阅读说明：本技术 一种运动控制系统 (Motion control system ) 是由 孟祥群 杨楚 方万 郁苗成 韩斐 于 2019-03-04 设计创作，主要内容包括：本发明公开了一种运动控制系统,所述系统包括：NML通信层,用于接收人机交互系统发送的控制命令；任务控制模块,用于接收NML通信层发送的控制命令和状态反馈给NML通信,控制命令包括IO命令和运动命令,IO命令为控制机床加工的逻辑工艺指令；运动命令为控制机床进行轴运动的命令；IO控制模块,用于接收任务控制模块发送的IO命令；运动控制模块,用于接收任务控制模块发送的运动命令,根据运动命令规划伺服电机的运动轨迹；硬件层,用于接收运动控制模块发送的伺服电机轨迹指令和IO控制模块的逻辑工艺命令。本发明通过分层结构和模块化设计方式,提高了系统的稳定性和扩展性。(The invention discloses a motion control system, comprising: the NML communication layer is used for receiving a control command sent by the man-machine interaction system; the task control module is used for receiving a control command and a state feedback sent by the NML communication layer to the NML communication, wherein the control command comprises an IO command and a motion command, and the IO command is a logic process instruction for controlling the machining of the machine tool; the motion command is a command for controlling the machine tool to move the shaft; the IO control module is used for receiving an IO command sent by the task control module; the motion control module is used for receiving the motion command sent by the task control module and planning the motion track of the servo motor according to the motion command; and the hardware layer is used for receiving the servo motor track instruction sent by the motion control module and the logic process command of the IO control module. The invention improves the stability and expansibility of the system through a layered structure and a modular design mode.)

1. A motion control system, the system comprising:

the system comprises an NML communication layer, a task control module, an IO control module, a motion control module and a hardware layer;

the NML communication layer is used for receiving a control command sent by a human-computer interaction system, receiving feedback state information sent by the task control module and sending the feedback state information to the human-computer interaction system;

the task control module is used for receiving a control command sent by the NML communication layer, wherein the control command comprises an IO command and a motion command, and the IO command is a logic process instruction for controlling machining of a machine tool; the motion command is a command for controlling the machine tool to move the shaft; the feedback state information sent by the task control module is the running state of the machine tool, the running data of the machine tool and the sensor state of the machine tool;

the IO control module is used for receiving the IO command sent by the task control module;

the motion control module is used for receiving the motion command sent by the task control module and planning a motion track of the servo motor according to the motion command;

the hardware layer is used for receiving the servo motor track instruction sent by the motion control module and sending the servo motor track instruction to a servo motor; receiving position feedback data and state information sent by the servo motor; and receiving the logic process command of the IO control module, and sending the logic process command to the machine tool and the servo motor.

2. The motion control system of claim 1, wherein the physical communication interface of the NML communication layer is an RJ45 interface.

3. The motion control system according to claim 1, wherein the communication mode of the NML communication layer with the human-computer interaction system includes a network communication mode and a shared memory communication mode, and the shared memory communication mode is a mode in which the human-computer interaction system and the motion control system share a memory and a central processing unit.

4. The motion control system of claim 1, wherein if the control command is a motion command, the task control module first parses the motion command into a machine tool operation command.

5. The motion control system of claim 1, wherein the input interfaces of the hardware layer are packaged into a unified operational interface for hardware of different platforms.

6. The motion control system of claim 1, wherein the planned motion trajectory of the servo motor is sent to an interpolator for interpolation, and the interpolated motion trajectory is sent to the servo motor through the hardware layer.

7. The motion control system of claim 1, wherein the motion control module employs a PID controller to feedback regulate the motion profile.

8. The motion control system of claim 1, wherein the human interaction system comprises a display and a keyboard.

Technical Field

The invention relates to the technical field of motion control, in particular to a motion control system.

Background

The traditional motion control system is mainly composed of a PCI board card, a PCIE board card or a parallel motion controller + PC or an embedded human-computer interaction system, the cost is high, most industrial field environments are severe, the vibration, dust and oil stains are serious, the problems of looseness and poor contact can often occur after long-term work, the reliability is low, and the use is not flexible; in addition, the conventional PCI or PCIE interface and parallel interface are affected by PC iteration, and the technology is updated too frequently, which cannot satisfy the feasibility of providing stable products for more than 10 years in industrial use.

Disclosure of Invention

The invention aims to provide a motion control system, which improves the stability and expansibility of the system through a layered structure and a modular design mode.

In order to achieve the purpose, the invention provides the following scheme:

a motion control system, the system comprising:

an NML (Neutral Message Language) communication layer, a task control module, an IO control module, a motion control module and a hardware layer;

the NML communication layer is used for receiving a control command sent by a human-computer interaction system, receiving feedback state information sent by the task control module and sending the feedback state information to the human-computer interaction system;

the task control module is used for receiving a control command sent by the NML communication layer, wherein the control command comprises an IO command and a motion command, and the IO command is a logic process instruction for controlling machining of a machine tool; the motion command is a command for controlling the machine tool to move the shaft; the feedback state information sent by the task control module is the running state of the machine tool, the running data of the machine tool and the sensor state of the machine tool;

the IO control module is used for receiving the IO command sent by the task control module and interpreting and executing the IO command;

the motion control module is used for receiving the motion command sent by the task control module and planning a motion track of the servo motor according to the motion command;

the hardware layer is used for receiving the servo motor track instruction sent by the motion control module and sending the servo motor track instruction to a servo motor; receiving position feedback data and state information sent by the servo motor; and receiving the logic process command of the IO control module, and sending the logic process command to the machine tool and the servo motor.

Optionally, the physical communication interface of the NML communication layer is an RJ45 interface.

Optionally, the communication mode between the NML communication layer and the human-computer interaction system includes a network communication mode and a shared memory communication mode, and the shared memory communication mode is that the human-computer interaction system and the motion control system share a memory and a central processing unit.

Optionally, if the control command is a motion command, the task control module first parses the motion command into a machine tool operation command.

Optionally, the input interface of the hardware layer is packaged into a unified operation interface for hardware of different platforms.

Optionally, the planned motion trajectory of the servo motor is sent to an interpolator for interpolation, and the interpolated motion trajectory is sent to the servo motor through the hardware layer.

Optionally, the motion control module performs feedback adjustment on the motion trajectory by using a PID controller (proportional-integral-derivative controller).

Optionally, the human-computer interaction system includes a display and a keyboard.

According to the invention content provided by the invention, the invention discloses the following technical effects: the motion control system disclosed by the invention optimizes the system software codes through hierarchical and modular design, so that the system application is more flexible and stable; the NML communication layer can be configured into a network communication mode and a communication mode of sharing the memory, so that the motion control system disclosed by the invention is very flexible in application, can be integrated with a man-machine interaction system and can be independently used in a network communication mode, and the network communication has the advantages of high stability, long transmission distance, flexible expansion and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a motion control system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating a task control module according to an embodiment of the present invention;

FIG. 3 is a schematic view of a motion control module according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a connection hardware structure of a motion control system according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a motion control system, which improves the stability and expansibility of the system through a layered structure and a modular design mode.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Fig. 1 is a schematic structural diagram of a motion control system according to an embodiment of the present invention, and as shown in fig. 1, the motion control system includes:

an NML communication layer 102, a task control module 103, an IO control module 104, a motion control module 105, and a hardware layer 106;

the NML communication layer 102 is used for receiving a control command sent by the human-computer interaction system 101, receiving feedback state information sent by the task control module 103, and sending the feedback state information to the human-computer interaction system 101;

the NML is a component which provides a communication mechanism between distributed Control systems in an RCS (Real-Time Control System) library, the RCS is a software package set which is developed by NIST (national institute of standards and technology) and supports a Real-Time System, and NML communication support is provided in the library;

the motion control system feeds back the motion running state to the human-computer interaction system 101 through the NML communication layer 102;

the task control module 103 is configured to receive a control command sent by the NML communication layer 102, where the control command includes an IO command and a motion command, and the IO command is a logical process instruction for controlling machine tool machining; the motion command is a command for controlling the machine tool to move the shaft; the feedback state information sent by the task control module 103 is the running state of the machine tool 107, the running data of the machine tool 107 and the state of a sensor in the machine tool 107;

the running states of the machine tool 107 comprise manual Jog running, track running Motion, a pause state and an alarm state; the data on the operation of the machine tool 107 includes: the speed, acceleration, desired position and actual position of each axis and servo state of the machine tool 107 during operation;

the sensor is provided with a machine bed limit switch sensor, an emergency stop switch sensor and a gas pressure sensor; the machine tool limit switch sensor and the emergency stop switch sensor are used for braking when the machine tool is in emergency, and the gas pressure sensor is used for controlling the flow of a gas circuit of the machine tool.

The IO control module 104 is configured to receive an IO command sent by the task control module 103 and interpret and execute the IO command;

the motion control module 105 is used for receiving the motion command sent by the task control module 103 and planning the motion track of the servo motor according to the motion command;

the hardware layer 106 is used for receiving the servo motor track instruction sent by the motion control module 105 and sending the servo motor track instruction to the servo motor; receiving position feedback data and state information sent by a servo motor, and performing closed-loop control on the servo motor; and receiving the logic process command of the IO control module 104, and sending the logic process command to the machine tool 107 and the servo motor, wherein the machine tool 107 and the servo motor execute the command according to the received logic process command.

The position feedback data refers to the position of an encoder of the servo motor, the difference value is made between the position of the encoder of the servo motor and the planned position in the motion interpolation, and then the servo motor is controlled by PID to carry out closed-loop control.

Receiving the status information sent by the servo motor means that the servo motor gives an alarm, and when the servo motor gives an alarm, the motion control module 105 needs to find and stop running in time.

The physical communication interface of the NML communication layer 102 is an RJ45 interface.

The communication mode of the NML communication layer 102 and the human-computer interaction system 101 comprises a network communication mode and a memory sharing communication mode, wherein the memory sharing communication mode is a memory and a central processing unit shared by the human-computer interaction system 101 and the motion control system; the motion control system is flexible in application due to the network communication mode and the memory sharing communication mode, can be integrated with a man-machine interaction system, can be independently used in the network communication mode, and has the advantages of high stability, long transmission distance, flexibility in expansion and the like.

If the control command is a motion command, the task control module 103 firstly analyzes the motion command into a machine tool operation command; as shown in fig. 2, if the control command is a motion command, the standard G code motion command is first parsed into a standard machine tool operation command defined by the operation control system of the present invention, and then the operation command is placed in a command queue and sent to the motion control module through an interface of the task control module for execution. In addition, the task control module 103 can detect and diagnose errors in the machining process, read the states of the motion control module 105 and the IO control module 104, and feed back the states to the human-computer interaction system 101, besides analyzing the commands.

The input interface of the hardware layer 106 is packaged into a uniform operation interface aiming at the hardware of different platforms, so that the hardware layer 106 is relatively independent, and the whole motion control system can realize cross-platform application.

The planned motion trail of the servo motor is sent to an interpolator for interpolation, and the interpolated motion trail is sent to the servo motor through a hardware layer 106. The motion control module 105 performs feedback adjustment on the motion trajectory by using a PID controller. As shown in fig. 3, after receiving the motion control command, the motion control module 105 performs track planning, and then transfers the planned track to the interpolator to perform interpolation output, and the output of the interpolator controls and feeds back the position of the servo motor accurately through the PID controller.

The human-computer interaction system 101 comprises a display and a keyboard.

Fig. 4 is a schematic structural diagram of a connection hardware structure of a motion control system, and as shown in fig. 4, the entire hardware adopts an ARM + FPGA scheme, where the ARM is used to run codes of the motion control system, and when the motion control system is an integrated motion control system, that is, when the motion control system adopts a communication mode of a shared memory, an ARM processor also runs codes of a human-computer interaction system; the FPGA is used for controlling a common IO port and a general servo driver. In addition, as a multi-bus motion control system, an Ethernet bus, a CAN bus and an EtherCAT bus are expanded on the ARM processor, and the motion control system CAN be connected with remote monitoring equipment or a human-computer interaction system through the Ethernet bus; through the CAN bus, the motion control system CAN be connected with the expanded IO board card, so that the number of IO ports is expanded, different industrial application requirements are met, and system wiring is simplified; through the EtherCAT bus, a user can be connected with the servo drivers of the EtherCAT interface, so that the number of the connected servo drivers is expanded. When the motion control system is an integrated motion control system, the control system is also provided with an HDMI interface and a USB interface for connecting input and output devices of a human-computer interaction system such as a display, a keyboard and a mouse.

The motion control system disclosed by the invention optimizes the system software codes through hierarchical and modular design, so that the system application is more flexible and stable; the NML communication layer can be configured into a network communication mode and a communication mode of sharing the memory, so that the motion control system disclosed by the invention is very flexible in application, can be integrated with a man-machine interaction system and can be independently used in a network communication mode, and the network communication has the advantages of high stability, long transmission distance, flexible expansion and the like. In addition, the invention can realize flexible networking based on a network communication mode.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.