NL2025804B9 - Realization Method of 4diac-Based Distributed Multi-Axis Motion Control System Technical Field - Google Patents

Realization Method of 4diac-Based Distributed Multi-Axis Motion Control System Technical Field Download PDF

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NL2025804B9
NL2025804B9 NL2025804A NL2025804A NL2025804B9 NL 2025804 B9 NL2025804 B9 NL 2025804B9 NL 2025804 A NL2025804 A NL 2025804A NL 2025804 A NL2025804 A NL 2025804A NL 2025804 B9 NL2025804 B9 NL 2025804B9
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motion control
axis motion
4diac
control system
axis
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NL2025804A
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NL2025804B1 (en
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Yu Xiaolong
Zhang Hualiang
Yang Fan
Han Bing
Sun Haitao
Zhang Cheng
Qin Feng
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Nat Institute Of Intelligent Robotics Shenyang Co Ltd
Innovation Inst Of Intelligent Robotics Shenyang Co Ltd
Shenyang Inst Automation Cas
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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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
    • 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
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • 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
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23258—GUI graphical user interface, icon, function bloc editor, labview
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34013—Servocontroller

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Programmable Controllers (AREA)
  • Stored Programmes (AREA)

Abstract

The present invention relates to a realization method of a 4diac-based distributed multi-axis motion control system, which uses a 4diac open source software frame to realize a multi-axis motion control system in a manner of MBD (Model Based Design). 5 The multi-axis motion control system is developed by the 4diac distributed industrial automatic control frame; and development and execution are decoupled by the characteristic of separation of development and runtime provided by the IEC61499 standard. The motion control library is encapsulated in a manner of MBD, and graphical functional blocks in a 4diac interface are used to invoke the motion control 10 library to separate application development from specific execution, so as to simplify the implementation process of the multi-axis motion control system, reduce the development complexity of the multi-axis motion control system and reduce maintenance cost. 15 [Fig. 1]

Description

Realization Method of 4diac-Based Distributed Multi-Axis Motion Control System Technical Field The present invention relates to a distributed motion control method, and particularly to a realization method of a 4diac-based distributed multi-axis motion control system, which uses a 4diac open source software architecture to design an MBD (Model Based Design) distributed multi-axis motion control system, and belongs to the field of motion control.
Background With the rapid development of the current information technology, the continuous increase of the motion control application range and control technology, and the rapid development and interdisciplinary cross of the sensor technology, operation executor technology and Internet of Things technology, the intelligent demand for control systems is also constantly increased.
In recent years, the scale of software is expanded rapidly, and the functions and performance of various electromechanical products are mostly improved through software.
NASA has researched that the amount of codes for products such as cars and spacecraft has been increased exponentially over the years, and about 8% of the functions of the fighter F-4 in 1960 were realized by software, and about 80% of the functions of the F-22 in 2000 were realized by software.
The current amount of codes for software development of the cars has reached the level of tens of millions of lines.
In the future, after the introduction of AI (artificial intelligence) application such as autonomous driving, the amount of codes is expected to reach the level of hundreds of millions of lines.
The rapid expansion of the scale of the software brings great difficulties to realization, verification and testing of the control system.
Development is based on models.
In the development process, due to the natural advantage of patterning, the development task is clear and developers can conveniently conduct exchange and maintenance.
At the same time, model-based development also enables the developers to conduct early verification.
In the development process, it is important to find bugs early.
Compared with a traditional development mode, the model-based development can perform model-in-loop testing after the model is built, instead of testing after a test case is completed.
Therefore, development efficiency is greatly increased if MBD model-based design is introduced into the development process of the control system.
At the same time, the demands of flexibility and reconfigurability of new markets for the manufacturing industry also prompt the transformation of the control system from centralized automation to distributed intelligence. However, it 1s very difficult to adopt the traditional centralized software development mode for software development of a distributed system. Summary With respect to the above defects in the prior art, the technical problem to be solved by the present invention is to overcome the deficiencies of an existing centralized multi-axis motion control system to provide a realization method of a 4diac frame-based distributed multi-axis motion control system, which solves the problems of poor flexibility and poor extensibility of a traditional multi-axis motion control system and increases development efficiency. Relative to the traditional centralized multi-axis control system, the present invention has better flexibility, extensibility, usability and reconfigurability. To realize the above purpose, the present invention adopts the technical solution: A realization method of a 4diac-based distributed multi-axis motion control system comprises the following steps: 1) a distributed application design time builds a multi-axis motion control algorithm and combines graphical motion control functional blocks to generate a multi-axis motion control task; 2) in the distributed application design time, the motion control functional blocks invoke a multi-axis motion control library to generate a multi-axis motion control application through compiling; 3) an underlying device runtime environment is run on an underlying device; 4) in the distributed application design time, the application is transmitted to the underlying device through TCP/IP protocol, and is operated, 5) a servo drive unit of the underlying device responds to the multi-axis motion control task to complete multi-axis coordinated motion control.
The distributed application design time combines the graphical motion control functional blocks in a modeling manner. The motion control functional blocks invoke the multi-axis motion control library in a manner of dynamic link. Underlying device runtime executes IEC 61499 standard for providing a system environment for application running and data interaction communication.
The distributed application design time provides an application building interface by a 4diac distributed open source software frame, and detects a data type transferred between the motion control functional blocks.
The multi-axis motion control library uses a PID control algorithm for providing a multi-axis motion control interface, and is invoked by the motion control functional blocks.
The motion control functional blocks provide a logic control function for designing a multi-axis system control task and a control logic.
The servo drive unit is used for providing an operation interface of an external device and realizing a driver of the device.
A work flow of the motion control functional blocks is: 1) an input event reaches the functional block; 2) data related to the input event is inputted for refreshing; 3) the input event is transferred to event execution control; 4) an internal function is triggered for execution according to the event execution control; 5) the internal function completes the execution and provides new output data; 6) the output data related to an output event is refreshed; 7) the output event 1s transmitted.
The present invention has the following beneficial effects and advantages:
1. The present invention develops a 4diac-based distributed industrial control platform frame to solve the problems of inadequate flexibility and poor extensibility of a centralized development mode of the traditional multi-axis motion control system.
2. The present invention develops the multi-axis motion control system through MBD modeling. Due to the natural advantage of patterning, the development task is clear and developers can conveniently conduct exchange and maintenance.
3. The present invention supports automatic generation of application layer control codes, and can realize direct operation by one-key deployment after the control algorithm is built on a graphical interface without manually compiling control program codes, so as to increase the development efficiency of the algorithm and avoid errors introduced by manual encoding.
4. The present invention provides a real-time data display function, supports on-line parameter adjustment and accelerates the debugging process of the control algorithm. Description of Drawings Fig. 1 is a structural block diagram of the present invention; Fig. 2 is a structural diagram of a control functional block; Fig. 3 is a signal flow diagram of a control functional block; and Fig. 4 is a step diagram of a realization method of the present invention. Detailed Description A realization method of a 4diac frame-based distributed multi-axis motion control system comprises: a multi-axis motion control library, motion control functional blocks, a 4diac frame-based distributed application design time, an underlying device runtime environment, a multi-axis servo drive unit and a physical input-output unit. The distributed application development environment IDE and the underlying device runtime environment form the 4diac frame-based distributed multi-axis motion control system.
The multi-axis motion control library is designed as a kernel system layer of the control system, provides a multi-axis motion control interface, and encapsulates interpolation and trajectory planning functions including point-to-point, straight line and circular arc for invoking by the upper-layer motion control functional blocks.
The motion control functional blocks are designed as user application layers of the control system, provide a basic logic control function, are used for designing a multi-axis system control task and a control logic, comprise a basic functional block, a complex functional block, a service interface functional block, an adapter and a sub-application that conform to IEC61499 standard, and encapsulate basic functions of multi-axis motion control including motion control, data conversion, event processing, IO (input-output) and value operation, so as to realize application programming for the multi-axis motion system.
The 4diac frame-based distributed application design time provides a friendly user application building interface. The user can build an own control algorithm by dragging a module on the interface. At the same time, the distributed application design time detects the data types transferred between the modules, and provides corresponding error prompts for unmatched data types. The distributed application design time also provides the functions of real-time data display and on-line parameter adjustment, for the convenience of debugging the control algorithm.
The underlying device runtime environment provides support for on-line reconfiguration of the applications and real-time execution of all functional block types provided by the IEC 61499 standard, and supports all basic data types, structures and 5 arrays of IEC 61131-3 version 2. The underlying device runtime environment provides a flexible basic communication architecture for an upper-layer application through a communication layer.
The multi-axis servo drive unit is designed as a device drive layer and used for providing an operation interface of an external device for the upper-layer application and realizing a driver of the device. The upper-layer application can be realized internally regardless of the operating device, and only needs to invoke the interface of the driver.
The physical input-output unit is designed as a basic IO interface of the device, comprises a network protocol interface and provides a physical interface for data collection of the device and data communication between the devices.
A realization method of a 4diac frame-based distributed multi-axis motion control system comprises the following steps: Step SI: the 4diac frame-based distributed application design time builds a multi-axis motion control algorithm and combines graphical motion control functional blocks in a modeling manner to generate an application layer control algorithm.
Step S2: in the distributed application design time, the motion control functional blocks invoke an underlying motion control library in a manner of dynamic link to generate a multi-axis motion control executable program through compiling.
Step S3: an underlying device runtime environment based on IEC 61499 standard is run on the device; and a system environment required for application running and a basic data interaction communication architecture are provided during running.
Step S4: in the distributed application design time, the application topology is distributed, issued and deployed to each device runtime environment in the form of XML document through TCP/IP protocols, and is operated.
Step S5: a servo drive unit of each device responds to the multi-axis motion control task of the application layer to complete multi-axis coordinated motion control.
To make the purpose, the technical solution and the advantages of the present invention more clear and definite, the present invention will be further described below in details with reference to drawings and enumerated embodiments, but the present invention is not limited to the embodiments.
With respect to the problems of inadequate development flexibility and poor extensibility of the existing centralized multi-axis motion control system, the MBD technology is introduced into the field of motion control through the fusion of a distributed control architecture and a motion control technology; and a 4diac distributed control architecture is used to build multi-axis motion control applications. The MBD technology means encapsulating a multi-axis motion control functional library into modeled functional blocks and combining and connecting the functional blocks in the 4diac frame-based distributed application design time to build a multi-axis motion control application.
The present invention is a method for designing the multi-axis motion control system by using the 4diac open source software frame, and is especially suitable for the development of the distributed multi-axis motion control system.
As shown in Fig. 1, the present invention is composed of a multi-axis motion control library, motion control functional blocks, a 4diac frame-based distributed application design time, an underlying device runtime environment, a multi-axis servo drive unit and a physical input-output unit. The six units are divided into user application layers, kernel system layers, a device drive layer and physical device layers according to system levels. The motion control functional blocks and the 4diac frame-based distributed application design time are the user application layers. The multi-axis motion control library and the underlying device runtime environment are the kernel system layers. The multi-axis servo drive unit and the physical input-output unit are the physical device layers.
The multi-axis motion control library mainly uses a PID control algorithm for providing current loop, speed loop and position loop servo control functions. S-curve interpolation is used to realize interpolation and trajectory planning of point-to-point, straight line and circular arc with smooth and reliable control of the multi-axis system.
The motion control functional blocks adopts the standard of IEC61499 distributed industrial process measurement and control system functional blocks. As shown in Fig. 2, the inputs are positioned on the left side of the functional block, and the outputs are positioned on the right side of the functional block. Event and data signals are isolated and incompatible with each other, and are distinguished by different input and output types. The event triggers the function of the functional block. Then, the functional block uses the data operations available in the data input and sends the operation results to the data output end. Fig. 3 shows a signal flow diagram of a control functional block. Specific steps are as follows: Step S1: an input event reaches the functional block. Step S2: data related to the input event is inputted for refreshing.
Step S3: the event is transferred to event execution control.
Step S4: an internal function is triggered for execution according to the event execution control.
Step S35: the internal function completes the execution and provides new output data.
Step S6: the output data related to an output event is refreshed.
Step S7: the output event is transmitted.
The distributed application design time adopts a 4diac distributed open source software frame, and the 4diac open source software frame uses JAVA language for realization. As a plug-in of Eclipse, 4diac uses the Eclipse Modeling Tools version of IDE for development, and can build and run 4diac IDE from source codes or generate binary 4diac IDE software packages. An application interface is provided for building and deployment of the control algorithm.
The underlying device runtime also uses C++ language for secondary development based on the 4diac distributed open source software frame, and provides the interface and the underlying environment for deployment and operation of the application layer control algorithm. 61499 port is used as a unified interface for deployment of the upper-layer application. The underlying device runtime adapts to different hardware platforms and software operating systems, shields the differences of the underlying device for the application layer control algorithm, and ensures one-key deployment of the control algorithm.
The multi-axis servo drive unit synchronously controls the multi-axis servo system in a manner of series connection of the bus. PID control is realized through an architecture of ARM main processor and FPGA coprocessor, to provide tricyclic control including the speed loop, the position loop and the current loop.
The physical input-output unit adopts multiple communication protocols, such as RS232, RS485, TCP and real-time bus, to collect sensing information inputted by external sensors and output control signals of the device.
A service flow of the realization method of the 4diac frame-based distributed multi-axis motion control system is shown in Fig. 4. For the multi-axis motion control system, the user uses the distributed application design time environment to compile the multi-axis motion control algorithm of the application layer.
The design time environment automatically generates a control algorithm script.
The distributed application design time loads the multi-axis motion control library required by the user control algorithm in a manner of dynamic link to automatically generate a multi-axis motion control program.
After a target device network is configured, one-key distributed deployment of the multi-axis motion control program can be achieved.
The multi-axis motion control program is deployed to the device that runs the underlying runtime through the TCP protocol, and synchronous control on the multi-axis system is realized through the multi-axis servo drive unit and the physical input-output unit.
The operating data of the multi-axis system is also transmitted back to the upper-layer application design time through the TCP protocol.

Claims (9)

ConclusiesConclusions 1. Werkwijze voor het realiseren van een op 4diac gebaseerd gedistribueerd meerassen-bewegingbesturingssysteem, met het kenmerk, dat het de volgende stappen omvat: 1) een gedistribueerde applicatie bouwt in designtijd een meerassen- bewegingbesturingsalgoritme en combineert grafische bewegingbesturingsfunctieblokken teneinde een meerassen-bewegingbesturingstaak te genereren; 2) in de designtijd van de gedistribueerde applicatie roepen de bewegingbesturingsfunctieblokken een meerassen-bewegingbesturingsbibliotheek aan voor het genereren van een meerassen-bewegingbesturingsapplicatie door middel van een compileerprocedure; 3) een runtime-omgeving van een onderliggende inrichting wordt uitgevoerd op een onderliggende inrichting; 4) in de designtijd van de gedistribueerde applicatie wordt de applicatie overgedragen naar de onderliggende inrichting door middel van TCP/IP protocol, en wordt bedient; 5) een servostuureenheid van de onderliggende inrichting reageert op de meerassen- bewegingbesturingstaak teneinde een gecoördineerde meerassen-bewegingsbesturing te voltooien.A method for realizing a 4diac-based distributed multi-axis motion control system, characterized in that it comprises the following steps: 1) a distributed application builds a multi-axis motion control algorithm in design time and combines graphical motion control function blocks to generate a multi-axis motion control task ; 2) at the design time of the distributed application, the motion control function blocks call a multi-axis motion control library to generate a multi-axis motion control application through a compile procedure; 3) a child device runtime environment is running on a child device; 4) at the design time of the distributed application, the application is transferred to the underlying device by means of TCP/IP protocol, and is served; 5) a servo controller of the underlying device responds to the multi-axis motion control task to complete coordinated multi-axis motion control. 2. Werkwijze voor het realiseren van het op 4diac gebaseerde gedistribueerde meerassen-bewegingbesturingssysteem volgens conclusie 1, met het kenmerk, dat de designtijd van de gedistribueerde applicatie de grafische bewegingbesturingsfunctieblokken combineert volgens een op modellering gebaseerde wijze.A method for realizing the 4diac-based distributed multi-axis motion control system according to claim 1, characterized in that the design time of the distributed application combines the graphics motion control function blocks in a modeling-based manner. 3. Werkwijze voor het realiseren van het op 4diac gebaseerde gedistribueerde meerassen-bewegingbesturingssysteem volgens conclusie 1, met het kenmerk, dat de bewegingbesturingsfunctieblokken de meerassen-bewegingbesturingsbibliotheek aanroepen op de manier van een dynamische koppeling.The method of realizing the 4diac-based distributed multi-axis motion control system according to claim 1, characterized in that the motion control function blocks invoke the multi-axis motion control library in the manner of a dynamic link. 4. Werkwijze voor het realiseren van het op 4diac gebaseerde gedistribueerde meerassen-bewegingbesturingssysteem volgens conclusie 1, met het kenmerk, dat de runtijd van de onderliggende inrichting wordt uitgevoerd volgens de norm IEC 61499 voor het verschaffen van een systeemomgeving voor het uitvoeren van applicaties en het communiceren van datainteracties.A method for realizing the 4diac-based distributed multi-axis motion control system according to claim 1, characterized in that the run time of the underlying device is performed according to the standard IEC 61499 for providing a system environment for running applications and communicating data interactions. 5. Werkwijze voor het realiseren van de op 4diac gebaseerde gedistribueerde meerassen-bewegingbesturingssysteem volgens conclusie 1, met het kenmerk, dat de designtijd van de gedistribueerde applicatie een interface voor applicatiebouw verschaft door 40 middel van een op 4diac gebaseerd gedistribueerd open-source softwareframe, en een datatype detecteert dat wordt overgedragen tussen de bewegingbesturingsfunctieblokken.5. A method of realizing the 4diac-based distributed multi-axis motion control system according to claim 1, characterized in that the design time of the distributed application provides an interface for application build by means of a 4diac-based distributed open-source software frame, and detects a data type that is transferred between the motion control function blocks. 6. Werkwijze voor het realiseren van het op 4diac gebaseerde distribueerde meerassen-bewegingbesturingssysteem volgens conclusie 1, met het kenmerk, dat de meerassen-bewegingbesturingsbibliotheek een PID besturingsalgoritme gebruikt voor het verschaffen van een meerassen-bewegingbesturingsinterface, en wordt aangeroepen door de bewegingbesturingsfunctieblokken.The method of realizing the 4diac-based distributed multi-axis motion control system according to claim 1, characterized in that the multi-axis motion control library uses a PID control algorithm to provide a multi-axis motion control interface, and is called by the motion control function blocks. 7. Werkwijze voor het realiseren van het op 4diac gebaseerde gedistribueerde meerassen-bewegingbesturingssysteem volgens conclusie 1, met het kenmerk, dat de bewegingbesturingsfunctieblokken een logische besturingsfunctie verschaffen voor het ontwerpen van een meerassen-systeembesturingstaak en een besturingslogica.The method of realizing the 4diac-based distributed multi-axis motion control system according to claim 1, characterized in that the motion control function blocks provide a logic control function for designing a multi-axis system control task and a control logic. 8. Werkwijze voor het realiseren van het op 4diac gebaseerde gedistribueerde meerassen-bewegingbesturingssysteem volgens conclusie 1, met het kenmerk, dat de servostuureenheid wordt gebruikt voor het verschaffen van een bedieningsinterface van een externe inrichting en het realiseren van een stuurorgaan van de inrichting.The method of realizing the 4diac based multi-axis distributed motion control system according to claim 1, characterized in that the servo controller is used to provide an operating interface of an external device and realize a controller of the device. 9. Werkwijze voor het realiseren van het op 4diac gebaseerde gedistribueerde meerassen-bewegingbesturingssysteem volgens conclusie 7, met het kenmerk, dat een verwerkingsstroom van de bewegingbesturingsfunctieblokken omvat: 1) een invoergebeurtenis bereikt het functieblok; 2) met de invoergebeurtenis verband houdende data worden ingevoerd voor verversing; 3) de invoergebeurtenis wordt overgedragen naar de gebeurtenis- uitvoeringbesturingsfunctie; 4) een interne functie wordt getriggerd voor uitvoering overeenkomstig de gebeurtenis- uitvoeringbesturingsfunctie; 5) de interne functie voltooit de uitvoering en verschaft nieuwe uitvoerdata; 6) de met een uitvoergebeurtenis verband houdende data worden ververst; 7) de uitvoergebeurtenis wordt overgedragen.The method of realizing the 4diac-based distributed multi-axis motion control system according to claim 7, characterized in that a processing flow of the motion control function blocks comprises: 1) an input event reaches the function block; 2) data associated with the entry event is entered for refresh; 3) the input event is transferred to the event execution control function; 4) an internal function is triggered for execution according to the event execution control function; 5) the internal function completes the execution and provides new output data; 6) the data associated with an output event is refreshed; 7) the output event is transferred.
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