CN116880347A - Two-dimensional position comparison system for motion control - Google Patents
Two-dimensional position comparison system for motion control Download PDFInfo
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- G05B19/00—Programme-control systems
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention relates to the field of industrial automation systems, and discloses a two-dimensional position comparison system for motion control. The system comprises: the software motion controller is internally provided with a non-real-time operating system and a real-time operating system; the real-time control system is internally provided with a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit; the two-dimensional comparison module is in communication connection with the software motion controller, and a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit and a position comparison unit are arranged in the two-dimensional comparison module; the driver is externally connected with the network interface chip; the motor is in communication connection with the driver and the FPGA programmable logic processing unit; and the target to be controlled is in communication connection with the position comparison unit. The invention can realize high-precision and high-efficiency motion control.
Description
Technical Field
The invention relates to the field of industrial automation systems, in particular to a two-dimensional position comparison system for motion control.
Background
In the field of precise automatic control, along with the high-speed development of vision technology, besides the position and speed to be controlled, more and more production lines have higher and higher requirements on the detection quality of the shape and nameplate information of each product, and the products need to be completely detected. In the current detection aspect, accurate position control is required, such as camera control, dispensing switch valve control and the like. To achieve the objective, the current common schemes are generally divided into two types, namely, the high-speed position comparison function of the servo driver is utilized to pre-store the point positions in the driver buffer area in advance, and when the feedback position reaches the set position, the pulse signals are triggered; secondly, on the bus controller, the communication period of extremely short bus is utilized, the instruction is received through periodic acquisition, the instruction position is further compared with the encoder position, and when the set point is reached, IO signals are triggered, so that the camera is controlled. Both schemes have respective application scenes and defects, and cannot consider the accuracy and efficiency of motion control.
Disclosure of Invention
The invention mainly aims to solve the technical problem that the accuracy and the efficiency of motion control cannot be considered.
The first aspect of the present invention provides a motion-controlled two-dimensional position comparison system comprising:
the system comprises a software motion controller, a real-time operating system and a non-real-time operating system, wherein the software motion controller is internally provided with the non-real-time operating system and the real-time operating system;
the real-time control system is internally provided with a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit;
the non-real-time control system is in communication connection with the motion control kernel;
the motion control kernel is in communication connection with the position comparison parameter setting unit;
the motion control kernel is in communication connection with the position comparison data processing unit;
the two-dimensional comparison module is in communication connection with the software motion controller, and a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit and a position comparison unit are arranged in the two-dimensional comparison module;
the network interface chip is in communication connection with the motion control kernel;
the network interface chip is in communication connection with the bus control chip;
the network interface chip is externally connected with the driver;
the motor is in communication connection with the driver and the FPGA programmable logic processing unit;
the MCU microprocessor is in communication connection with the FPGA programmable logic processing unit;
the FPGA programmable logic processing unit is in communication connection with the position comparison unit;
the position comparison unit is in communication connection with the real-time comparison information feedback unit;
the real-time comparison information feedback unit is in communication connection with the position comparison data processing unit;
and the target to be controlled is in communication connection with the position comparison unit.
Optionally, in a first implementation manner of the first aspect of the present invention, a user application program and a location comparison parameter setting are set in the non-real-time operating system.
Optionally, in a third implementation manner of the first aspect of the present invention, the communication connection between the non-real-time control system and the motion control kernel includes:
and the user application program and the motion control kernel are in communication connection in a memory sharing mode.
Optionally, in a fourth implementation manner of the first aspect of the present invention, the network interface chip is communicatively connected to the motion control kernel, including:
a first real-time bus interface is arranged in the software motion controller;
the two-dimensional position comparison module is provided with a second real-time bus interface and a third real-time bus interface;
the motion control kernel is in communication connection with the network interface chip through the first real-time bus interface and the second real-time bus interface;
the network interface chip is in communication connection with the driver through the third real-time bus interface.
Optionally, in a fifth implementation manner of the first aspect of the present invention, the two-dimensional position comparison module includes a pulse signal interface, the position comparison unit is communicatively connected to the real-time comparison information feedback unit according to the pulse signal interface, and the target to be controlled is communicatively connected to the position comparison unit according to the pulse signal interface.
Optionally, in a sixth implementation manner of the first aspect of the present invention, the two-dimensional position comparison module is provided with two encoder feedback interfaces, and the third real-time bus interface is connected with two drivers, and the drivers are correspondingly connected with the motors; and the motor is in communication connection with the FPGA programmable logic processing unit according to the encoder feedback interface.
Optionally, in a seventh implementation manner of the first aspect of the present invention, the target to be controlled is a camera.
Optionally, in an eighth implementation manner of the first aspect of the present invention, the target to be controlled is a laser interface.
In the embodiment of the invention, a non-real-time operating system and a real-time operating system are simultaneously arranged in a software motion controller in a motion control two-dimensional position comparison system. Non-real-time operating systems may handle tasks that do not require real-time response, while real-time operating systems are dedicated to handling tasks that require real-time performance. By separating the two operating systems, the reliability and stability of the real-time control system can be ensured. The device comprises a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit: the real-time control system is internally provided with a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit. The motion control kernel is responsible for realizing algorithms and logic of motion control, the position comparison parameter setting unit is used for setting parameters of motion control, and the position comparison data processing unit is used for processing data of position comparison. These components work cooperatively to achieve accurate motion control. And a communication connection is established between the non-real-time control system and the motion control kernel. The connection can realize the monitoring, configuration and adjustment of the motion control of the non-real-time system, thereby ensuring the stability and controllability of the whole system. The software motion controller establishes communication connection with the two-dimensional comparison module. The two-dimensional comparison module is an independent module and comprises components such as a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit, a position comparison unit and the like. By communicating with a software motion controller, the two-dimensional comparison module may provide a higher level of motion control functionality and processing power. The software motion controller may communicate with the motion control core and the bus control chip via the network interface chip. The connection mode can realize data exchange and coordination with other devices or systems, and increases the flexibility and expandability of the control system. The driver is connected with the motor in a communication way and is connected with the FPGA programmable logic processing unit. The connection mode can realize accurate control and driving of the motor, so that the motion control system can adjust parameters such as speed, position, torque and the like of the motor according to the requirement. In conclusion, the structure and the components of the software motion controller are mutually matched, so that high-precision and high-efficiency motion control can be realized.
Drawings
FIG. 1 is a schematic illustration of a first embodiment of a two-dimensional position comparison system for motion control in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of a second embodiment of a two-dimensional position comparison system for motion control in accordance with an embodiment of the present invention;
FIG. 3 is a schematic representation of a third embodiment of a two-dimensional position comparison system for motion control in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a fourth embodiment of a two-dimensional position comparison system for motion control in accordance with an embodiment of the invention;
FIG. 5 is a schematic illustration of a fifth embodiment of a two-dimensional position comparison system for motion control in accordance with an embodiment of the invention;
FIG. 6 is a schematic illustration of a sixth embodiment of a two-dimensional position comparison system for motion control in accordance with an embodiment of the invention;
FIG. 7 is a schematic representation of a seventh embodiment of a two-dimensional position comparison system for motion control in accordance with an embodiment of the invention;
FIG. 8 is a schematic illustration of an eighth embodiment of a two-dimensional position comparison system for motion control in an embodiment of the invention.
Detailed Description
The embodiment of the invention provides a two-dimensional position comparison system for motion control.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
For ease of understanding, a specific flow of an embodiment of the present invention is described below with reference to fig. 1, where a first embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention includes:
a software motion controller 201, wherein a non-real-time operating system 2011 and a real-time operating system 2012 are arranged in the software motion controller 201; a motion control kernel 20121, a position comparison parameter setting 20112 unit 20122 and a position comparison parameter setting 20112 unit 20123 are arranged in the real-time control system; the non-real time control system is communicatively coupled to the motion control kernel 20121; the motion control kernel 20121 is in communication with the position comparison parameter setting 20112 unit 20122; the motion control kernel 20121 is in communication with the position comparison parameter setting 20112 unit 20123; the two-dimensional comparison module is in communication connection with the software motion controller 201, and a network connection chip, a bus control chip 2022, an MCU microprocessor 2023, an FPGA programmable logic processing unit 2024 and a position comparison unit 2025 are arranged in the two-dimensional comparison module; the network interface chip 2021 is communicatively coupled to the motion control kernel 20121; the network interface chip 2021 is communicatively connected to the bus control chip 2022; a driver 203, the network interface chip 2021 is externally connected with the driver 203; a motor 204, the driver 203 is connected with the motor 204 in a communication manner, and the motor 204 is connected with the FPGA programmable logic processing unit 2024 in a communication manner; the MCU microprocessor 2023 is communicatively connected with the FPGA programmable logic processing unit 2024; the FPGA programmable logic processing unit 2024 is communicatively connected to the position comparing unit 2025; the position comparing unit 2025 is communicatively connected to the real-time comparison information feedback unit 2026; the real-time comparison information feedback unit 2026 is in communication connection with the location comparison parameter setting 20112 unit 20123; a target to be controlled 205, the target to be controlled 205 being communicatively connected to the position comparing unit 2025.
Further, in one embodiment, reference may be made to fig. 2, and fig. 2 is a second embodiment of a two-dimensional position comparing system for motion control in an embodiment of the present invention, and a user application 20111 and a position comparing parameter setting 20112 are disposed in the non-real-time operating system 2011.
In this alternative embodiment, a user application is provided in the non-real-time operating system, so that the user can implement the function customization and expansion of the software motion controller through programming or configuration. The user can write the application program according to specific requirements, thereby realizing self-defined motion control logic and meeting specific control requirements. This flexibility allows the controller to be more customizable and able to accommodate a variety of complex control scenarios. Also within the non-real time operating system is set a position comparison parameter setting, which means that the user can adjust the way and behavior of the motion control by setting different parameters. For example, the user may set parameters such as movement speed, acceleration, limit, etc. to meet specific movement needs. Thus, the user can flexibly control the performance and the behavior of the motion system, and optimize and adjust according to actual conditions. By setting user application and location comparison parameter settings in a non-real time operating system, the software motion controller has good scalability. The user may extend or modify the functionality of the controller by adding new applications or modifying the location comparison parameter settings. In this way, the controller can adapt to changing and evolving control requirements, maintaining compatibility with new technologies and applications. Integrating the user application and the location comparison parameter settings into a non-real time operating system can simplify the software development process. The developer can directly utilize the interfaces and functions provided by the operating system to quickly realize own application logic, and dynamically modify parameters to debug and optimize when running. Therefore, the development period can be greatly shortened, and the development efficiency and the product iteration speed can be improved. By way of comparison with a bus controller, a very short period, for example 1us, can be used by means of a two-dimensional comparison module. Compared with a common two-dimensional position comparison module, the trigger condition needs to meet the minimum point that the coordinates enter the range of the bit width and start to be far away from the set coordinate point at the same time to trigger the signal. For exception handling, all processes can be monitored in real time in a real-time interaction mode. And can monitor, confirm and adjust in real time the signal of the position comparison.
Further, in one embodiment, reference may be made to fig. 3, and fig. 3 is a third embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention, where the motion control kernel 20121 is communicatively connected to the non-real-time control system 201. The user application 20111 is communicatively coupled to the motion control kernel 20121 in a memory sharing manner.
In this alternative embodiment, the memory sharing manner may implement a real-time communication connection, so that the user application program may exchange data with the motion control kernel in real time. This is critical for application scenarios requiring fast response and real-time updating, such as robotic control, precision instruments and equipment, etc. The communication is carried out in a memory sharing mode, so that the real-time performance of the control system can be ensured, and the accuracy and the real-time performance of the control instruction are ensured.
Further, in one embodiment, reference may be made to fig. 4, and fig. 4 is a fourth embodiment of a two-dimensional position comparing system for motion control in an embodiment of the present invention, where a first real-time bus interface 2013 is disposed in the software motion controller 201; the two-dimensional position comparison module 202 is provided with a first real-time bus interface 2027 and a third real-time bus interface 2028; the motion control kernel 20121 is communicatively connected to the network interface chip 2021 through the first real-time bus interface 2013 and the first real-time bus interface 2027; the network interface chip 2021 is communicatively connected to the driver 203 via the third real-time bus interface 2028.
In this alternative embodiment, high real-time performance may be achieved by using a real-time bus interface for communication connection. The real-time bus interface has a low latency and a high data transfer rate so that control instructions and data can be transferred and processed in real-time. The method is very important for a motion control system, can ensure the accuracy and timeliness of control instructions, and improves the response speed and performance of the system. The real-time bus interface is capable of efficiently transmitting large amounts of data. The motion control kernel can perform rapid and reliable data exchange with the network interface chip and the two-dimensional position comparison module through the first real-time bus interface and the second real-time bus interface. And through the third real-time bus interface, the network interface chip can carry out efficient data transmission with the driver. Thus, the whole control system can realize rapid and effective data transmission, and the overall efficiency and performance of the system are improved.
Further, in one embodiment, referring to fig. 5, fig. 5 is a fifth embodiment of a two-dimensional position comparing system for motion control in an embodiment of the present invention, the two-dimensional position comparing module 202 includes a pulse signal interface 2029, the position comparing unit 2025 is communicatively connected to the real-time comparison information feedback unit 2026 according to the pulse signal interface 2029, and the target 205 to be controlled is communicatively connected to the position comparing unit 2025 according to the pulse signal interface 2029.
In this alternative embodiment, the two-dimensional position comparison module may receive the pulse signal from the motion device via the pulse signal interface. The position comparison unit can communicate the pulse signals with the real-time comparison information feedback unit, so that the accurate positioning of the position of the movement equipment is realized. This is important for applications requiring high precision position control, such as robotic motion control, automatic positioning, etc. The position comparison unit can timely feed back the detected position signals to the control system through communication connection with the real-time comparison information feedback unit. This allows the control system to make immediate adjustments and decisions based on real-time location information. This is critical to achieving closed loop control and dynamic control, and can improve the stability and accuracy of the system. The object to be controlled can communicate directly with the position comparison unit via the pulse signal interface. Thus, the target to be controlled can send information such as instructions, parameters and the like to the position comparison unit, and flexible control of the movement equipment is realized. Meanwhile, the position comparison unit can also transmit real-time position data to the target to be controlled, so that the target to be controlled can acquire the state information of the system in time.
Further, in one embodiment, referring to fig. 6, fig. 6 is a sixth embodiment of a two-dimensional position comparing system for motion control in the embodiment of the present invention, the two-dimensional position comparing module 202 is provided with 2 encoder feedback interfaces 2030, the third real-time bus interface 2028 is connected to 2 drivers 203, and the drivers 203 are correspondingly connected to the motors 204; the motor 204 is communicatively coupled to the FPGA programmable logic processing unit 2024 according to the encoder feedback interface 2030. Optionally, the number of drivers, the number of motors, and the number of encoder feedback interfaces correspond to n.
In this alternative embodiment, by providing multiple encoder feedback interfaces, the position feedback signals for multiple axes may be received simultaneously. Therefore, the multi-axis position comparison and control can be realized, and the multi-axis position comparison and control device is suitable for application scenes supporting multi-axis movement, such as mechanical arms, CNCs and the like. Each encoder feedback interface corresponds to one axis, and each axis can be precisely positioned and controlled independently. And the third real-time bus interface is connected with a plurality of drivers, so that efficient data transmission and communication can be realized. The real-time bus has lower delay and higher data transmission rate, and can ensure that control instructions and data can be transmitted and processed in a real-time manner. This can improve the response speed and performance of the system. The internal position comparison of the comparison driver can meet the situations of different requirements on position comparison such as single-path, two-dimensional and the like. No prior writing is required.
Further, in one embodiment, reference may be made to fig. 7, where fig. 7 is a seventh embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. The object to be controlled 205 is a camera.
Further, in one embodiment, reference may be made to fig. 8, and fig. 8 is an eighth embodiment of a two-dimensional position comparison system for motion control in an embodiment of the present invention. The object to be controlled 205 is a laser interface.
In the embodiment of the invention, a non-real-time operating system and a real-time operating system are simultaneously arranged in a software motion controller in a motion control two-dimensional position comparison system. Non-real-time operating systems may handle tasks that do not require real-time response, while real-time operating systems are dedicated to handling tasks that require real-time performance. By separating the two operating systems, the reliability and stability of the real-time control system can be ensured. The device comprises a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit: the real-time control system is internally provided with a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit. The motion control kernel is responsible for realizing algorithms and logic of motion control, the position comparison parameter setting unit is used for setting parameters of motion control, and the position comparison data processing unit is used for processing data of position comparison. These components work cooperatively to achieve accurate motion control. And a communication connection is established between the non-real-time control system and the motion control kernel. The connection can realize the monitoring, configuration and adjustment of the motion control of the non-real-time system, thereby ensuring the stability and controllability of the whole system. The software motion controller establishes communication connection with the two-dimensional comparison module. The two-dimensional comparison module is an independent module and comprises components such as a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit, a position comparison unit and the like. By communicating with a software motion controller, the two-dimensional comparison module may provide a higher level of motion control functionality and processing power. The software motion controller may communicate with the motion control core and the bus control chip via the network interface chip. The connection mode can realize data exchange and coordination with other devices or systems, and increases the flexibility and expandability of the control system. The driver is connected with the motor in a communication way and is connected with the FPGA programmable logic processing unit. The connection mode can realize accurate control and driving of the motor, so that the motion control system can adjust parameters such as speed, position, torque and the like of the motor according to the requirement. In conclusion, the structure and the components of the software motion controller are mutually matched, so that high-precision and high-efficiency motion control can be realized.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A motion controlled two-dimensional position comparison system, the motion controlled two-dimensional position comparison system comprising:
the system comprises a software motion controller, a real-time operating system and a non-real-time operating system, wherein the software motion controller is internally provided with the non-real-time operating system and the real-time operating system;
the real-time control system is internally provided with a motion control kernel, a position comparison parameter setting unit and a position comparison data processing unit;
the non-real-time control system is in communication connection with the motion control kernel;
the motion control kernel is in communication connection with the position comparison parameter setting unit;
the motion control kernel is in communication connection with the position comparison data processing unit;
the two-dimensional comparison module is in communication connection with the software motion controller, and a network connection chip, a bus control chip, an MCU microprocessor, an FPGA programmable logic processing unit and a position comparison unit are arranged in the two-dimensional comparison module;
the network interface chip is in communication connection with the motion control kernel;
the network interface chip is in communication connection with the bus control chip;
the network interface chip is externally connected with the driver;
the motor is in communication connection with the driver and the FPGA programmable logic processing unit;
the MCU microprocessor is in communication connection with the FPGA programmable logic processing unit;
the FPGA programmable logic processing unit is in communication connection with the position comparison unit;
the position comparison unit is in communication connection with the real-time comparison information feedback unit;
the real-time comparison information feedback unit is in communication connection with the position comparison data processing unit;
and the target to be controlled is in communication connection with the position comparison unit.
2. The motion controlled two-dimensional position comparison system according to claim 1, wherein a user application and position comparison parameter settings are provided within the non-real time operating system.
3. The motion controlled two-dimensional position comparison system of claim 2, wherein the non-real time control system communicatively coupled to the motion control kernel comprises:
and the user application program and the motion control kernel are in communication connection in a memory sharing mode.
4. The motion controlled two-dimensional position comparison system of claim 3, wherein the network interface chip communicatively coupled to the motion control kernel comprises:
a first real-time bus interface is arranged in the software motion controller;
the two-dimensional position comparison module is provided with a second real-time bus interface and a third real-time bus interface;
the motion control kernel is in communication connection with the network interface chip through the first real-time bus interface and the second real-time bus interface;
the network interface chip is in communication connection with the driver through the third real-time bus interface.
5. The motion controlled two-dimensional position comparison system according to claim 4, wherein the two-dimensional position comparison module comprises a pulse signal interface, the position comparison unit is in communication connection with the real-time comparison information feedback unit according to the pulse signal interface, and the object to be controlled is in communication connection with the position comparison unit according to the pulse signal interface.
6. The motion controlled two-dimensional position comparison system according to any one of claims 1-5, wherein the two-dimensional position comparison module is provided with two encoder feedback interfaces, the third real-time bus interface is connected with two drivers, and the drivers are correspondingly connected with the motors; and the motor is in communication connection with the FPGA programmable logic processing unit according to the encoder feedback interface.
7. The motion controlled two-dimensional position comparison system according to claim 6, wherein the object to be controlled is a camera.
8. The motion controlled two-dimensional position comparison system according to claim 6, wherein the object to be controlled is a laser interface.
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