CN113031526A - Method for realizing distributed multi-axis motion control system based on 4diac - Google Patents
Method for realizing distributed multi-axis motion control system based on 4diac Download PDFInfo
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- CN113031526A CN113031526A CN201911344027.1A CN201911344027A CN113031526A CN 113031526 A CN113031526 A CN 113031526A CN 201911344027 A CN201911344027 A CN 201911344027A CN 113031526 A CN113031526 A CN 113031526A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23258—GUI graphical user interface, icon, function bloc editor, labview
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
Abstract
The invention relates to a method for realizing a 4 diac-based distributed multi-axis motion control system, which adopts an MBD modeling development mode to realize the multi-axis motion control system by using a 4diac open source software framework. And (3) developing a multi-axis motion control system by adopting a 4diac distributed industrial automation control framework, and decoupling development and execution by utilizing the characteristic of separation of development and operation provided by the IEC61499 standard. The motion control library is packaged in an MBD modeling development mode, and the motion control library is called by using a graphical function block in a 4diac interface, so that application development and specific execution are separated, the implementation process of the multi-axis motion control system is simplified, the development complexity of the multi-axis motion control system is reduced, and the maintenance cost is reduced.
Description
Technical Field
The invention relates to a distributed motion control method, in particular to a method for realizing a distributed multi-axis motion control system based on 4diac, which utilizes a 4diac open source software architecture to design an MBD model-based distributed multi-axis motion control system and belongs to the field of motion control.
Background
With the rapid development of the current information technology, the application range and the control technology of motion control are continuously improved, the rapid development and the interdisciplinary intersection of the sensor technology, the operation actuator technology and the internet of things technology are realized, and the intelligent requirement of a control system is also continuously improved. In recent years, due to rapid expansion of software scale, functions and performances of various electromechanical products are improved mostly in a software mode. NASA has been studied, and the code amount of products such as automobiles and spacecrafts has exponentially increased in the years, and fighters have software-implemented about 8% of functions from F-4 in 1960 to about 80% of functions from F-22 in 2000. The code amount of current automobile software development reaches the level of ten million lines, and the code amount is expected to reach the level of hundreds of millions of lines after AI artificial intelligence application such as automatic driving is introduced in the future. The rapid expansion of the software scale brings great difficulties to the realization, verification and test of the control system.
The development is carried out based on the model, and in the development process, due to the natural advantages of imaging, the development task is clear and definite, and meanwhile, communication and maintenance of developers are facilitated. At the same time, model-based development also enables developers to perform early verification. In the development process, it is important to find the bug as early as possible. Compared with the traditional development mode, model-in-loop testing can be performed on the model based development after the model is built, and testing is not required to be performed after a test case is completed. Therefore, the MBD model-based design is introduced in the development process of the control system, so that the development efficiency is greatly improved.
At the same time, the demand of the new market for flexibility and reconfigurability of the manufacturing industry also promotes the transition of the control system from centralized automation to distributed intelligence, but the software development of the distributed system is very difficult by adopting the traditional centralized-oriented software development mode.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: the method overcomes the defects of the existing centralized multi-axis motion control system, provides a method for realizing the distributed multi-axis motion control system based on the 4diac framework, can solve the problem that the traditional multi-axis motion control system is poor in flexibility and expansibility, and improves the development efficiency. Compared with the traditional centralized-oriented multi-axis control system, the system has better flexibility, expansibility, usability and reconfigurable performance.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a realization method of a distributed multi-axis motion control system based on 4diac comprises the following steps:
1) when the distributed application program is designed, a multi-axis motion control algorithm is built, and graphical motion control function blocks are combined to generate a multi-axis motion control task;
2) in the design of the distributed application program, the motion control function block calls a multi-axis motion control library and compiles to generate a multi-axis motion control application program;
3) running a bottom layer equipment runtime environment on the bottom layer equipment;
4) in the design of the distributed application program, the application program is issued to the bottom layer equipment through a TCP/IP protocol and runs;
5) and the servo driving unit of the bottom layer equipment responds to the multi-axis motion control task to complete the multi-axis coordinated motion control.
And combining the graphical motion control function blocks in a modeling mode during the design of the distributed application program.
And the motion control function block calls a multi-axis motion control library in a dynamic link mode.
The operation of the bottom layer equipment executes IEC61499 standard for providing a system environment for the operation of the application program and data interactive communication.
And when the distributed application program is designed, a 4diac distributed open-source software framework is adopted, an application program building interface is provided, and the type of data transmitted among the motion control function blocks is detected.
And the multi-axis motion control library adopts a PID control algorithm and is used for providing a multi-axis motion control interface for the motion control function block to call.
The motion control function block provides logic control functions for designing multi-axis system control tasks and control logic.
And the servo driving unit is used for providing an operation interface of the external equipment and realizing a driving program of the equipment.
The work flow of the motion control function block is as follows:
1) an input event arrives at a function block;
2) refreshing data input related to the input event;
3) input events are passed to event execution controls;
4) executing control according to the event, and triggering the internal function to execute;
5) the internal function completes execution and provides new output data;
6) refreshing output data related to the output event;
7) an output event is sent.
The invention has the following beneficial effects and advantages:
1. the invention is developed based on a 4diac distributed industrial control platform framework, and solves the problems of insufficient flexibility and poor expansibility of a centralized development mode of a traditional multi-axis motion control system.
2. The multi-axis motion control system is developed by adopting MBD modeling, and due to the natural advantages of imaging, the development task is clear and definite, and communication and maintenance are facilitated for developers.
3. The method supports automatic generation of the control codes of the application layer, can directly run by one-key deployment after the control algorithm is built on the graphical interface, does not need to manually compile control program codes, improves the development efficiency of the algorithm, and avoids errors caused by manual coding.
4. The invention provides a real-time data echo function, supports online parameter adjustment and accelerates the debugging process of a control algorithm.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a control function block diagram;
FIG. 3 is a control function block signal flow diagram;
fig. 4 is a diagram of the steps of the method of the present invention.
Detailed Description
A realization method of a distributed multi-axis motion control system based on a 4diac framework comprises the following steps: the system comprises a multi-axis motion control library, a motion control function block, a distributed application program design time based on a 4diac framework, a bottom layer equipment runtime environment, a multi-axis servo drive unit and a physical input and output unit. The distributed application development environment IDE and the bottom layer equipment runtime environment form a distributed multi-axis motion control system based on a 4diac framework.
The multi-axis motion control library is designed as a control system kernel system layer, provides a multi-axis motion control interface, encapsulates interpolation and track planning functions comprising point-to-point, straight line and circular arc, and is used for calling an upper motion control function block.
The motion control function block is designed as a user application layer of a control system, provides a basic logic control function, is used for designing a multi-axis system control task and a control logic, comprises a basic function block, a composite function block, a service interface function block, an adapter, a sub-application program and the like which conform to IEC61499 standards, encapsulates the basic functions of multi-axis motion control including motion control, data conversion, event processing, IO input and output, numerical operation and the like, and further realizes application programming facing the multi-axis motion system.
When the distributed application program based on the 4diac framework is designed, a friendly user application program building interface is provided, and a user can build a control algorithm of the user by dragging the module on the interface. Meanwhile, when the distributed application program is designed, the data types transmitted among the modules can be detected, and corresponding error prompt can be carried out on the unmatched data types. And the distributed application program also provides the functions of real-time data playback and online parameter adjustment during design, and facilitates the debugging of a control algorithm.
The underlying device runtime environment provides support for online reconfiguration of its applications and for executing all function block types provided by the IEC61499 standard in real time. All IEC 61131-3 version 2 basic data types, structures and arrays are supported. The bottom device runtime environment provides a flexible basic communication architecture for the upper applications through the communication layer.
The multi-axis servo driving unit is designed as an equipment driving layer and used for providing an operation interface of external equipment for an upper program and realizing a driving program of the equipment. The upper layer program can be realized in the operating equipment, and only the interface of the driver needs to be called.
The physical input and output unit is designed as a basic IO interface of the equipment, comprises a network protocol interface and provides a physical interface for data acquisition of the equipment and data communication between the equipment.
A realization method of a distributed multi-axis motion control system based on a 4diac framework comprises the following steps:
step S1: a multi-axis motion control algorithm is established during distributed application program design based on a 4diac framework, and graphical motion control function blocks are combined in a modeling mode to generate an application layer control algorithm.
Step S2: in the design of the distributed application program, the motion control function block calls a bottom-layer motion control library in a dynamic link mode, and the bottom-layer motion control library is compiled to generate a multi-axis motion control executable program.
Step S3: an underlying device runtime environment based on the IEC61499 standard is run on the device, and the runtime provides a system environment required by the running of an application program and an underlying data interaction communication framework.
Step S4: in the design of the distributed application program, the topology of the application program is distributed, distributed and distributed to be deployed to each equipment runtime environment in the form of XML files through a TCP/IP protocol and run.
Step S5: and responding to the multi-axis motion control task of the application layer through the servo driving unit of each device to complete multi-axis coordinated motion control.
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention will be described in further detail below with reference to the accompanying drawings and examples, but the present invention is not limited to these examples.
Aiming at the problems of insufficient development flexibility and poor expansibility of the existing centralized multi-axis motion control system, the MBD modeling development technology is introduced into the motion control field through the fusion of a distributed control architecture and a motion control technology, and a 4diac distributed control architecture is used for constructing multi-axis motion control application. The MBD modeling development technology is to encapsulate a multi-axis motion control function library into modeled function blocks and combine and connect the function blocks to build a multi-axis motion control application during the design of a distributed application program based on a 4diac framework.
The invention relates to a method for designing a multi-axis motion control system by using a 4diac open-source software framework, which is particularly suitable for developing a distributed multi-axis motion control system.
As shown in fig. 1, the present invention is composed of a multi-axis motion control library, a motion control function block, a distributed application program design based on a 4diac framework, an underlying device runtime environment, a multi-axis servo drive unit, and a physical input/output unit. The six units are divided into a user application layer, a kernel system layer, a device driver layer and a physical device layer according to the system level. The motion control function block is a user application layer when a distributed application program based on a 4diac framework is designed; the multi-axis motion control library and the bottom layer equipment runtime environment are kernel system layers; the multi-axis servo driving unit and the physical input and output unit are physical equipment layers.
The multi-axis motion control library mainly adopts a PID control algorithm to provide servo control functions of a current loop, a speed loop and a position loop; the stable and reliable point-to-point, linear and circular interpolation and trajectory planning of the multi-axis system are realized by adopting S curve interpolation.
The motion control function block adopts the standard of the IEC61499 distributed industrial process measurement and control system function block, as shown in FIG. 2, the input is positioned at the left side of the function block, the output is positioned at the right side of the function block, the event and the data signal are mutually isolated and incompatible, and are distinguished by different input and output types. The event triggers a function of the function block, which then operates using the data available in the data input and sends the result of the operation to the data output. Fig. 3 shows a signal flow diagram of a functional block, which includes the following specific steps:
step S1: the input event reaches a function block.
Step S2: the data input associated with the incoming event is refreshed.
Step S3: the event is passed to the event execution control.
Step S4: control is executed according to the event, triggering the internal function to execute.
Step S5: the internal functions complete execution and provide new output data.
Step S6: output data relating to the output event is refreshed.
Step S7: an output event is sent.
When the distributed application program is designed, a 4diac distributed open-source software framework is adopted, and the 4diac open-source software framework is realized by using JAVA language. As a plug-in to Eclipse, 4diac is developed using an Eclipse Modeling Tools version of the IDE, and the 4diac IDE can be built and run from source code or generate a binary 4diac IDE software package. And providing an application program interface for the building and the deployment of the control algorithm.
When the bottom layer equipment runs, the secondary development is carried out by adopting a C + + language on the basis of a 4diac distributed open source software framework, and an interface and a bottom layer environment are provided for the deployment and the running of an application layer control algorithm. The 61499 port is used as a uniform interface for upper layer application deployment. The bottom layer equipment is adapted to different hardware platforms and software operating systems during running, the difference of the bottom layer equipment is shielded for the application layer control algorithm, and one-key deployment of the control algorithm is ensured.
The multi-axis servo driving unit synchronously controls the multi-axis servo system in a bus series connection mode. The PID control is realized by adopting the framework of an ARM main processor and an FPGA coprocessor, and three-loop control comprising a speed loop, a position loop and a current loop is provided.
The physical input and output unit adopts various communication protocols, such as RS232, RS485, TCP, a real-time bus and the like, and collects sensing information input by an external sensor and outputs a control signal of equipment.
The business flow of the implementation method of the distributed multi-axis motion control system based on the 4diac framework is shown in fig. 4, and for the multi-axis motion control system, a user writes an application layer multi-axis motion control algorithm by using an environment during the design of a distributed application program, and the environment can automatically generate a control algorithm script during the design. When the distributed application program is designed, a multi-axis motion control library required in a user control algorithm is loaded in a dynamic link mode, and a multi-axis motion control program is automatically generated. After the target device network is configured, one-key distributed deployment of the multi-axis motion control program can be realized. And the multi-axis motion control program is deployed on equipment running at the bottom layer through a TCP (transmission control protocol), and realizes synchronous control on the multi-axis system through the multi-axis servo driving unit and the physical input and output unit. The running data of the multi-axis system is also transmitted back to the upper application program through the TCP protocol for design.
Claims (9)
1. The realization method of the distributed multi-axis motion control system based on 4diac is characterized by comprising the following steps:
1) when the distributed application program is designed, a multi-axis motion control algorithm is built, and graphical motion control function blocks are combined to generate a multi-axis motion control task;
2) in the design of the distributed application program, the motion control function block calls a multi-axis motion control library and compiles to generate a multi-axis motion control application program;
3) running a bottom layer equipment runtime environment on the bottom layer equipment;
4) in the design of the distributed application program, the application program is issued to the bottom layer equipment through a TCP/IP protocol and runs;
5) and the servo driving unit of the bottom layer equipment responds to the multi-axis motion control task to complete the multi-axis coordinated motion control.
2. The method of claim 1, wherein the graphical motion control function blocks are combined in a modeling manner during the design of the distributed application program.
3. The method for implementing a 4 diac-based distributed multi-axis motion control system of claim 1, wherein the motion control function invokes a multi-axis motion control library in a dynamic linking manner.
4. The method of claim 1, wherein the underlying device executes IEC61499 standard during runtime for providing a system environment for application program operation and data interactive communication.
5. The method for implementing a 4 diac-based distributed multi-axis motion control system according to claim 1, wherein the distributed application program is designed by adopting a 4diac distributed open source software framework, providing an application program building interface, and detecting the type of data transmitted between the motion control function blocks.
6. The method of claim 1, wherein the multi-axis motion control library employs a PID control algorithm to provide a multi-axis motion control interface for a motion control function to call.
7. A method as claimed in claim 1 wherein the motion control function block provides logic control functions for designing multi-axis system control tasks and control logic.
8. The method of claim 1, wherein the servo driving unit is configured to provide an operation interface for an external device and implement a driver of the device.
9. The method for implementing a distributed multi-axis motion control system based on 4diac of claim 7, wherein the workflow of the motion control function block is as follows:
1) an input event arrives at a function block;
2) refreshing data input related to the input event;
3) input events are passed to event execution controls;
4) executing control according to the event, and triggering the internal function to execute;
5) the internal function completes execution and provides new output data;
6) refreshing output data related to the output event;
7) an output event is sent.
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| NL2025804A NL2025804B9 (en) | 2019-12-24 | 2020-06-10 | Realization Method of 4diac-Based Distributed Multi-Axis Motion Control System Technical Field |
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| CN113928155A (en) * | 2021-09-29 | 2022-01-14 | 西安交通大学 | Method for building orderly charging control system of electric automobile based on IEC61499 |
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