CN1641503A - Embedded digital-control platform integrating control strategy of working state and its control method - Google Patents
Embedded digital-control platform integrating control strategy of working state and its control method Download PDFInfo
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Abstract
This invention unfurls a kind of embedded model numerical control flat roof of processing state controlling politic integration and its control method. The hardware system of the numerical control flat roof includes the motion control module with PC/104 - Plus interface, the CPU module based on PC/104 - Plus, the multifunction data collecting module based on PC/104 - Plus, the CAN communication module based on the PC/104 - Plus, and the Profibus communication module. The controlling method is: the main system translates the operation instructions into motion control messages after receiving them, and sends the progressing messages to the motion control module, finally sends them to the processing servo axis electrical engine drive, the chief axis electrical engine drive and the handwheel; send the motion control messages to CAN communication module and the Profibus communication module, and send outside to the motion servo axis electrical drive. This invention can realize that the processing state is controllable and the progressing course is intelligent.
Description
Technical field
The invention belongs to the digital control system class, be meant Embedded CNC Platform and control method thereof that a kind of machining state control strategy is integrated particularly.
Background technology
Digital control system enables the unit as the core that supports the computer integrated manufacturing system entity function, and open, integrated, the intelligent and networked direction of forward structure develops.And the introducing of modular technology, embedded technology, intelligent control technology, traditional digital control system special-purpose before making, sealing becomes the complexity control platform that has merged various advanced functions unit and interactive interface gradually.High performance digital control platform will no longer only be confined to direction of motion, speed of feed and the displacement of accurate control executive component, more requirement can realize the control to machining state, and make control strategy, by novel detection technique, the various parameters of direct reflection machining state are comprised that chip-load, cutting temperature, distortion, vibration etc. continue to measure.Various Intelligent Control Strategy such as control system utilization fuzzy logic control, ANN (Artificial Neural Network) Control, genetic algorithm are carried out analysis decision to the live signal of feedback, optimize machined parameters, improve processing conditions.
At present, realize a large amount of research has been done in the control of machining state in the process with regard to digital control system both at home and abroad, but also do not find the digital control system that machining state is controlled on the market, its reason is in the process, gather various machining state signals not only more complicated and difficult operation, and the real-time requirement is high, and response speed is fast.
Summary of the invention
The objective of the invention is to overcome the shortcoming of above-mentioned prior art, provide a kind of and can monitor machining state, the integrated Embedded CNC Platform of machining state control strategy of integrated control strategy.This Embedded CNC Platform has realized also can carrying out information interaction effectively by dual bus and other equipment to control machining state in real time, intelligence, and being expanded into the numerically-controlled machine is a small-sized production line of core; Realize the state-detection and the monitoring of tools of shop layer simultaneously, convenient centralized management and scheduling.
Another object of the present invention is to provide a kind of method of utilizing above-mentioned Embedded CNC Platform to carry out machining state control.
First purpose of the present invention is achieved through the following technical solutions: the Embedded CNC Platform that the machining state control strategy is integrated, comprise hardware system and software systems, hardware system comprises the motion-control module with PC/104-Plus interface, CPU module based on PC/104-Plus, based on the simultaneously sampling multi-function card of PC/104-Plus, based on CAN communication module, Profibus communication module and the electrical cable of PC/104-Plus; Wherein motion-control module is as the bottom motherboard, motion-control module with PC/104-Plus interface, simultaneously sampling multi-function card based on PC/104-Plus, CAN communication module based on PC/104-Plus links to each other with the host CPU module with the PC/104-Plus bus respectively with the Profibus communication module, interface on each module is by flexible cable and be fixed on interface on the controller box, and the host CPU module is connected with input equipment with display panel, motion-control module links to each other with handwheel with processing axis servomotor motor driver and spindle motor driver, simultaneously sampling multi-function card is connected with each machining state sensor, CAN communication module and Profibus communication module are electrically connected with action control axis servomotor motor driver.
Described software systems are based on the digital control system of real time operating system RT-Linux.
Described Embedded CNC Platform adopts two serial bus structures of CAN bus and Profibus.
Described motion-control module comprises pci interface submodule, digital signal processor submodule and axle control interface submodule; Wherein the pci interface submodule is electrically connected by dual-ported memory device and digital signal processor submodule, and axle control interface submodule is electrically connected with the digital signal processor submodule by FPGA (field programmable gate array).
The method of utilizing above-mentioned Embedded CNC Platform to carry out machining state control is: the input operation order also shows by display device, after the CPU module receives operational order, operational order is translated into the processing message with hard time limit requirement and do not had the action control messages that the hard time limit requires, and will process message and send to motion-control module by the PC/104-Plus bus, be sent to processing axis servomotor motor driver, spindle motor driver and handwheel at last; Control messages will send to the CAN communication module and the Profibus communication module also outwards is sent to action control axis servomotor motor driver and will move.
For the described processing message that is sent out, motion-control module can be according to the displacement in each cycle of the real-time calculating processing axle of its content; In cycle, motion-control module reads the machining state feedback signal in each position control, and according to the machining state control strategy, revises the speed amount or the displacement of reference axis; For the described control messages that is sent out, send to topworks by CAN or Profibus with bus receiving function, carry out corresponding action.
The software systems of described motion-control module comprise command process subsystem, trajectory planning subsystem, position control subsystem and machining state control subsystem; Whether the continual inspection of command process subsystem in the motion-control module needs to handle new information, when receiving new information, then control is transferred to the trajectory planning subsystem; The trajectory planning subsystem is carried out by certain loop cycle; In each cycle period, call the intelligent control algorithm in the machining state control subsystem, regulate process velocity according to the machining state feedback signal, calculate real-time track by the interpolator in the trajectory planning subsystem at last, and the interpolation output quantity is delivered to the position control subsystem; The position control subsystem is to carry out with a constant loop cycle equally, the digital quantity of interpolation output is converted into pulse signal, and appears on the respective pins of a control interface.
Described motion-control module carries out command process subsystem controls process and comprises the following steps: controller when work after the order subsystem is received new machining information, to determine the content of information and call corresponding sub-job sequence.
Whether described motion-control module carries out process Based Intelligent Control process and comprises the following steps: after sub-job sequence obtains machining information, at first need process control to judge to processing.When needs carry out process control, program will be handled state variable, and carry out the control corresponding algorithm, and necessary adjustment is carried out in motion control.
The principle of work of this Embedded CNC Platform is:
Controller and movement executing mechanism are (as motor, switches etc.), after input equipment (as keyboard, sensor etc.), display device etc. correctly connect and power on, user command is also waited in display digit control system master interface, controller is after having received operational order, operational order is translated into the processing message with hard time limit requirement and do not had the control messages that the hard time limit requires, and processing message sent to motion-control module by the PC/104-Plus bus, and control messages is sent to communication module and outwards send.For machining information, motion-control module can be according to the displacement in each cycle of the real-time calculating processing axle of its content.In cycle, motion-control module reads the machining state feedback signal in each position control, and according to the machining state control strategy, revises the speed amount or the displacement of reference axis; For control messages, send to topworks by CAN bus or Profibus with bus receiving function, carry out corresponding action.
Wherein the principle of work of motion-control module is:
Whether the continual inspection of Message Processing subsystem in the motion-control module needs to handle new information, when receiving new information, then control is transferred to the trajectory planning subsystem; The trajectory planning subsystem is carried out by certain loop cycle, in each cycle period, call certain intelligent control algorithm in the machining state control subsystem, regulate process velocity according to the machining state feedback signal, calculate real-time track by the interpolator in the trajectory planning subsystem at last, and the interpolation output quantity delivered to the position control subsystem, the position control subsystem is to carry out with a constant loop cycle equally, the digital quantity of interpolation output is converted into pulse signal, and appears on the respective pins of a control interface.
The present invention has following advantage with respect to prior art:
1, controller operation splitting order is not only satisfied real-time TRAJECTORY CONTROL by motion-control module, also realizes the less demanding action control of real-time by the dual bus mode.
2, adopt the stacking-type framework that embeds the PC/104-Plus primary module on the motion-control module, make bus with " pin " and stacked connection of " hole " form, both can make compact conformation, and can improve shock resistance again, controller can be competent in various Embedded Application demands and abominable industrial environment.
3, motion-control module provides basic six control interfaces and handwheel control interface, and four road machining state feedback signal input channels are provided in every interface, for the intellectuality control of process provides hardware interface.
4, the integrated process control strategy of motion-control module is handled the machining state feedback signal, has realized the intellectuality of process.
5, have hardware reconfigurability and software opening.
Description of drawings
Fig. 1 is the integrated Embedded CNC Platform overall framework synoptic diagram of machining state control strategy.
Fig. 2 is the module connection diagram.
Fig. 3 is the controller panel interface schema.
Fig. 4 is machining state feedback signal Pin locations figure.
Fig. 5 is the motion-control module schematic diagram.
Fig. 6 a, Fig. 6 b are the motion-control module process flow diagrams.Wherein Fig. 6 a is a command process subsystem process flow diagram; Fig. 6 b is a process Based Intelligent Control process flow diagram.
Embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited thereto.
What represent in the frame of broken lines as shown in Figure 1, is the basic structure of embedded digital controller.The host CPU module 2 of PC/104-Plus respectively with motion-control module 1 with PC/104-Plus interface, based on the simultaneously sampling multi-function card 3 of PC/104-Plus, based on the CAN communication module 4 of PC/104-Plus, be connected based on the Profibus communication module 5 of PC/104-Plus.Motion-control module 1 is connected with handwheel 12 with 5 processing axis servomotor motor drivers 10, spindle motor drivers 11 respectively, is connected with input equipment with display panel respectively based on the host CPU module 2 of PC/104-Plus; Simultaneously sampling multi-function card 3 based on PC/104-Plus is connected 7f with 1# axle machining state sensor 7a, 2# axle machining state sensor 7b, 3# axle machining state sensor 7c, 4# axle machining state sensor 7d, 5# axle machining state sensor 7e with main shaft machining state sensor respectively; PC/104 host CPU module 2 is connected with a plurality of action control axis servomotor motor drivers 6 by CAN communication module 4, Profibus communication module 5.
Controller and movement executing mechanism (as motor, switch etc.), input equipment (as keyboard, sensor etc.), display device connect.The user passes through keyboard input operation order, and shows by display device.After main system receives operational order, operational order is translated into the processing message with hard time limit requirement and do not had the action control messages that the hard time limit requires, and a processing message sends to motion-control module 1 by the PC/104-Plus bus, at last to 5 processing axis servomotor motor drivers 10, spindle motor driver 11 and handwheels 12, and an action control messages is sent to CAN communication module 4 and Profibus communication module 5 and outwards be sent to action control axis servomotor motor driver 6.
As shown in Figure 2, it is the module connection diagram, adopts the stacking-type framework that embeds the PC/104-Plus primary module on the motion-control module, makes bus with " pin " and stacked connection of " hole " form.Motion-control module 1 is as the bottom motherboard, connect with the host CPU module by the PC/104-Plus bus, other module integrated circuit board then links to each other with host CPU module integrated circuit board with the PC/104-Plus bus, and the interface on each module links to each other with interface on the controller box by flexible cable.Be motion-control module 1 from top to bottom successively, host CPU module 2 based on PC/104-Plus, based on the simultaneously sampling multi-function card 3 of PC/104-Plus, based on the CAN bus communication module 4 of PC/104-Plus, based on the Profibus communication module 5 of PC/104-Plus.Simultaneously sampling multi-function card 3 based on PC/104-Plus, the feedback signal that is used for the processing state is mainly used in the transmission of data and the frequent communication between the field apparatus based on the CAN communication module 4 of PC/104-Plus with based on the Profibus communication module 5 of PC/104-Plus.
As shown in Figure 3, controller panel is provided with external power interface 301, RS232 serial ports 302, RS232 serial ports 303, external guidance panel interface 304, grid line interface 305, servo-driver interface 306 (5), spindle motor driver interface 307, handwheel interface 308, CAN bus interface 309, Profibus interface 310, PS/2 keyboard interface 311, PS/2 mouse interface 312, display interface device 313, USB interface 314.
As shown in Figure 4, the axle control interface has 25 stitch mouths, wherein 4 pin are defined as machining state feedback signal pin, its function be with sensor acquisition to machining state information such as chip-load, cutting temperature, distortion, vibration be sent to controller, regulate process velocity by controller according to these machining state feedback signals; 21 pin in addition are defined as a control information delivery outlet, comprise that digital servo driving pin, encoder feedback signal pins, machining state feedback signal pin and spacing urgency switch pin such as stops, it mainly acts on is that pulse signal with interpolation outputs to each Control Shaft.
As shown in Figure 5, the hardware system of motion-control module comprises pci interface submodule 501, digital signal processor (DSP) submodule 502 and axle control interface submodule 503.Pci interface submodule 501 is electrically connected by dual-ported memory RAM device and DSP submodule 502, and 503 of axle control interface submodules are electrically connected by FPGA (field programmable gate array) and DSP submodule 502.
The effect of pci interface submodule 501 is the data transmission that realize between PC/104-Plus interface 507 and the DSP506 by pci interface chip 504, and this module is electrically connected by dual-ported memory (RAM) 505 devices and DSP submodule 502; Dual-ported memory (RAM) is a two-way FIFO (first in first out) data-carrier store, plays data buffering.
502 pairs of machining informations of DSP submodule are handled, and finish the digital interpolation of each Control Shaft, and the digital signal that interpolation is produced is sent to a control interface module.
Axle control interface submodule 503 is finished two tasks: the one, the digital signal that receives is changed into pulse, and send to corresponding Control Shaft port by cycle time; The 2nd, the feedback signal of rotary encoder is uploaded to DSP submodule 502.Axle control interface submodule 503 is electrically connected with DSP submodule 502 by FPGA508 (field programmable gate array), 6 axle control interfaces (509a, 509b, 509c, 509d, 509e, 509f) and 1 handwheel control interface 510 are controlled by 3 fpga chips (508a, 508b, 508c), 2 axle control interfaces 509 of each fpga chip 508 control, wherein fpga chip 508a also controls 1 handwheel control interface 510 simultaneously.Moving interpolation between two axles of same fpga chip control is synchronous in real time, eliminates synchronous error.
The software systems of motion-control module comprise command process subsystem, trajectory planning subsystem, position control subsystem and machining state control subsystem, wherein Message Processing subsystem, trajectory planning subsystem and machining state subsystem realize that on the DSP submodule position control subsystem is realized on the axle controlling sub.
Shown in Fig. 6 a, when the command process subsystem controls process of motion-control module comprises the following steps: that controller is started working, system initialization, system carries out self check, has judged whether fault, when fault, carries out fault handling.When non-fault, upgrade processing message, judge whether to be new processing message, as what order that subsystem receives is new processing message, then call corresponding subsystem function (sub-job sequence), when the order subsystem receive be not new processing message the time, upgrade processing message again.
Shown in Fig. 6 b; the process Based Intelligent Control process of motion-control module comprises the following steps: after sub-job sequence obtains machining information; at first whether need process control to judge to processing; when needs carry out process control; program enters the machining state subsystem; program will be handled state variable; the update mode variable; and carry out the control corresponding algorithm, and necessary adjustment is carried out in motion control, upgrade process velocity (when for example the state of temperature row of variables being controlled; in case temperature surpasses certain boundary; alerting signal or shutdown are sent in the processing of just slowing down in case of necessity), withdraw from the machining state subsystem.
Claims (8)
1, the integrated Embedded CNC Platform of a kind of machining state control strategy, comprise hardware system and software systems, it is characterized in that, hardware system comprises the motion-control module with PC/104-Plus interface, CPU module based on PC/104-Plus, based on the simultaneously sampling multi-function card of PC/104-Plus, based on CAN communication module, Profibus communication module and the electrical cable of PC/104-Plus; Wherein motion-control module is as the bottom motherboard, motion-control module with PC/104-Plus interface, simultaneously sampling multi-function card based on PC/104-Plus, CAN communication module based on PC/104-Plus links to each other with the host CPU module with the PC/104-Plus bus respectively with the Profibus communication module, interface on each module is by flexible cable and be fixed on interface on the controller box, and the host CPU module is connected with input equipment with display panel, motion-control module links to each other with handwheel with processing axis servomotor motor driver and spindle motor driver, simultaneously sampling multi-function card is connected with each machining state sensor, CAN communication module and Profibus communication module are electrically connected with action control axis servomotor motor driver.
2, Embedded CNC Platform according to claim 1 is characterized in that, described software systems are based on the digital control system of real time operating system RT-Linux.
3, Embedded CNC Platform according to claim 1 is characterized in that, described Embedded CNC Platform adopts two serial bus structures of CAN bus and Profibus.
4, Embedded CNC Platform according to claim 1 is characterized in that, described motion-control module comprises hardware system and software systems, and hardware system comprises pci interface submodule, digital signal processor submodule and axle control interface submodule; Wherein the pci interface submodule is electrically connected by dual-ported memory device and digital signal processor submodule, and axle control interface submodule is electrically connected by FPGA and digital signal processor submodule.
5, Embedded CNC Platform according to claim 4 is characterized in that, the software systems of described motion-control module comprise command process subsystem, trajectory planning subsystem, position control subsystem and machining state control subsystem.
6, the control method of the described Embedded CNC Platform of claim 1, it is characterized in that, control by following operation steps: the input operation order also shows by display device, after the CPU module receives operational order, operational order is translated into the processing message with hard time limit requirement and do not had the action control messages that the hard time limit requires, and will process message and send to motion-control module by the PC/104-Plus bus, be sent to processing axis servomotor motor driver, spindle motor driver and handwheel at last; Control messages will send to the CAN communication module and the Profibus communication module also outwards is sent to action control axis servomotor motor driver and will move.
7, control method according to claim 6 is characterized in that, for the described processing message that is sent out, motion-control module can be according to the displacement in each cycle of the real-time calculating processing axle of its content; In cycle, motion-control module reads the machining state feedback signal in each position control, and according to the machining state control strategy, revises the speed amount or the displacement of reference axis; For the described control messages that is sent out, send to topworks by CAN or Profibus with bus receiving function, carry out corresponding action.
8, control method according to claim 7, it is characterized in that, described motion-control module is performed such control: whether the continual inspection of command process subsystem in the motion-control module needs to handle new information, when receiving new information, then control is transferred to the trajectory planning subsystem; The trajectory planning subsystem is carried out by certain loop cycle; In each cycle period, call the intelligent control algorithm in the machining state control subsystem, regulate process velocity according to the machining state feedback signal, calculate real-time track by the interpolator in the trajectory planning subsystem at last, and the interpolation output quantity is delivered to the position control subsystem; The position control subsystem is to carry out with a constant loop cycle equally, the digital quantity of interpolation output is converted into pulse signal, and appears on the respective pins of a control interface.
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| CN101047447B (en) * | 2007-04-29 | 2010-04-21 | 华南理工大学 | Point-to-point industrial series real-time communication system based on optical fibre and its control method |
| CN101813919A (en) * | 2010-04-14 | 2010-08-25 | 河北工业大学 | Electronic simulator for extracting human control experience |
| CN101982811A (en) * | 2010-10-19 | 2011-03-02 | 无锡泛太科技有限公司 | Embedded-type digital control mainboard |
| CN101397020B (en) * | 2008-11-12 | 2011-12-14 | 卡斯柯信号有限公司 | Intelligent acquisition driving device |
| CN102306011A (en) * | 2011-05-17 | 2012-01-04 | 机械科学研究总院先进制造技术研究中心 | Double-axis synchronous control method for linear motion unit |
| CN102799159A (en) * | 2012-07-24 | 2012-11-28 | 南京理工大学常熟研究院有限公司 | Numerical control machining stage monitoring system |
| CN103092126A (en) * | 2012-12-31 | 2013-05-08 | 深圳市配天数控科技有限公司 | Numerical control system and control method of movement velocity of shaft thereof |
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| CN106681279A (en) * | 2015-11-05 | 2017-05-17 | 中国科学院沈阳计算技术研究所有限公司 | Numerical control system based on multisystem control and realization method thereof |
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| CN101047447B (en) * | 2007-04-29 | 2010-04-21 | 华南理工大学 | Point-to-point industrial series real-time communication system based on optical fibre and its control method |
| CN101397020B (en) * | 2008-11-12 | 2011-12-14 | 卡斯柯信号有限公司 | Intelligent acquisition driving device |
| CN101813919A (en) * | 2010-04-14 | 2010-08-25 | 河北工业大学 | Electronic simulator for extracting human control experience |
| CN101982811A (en) * | 2010-10-19 | 2011-03-02 | 无锡泛太科技有限公司 | Embedded-type digital control mainboard |
| CN102306011B (en) * | 2011-05-17 | 2016-04-06 | 机械科学研究总院先进制造技术研究中心 | A kind of Double-axis synchronous control method for linear motion unit |
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| CN103372788B (en) * | 2012-04-16 | 2017-02-08 | 科德数控股份有限公司 | Ratio control method for realizing different processing strategies |
| CN102799159A (en) * | 2012-07-24 | 2012-11-28 | 南京理工大学常熟研究院有限公司 | Numerical control machining stage monitoring system |
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