CN116909206B - Embedded PLC motion control system - Google Patents
Embedded PLC motion control system Download PDFInfo
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- CN116909206B CN116909206B CN202311159969.9A CN202311159969A CN116909206B CN 116909206 B CN116909206 B CN 116909206B CN 202311159969 A CN202311159969 A CN 202311159969A CN 116909206 B CN116909206 B CN 116909206B
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- 238000012360 testing method Methods 0.000 claims abstract description 81
- 238000012544 monitoring process Methods 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 14
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 8
- 238000010276 construction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/13—Plc programming
- G05B2219/13119—Compiler
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- 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]
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses an embedded PLC motion control system, relates to the technical field of PLC control, and solves the technical problems that the prior art cannot carry out real-time remote debugging and monitoring on a PLC control process, does not exert the advantages of an embedded PLC, and causes poor motion control effect; according to the invention, the programming compiling unit is combined with the intelligent terminal to generate the PLC code, the PLC code is compiled to obtain the intermediate code, the control testing unit is combined with the intermediate code to obtain the test tag, and then the control module is driven to control the movement of the movement equipment, so that remote debugging and control can be realized, the control effect is ensured, and meanwhile, the control efficiency is improved; the invention detects the corresponding running environment of the moving equipment through the track overlap ratio and the overlap ratio threshold value, and recognizes and judges whether the moving equipment has a storage fault through a plurality of continuous track overlap ratios, thereby ensuring the running environment and the working state of the moving equipment and improving the control efficiency and the control precision of the PLC.
Description
Technical Field
The invention belongs to the field of PLC control, relates to an embedded PLC motion control technology, and particularly relates to an embedded PLC motion control system.
Background
The PLC is a digital operation operating system specially applied to an industrial environment, and internally stores control instructions for executing logic operations, sequence control, timing, counting, arithmetic operations and the like, and controls various types of mechanical equipment or production processes by executing the control instructions digitally or in an analog manner.
The prior art (the invention patent with publication number of CN 106125664A) discloses an embedded PCL control system, which aims at a special application construction flow to realize personalized requirements, avoids purchasing a special PLC and can reduce cost. The prior art cannot carry out real-time remote debugging and monitoring on the PLC control process, and does not exert the advantages of the embedded PLC, so that the motion control effect is poor; therefore, there is a need for an embedded PLC motion control system.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art; therefore, the invention provides an embedded PLC motion control system, which is used for solving the technical problem that the prior art cannot carry out real-time remote debugging and monitoring on a PLC control process, does not exert the advantages of the embedded PLC, and causes poor motion control effect.
According to the invention, the programming compiling unit is combined with the intelligent terminal to generate the PLC code, the PLC code is compiled to obtain the intermediate code, the control testing unit is combined with the intermediate code to obtain the test tag, and then the control module is driven to control the movement of the movement equipment, so that remote debugging and control can be realized, the control effect is ensured, and meanwhile, the control efficiency is improved.
In order to achieve the above object, a first aspect of the present invention provides an embedded PLC motion control system, including an embedded PLC module, a driving monitoring module, and a motion device, where the driving monitoring module is connected to the embedded PLC module and the motion device, respectively;
the embedded PLC module comprises a programming compiling unit, a resource management unit, a control testing unit and a communication control unit;
establishing connection between the intelligent terminal and the embedded PLC module through the communication control unit;
the programming compiling unit is combined with the intelligent terminal to generate a PLC code, and the PLC code is detected and compiled to generate an intermediate code; wherein the intermediate code comprises a test code and a control code;
the control test unit is combined with the movement equipment to test the test code, and a test label is generated after the test is qualified;
and after the driving monitoring module identifies the test tag, controlling the movement of the movement equipment according to the control code, and monitoring the movement process of the movement equipment in real time.
Preferably, the driving monitoring module is respectively in communication and/or electrical connection with the embedded PLC module and the sports equipment, and the intelligent terminal is in communication and/or electrical connection with the embedded PLC module; the intelligent terminal comprises a smart phone and a computer.
Preferably, the PLC code is generated by the intelligent terminal and sent to the programming and compiling unit, or is generated by controlling the programming and compiling unit by the intelligent terminal.
Preferably, the programming compiling unit detects the PLC code through an internally stored PLC self-checking program; the PLC self-checking program is used for detecting basic logic of the PLC code;
after the detection is qualified, compiling the PLC code according to a target platform to generate the intermediate code; the compiling of the PLC codes is realized through a GCC compiler.
Preferably, the control test unit tests the test code to obtain the test tag, including:
optionally, controlling the selected movement equipment to run through the test code to obtain a corresponding movement track;
when the motion trail is consistent with the standard trail, generating a test label; otherwise, generating a test abnormal signal and sending the test abnormal signal to the intelligent terminal.
Preferably, the test code is consistent with the control code, or the test code is consistent with a core code of the control code.
Preferably, the driving monitoring module controls the running of the movement device in combination with the control code, monitors the movement process of the movement device in real time, and obtains a monitoring tag, including:
controlling the movement of the movement equipment according to the control code, and collecting the movement track of the movement equipment in real time;
generating the monitoring tag;
when the motion trail is compared and analyzed with the standard trail or the motion trail of the previous motion period and the trail coincidence degree meets the requirement, setting the monitoring label to be 1; otherwise, the monitoring tag is set to 0.
Preferably, the determining the fault of the motion device according to the track overlap ratio includes:
acquiring a plurality of track overlap ratios in a set period; wherein each set period comprises a plurality of motion periods;
when the track contact ratio is smaller than or equal to a contact ratio threshold value or the track contact ratio is gradually reduced, judging that the corresponding motion equipment fails, and generating and feeding back the failure of the motion equipment; wherein the overlap ratio threshold is set according to practical experience.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the programming compiling unit is combined with the intelligent terminal to generate the PLC code, the PLC code is compiled to obtain the intermediate code, the control testing unit is combined with the intermediate code to obtain the test tag, and then the control module is driven to control the movement of the movement equipment, so that remote debugging and control can be realized, the control effect is ensured, and meanwhile, the control efficiency is improved.
2. The invention detects the corresponding running environment of the moving equipment through the track overlap ratio and the overlap ratio threshold value, and recognizes and judges whether the moving equipment has a storage fault through a plurality of continuous track overlap ratios, thereby ensuring the running environment and the working state of the moving equipment and improving the control efficiency and the control precision of the PLC.
Drawings
In order to more clearly illustrate the embodiments of the invention 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, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the working steps of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The prior art (the invention patent with publication number of CN 106125664A) discloses an embedded PCL control system, which aims at a special application construction flow to realize personalized requirements, avoids purchasing a special PLC and can reduce cost. The prior art can not carry out real-time remote debugging and monitoring on the PLC control process, and the advantages of the embedded PLC are not exerted, so that the motion control effect is poor.
According to the invention, the programming compiling unit is combined with the intelligent terminal to generate the PLC code, the PLC code is compiled to obtain the intermediate code, the control testing unit is combined with the intermediate code to obtain the test tag, and then the control module is driven to control the movement of the movement equipment, so that remote debugging and control can be realized, the control effect is ensured, and meanwhile, the control efficiency is improved.
Referring to fig. 1, an embodiment of a first aspect of the present application provides an embedded PLC motion control system, including an embedded PLC module, a driving monitoring module, and a motion device, where the driving monitoring module is connected to the embedded PLC module and the motion device, respectively; the embedded PLC module comprises a programming compiling unit, a resource management unit, a control testing unit and a communication control unit;
the connection between the intelligent terminal and the embedded PLC module is established through the communication control unit;
the programming compiling unit is combined with the intelligent terminal to generate a PLC code, and the PLC code is detected and compiled to generate an intermediate code;
the control test unit is combined with the movement equipment to test the test code, and a test label is generated after the test is qualified;
after the drive monitoring module recognizes the test tag, the motion of the motion equipment is controlled according to the control code, and the motion process of the motion equipment is monitored in real time.
The programming compiling unit is used for programming and compiling the PLC codes and compiling the qualified PLC codes to generate intermediate codes; the resource management unit is used for coordinating system resources in the PLC control process; the communication control unit is used for establishing a communication relation among the modules and supervising the communication state; and the control test unit tests the test code to generate a corresponding test label.
The driving monitoring module is respectively communicated and/or electrically connected with the embedded PLC module and the movement equipment, and the intelligent terminal is communicated and/or electrically connected with the embedded PLC module; the intelligent terminal comprises a smart phone, a computer and the like.
It is noted that the PLC code improved in the present application is generated by the intelligent terminal and sent to the programming and compiling unit, or is generated by the intelligent terminal controlling the programming and compiling unit.
It can be understood that after the operator generates the PLC code through the intelligent terminal programming, the PLC code is sent to the programming and compiling unit, and the programming and compiling unit compiles the PLC code to obtain the intermediate code.
And acquiring a programming and compiling unit which is remotely connected with the embedded PLC module through the intelligent terminal, acquiring a PLC code through control of the intelligent terminal by the programming and compiling unit, and then compiling the PLC code to acquire a corresponding intermediate code.
It can be understood that before the intermediate code is generated, the PLC code needs to be detected, and then a PLC self-checking program in the programming and compiling unit can be used, where the PLC self-checking program is used to detect whether the PLC code has a basic grammar problem, a logic problem, and the like, and the PLC code is compiled after the self-checking is qualified.
After the detection is qualified, compiling the PLC code according to a target platform to generate the intermediate code; compiling the PLC codes is achieved through a GCC compiler, and the GCC compiler is applicable to different target platforms.
In a preferred embodiment, the control test unit tests the test code to obtain a test tag, including:
optionally selecting one motion device, controlling the selected motion device to run through a test code, and acquiring a corresponding motion track;
when the motion trail is consistent with the standard trail, generating a test label; otherwise, generating a test abnormal signal and sending the test abnormal signal to the intelligent terminal.
In this embodiment, a piece of motion equipment is optionally selected, the motion equipment is controlled by the test code, a test tag is generated according to the comparative analysis of the corresponding motion track and the standard track, and if the test tag is not generated, the test result of the test code is understood to be abnormal, a test abnormal signal is generated.
In this embodiment, the movement track and the standard track are identical, which does not mean that they are identical, and when the track overlap ratio between them meets the overlap ratio threshold, it can be understood that they are identical. It is understood that the movement apparatus in the present application refers to motors, manipulators, etc. used in the production process.
The standard track in the embodiment is obtained through simulation software, namely, the running of the movement equipment is simulated according to the test code, and the obtained movement track is obtained. In view of the difference between the simulated environment and the actual operating environment, a coincidence threshold is set to assist in the analysis.
It should be noted that the test code and the control code in this embodiment are consistent, that is, the test code and the control code are code files compiled according to the PLC code and applicable to different platforms. The core code in the control code may also be selected as the test code, i.e. the test code is part of the control code.
In a preferred embodiment, the driving monitoring module controls the running of the movement equipment in combination with the control code, monitors the movement process of the movement equipment in real time, and obtains a monitoring tag, which comprises:
controlling the movement of the movement equipment according to the control code, and collecting the movement track of the movement equipment in real time;
generating a monitoring label;
when the motion track is compared and analyzed with the standard track or the motion track of the previous motion period and the track overlap ratio meets the requirement, the monitoring label is set to be 1; otherwise, the monitor tag is set to 0.
In this embodiment, the motion track is compared with the previous motion track or standard track, if the track overlap ratio cannot meet the overlap ratio requirement, it can be understood that the motion cycle is abnormal and may be caused by some external factors, such as the motion track deviation caused by the influence of external force on the motion equipment.
If the motion equipment runs according to the control code for the first time, comparing and analyzing the acquired motion track with a standard track (or a part of the standard track); if the motion device is not running according to the control code for the first time, the acquired motion trail is compared with the motion trail of the previous motion period (the motion trail of the previous motion period can be considered to be verified and meet the requirement).
The staff can check the timely movement equipment and the corresponding operation environment according to the feedback of the detection label, so as to ensure timely finding and eliminating the problems.
In an alternative embodiment, determining the malfunction of the motion device according to the track overlap ratio includes:
acquiring a plurality of track overlap ratios in a set period;
when the track overlap ratio is smaller than or equal to the overlap ratio threshold value or the track overlap ratio is gradually reduced, the corresponding fault of the movement equipment is judged, and the fault of the movement equipment is generated and fed back.
Each set period of the embodiment includes a plurality of motion periods, that is, a plurality of motion trajectories may be acquired in one set period, and the plurality of motion trajectories are analyzed to determine a fault state of the motion device.
In the embodiment, if more than one track overlap ratio is smaller than or equal to the overlap ratio threshold value in the track overlap ratios, the fault of the movement equipment is judged; it will be appreciated that when the first occurrence of the trajectory overlap ratio is less than or equal to the overlap ratio threshold, the operator has checked the movement apparatus and the corresponding operation environment and has eliminated the corresponding problem, and if the similar situation continues to occur, it may be determined that the movement apparatus has failed.
In this embodiment, if the degree of coincidence (according to the acquisition time) of the plurality of tracks is smaller than the degree of coincidence threshold, and decreases in sequence, that is, the error of the motion track is larger and larger, then the fault of the motion equipment can be determined; in this case, a fault occurs in a certain component of the movement device, which leads to an increasingly larger deviation of the movement track, and the fault can be well screened out through a plurality of continuous movement tracks and corresponding track overlap ratios.
The working principle of the invention is as follows:
the connection between the intelligent terminal and the embedded PLC module is established through the communication control unit; and the programming compiling unit is combined with the intelligent terminal to generate a PLC code, and the PLC code is detected and compiled to generate an intermediate code.
And controlling the test unit to test the test code by combining the movement equipment, and generating a test label after the test is qualified.
After the drive monitoring module recognizes the test tag, the motion of the motion equipment is controlled according to the control code, and the motion process of the motion equipment is monitored in real time.
The above embodiments are only for illustrating the technical method of the present invention and not for limiting the same, and it should be understood by those skilled in the art that the technical method of the present invention may be modified or substituted without departing from the spirit and scope of the technical method of the present invention.
Claims (5)
1. The utility model provides an embedded PLC motion control system, includes embedded PLC module, drive monitoring module and sports equipment, drive monitoring module respectively with embedded PLC module the sports equipment is connected, its characterized in that:
the embedded PLC module comprises a programming compiling unit, a resource management unit, a control testing unit and a communication control unit;
establishing connection between the intelligent terminal and the embedded PLC module through the communication control unit;
the programming compiling unit is combined with the intelligent terminal to generate a PLC code, and the PLC code is detected and compiled to generate an intermediate code; wherein the intermediate code comprises a test code and a control code;
the control test unit is combined with the movement equipment to test the test code, and a test label is generated after the test is qualified;
after the driving monitoring module identifies the test tag, controlling the movement of the movement equipment according to the control code, and monitoring the movement process of the movement equipment in real time;
the control test unit tests the test code to obtain the test tag, and the control test unit comprises:
optionally, controlling the selected movement equipment to run through the test code to obtain a corresponding movement track;
when the motion trail is consistent with the standard trail, generating a test label; otherwise, generating a test abnormal signal and sending the test abnormal signal to the intelligent terminal;
the driving monitoring module is combined with the control code to control the running of the movement equipment, monitors the movement process of the movement equipment in real time, and obtains a monitoring tag, and the driving monitoring module comprises:
controlling the movement of the movement equipment according to the control code, and collecting the movement track of the movement equipment in real time;
generating the monitoring tag; when the motion trail is compared and analyzed with the standard trail or the motion trail of the previous motion period and the trail coincidence degree meets the requirement, setting the monitoring label to be 1; otherwise, setting the monitoring tag to 0;
judging the fault of the movement equipment according to the track overlap ratio, comprising:
acquiring a plurality of track overlap ratios in a set period; wherein each set period comprises a plurality of motion periods;
when the track contact ratio is smaller than or equal to a contact ratio threshold value or the track contact ratio is gradually reduced, judging that the corresponding motion equipment fails, and generating and feeding back the failure of the motion equipment; wherein the overlap ratio threshold is set according to practical experience.
2. The embedded PLC motion control system of claim 1, wherein the drive monitor module is in communication and/or electrical connection with the embedded PLC module, the motion device, and the intelligent terminal is in communication and/or electrical connection with the embedded PLC module, respectively; the intelligent terminal comprises a smart phone and a computer.
3. An embedded PLC motion control system according to claim 1, wherein the PLC code is generated by the intelligent terminal and sent to the programming compiling unit or generated by the intelligent terminal controlling the programming compiling unit.
4. An embedded PLC motion control system according to claim 3, wherein the programming compiling unit detects the PLC code by an internally stored PLC self-checking program; the PLC self-checking program is used for detecting basic logic of the PLC code;
after the detection is qualified, compiling the PLC code according to a target platform to generate the intermediate code; the compiling of the PLC codes is realized through a GCC compiler.
5. The embedded PLC motion control system of claim 1, wherein the test code is consistent with the control code or the test code is consistent with a core code of the control code.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311159969.9A CN116909206B (en) | 2023-09-11 | 2023-09-11 | Embedded PLC motion control system |
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| CN202311159969.9A CN116909206B (en) | 2023-09-11 | 2023-09-11 | Embedded PLC motion control system |
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