motion execution module 5 to an external servo driver, and drives the servo motor through the servo driver, thereby implementing the operation of the operation mechanism of the handler according to the selected motion mode.
The device according to the present invention is not limited to the embodiments described in the specific embodiments, and those skilled in the art can derive other embodiments according to the technical solutions of the present invention, and also belong to the technical innovation scope of the present invention.
Claims (8)
1. The utility model provides a handling machine motion control system based on FPGA for carry out motion control to the handling machine of nuclear power station, handling machine comprises a plurality of different operating device, handling machine the operating device includes cart, dolly and main hoist mechanism, characterized by: the automatic loading and unloading machine comprises a main controller (1) and an FPGA device (2) connected with the main controller (1), wherein the FPGA device (2) is used for selecting a motion mode corresponding to a motion instruction according to the motion instruction sent by the main controller (1) and controlling the motion of the loading and unloading machine by adopting the motion mode, and the main controller (1) is used for carrying out logic judgment according to the input and selection of an operator and the state of each operating mechanism of the loading and unloading machine and sending different motion instructions for each operating mechanism; the motion command sent by the main controller (1) comprises parameters related to motion, such as speed, acceleration, direction and target position;
the FPGA device (2) is an FPGA control platform provided with an FPGA chip, the FPGA device (2) comprises a data communication module (3) connected with the main controller (1), and further comprises a motion mode selection module (4), a motion execution module (5) and a result output module (6) which are sequentially connected in series, the data communication module (3) is further respectively connected with the motion mode selection module (4) and the motion execution module (5), and further comprises a high-speed signal acquisition module (8) connected with the motion execution module (5);
the data communication module (3) is used for establishing a data exchange channel between the main controller (1) and the FPGA device (2) and sending the motion instruction to the motion mode selection module (4) and the motion execution module (5); the data communication module (3) is also used for defining the quantity, the name and the numerical value of data; the data refers to data exchanged between the main controller (1) and the FPGA device (2), and the data comprises the motion instruction;
the high-speed signal acquisition module (8) is connected with a plurality of external sensors arranged on the material loading and unloading machine, the external sensors are used for acquiring external signals, the high-speed signal acquisition module (8) is used for carrying out parallel acquisition and mathematical operation processing on the external signals acquired by the external sensors, and simultaneously transmitting the external signals and the results of the mathematical operation processing to the motion execution module (5); the external signals comprise switching values, analog values and encoder digital signals; the acquisition of the external signal and the mathematical operation processing are completed in parallel;
the motion mode selection module (4) is used for selecting a correct motion mode based on the equipment state of the material loading and unloading machine according to the external signal and the motion instruction sent by the main controller (1), and transmitting the selected motion mode to the motion execution module (5);
the motion pattern includes:
two shafts of the cart run synchronously in an automatic mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
two shafts of the cart run synchronously in a manual mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
the motion execution module (5) is used for calling the inner core of the FPGA chip to calculate the position, the speed and the acceleration related to the motion of the running mechanism according to the motion mode and the external signal; the motion execution module (5) can call different kernels of the FPGA chip to respectively perform the operation on different operation mechanisms; the operation result can control each operation mechanism to respectively realize respective operation, so that the operation of the motion mode is realized; the operation result comprises given speed, direction and enabling signals;
the result output module (6) is connected with an external servo driver, the operating mechanism of the material loading and unloading machine is driven by a servo motor, and the servo driver is used for driving the servo motor; the result output module (6) is used for outputting the operation result of the motion execution module (5) to the servo driver, and driving the servo motor through the servo driver, so that the operation mechanism of the material loading and unloading machine operates according to the motion mode.
2. The FPGA-based handler motion control system of claim 1, wherein: the device is characterized by further comprising a fault error processing module (7), wherein the fault error processing module (7) is respectively connected with the data communication module (3), the motion execution module (5), the result output module (6) and the high-speed signal acquisition module (8), the fault error processing module (7) is used for simultaneously processing error information transmitted by the motion execution module (5) and the high-speed signal acquisition module (8), classifying the error information after analysis and sending a response instruction to the motion execution module (5) to stop motion, and simultaneously transmitting the related error information and the response instruction to the main controller (1) through the data communication module (3).
3. The FPGA-based handler motion control system of claim 2, wherein: the data communication module (3), the motion mode selection module (4), the motion execution module (5), the result output module (6), the fault error processing module (7) and the high-speed signal acquisition module (8) are all formed by editable circuits in the FPGA chip and are connected with one another.
4. The FPGA-based handler motion control system of claim 2, wherein: the main controller (1) can modify motion related parameters on the FPGA device (2), wherein the motion related parameters comprise an acceleration set value, a speed set value, a PID (proportion integration differentiation) regulation set value and a deviation fault set value; the data communication module (3) is also used for transmitting all the external signals and process data obtained on the FPGA device (2) to the main controller (1).
5. The FPGA-based handler motion control system of claim 4, wherein: the high-speed signal acquisition module (8) is also used for transmitting the external signal and the result of the mathematical operation processing to the fault error processing module (7).
6. The FPGA-based handler motion control system of claim 1, wherein: the interlocking bypass operation in the motion mode is independently operated on the FPGA device (2) without the direct participation of the main controller (1), all the operation mechanisms can be controlled to operate at a default slow speed, and the set value of the slow speed is modified in real time according to the requirement.
7. An FPGA-based handler motion control method for an FPGA-based handler motion control system according to any one of claims 1 to 6, comprising the steps of:
step S1, the main controller (1) makes logic judgment according to the input and selection of the operator and the state of each running mechanism of the loading and unloading machine, and sends different motion instructions aiming at each running mechanism to the data communication module (3);
step S2, the data communication module (3) sends the motion instruction to the motion mode selection module (4), and the motion mode selection module (4) selects the corresponding motion mode based on the device state according to the motion instruction and the external signal acquired by the high-speed signal acquisition module (8), and transmits the information of the selected motion mode to the motion execution module (5);
the motion pattern includes:
two shafts of the cart run synchronously in an automatic mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
two shafts of the cart run synchronously in a manual mode, the cart, the trolley and the main lifting mechanism run synchronously, and the interlocking bypass runs;
step S3, the motion execution module (5) calls the kernel of the FPGA chip to calculate the position, speed and acceleration related to the motion of the running mechanism according to the information of the selected motion mode and the external signal acquired by the high-speed signal acquisition module (8), and the calculation result can trigger different kernels to complete the running of different running mechanisms, so as to realize the running of the selected motion mode; the operation result comprises given speed, direction and enabling signals;
and step S4, the result output module (6) sends the operation result of the motion execution module (5) to an external servo driver, and the servo driver drives the servo motor to realize that the operation mechanism of the material loading and unloading machine operates according to the selected motion mode.
8. The method of claim 7, further comprising:
in step S1, the method further includes that the main controller (1) receives feedback information from the FPGA device (2), where the feedback information includes a feedback position and a fault error;
in the step S2, the interlock bypass operation is performed independently on the FPGA device (2) without the direct participation of the main controller (1), and all the operating mechanisms can be controlled to operate at a default slow speed, and the slow setting value is modified in real time according to the requirement;
in the step S3, the method further includes that the fault error processing module (7) simultaneously processes the error information transmitted by the motion execution module (5) and the high-speed signal acquisition module (8), classifies the error information after analysis, sends a response instruction to the motion execution module (5) to stop motion, and simultaneously transmits the error information and the response instruction to the main controller (1) through the data communication module (3).
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