CN116450091A - Multi-joint control software architecture implementation method - Google Patents
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- G06F9/46—Multiprogramming arrangements
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Abstract
The invention provides a method for realizing a multi-joint control software architecture, which comprises a protocol layer, a control layer and a control layer, wherein the protocol layer is used for realizing protocol coding and protocol decoding and realizing external communication; the logic layer is used for realizing task logic of project requirements; the control layer is used for realizing an execution end control mode, packaging and controlling a joint object interface and acquiring joint parameters; the driving layer is used for realizing the escape of the firmware library of the controller hardware; the protocol layer is connected with the logic layer, the logic layer is connected with the control layer, the control layer is connected with the driving layer through interfaces, and the control layer provides a control algorithm interface. The layers are connected through the interfaces, so that the coupling between the layers is reduced, and the maintenance is convenient; the control layer provides a control algorithm interface, so that an algorithm module is conveniently added or an algorithm is iteratively updated, and the software architecture is updated; the driver layer realizes the escape of the controller hardware firmware library, is convenient for the software to realize the transplantation on different hardware platforms, and improves the development efficiency.
Description
Technical field:
the invention belongs to the field of software architecture design, and particularly relates to a method for realizing a multi-joint control software architecture.
The background technology is as follows:
in the field of multi-executor flow control (multi-joint control), along with the continuous improvement of task demands, the control difficulty and complexity are gradually improved, and how to develop a control system with powerful functions and stability and reliability under the condition of ensuring project progress is a problem which is concerned in the current control field. The complexity and difficulty of the multi-joint control system is mainly manifested in the following points of interest:
(1) If different working conditions are needed, different modes of multi-joint linkage control are needed;
(2) The multi-joint linkage also ensures better recovery capability when the interruption is stopped;
(3) The device has the functions of joint debugging single action (unlimited single action), joint protection single action (limited single action), linkage and the like;
(4) Under the high-reliability application requirement, each joint is required to have better fault diagnosis capability.
The above requirements can lead to increased difficulty in software development of the control system, prolonged development period, and prolonged time for later debugging or problem investigation. The software development efficiency is reduced. In the case of limiting the development cycle, the control functions are reduced, resulting in a decrease in the performance of the control system.
The coupling of the control system is reduced by mainly designing a software architecture in the current industry, so that each module is deeply developed to improve the overall capability of the control system. Therefore, how to account for the software architecture, the deep modular design, reasonable packaging, improved development efficiency and synchronously improved reliability of control software are technical problems to be solved.
The invention comprises the following steps:
the invention aims to solve the technical problem of providing a method for realizing a multi-joint control software architecture so as to improve the development efficiency of control software in the field of multi-joint control.
The technical solution of the invention is to provide a method for realizing a multi-joint control software architecture, which comprises the following steps,
step 1, a control software architecture is divided into a protocol layer, a logic layer, a control layer and a driving layer, functions of each layer and a message exchange mechanism between the layers are defined, wherein the protocol layer is used for encoding and decoding a communication protocol between a controller and an upper computer, the logic layer is used for realizing task logic of project requirements, the control layer is used for realizing an execution end control mode, the driving layer is used for escaping a firmware library of controller hardware, and dependence on a controller hardware platform is reduced;
step 2, designing a program module according to the step 1, namely designing a message interaction mode between layers, designing a message object, implementing an interface of the message object, and packaging;
step 3, the control layer is integrally packaged, a control layer calling interface is designed, a control joint object is introduced, the attribute and the interface of the control joint object are designed, the control layer describes the joint object, realizes the interface of the joint object, and packages the control joint; the program modules are designed according to step 1 for implementing the whole "control layer". And the conversion of sensing data, the conversion of control instructions and the connection of the relation between logic control and a driving layer are realized. In addition, the control layer is also designed with a reserved interface of a control algorithm module.
Step 4, designing a protocol layer calling interface, realizing protocol layer protocol coding and decoding codes, and packaging the codes; and (3) designing a program module according to the step (1) for realizing the encoding and decoding of the communication protocol of the protocol layer and the upper computer. Protocols for realizing man-machine interface interaction, other external communication protocols, and the like. The protocol layer is used for encoding and decoding the communication protocol of the controller and the upper computer, and encapsulating the codes of the encoding and decoding protocol, so that a user can complete project software development by only paying attention to the input and output interfaces without paying attention to the protocol content.
Step 5, designing a logic layer calling interface, and reserving an interface to be realized by the logic layer; the program module is designed according to the step 1 and is used for realizing a logic layer internal logic interface and an external information interaction interface. The method realizes the action logic design, state judgment, control filtration and the like of the equipment. The logic layer reserves a functional interface, which is a layer mainly required to be developed by a developer. The user realizes control logic in the function interfaces, so that the control logic is controllable and can be checked; these interfaces are reasonably classified and designed and comprise the following core points: control instruction filtering (control instruction enabling condition setting); the multi-joint control interface adopts a state machine mode to realize the interface of the state machine; and generating unified management of the intermediate state and the alarm.
Step 6, designing a driving layer calling interface; and (3) designing a program module according to the step (1) to realize a driving layer and escape of a hardware firmware library and an architecture hardware interface. In addition, the driving layer is used for escaping of the actual controller firmware library; the firmware libraries provided by different control hardware manufacturers comprise interfaces without unified standards, and the interfaces have variability, and the driver layer needs to unify the firmware libraries provided by different hardware manufacturers, namely, the driver layer unifies the firmware libraries provided by different hardware manufacturers into standard interfaces of the framework.
And 7, designing a control algorithm module of the control layer, packaging the control algorithm module, wherein the control algorithm is an algorithm module which can be called by the architecture. And (3) designing program modules of various control algorithms according to the step (1), and providing an algorithm control module capable of being directly invoked for general follow control and sensing calibration of a user.
Preferably, the control layer executes the control message queue, and the action joint calls the control output interface of the driving layer in a callback mode to realize the action control of execution hardware.
Preferably, the protocol layer is further configured to aggregate parameters of the multi-joint control system, encode the parameters according to a protocol, and send the parameter information to the upper computer through the communication interface.
Furthermore, the logic layer also realizes the function of transmitting the logic parameters generated by the logic layer and the joint parameters acquired by the logic layer from the control layer to the protocol layer.
Compared with the prior art, the invention has the following advantages:
through the existing software architecture, the internal performance of the control system software can be effectively improved:
1. loose coupling: asynchronous communication is adopted between layers, so that the coupling between the layers is reduced, and convenience is provided for program migration and upgrading; if the controller hardware is changed, only a new driving layer needs to be developed when the software is transplanted;
2. high reliability: based on the task object controlled by multiple joints, most of software codes are solidified, the development code quantity is reduced, the development error rate is reduced, and the reliability is improved; generally, only a logic layer is needed to develop, and the logic layer designs a core logic interface, so that the logic is controllable, and the reliability is improved;
3. high iteration capability: in the future unmanned control field, the multi-joint control brings out more functional demands on software, and the software can greatly improve the control system capacity through means of layering iteration, algorithm module expansion and upgrading and the like.
Description of the drawings:
FIG. 1 is a schematic diagram of a software architecture for multi-joint control in an embodiment;
FIG. 2 is a message flow diagram of a multi-joint control software architecture;
FIG. 3 is a message object diagram;
FIG. 4 is a schematic diagram of a protocol layer output interface;
FIG. 5 is a logical layer interface relationship diagram;
fig. 6 is a control layer interface relationship diagram.
The specific embodiment is as follows:
the invention is further described in terms of specific embodiments in conjunction with the following drawings:
a method for realizing multi-joint control software architecture comprises the following steps,
step 1: the control software architecture is specifically refined, layered, and divided into a protocol layer, a logic layer, a control layer and a driving layer, and functions of all the layers are defined.
Step 2: for each layer in the software architecture, designing a message interaction mode between layers; and designing the message object, implementing the interface of the message object, and packaging.
As shown in fig. 1, a schematic structural diagram of a multi-joint control software architecture in this embodiment includes 4 parts, from an uppermost layer to a lowermost layer, of a protocol layer, a logic layer, a control layer and a logic layer, and for each layer in the software architecture, a message interaction manner between the layers is designed and packaged into a unified function interface; in addition, the message object is designed, a message object interface is realized, the interface encapsulation of the message object is completed, the layer-to-layer coupling is reduced, and the maintenance is convenient.
In this embodiment, as shown in fig. 3, the message object includes attributes such as a message category, a channel number, an instruction type, an instruction value, and a valid instruction flag, where the message category is used to distinguish different task messages, and in the embodiment, includes a joint debugging single-action task, a joint protection single-action task, a joint linkage task, and a parameter setting task; the channel number is used for distinguishing multiple joints; the instruction type is used for distinguishing different instructions, and in the embodiment, the instruction type comprises 3 instruction types of no instruction, emergency stop instruction and task instruction; the instruction value is used for representing the specific requirements of the task instruction; the valid message flag is used to flag whether the message object is valid or not, and the valid message can be passed down.
Step 3: carrying out refinement design on the control layer; the control layer mainly realizes an execution end control mode, designs a control layer calling interface, describes a joint object, realizes the interface of the joint object, encapsulates a control joint, reserves an interface for a control algorithm module built in the architecture, and realizes the integral encapsulation of the control layer.
Specifically, the joint object is designed in the control layer, so that a joint object interface is realized, and the encapsulation of the control joint interface is completed; the control layer reserves an interface for a built-in control algorithm module of the architecture, and then the algorithm library can be continuously updated in an iteration mode or the algorithm module can be newly added, so that the functions of the control layer are continuously expanded, and the capability of the software architecture is improved.
As shown in fig. 2, the control layer executes a control message queue, and the action joint calls a control output interface of the driving layer in a callback mode to realize action control of execution hardware;
each control joint of the control layer calls a sensor input interface of the driving layer in a callback mode, so that the acquisition of corresponding sensor information of each control joint is realized; in addition, the control joint in the control layer can calibrate and integrate related information according to the obtained control information and sensor information to form complete joint parameters, and upward transmission of the joint parameters is realized by calling corresponding interaction interfaces.
In this embodiment, as shown in fig. 6, a control layer message queue is executed in a control layer, a corresponding control joint object is found according to a channel number in a message object, a control message is transmitted to the control joint object, the control joint object invokes a control output interface of a driving layer in a callback manner, and a control instruction transmitted in the message is executed, so that action control of execution hardware is realized;
in this embodiment, the execution period of the control layer message queue is 5 milliseconds;
in the present embodiment, the cycle period of sensor information acquisition is 100 milliseconds.
Step 4: carrying out refinement design on the protocol layer; and designing a protocol layer calling interface, realizing protocol decoding and protocol coding codes of the protocol layer, and completing code encapsulation.
Specifically, the protocol layer is a direct interface for external communication, encapsulates the communication protocol, provides a unified function interface, completes decoding and encoding of the communication protocol in the protocol layer, and realizes data information receiving and transmitting with external equipment; the protocol layer decodes the received data information by relying on the communication protocol, forms corresponding control information by calling the information object interface, and then calls the logic layer related interface to complete the downward transmission of the control information.
In one embodiment, the protocol layer encapsulates the standard communication protocol by relying on the standard communication protocol of the upper computer, provides a unified upper computer communication interface and realizes man-machine interaction;
in this embodiment, as shown in fig. 4, the protocol layer receives data information from the upper computer, analyzes the data information according to a communication protocol, and obtains a joint debugging single-action control message object, a joint protection single-action control message object, a joint linkage control message object and a parameter setting control message object according to the type of the message object, so as to call a function interface of the logic layer to transfer the control message to a message queue of the logic layer;
in one embodiment, the protocol layer is further configured to aggregate parameters of the multi-joint control system, further encode the parameters according to a protocol, and send parameter information to an upper computer through a communication interface;
in one embodiment, the loop period of the protocol layer is 200 milliseconds.
Step 5: carrying out refinement design on the logic layer; the logic layer mainly realizes task logic of project requirements, designs a calling interface of the logic layer, reserves an interface which needs to be realized by the logic layer, and provides the interface for a developer to actually develop, namely solidify the interface and open the realization.
Specifically, as shown in fig. 1, the logic layer realizes task logic interfaces such as control filtering, control state machine, control state generation, fault alarm and the like according to actual project requirements, wherein the control state machine is used for realizing a multi-joint linkage function; the control state generation is used for generating state parameters in the running process of the multi-joint control system; the fault alarm is used for identifying faults in the operation process of the multi-joint control system, generating fault parameters and taking relevant alarm measures; the control filtering is used for calling a corresponding function interface according to the category of the control message in the message queue of the logic layer to finish the executable judgment of the control message, as shown in figure 2, the executable control message calls the related function interface of the control layer to transfer the control message to the message queue of the control layer, and the non-executable control message is directly eliminated;
as shown in fig. 2, the logic layer also realizes a function of transferring the logic parameters generated by the logic layer and the joint parameters acquired by the logic layer from the control layer to the protocol layer.
In this embodiment, the execution period of the logical layer message queue is 5 milliseconds;
as shown in fig. 5, in one embodiment, the message queue of the logic layer includes a joint debugging single action message, a joint protection single action message, a joint linkage message, and a parameter setting message;
as shown in fig. 5, in one embodiment, the control filters messages according to different categories in the logical layer message queue, invokes corresponding function interfaces, and delivers the messages downward;
as shown in fig. 5, in one embodiment, the joint debugging single action message directly invokes the control layer related interface to be transferred to the control layer message queue without performing control message feasibility judgment;
as shown in fig. 5, in one embodiment, after the joint protection single-action message is transferred to the protection single-action function module, the executable message needs to be judged by the control message executable, and the executable message can be transferred to the control layer message queue by calling the control layer related interface, and the non-executable message is directly eliminated;
as shown in fig. 5, in one embodiment, after the parameter setting message is transferred to the parameter setting function module, control message executable judgment needs to be performed, the executable message directly completes the parameter setting task in the logic layer, the message does not need to be transferred to the control layer, and the message which cannot be executed directly disappears;
as shown in fig. 5, in one embodiment, the joint linkage message firstly performs the executable judgment, the executable joint linkage message is transferred to the control state machine function module, and the control state machine module decomposes the joint linkage message into each action joint protection single action message according to the running state of the system, and then performs the message transfer according to the processing mode of the joint protection single action message, so as to realize the multi-joint linkage action;
in this embodiment, the execution period of the control state machine module is 100 milliseconds;
step 6: carrying out refinement design on the driving layer; and designing a driving layer call interface, wherein the driving layer is mainly used for escaping a firmware library of the controller hardware.
Specifically, the driving layer is mainly used for escaping a software firmware library of the used controller hardware, realizing escaping of function interfaces such as a digital quantity input class, an analog quantity input class, a digital quantity output class, an analog quantity output class, a communication driving class and the like of the controller, forming a corresponding driving layer calling interface, reducing the coupling of the interfaces of the controller hardware firmware library, ensuring that when the controller hardware is changed, the software transplanting can be completed only by developing a new driving layer without changing other parts in the architecture.
Step 7: and realizing a control algorithm module of the control layer, and packaging the algorithm module.
Specifically, the control algorithm module performs generalized extraction on some functions used in the actual project, designs a control algorithm module calling interface, completes related control algorithm module codes and realizes code encapsulation for calling by the multi-joint control software architecture.
The multi-joint control software architecture layer is connected with the layer through an interface, so that the coupling between the layers is reduced, and the maintenance is convenient;
the control layer provides a control algorithm interface, so that an algorithm module is conveniently added or an algorithm is iteratively updated, and the software architecture is updated; the driver layer realizes the escape of the controller hardware firmware library, is convenient for the software to realize the transplantation on different hardware platforms, and improves the development efficiency.
The foregoing is illustrative of the preferred embodiments of the present invention, and is not to be construed as limiting the claims. All equivalent flow changes made by the specification of the invention are included in the protection scope of the invention.
Claims (8)
1. A method for realizing a multi-joint control software architecture is characterized in that: the method comprises the steps of,
step 1, dividing a control software architecture into a protocol layer, a logic layer, a control layer and a driving layer, and defining functions of each layer and a message exchange mechanism between the layers, wherein the protocol layer is used for realizing protocol coding and protocol decoding, realizing external communication, the logic layer is used for realizing task logic of project requirements, the control layer is used for realizing an execution end control mode, and the driving layer is used for escaping a firmware library of controller hardware;
step 2, designing a message interaction mode between layers, designing a message object, implementing an interface of the message object, and packaging;
step 3, the control layer is integrally packaged, a control layer calling interface is designed, a control joint object is introduced, the attribute and the interface of the control joint object are designed, the control layer describes the joint object, realizes the interface of the joint object, and packages the control joint;
step 4, designing a protocol layer calling interface, realizing protocol layer protocol coding and decoding codes, and packaging the codes;
step 5, designing a logic layer calling interface, and reserving an interface to be realized by the logic layer;
step 6, designing a driving layer calling interface;
and 7, designing a control algorithm module of the control layer, packaging the control algorithm module, wherein the control algorithm is an algorithm module which can be called by the architecture.
2. The method for implementing the multi-joint control software architecture according to claim 1, wherein: in step 3, the control layer is also designed with a reserved interface of a control algorithm module.
3. The method for implementing the multi-joint control software architecture according to claim 1, wherein: in step 2, the message exchange mode adopts an asynchronous message communication mode, so that effective decoupling between layers is ensured.
4. The method for implementing the multi-joint control software architecture according to claim 1, wherein: the logic layer is designed with control instruction filtering, the multi-joint control interface adopts a state machine mode, and the interface of the state machine is realized; and the unified management of the intermediate state and the alarm generation is realized.
5. The method for implementing the multi-joint control software architecture according to claim 1, wherein: the protocol layer encapsulates codes of the encoding and decoding protocols, and users can complete project software development only by paying attention to input and output interfaces without paying attention to protocol contents.
6. The method for implementing the multi-joint control software architecture according to claim 1, wherein: the control layer executes the control message queue, and the action joint calls the control output interface of the driving layer in a callback mode to realize the action control of execution hardware.
7. The method for implementing the multi-joint control software architecture according to claim 1, wherein: the protocol layer is also used for summarizing parameters of the multi-joint control system, coding the parameters according to the protocol and sending the parameter information to the upper computer through the communication interface.
8. The method for implementing the multi-joint control software architecture according to claim 1, wherein: the logic layer also realizes the function of transmitting the logic parameters generated by the logic layer and the joint parameters acquired by the logic layer from the control layer to the protocol layer.
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