CN113759851B - Automatic control system and automatic control method - Google Patents
Automatic control system and automatic control method Download PDFInfo
- Publication number
- CN113759851B CN113759851B CN202111088616.5A CN202111088616A CN113759851B CN 113759851 B CN113759851 B CN 113759851B CN 202111088616 A CN202111088616 A CN 202111088616A CN 113759851 B CN113759851 B CN 113759851B
- Authority
- CN
- China
- Prior art keywords
- interpolation
- driving
- instructions
- power
- power parts
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000002452 interceptive effect Effects 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000008569 process Effects 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000004044 response Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 abstract description 14
- 238000012545 processing Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002173 cutting fluid Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000013341 scale-up Methods 0.000 description 1
Classifications
-
- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
-
- 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
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The specification provides an automated control system and an automated control method, comprising a plurality of power parts, a main controller, at least one modularized control unit and a plurality of motors; each modularized control unit comprises an interface interpolation layer and a driving layer comprising a plurality of driving modules, each driving module is electrically connected with the interface interpolation layer, and each driving module is electrically connected with a corresponding motor in an interactive way; each motor is used for driving the power part corresponding to the motor. The automatic control system and the automatic control method provided by the application are more universal, and the modularized control unit can be expanded to various processing equipment. The various functions in the embodiments of the present application may be theoretically adjustable and selectable according to the master controller. The automatic control system in the embodiment of the application is easy to realize programmable expansion of various complex mechanical mechanisms. The method of solidifying interpolation algorithm by using modularized equipment is more flexible in programming and more flexible in debugging of the production line.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to an automatic control system and an automatic control method.
Background
Currently, existing traditional automated plants generally employ a three-level architecture. Referring to fig. 1, a conventional automated factory includes a controller (first stage) such as a PLC, individual CNC mechanisms (second stage), and a plurality of shaft combinations whose functions have been defined. The secondary development of the traditional automatic factory adopts a main stream of G code programming mode of PLC (DCS) +CNC.
Clearly, existing traditional automation plants have the following drawbacks:
1. each CNC mechanism is highly automated, but integrated together but is self-contained, reducing efficiency;
2. the individual shaft functions of the CNC mechanism are fixed, and it is extremely difficult or impossible to make other designs.
Existing transmission devices also typically employ a three-stage architecture, as shown with reference to fig. 2, and typically include a controller such as a PLC (first stage), individual motor drives (second stage), individual motors.
Obviously, the current transmission devices have the following drawbacks:
1. the PLC programming is needed, manual calculation is needed for each target control, the adaptation of topology information is needed to be completed in the program after the manual calculation, errors are easy to occur, and the development efficiency is low.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The present disclosure is directed to an automation control system and an automation control method, so as to solve at least one of the above technical problems.
The application provides an automatic control system, which comprises a plurality of power parts, a main controller, at least one modularized control unit and a plurality of motors; each modularized control unit comprises an interface interpolation layer and a driving layer comprising a plurality of driving modules, each driving module is electrically connected with the interface interpolation layer, and each driving module is electrically connected with the corresponding motor in an interactive way; each motor is used for driving the power part corresponding to the motor;
the interface interpolation layer generates micro instructions corresponding to driving modules corresponding to the power parts after receiving macro instructions sent by the main controller, the driving modules generate driving instructions corresponding to the power parts after receiving the micro instructions sent by the interface interpolation layer, and the motor controls the power parts corresponding to the driving instructions after receiving the driving instructions.
Preferably, the macro instruction includes a linkage rule of each power unit and a movement instruction of each power unit.
Preferably, the linkage rules include selection of linkage axes of the power parts, interpolation rules of linkage and/or linkage speeds; and/or the motion instruction of the power part comprises one or more of a target position, a motion speed and a motion condition command of the power part.
Preferably, the micro instruction includes at least one of a position, a speed, and an acceleration of the power section in the calculation period corresponding to the micro instruction.
Preferably, the driving module generates the driving instruction according to the micro instruction and motor feedback information corresponding to the micro instruction.
Preferably, the interface interpolation layer and each of the driving modules are connected through an internal high-speed bus.
The embodiment of the application discloses an automatic control method, which comprises the following steps:
the main controller generates a macroscopic instruction, wherein the macroscopic instruction comprises a linkage rule of each power part and a corresponding motion instruction;
the modularized control units respectively corresponding to the power parts generate control instructions of the motors respectively corresponding to the power parts according to the macroscopic instructions.
Preferably, the step of "the modular control unit corresponding to each power section generates the control instruction of the motor corresponding to the power section according to the macro instruction" includes:
and the modularized control units respectively corresponding to the power parts generate control instructions of the motors corresponding to the power parts according to the macroscopic instructions and the real-time information of the motors corresponding to the power parts.
Preferably, the step of generating, by the modular control unit, a control command for each motor corresponding to each power section according to the macro command includes:
an interface interpolation layer in the modularized control unit generates micro instructions corresponding to each power part after receiving macro instructions sent by the main controller;
and generating control instructions of the motors corresponding to the selected power parts according to the microcommand of the selected power parts, the actual information of the motors related to the selected power parts and the load type topology of the motors.
Preferably, the step of "the main controller generating the macro instruction" includes: at least one of the plurality of drive axes is selected in response to a process demand of the part to be machined, and interpolation rules for the selected drive axis and a target position for the drive axis are generated. .
The automatic control system and the automatic control method provided by the application are more universal, and the modularized control unit can be expanded to various processing equipment. The various functions in the embodiments of the present application may be theoretically adjustable and selectable according to the master controller. The automatic control system in the embodiment of the application is easy to realize programmable expansion of various complex mechanical mechanisms. The method of solidifying interpolation algorithm by using modularized equipment is more flexible in programming and more flexible in debugging of the production line. The invention is aimed at controlling the driving shaft by the motor, combines the linkage interpolation algorithm of the driving shaft, and is applicable more flexibly
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some of the embodiments described in the present description, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic diagram of the architecture of an automation plant of the prior art.
Fig. 2 shows a schematic diagram of the architecture of a prior art transmission.
Fig. 3 shows a schematic architecture diagram of an automation control system in an embodiment of the present application.
Fig. 4 shows a schematic diagram of a modular control unit.
Fig. 5 shows a schematic diagram of topology information of a motor.
Detailed Description
In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
Referring to fig. 3, an embodiment of the present application discloses an automated control system comprising a plurality of drive shafts, a master controller, at least one modular control unit, a plurality of motors; each modularized control unit comprises an interface interpolation layer and a driving layer comprising a plurality of driving modules, each driving module is electrically connected with the interface interpolation layer, and each driving module is electrically connected with the corresponding motor in an interactive way; each motor is used for driving the corresponding driving shaft;
the interface interpolation layer generates micro instructions corresponding to driving modules corresponding to the driving shafts after receiving macro instructions sent by the main controller, the driving modules generate driving instructions corresponding to the driving shafts after receiving the micro instructions sent by the interface interpolation layer, and the motor controls the driving shafts corresponding to the driving instructions after receiving the driving instructions.
Specifically, the main controller in the automatic control system may be a server with a certain computing capability or a cloud server capable of performing cloud computing as required. In the present embodiment, the number of the modular control units is plural. Each of the modular control units includes an interface interpolation layer and a drive layer including a plurality of drive modules. The interface interpolation layer in each modularized control unit can interact information with the controller through a unified communication protocol interface. For example, the controller may send macroscopic instructions to the individual modular control units via a communication bus (which may be a universal bus, or a custom bus). Specifically, the macro instruction may be a power portion linkage state and a linkage interpolation rule sent by a controller communication bus (may be a universal bus or a customized bus) to the modularized control unit, a target position, a target speed, a sensor configuration, a switching value ratio and the like.
In other alternative embodiments, the drive shaft may be other power units that may be driven.
Referring to fig. 4, the interface interpolation layer of each modular control unit may receive and parse a macro instruction sent by the controller, so as to obtain a linkage rule and a motion instruction of each power unit under the management of the modular control unit according to the macro instruction. The linkage rules include selection of linkage axes of the motion parts, interpolation rules of linkage and linkage speeds. The motion command of the power section includes one or more of a target position, a motion speed, and a motion condition command of the power section. The motion condition instructions may include instructions such as run, shut down, find zero, etc., as well as control characteristics such as limiting the current not to exceed a certain amount, etc. Of course, each modular control unit may also feed back various information to the main controller through a communication bus (may be a universal bus, or a customized bus), for example, various information about each modular control unit and each power unit subordinate to each modular control unit may be obtained, and more specifically, an operation state, a sensor state, a switching value state and the like of each subordinate power unit may be obtained for each modular control unit.
Referring to fig. 4, a plurality of driving modules may be integrated inside each of the modular control units. Each driver module may be highly integrated with the interface interpolation layer through a high-speed bus like a PCI bus, so that the entire interface interpolation layer can directly drive the driver module of the modular control unit like directly controlling its own hardware. The interface interpolation layer of each modular control unit integrates all interpolation algorithms, but all interpolation algorithms are flexibly selectable for all power units.
When the main controller gives the interpolation rule, the interface interpolation layer can realize the interpolation control of all power parts according to the interpolation algorithm. These interpolation algorithms include, but are not limited to, straight line interpolation, circular interpolation, B-spline interpolation, and machine tools extending to N axes, more complex robotic interpolation algorithms. For example, the circular arc interpolation can be performed by selecting the driving shafts (power parts) 1 and 2 in linkage according to actual needs, or the circular sphere interpolation can be performed by selecting the driving shafts (power parts) 1, 2 and 3. The interpolation combination mode is only based on the setting and selection of each power part by the main controller. That is, the interface interpolation layer may combine the interpolation algorithm with the macro instruction to generate a micro instruction for each power section, where the micro instruction may represent at least one of a position, a speed, and an acceleration of a current calculation cycle of the power section, and/or at least one of a position, a speed, and an acceleration of a next calculation cycle.
Each driving module can receive a micro instruction sent by the interface interpolation layer. The driving modules can also acquire sensing information which is related to position control and requires very strong real-time performance, and the sensing information can be acquired through a position sensor, a limit switch and the like, so that the control of the position and the speed is assisted, wherein the logic control, the limit protection, the 0 point detection, the position detection and the like with very strong real-time performance are conveniently performed. Each drive module also has a digital quantity output interface which is relevant to position control and requires very high real-time performance. The digital quantity output interface includes, but is not limited to, an open collector output, a relay output, etc., to control each corresponding drive, such as a motor or valve or switch. Therefore, each driving module can perform position loop calculation, speed loop calculation and current loop calculation according to the received micro instructions and the sensing information acquired through the sensor or the position switch, so that each driving instruction is correspondingly generated, and the driving instructions are output to the motor through a correct corresponding driving interface, so that the motor can correctly drive a corresponding power part.
Therefore, each power part of each modularized control unit can be flexibly designed according to design requirements, for example, each power part can move independently, or each power part can move simultaneously or independently with a plurality of power parts, and furthermore, each power part can also perform joint action with a plurality of power parts according to agreed interpolation rules.
It is apparent that the automated control system of the embodiments of the present application is more versatile and can extend modular control units to a variety of processing equipment. The automatic control system in the embodiment of the application can be applied to a scene with high automation factory or transmission equipment or other automation integration.
Compared with the traditional automatic factory, the modularized control unit in the invention integrally manages other control elements such as auxiliary traditional mechanisms, power parts and the like. Instead of drilling/milling machine/drilling/milling center, etc. as in the CNC of the prior art, the physical form fixing control unit is completely fixed; the method has no strong universality.
It is apparent that the individual functions in the embodiments of the present application can be theoretically adjusted and selected according to the main controller. That is, compared with the traditional automatic factory, the control shaft of the invention adopts modularized standard equipment instead of a shaft with fixed function and interpolation relation, and the operation relation of the shaft can be flexibly changed. This differs from the traditional automation plants and CNCs in the prior art, in which the function of the logically individual axes is fixed as long as the machine is ready, so that execution of the corresponding G-code is possible.
Furthermore, the adoption of the automatic control system in the embodiment of the application can easily realize the programmable expansion of various complex mechanical mechanisms. For CNC machining centers in the prior art, it is difficult to scale up for complex machines such as paper machines/packaging machines.
In summary, compared to a conventional digital factory, the automated control system in the embodiment of the present application has the following advantages:
processing equipment and auxiliary transmission equipment in the production line are subjected to unified modularized management, so that the phenomenon of automatic island of single equipment is eliminated;
the driving of each shaft in the production line is more flexible, and the shaft is not fixed like the CNC shaft or the function in the traditional digital factory, so that the mode of multiplexing driving/multiplexing shafts can be adopted to carry out more flexible production line design when the design of a new production line is carried out.
For a large number of auxiliary functional components, modeling is uniformly carried out according to the equivalent switching value, so that the design difficulty of the controller is reduced.
Preferably, the automated control system may comprise at least one programmable auxiliary device. The master controller controls the control devices (e.g., frequency converters) of the programmable auxiliary devices via a communication line such as the standard modbus protocol. The programmable auxiliary device may be an auxiliary device of the automated control system including a fan of a frequency converter, a chip liquid supply device, a high-pressure pump, and the like.
When programming, the operation parameters of the programmable auxiliary device can be set, and certain process conditions or the operation conditions of the power part can be set to the opening and closing conditions of the programmable auxiliary device. For example, the flow rate of the chip liquid may be set to a fixed value, or may be set to a floating value (parameter table) that varies according to a certain detected parameter, and then the start condition of the chip liquid supply device is the start of a certain motor, and the shut-down condition of the chip liquid supply device is the stop of a certain motor. The control conditions of the chip liquid supply device can be simplified to an equivalent control switch.
The method of solidifying interpolation algorithm by using modularized equipment is more flexible in programming and more flexible in debugging of the production line.
Compared with the architecture of complex transmission equipment, the invention modularizes motor position driving and centrally configures and manages the drivers of a plurality of driving shafts, thereby reducing the programming difficulty of the PLC.
In summary, compared to a relatively complex device architecture, the automated control system in the embodiments of the present application has the following advantages:
and a modularized architecture is adopted, and a more complex motion control algorithm is built in, so that the programming difficulty of the PLC is greatly simplified. And a modularized programming style is adopted, so that the programming/debugging/process adjustment is facilitated.
In a preferred embodiment, the switching value of the whole automatic control system, or an auxiliary system (such as air volume control, temperature control, cutting fluid control, rotation control of a variable frequency main shaft and the like) which can be required to be self-regulated to achieve a certain control target, can be equivalent to the switching value control (the switching value of which provides several common parameters for the controller to regulate according to the process requirement), and the main controller can perform unified and centralized control.
In another alternative embodiment, the automated control system may require centralized acquisition of data (including but not limited to, whole or partial image data, sensor data, etc.) throughout its operation, with the acquisition of data by the master controller and adjustments to the process by the master controller.
The embodiment of the application also discloses an automatic control method, which comprises the following steps:
the main controller generates a macroscopic instruction, wherein the macroscopic instruction comprises a linkage rule of each power part and a corresponding motion instruction;
the modularized control units respectively corresponding to the power parts generate control instructions of the motors respectively corresponding to the power parts according to the macroscopic instructions.
Preferably, the step of "the modular control unit corresponding to each power section generates the control instruction of the motor corresponding to the power section according to the macro instruction" includes:
and the modularized control units respectively corresponding to the power parts generate control instructions of the motors corresponding to the power parts according to the macroscopic instructions and the real-time information of the motors corresponding to the power parts.
Preferably, the step of generating, by the modular control unit, a control command for each motor corresponding to each power section according to the macro command includes:
an interface interpolation layer in the modularized control unit generates a micro instruction corresponding to a driving module corresponding to each power part after receiving a macro instruction sent by the main controller;
and generating microscopic instant instructions of the motors corresponding to the selected power parts according to the target positions of the selected power parts and the actual information of the motors related to the selected power parts.
Preferably, the step of "the main controller generating the macro instruction" includes: at least one of the plurality of drive axes is selected in response to a process demand of the part to be machined, and interpolation rules for the selected drive axis and a target position for the drive axis are generated.
Taking the automobile part A as an example, the main controller generates a macroscopic instruction after analyzing the technical processes of the part to be processed and the molding part of the automobile part A. The macro instruction may include selecting the drive shaft 1, the drive shaft 4, the drive shaft 9, and the target position, the linkage rule, the linkage speed, and the like of the respective drive shafts among the plurality of drive shafts.
In the present embodiment, the modular control unit to which the drive shaft 1 (motor 1) and the drive shaft 4 (motor 4) are subordinate is the modular control unit a; the modular control unit to which the drive shaft 9 (motor 9) is dependent is the modular control unit B. With reference to fig. 5, in other words, the affiliation of the motor-dependent modular control units, i.e. the physical topology. Through the topology in this aspect, the modular control unit to which the motor belongs and the channel to which the motor belongs in the control module can be determined during programming, so that accurate control over the motor is realized.
And an interface interpolation layer in the modularized control unit generates micro instructions corresponding to each power part after receiving the macro instructions sent by the main controller. In the present embodiment, the interface interpolation layer in the modular control unit a analyzes to obtain that the driving shaft 1 and the driving shaft 4 do circumferential interpolation operation in the 1 st time period; the drive shaft 4 performs a linear displacement operation in the 2 nd period. The interface interpolation layer in the modularized control unit B analyzes to obtain that the driving shaft 8 and the driving shaft 9 do arc interpolation action in the 3 rd time period.
The driving module can generate control instructions of the motors corresponding to the selected power parts according to the micro instructions of the selected power parts, the actual information of the motors related to the selected power parts and the load type topology of the motors.
Referring to fig. 5, the load type topology includes a load type (linear, circular arc, etc.) to which the motor belongs, and a target position type (fixed or floating or reciprocating or progressive change). When the position of the specific target type is selected, the driving module automatically generates the target position of the motor operation according to the size characteristics of the target type.
Taking the drive shaft 4 as an example, if the motor is a linear load, its electronic gear is clear, and the physical movement is 1 mm, requiring how many turns the motor rotates.
Assuming that the target position type of the motor is fixed, and the subtype is a specific position based on a specific tool; the tooling is a matrix of N rows by M columns of points, and the coordinates corresponding to (X, Y) elements of the matrix of points need to be moved; the location generation rule is:
firstly, determining the relative position of a driving shaft 0 point of a tool relative to the motor shaft 0 point and the included angle of a tool driving track relative to a current moved motor track; the moving distance of the tool along the 0 point of the driving track; then calculating the actual position of the 0 point of the tool relative to the 0 point of the moved motor;
and then calculating the position offset of the (X, Y) element of the point matrix relative to the 0 point of the tool, and finally, taking the compensation amount into consideration to finally generate the movement absolute position of the mobile motor.
In programming, the target position of the current mobile motor can be calculated as long as the specified target is an (X, Y) element of the point matrix of the tool.
Although various specific embodiments are described in this application, the application is not limited to the details of the industry standard or examples, which are intended to indicate that the same, equivalent or similar embodiments or variations as described in the above examples may be achieved by the use of custom or modified embodiments. Examples of ways of data acquisition, processing, output, judgment, etc. using these modifications or variations are still within the scope of alternative embodiments of the present application.
Although the present application provides method operational steps as described in the examples or flowcharts, more or fewer operational steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented by an apparatus or client product in practice, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even in a distributed data processing environment). The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, it is not excluded that additional identical or equivalent elements may be present in a process, method, article, or apparatus that comprises a described element.
The apparatus or module, etc. set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, when implementing the present application, the functions of each module may be implemented in the same or multiple pieces of software and/or hardware, or a module that implements the same function may be implemented by a combination of multiple sub-modules, or the like. The above-described apparatus embodiments are merely illustrative, and the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed.
Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller can be regarded as a hardware component, and means for implementing various functions included therein can also be regarded as a structure within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
From the above description of embodiments, it will be apparent to those skilled in the art that the present application may be implemented in software plus a necessary general purpose hardware platform. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a mobile terminal, a server, or a network device, etc.) to perform the methods described in the various embodiments or some parts of the embodiments of the present application.
Various embodiments in this specification are described in a progressive manner, and identical or similar parts are all provided for each embodiment, each embodiment focusing on differences from other embodiments. The subject application is operational with numerous general purpose or special purpose computer system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
Although the present application has been described by way of example, one of ordinary skill in the art will recognize that there are many variations and modifications to the present application without departing from the spirit of the present application, and it is intended that the appended embodiments include such variations and modifications without departing from the application.
Claims (5)
1. An automated control system, characterized by: the device comprises a plurality of power parts, a main controller, a plurality of modularized control units and a plurality of motors; each modularized control unit comprises an interface interpolation layer and a driving layer comprising a plurality of driving modules, each driving module is electrically connected with the interface interpolation layer, and each driving module is electrically connected with the corresponding motor in an interactive way; each motor is used for driving the corresponding power part;
the interface interpolation layer generates micro instructions corresponding to driving modules corresponding to the power parts after receiving macro instructions sent by the main controller, the driving modules generate driving instructions corresponding to the power parts after receiving the micro instructions sent by the interface interpolation layer, and the motor controls the power parts corresponding to the driving instructions after receiving the driving instructions;
the macro instruction comprises an interpolation rule of linkage of each power part, the interface interpolation layer is integrated with an interpolation algorithm flexibly connected with the power parts, and the interface interpolation layer can realize interpolation control of each power part according to the interpolation algorithm when the main controller gives the interpolation rule;
the interpolation algorithm comprises linear interpolation, circular interpolation, B spline interpolation, machine tools extended to N axes and robot algorithms;
the micro instruction comprises at least one of the position, the speed and the acceleration of the power part in a calculation period, which correspond to the micro instruction;
the macroscopic instruction comprises a linkage rule of each power part and a motion instruction of each power part; the linkage rule comprises selection of linkage shafts of the power parts, interpolation rules of linkage, linkage speed, and the motion instruction of the power parts comprises target positions, motion speeds and motion condition commands of the power parts;
the modular control unit generating control instructions of the motors respectively corresponding to the power parts according to the macroscopic instructions comprises the following steps: an interface interpolation layer in the modularized control unit generates micro instructions corresponding to each power part after receiving macro instructions sent by the main controller; generating control instructions of the motors corresponding to the selected power parts according to the microcommand of the selected power parts, the actual information of the motors related to the selected power parts and the load type topology of the motors;
the load type topology comprises a load type to which the motor belongs and a target position type, and when the position of a specific target type is selected, the driving module automatically generates a target position for the motor to run according to the size characteristics of the target type;
the main controller generating macroscopic instruction comprises: selecting at least one of a plurality of driving shafts in response to a process requirement of a part to be processed, and generating interpolation rules of the selected driving shafts and target positions of the driving shafts;
each modularized control unit feeds back information to the main controller through a communication bus, wherein the information comprises the running state, the sensor state and the switching value state of the subordinate power part obtained by each modularized control unit; the automatic control system also comprises at least one programmable auxiliary device, the main controller controls the control device of the programmable auxiliary device through a communication line, and the programmable auxiliary device is an auxiliary device of the automatic control system of the fan, the chip liquid supply device and the high-pressure pump, wherein the fan comprises a frequency converter; when programming, the operation parameters of the programmable auxiliary device are set, and certain process conditions or the operation conditions of the power part are set to the opening and closing conditions of the programmable auxiliary device.
2. The automated control system of claim 1, wherein: and the driving module generates the driving instruction according to the micro instruction and the motor feedback information corresponding to the micro instruction.
3. The automated control system of claim 1, wherein: the interface interpolation layer is connected with each driving module through an internal high-speed bus.
4. An automated control method, comprising the steps of: the main controller generates a macroscopic instruction, wherein the macroscopic instruction comprises a linkage rule of each power part and a corresponding motion instruction; the modularized control units respectively corresponding to the power parts generate control instructions of the motors respectively corresponding to the power parts according to the macroscopic instructions;
each modularized control unit comprises an interface interpolation layer and a driving layer comprising a plurality of driving modules, each driving module is electrically connected with the interface interpolation layer, and each driving module is electrically connected with the corresponding motor in an interactive way; each motor is used for driving the corresponding power part;
the interface interpolation layer generates micro instructions corresponding to driving modules corresponding to the power parts after receiving macro instructions sent by the main controller, the driving modules generate driving instructions corresponding to the power parts after receiving the micro instructions sent by the interface interpolation layer, and the motor controls the power parts corresponding to the driving instructions after receiving the driving instructions;
the macro instruction comprises an interpolation rule of linkage of each power part, the interface interpolation layer is integrated with an interpolation algorithm flexibly connected with the power parts, and the interface interpolation layer can realize interpolation control of each power part according to the interpolation algorithm when the main controller gives the interpolation rule;
the interpolation algorithm comprises linear interpolation, circular interpolation, B spline interpolation, machine tools extended to N axes and robot algorithms;
the micro instruction comprises at least one of the position, the speed and the acceleration of the power part in a calculation period, which correspond to the micro instruction;
the macroscopic instruction comprises a linkage rule of each power part and a motion instruction of each power part; the linkage rule comprises selection of linkage shafts of the power parts, interpolation rules of linkage, linkage speed, and the motion instruction of the power parts comprises target positions, motion speeds and motion condition commands of the power parts;
the modular control unit generating control instructions of the motors respectively corresponding to the power parts according to the macroscopic instructions comprises the following steps: an interface interpolation layer in the modularized control unit generates micro instructions corresponding to each power part after receiving macro instructions sent by the main controller; generating control instructions of the motors corresponding to the selected power parts according to the microcommand of the selected power parts, the actual information of the motors related to the selected power parts and the load type topology of the motors;
the load type topology comprises a load type to which the motor belongs and a target position type, and when the position of a specific target type is selected, the driving module automatically generates a target position for the motor to run according to the size characteristics of the target type;
the main controller generating macroscopic instruction comprises: selecting at least one of a plurality of driving shafts in response to a process requirement of a part to be processed, and generating interpolation rules of the selected driving shafts and target positions of the driving shafts;
each modularized control unit feeds back information to the main controller through a communication bus, wherein the information comprises the running state, the sensor state and the switching value state of the subordinate power part obtained by each modularized control unit;
the programmable auxiliary device is used for controlling a control device of the programmable auxiliary device through a communication line, and the programmable auxiliary device is an auxiliary device of a fan, a chip liquid supply device and a high-pressure pump automatic control system which comprise a frequency converter; when programming, the operation parameters of the programmable auxiliary device are set, and certain process conditions or the operation conditions of the power part are set to the opening and closing conditions of the programmable auxiliary device.
5. The automated control method of claim 4, wherein the modular control unit corresponding to each power section generates a control command for the motor corresponding to the power section based on the macro command, comprising: and the modularized control units respectively corresponding to the power parts generate control instructions of the motors corresponding to the power parts according to the macroscopic instructions and the real-time information of the motors corresponding to the power parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111088616.5A CN113759851B (en) | 2021-09-16 | 2021-09-16 | Automatic control system and automatic control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111088616.5A CN113759851B (en) | 2021-09-16 | 2021-09-16 | Automatic control system and automatic control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113759851A CN113759851A (en) | 2021-12-07 |
| CN113759851B true CN113759851B (en) | 2024-03-12 |
Family
ID=78796061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111088616.5A Active CN113759851B (en) | 2021-09-16 | 2021-09-16 | Automatic control system and automatic control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113759851B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116300596B (en) * | 2023-03-03 | 2023-11-14 | 无锡积塔技术有限公司 | Modularized automatic control method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012124145A1 (en) * | 2011-03-15 | 2012-09-20 | オムロン株式会社 | Computation unit, assistance unit, assistance program, recording medium storing assistance program, and operation method in assistance device |
| CN104850065A (en) * | 2015-05-27 | 2015-08-19 | 福建骏鹏通信科技有限公司 | Modular reconfigurable motion controller architecture based on SERCOS |
| CN106094741A (en) * | 2016-05-13 | 2016-11-09 | 浙江大学 | A kind of Distributed Motion Control System based on CMC |
| CN106774178A (en) * | 2017-01-17 | 2017-05-31 | 上海福赛特机器人有限公司 | A kind of automation control system and method, plant equipment |
| CN109782720A (en) * | 2019-01-28 | 2019-05-21 | 唐志 | The method that control is directly realized by by process logic topological diagram |
| CN111309669A (en) * | 2020-02-10 | 2020-06-19 | 宁波中控微电子有限公司 | Programmable motor motion control system on chip |
| CN112612245A (en) * | 2020-12-08 | 2021-04-06 | 深圳市英威腾电气股份有限公司 | Shaft motion control method and device, terminal device and computer readable storage medium |
-
2021
- 2021-09-16 CN CN202111088616.5A patent/CN113759851B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012124145A1 (en) * | 2011-03-15 | 2012-09-20 | オムロン株式会社 | Computation unit, assistance unit, assistance program, recording medium storing assistance program, and operation method in assistance device |
| CN104850065A (en) * | 2015-05-27 | 2015-08-19 | 福建骏鹏通信科技有限公司 | Modular reconfigurable motion controller architecture based on SERCOS |
| CN106094741A (en) * | 2016-05-13 | 2016-11-09 | 浙江大学 | A kind of Distributed Motion Control System based on CMC |
| CN106774178A (en) * | 2017-01-17 | 2017-05-31 | 上海福赛特机器人有限公司 | A kind of automation control system and method, plant equipment |
| CN109782720A (en) * | 2019-01-28 | 2019-05-21 | 唐志 | The method that control is directly realized by by process logic topological diagram |
| CN111309669A (en) * | 2020-02-10 | 2020-06-19 | 宁波中控微电子有限公司 | Programmable motor motion control system on chip |
| CN112612245A (en) * | 2020-12-08 | 2021-04-06 | 深圳市英威腾电气股份有限公司 | Shaft motion control method and device, terminal device and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113759851A (en) | 2021-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Koren et al. | Five-axis surface interpolators | |
| Lam et al. | Model predictive contouring control for biaxial systems | |
| Ramesh et al. | Intelligent automation of design and manufacturing in machine tools using an open architecture motion controller | |
| CN102566511B (en) | Five-shaft numerical control system cutter center point interpolation path interpolation method | |
| CN103123476B (en) | A kind of single servo motor drives the control method for numerical control system of gang tool | |
| CN105892412B (en) | Multi-shaft motion control system hardware structure based on self-defined bus | |
| CN106886197B (en) | Method for controlling machine to implement machining, device and application thereof | |
| CN113759851B (en) | Automatic control system and automatic control method | |
| CN202703067U (en) | Motion control system of numerical control carving machine | |
| CN102075125A (en) | Method for controlling multi-axis linkage servo control systems of numerical control (NC) machine tools | |
| CN102081373B (en) | Numerical control system for roll grinder and control method thereof | |
| CN106886195B (en) | Machining control method, device and application thereof | |
| Brecher et al. | Machine Tools Production Systems 3: Mechatronic Systems, Control and Automation | |
| CN113759852B (en) | Programming method, programming language, operation method and operation system for automatic control | |
| WO2017101700A1 (en) | Computer aided manufacturing method, device and system in direct communication with numerical control system | |
| CN2906795Y (en) | Multi-axis motion control card-based multi-axis hybrid control system for teaching | |
| Grigoriev et al. | Decentralized CNC automation system for large machine tools | |
| CN207636994U (en) | Servo-driver and servo-drive system | |
| CN103809519A (en) | Polar coordinate interpolation extremum region smooth processing method for numerical control system | |
| CN207586731U (en) | A kind of aspherical optical element grinding attachment | |
| CN102172790B (en) | Numerical control gear hobbing processing control device and processing control method for face gear | |
| CN113119105A (en) | Robot multi-machine linkage control method, multi-machine linkage control equipment and control system | |
| CN107748542A (en) | A kind of aspherical optical element grinding system | |
| Yeh | Feed rate determination method for tool path interpolation considering piecewise-continued machining segments with cornering errors and kinematic constraints | |
| CN112486070B (en) | Robot follow-up control system and method under position synchronization control mode |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |