CN106647571A - Motion control system and method capable of supporting cognition - Google Patents

Abstract

The invention discloses a cognition-supporting motion control system and method. The system includes: Ethernet interface unit, Ethernet control unit, SRAM storage unit, main control unit, control unit, indicator unit, power supply unit, and: motion control function library module, control module, EtherCAT bus communication module, program monitoring module . The main control unit is connected in a star shape with the Ethernet control unit, the SRAM storage unit, the communication interface conversion unit, the key unit, the indicator light unit and the power supply unit; the power supply unit supplies power to all the units. The invention can not only collect and transmit the data required by the servo driver in real time, but also define the data into a CANopen application layer model for unified management, and meanwhile, the invention also proposes a set of solutions for supporting cognitive learning.

Description

A motor control system and method supporting cognition

technical field

The invention relates to the technical field of real-time communication motion control, in particular to a motion control method supporting cognition.

Background technique

Motion Control (MC) is a branch of automation that uses devices known as servos such as hydraulic pumps, linear actuators or electric motors to control the position or speed of a machine. The application of motion control in the field of robotics and CNC machine tools is more complex than in the application of special-purpose machines, because the latter has a simpler form of motion, and is often called general motion control (GMC). Motion control is widely used in packaging, printing, textile and assembly industries.

Motion control originated from early servo control. Simply put, motion control is the real-time control and management of the position and speed of mechanical moving parts, so that they can move according to the expected motion trajectory and specified motion parameters. The early motion control technology was mainly developed along with the development of numerical control technology, robot technology and factory automation technology. Early motion controllers are actually dedicated controllers that can run independently, often without additional processor and operating system support, and can independently complete motion control functions, other functions required by process technology, and human-computer interaction functions. Such controllers can become stand-alone motion controllers. This type of controller is mainly designed for specialized CNC machinery and other automation equipment, and often has related functions designed according to the process requirements of the application industry. Users only need to write application processing code files according to the protocol requirements, and use RS232 or DNC to transmit. To the controller, the controller can complete the relevant actions. This type of controller often cannot be applied across industries without its specific process requirements. The openness of the controller only depends on the processing code protocol of the controller, and users cannot reorganize their own motion control systems according to application requirements.

With the rapid development of the field of motion control and the continuous improvement of real-time communication requirements, the direction of industrial controllers has evolved from traditional synchronous control in seconds to microsecond-level control. EtherCAT bus technology is proposed to adapt to higher communication speed. At present, the mainstream bus technologies in the industrial field include Powerlink, CAN bus, etc., and with the involvement of different manufacturers in multiple fields, the real-time communication technology has been extended to more fields.

In the field of motion control, major manufacturers have proposed solutions based on fast bus communication. Motion control products mainly include motion control cards and motion model libraries. However, most of the existing motion controllers have solidified motion control modules. In the face of changes in application scenarios and control requirements, work such as redesign, recompilation and deployment must be carried out, which greatly limits the flexibility of motion controllers. At the same time, there are many kinds of communication protocols between the existing motion controller and the driver, so a set of standard communication protocols is needed to define a set of general application layer protocol formats.

To sum up, on the basis of realizing the motion control function, the motion controller should also support cognitive learning and realize the online adjustment of the actual motion control effect. On the other hand, aiming at the problems of different communication protocols and inconsistent standards, a motion controller based on the CANopen application layer protocol is designed, and the motion control parameters are uniformly mapped to the unified address model constructed, and real-time control is performed through the communication layer EtherCAT interface.

Contents of the invention

The technical problem to be solved by the present invention is to provide a motion control method supporting cognition. Aiming at the above inadequacies existing in the existing technology and overcoming the inadequacies existing in the existing controller, a motion control method based on EtherCAT technology is provided, which can not only collect and transmit the data required by the servo driver in real time, but also transfer the data to Define the CANopen application layer model for unified management. At the same time, the invention also proposes a set of solutions for supporting cognitive learning.

In order to solve the above technical problems, the present invention provides a motion control system that supports cognition, including: Ethernet interface unit, Ethernet control unit, SRAM storage unit, main control unit, control unit, indicator light unit, power supply unit, And: motion control function library module, control module, EtherCAT bus communication module, program monitoring module.

The main control unit is preferably connected to the Ethernet control unit, the SRAM storage unit, the communication interface conversion unit, the key unit, the indicator light unit, and the power supply unit respectively in a star shape; the power supply unit supplies power to all the units.

The power supply unit preferably further includes a step-down switching power supply module and its peripheral protection, filtering, and voltage stabilization circuits; the input end of the step-down switching power supply module is connected with an anti-surge circuit, so that the gateway has the performance of anti-lightning and impact ; The step-down switching power supply module changes the input 220V AC voltage into 5V DC voltage; the output terminals of the step-down switching power supply module and the linear voltage regulator are both provided with filter circuits.

The motion control function library module can be used to establish a control algorithm library according to the control model of the controlled object;

The control module can be used to control the main logic process of the application program in which the controlled object executes motion instructions;

The EtherCAT bus communication module can be used for bus communication between the controller and the servo driver, including state acquisition and instruction transmission;

The program monitoring module can be used to process the request response of the motion controller, including network-based update requests and hardware key-based interrupt requests.

In order to solve the above technical problems, the present invention further provides a method for using the cognition-supporting motion control system as described in any one of the foregoing, including the following steps:

Step S1: Power on, initialize the motion controller;

Step S2: Execute the motion control main program, and simultaneously trigger the execution of the monitoring thread and the EtherCAT bus communication thread;

Step S3: through the EtherCAT bus protocol, check the network structure, initialize the servo driver, and collect the status information of the servo driver in real time;

Step S4: Read the servo drive status parameters and motion control instructions to analyze the motion control model, generate motion control instructions, and wait if the motion control instructions are empty;

Step S5: transmit the motion control command in real time, and repeat step S3;

Step S6: If a hardware interrupt trigger is triggered, execute step S1; if a network update request is triggered, execute program download, and execute step S1 after completion.

In order to solve the above technical problems, the present invention further provides a cognitive-supported motion control method, comprising the following steps:

The main control unit executes the motion control main process, and triggers the EtherCAT bus communication thread and listening thread;

Through the EtherCAT bus communication thread, check the network structure and initialize the servo driver according to the EtherCAT bus communication layer protocol;

Monitor the semaphore through the monitoring thread: when the interrupt signal is detected, the main control unit is reset; when the change request sent by the cognitive thread is monitored, online update is performed;

At the same time, analyze the motion control tasks sent by the host computer through the main motion control process: determine the servo drive status information parameter list and motion control instructions according to the motion control tasks;

According to the EtherCAT bus application layer protocol, the status information of the servo drive is collected in real time, and the motion control model is analyzed to generate control commands and transmitted to the servo drive in real time.

The servo drive status information is preferably encapsulated according to the CIA402 application layer protocol, including status word, real-time speed information, real-time torque information, real-time terminal position information, and current motion control mode.

The motion control instructions are preferably encapsulated according to the CIA402 application layer protocol, including instruction words, speed information, torque information, terminal position information, and motion control modes.

The cognitive thread is preferably an auxiliary control thread for parsing controller configuration information, monitoring the system's main state machine, checking for system library updates, and sending change requests to the main process.

The change request sent by the cognitive thread preferably includes: when the cognitive thread is monitoring the main state machine and the runtime of the controller, it is found that there is a new version of the main state machine or the runtime, or when the cognitive learning based on historical data finds that there is a newer version. When optimization parameters are generated, the cognitive thread sends a change request to the main process, and the main process invokes the system update service.

The beneficial effects produced by the present invention include:

1. Use motion controllers that support cognition for motion control, which is suitable for motion control research phases, debugging phases, and post-maintenance phases, covering the entire life cycle of motion control products, so that motion controllers can adapt to different controlled objects to the greatest extent. object, which greatly reduces the maintenance cost, and at the same time adapts to the requirements of online debugging in the process of algorithm research, and has strong reusability.

2. This design realizes the online update of the motion function module by monitoring the thread, so that the motion controller can be applied to the complex motion control scene to the maximum extent. At the same time, it relies on the EtherCAT bus interface to realize real-time control, and the network structure is very flexible.

3. It can truly realize the unification of motion control application layer interface. The motion controller has a built-in EtherCAT communication protocol, and communicates the servo drive status parameters and control commands in real time through the CANopen application layer protocol, and can ensure that the synchronization cycle is within 100 microseconds, realizing a fast and effective motion control solution.

Description of drawings

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

FIG. 2 is a working principle diagram of the cognition-supporting motion control method described in the embodiment of the present invention;

Fig. 3 is a schematic diagram of the working state machine of the motion control system supporting cognition according to the embodiment of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer and clearer, the present invention will be described in further detail below with reference to the accompanying drawings and examples, but the present invention is not limited to these examples.

The cognitive-supporting motion control method of the present invention is applicable to various motion control application scenarios, and is especially applicable to the control field requiring cognitive learning.

EtherCAT (Ethernet Control Automation Technology) is an Ethernet-based open-architecture fieldbus system. The CAT in the name of EtherCAT is the acronym for Control Automation Technology (Control Automation Technology). Originally developed by Beckhoff Automation GmbH in Germany. EtherCAT sets new standards for system real-time performance and topology flexibility, at the same time, it also complies with or even reduces the cost of using fieldbus. EtherCAT also features high-precision device synchronization, optional cable redundancy, and a functional safety protocol (SIL3).

The EtherCAT protocol is optimized for process data, which is transferred directly into Ethernet frames or compressed into UDP/IP datagrams. The UDP protocol is used when EtherCAT segments in other subnets are addressed by routers. An Ethernet frame may contain several EtherCAT telegrams, each dedicated to a specific memory area that can program a logical process image up to 4GB in size. Since the data link is independent of the physical sequence of the EtherCAT Terminals, arbitrary addressing of the EtherCAT Terminals is possible. Broadcast, multicast and communication are possible between slave stations.

The EtherCAT protocol also handles the normally acyclic parameter communication. The structure and meaning of the parameters are set by the CANopen Device Profiles, which are used for various device classes and applications. EtherCAT also supports slave profiles according to the IEC61491 standard. The profile is named after SERCOS and is generally recognized by the global motion control application field.

In addition to data exchange according to the master/slave principle, EtherCAT is also very suitable for communication between controllers (master/master). Freely addressable process data network variables as well as various services for parameterization, diagnostics, programming and remote control satisfy numerous requirements. The data interface for master/slave and master/master communication is the same.

CANopen is a high-level communication protocol based on the Controller Area Network (CAN), including communication sub-protocols and device sub-protocols. It is often used in embedded systems and is also a field bus commonly used in industrial control. .

CANopen implements the agreements above the network layer (including the network layer) in the OSI model. The CANopen standard includes an addressing scheme, several small communication sub-protocols, and an application layer defined by the device sub-protocols. CANopen supports network management, equipment monitoring and communication between nodes, including a simple transport layer, which can handle segmented transmission of data and its combination. Generally speaking, the data link layer and the physical layer will be implemented with CAN. In addition to CANopen, there are other communication protocols (such as EtherCAT) that implement CANopen's device sub-protocol.

CANopen is drafted and reviewed by the non-profit organization CiA (CAN in Automaion). The basic CANopen equipment and communication sub-protocols are defined in CAN in Automation (CiA) draft standard 301. The sub-protocol for individual devices is based on CiA301 and then expanded. Such as CiA401 for I/O modules and CiA402 for motion control.

In an embodiment of the present invention, the technical solution adopted for realizing the object of the present invention is: a method for controlling motion that supports cognition, comprising the following steps:

The main control unit executes the motion control main process, and triggers the EtherCAT bus communication thread and listening thread;

Through the EtherCAT bus communication thread, check the network structure and initialize the servo driver according to the EtherCAT bus communication layer protocol;

Monitor the semaphore through the monitoring thread: when the interrupt signal is detected, the main control unit is reset; when the change request sent by the cognitive thread is monitored, online update is performed;

At the same time, analyze the motion control tasks sent by the host computer through the main motion control process: determine the servo drive status information parameter list and motion control instructions according to the motion control tasks;

According to the EtherCAT bus application layer protocol, the status information of the servo drive is collected in real time, and the motion control model is analyzed to generate control commands and transmitted to the servo drive in real time.

The status information of the servo driver is encapsulated according to the CIA 402 application layer protocol, including status word, real-time speed information, real-time torque information, real-time terminal position information, and current motion control mode.

The motion control instructions are encapsulated according to the CIA 402 application layer protocol, including instruction words, speed information, torque information, terminal position information, and motion control modes.

The cognitive thread is an auxiliary control thread for parsing controller configuration information, monitoring the main state machine of the system, checking system library updates, and sending change requests to the main process.

The change request sent by the cognitive thread means that when the cognitive thread is monitoring the main state machine and runtime of the controller, it finds that there is a new version of the main state machine or the runtime, and when the cognitive learning based on historical data finds that there are more optimized parameters generated , the cognitive thread sends a change request to the main process, and the main process calls the system update service.

The main process calls the system update service, replaces the object code file of the part to be updated in the current motion control module with the motion control module update file, and reconnects to generate a callable motion control module including the following steps:

When the update content is the main state machine, the system update service will stop all current services, restart the main process and complete the update of the main state machine;

When the update content is the runtime library, the system update service will stop the current runtime update part of the related services, and re-link the system to the new version library file to complete the online update;

When the update content is an optimization parameter, the system update service first retrieves the name of the optimization parameter, finds the start address and offset of the motion control module in the memory; then calls the memory access interface according to the start address and offset, and transfers the motion control module to The module update file is written into the current memory; finally, the motion control function module is updated through the original connection method of the motion control module, and an update completion signal is sent to the main process.

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

In another embodiment of the present invention, as shown in FIG. 1 , it is a structural diagram of a motion control system supporting cognition according to the embodiment of the present invention. In the figure, the motion controller hardware device of the present invention mainly includes an Ethernet interface unit, an Ethernet control unit, a SRAM storage unit, a main control unit, a control button and an indicator light unit, and a power supply unit. The main control unit in the data processing unit is connected in a star shape with the Ethernet control unit, SRAM storage unit, communication interface conversion module, control buttons, indicator light unit, and power supply unit; the power supply unit supplies power to all other units in the data processing unit.

Described master control unit is made up of AM335x series Cortex-A8 processor and peripheral circuit thereof produced by TI company;

Described SRAM memory cell is made up of IS61WV102416BLL chip and peripheral circuit thereof produced by ISSI company;

Described Ethernet control unit is made up of DP83848CVV chip and peripheral circuit thereof produced by TI company;

The indicator light unit is composed of patch LEDs;

The power supply unit is composed of a step-down switching power supply module produced by Jinshengyang Company and its peripheral protection, filtering and voltage stabilizing circuits. An anti-surge circuit is connected to the input end of the step-down switching power supply module, so that the gateway has the performance of anti-lightning and shock; Both are 3.3V, so the AS1117 linear voltage regulator is used to drop the voltage to 3.3V, and filter circuits are designed at the output terminals of the step-down switching power supply module and the linear voltage regulator.

The motion application program of the present invention mainly includes a motion control function library, a control main process, an EtherCAT bus communication thread and a program monitoring thread.

The motion control function library is a control algorithm library established according to the control model of the controlled object;

The main control process is the main logic process of the application program that controls the controlled object to execute motion instructions.

The EtherCAT bus communication thread is the bus communication between the controller and the servo driver, including state acquisition and instruction transmission.

The program monitoring thread is used to process the request response of the motion controller, including network-based update requests and hardware key-based interrupt requests.

In yet another embodiment of the present invention, as shown in FIG. 2 , it is a working principle diagram of the cognition-supported motion control method described in the embodiment of the present invention. The present invention supports cognitive motion controller, and its execution process includes the following steps:

Step S1: Power on, initialize the motion controller;

Step S2: Execute the motion control main program, and simultaneously trigger the execution of the monitoring thread and the EtherCAT bus communication thread;

Step S3: through the EtherCAT bus protocol, check the network structure, initialize the servo driver, and collect the status information of the servo driver in real time;

Step S4: Read the servo drive status parameters and motion control instructions to analyze the motion control model, generate motion control instructions, and wait if the motion control instructions are empty;

Step S5: transmit the motion control command in real time, and repeat step S3;

Step S6: If a hardware interrupt trigger is triggered, execute step S1; if a network update request is triggered, execute program download, and execute step S1 after completion.

The specific implementation of the motion control application program part of the present invention will be further described in detail below. In this embodiment, it is required to ensure a stable connection between the motion controller and the servo driver.

In the next embodiment of the present invention, as shown in FIG. 3 , it is a schematic diagram of a working state machine of the motion control system supporting cognition according to the embodiment of the present invention. Connect the motion controller to 24v DC, start the controller, initialize the motion controller through the motion control main process, and trigger the monitoring thread and EtherCAT communication thread at the same time. When the application task exists, the state of the controller is switched to the execution state, and the motion control is solved according to the state parameters of the servo drive and the motion control model, and the motion control command is generated and transmitted through the EtherCAT bus protocol. After the command is issued, the state of the motion controller Switch to stop state. When the application task does not exist, the controller state is directly switched to the stop state. When the initialization of the motion controller fails, the state of the motion controller in this period is an error state. When in the execution state, if a non-serious error occurs in the motion controller, it will be re-executed. If a serious error occurs, the state of the motion controller will switch to the stop state.

The motion controller monitoring thread and the EtherCAT communication thread described therein are executed only once, while the motion controller task state switching is performed periodically in the motion controller main program.

When the motion controller monitoring thread receives the interrupt semaphore, the motion controller interrupts the current execution task, and closes the monitoring thread and the EtherCAT bus communication thread. If the interrupt semaphore is a Reset signal, re-execute the initialization of the main process of the motion controller; if the interrupt semaphore is a Close signal, close the main process of the motion controller.

When the motion controller monitoring thread receives the motion control module update signal SIGEV_INTR sent by the host computer, the main process sends SIGEV_SIGNAL to the task thread, stops the current motion control task, and switches the motion state of the servo drive to the stop state through the EtherCAT bus. At the same time, it starts to receive the update file of the motion control module sent by the host computer. After the reception is completed, the host computer sends the receiving completion signal SIGEV_DOWN to the main control unit.

The main process calls the operating system update service embedded in the main control unit, replaces the object code file in the current motion control module to be updated, reconnects to generate a callable motion control module, sends SIGEV_NONE to the main process, and reinitializes the main control unit.

The system update service described above is a service for online update of motion control function blocks based on shared memory technology. This service will be registered in the service mount directory of the embedded system of the main control unit, and will be initialized when the device is powered on. start up. The specific execution process of the update service includes the following steps:

Step S1: Analyze the update request of the cognitive thread, and obtain the source of the update target.

Step S2: If it is determined that the source of the target is the main state machine, the system update service will stop all current services, restart the main process and complete the update of the main state machine;

Step S3: If it is determined that the updated content is the runtime library, the system update service will stop the current runtime library update related services, and re-link the system to the new version library file to complete the online update;

Step S4: If it is determined that the update content is an optimization parameter, the system update service first retrieves the name of the optimization parameter to find the start address and offset of the motion control module in memory, and then calls the memory access interface to transfer the motion control module according to the start address and offset. Write the control module update file into the current memory;

Step S5: Finally, the motion control function module is updated through the original connection method of the motion control module, and an update completion signal is sent to the main process.

When the motion controller EtherCAT communication thread is triggered, the motion controller will communicate with the servo drive through the EtherCAT bus. The status information and control instructions are encapsulated according to the CIA 402 application layer protocol to realize the consistency of the motion control interface format and ensure the versatility of the motion controller. The CIA 402 application layer protocol is the communication standard specified by CANopen for the motion control field. In the EtherCAT communication process, the data dictionary is defined according to the CIA402 protocol. As shown in Table 1, the motion command definition includes the control word data object, the operating mode definition and Running command definition, etc.; as shown in Table 2, motion feedback definition includes status word data object, motion mode data definition, and motion state definition.

Table 1 Motion command definition table

The index number Types of definition 0x607A:00 4 bytes Position command value 0x60FF:00 4 bytes Speed command value 0x6071:00 2 bytes Torque command value 0x6060:00 1 byte operating mode 0x6040:00 2 bytes control word

Table 2 Motion feedback definition table

The index number Types of definition 0x6064:00 4 bytes actual location 0x6077:00 2 bytes actual torque 0x606C:00 4 bytes actual speed 0x60F4:00 4 bytes following error 0x6061:00 1 byte actual running status 0x6041:00 2 bytes status word

The invention has good interactivity and versatility, uses a high-speed motion controller that supports cognition, can greatly shorten the research and development period of the motion control function, and reduce the development cost of the controller. At the same time, the universal high-speed EtherCAT communication interface can make the motion controller of the present invention adapt to various motion control scenarios.

The above are only a few embodiments of the present invention, and do not limit the present invention in any form. Although the present invention is disclosed above with preferred embodiments, it is not intended to limit the present invention. Any skilled person familiar with this field, Without departing from the scope of the technical solution of the present invention, some changes or modifications made using the technical content disclosed above are equivalent to equivalent implementation cases, and all belong to the scope of the technical solution.

Claims (10)

1. it is a kind of to support cognitive kinetic control system, it is characterised in that to include：Ethernet interface unit, Ethernet control are single Unit, SRAM memory cell, main control unit, control unit, indicator unit, power supply unit, and：Motion control function storehouse mould Block, control module, EtherCAT bus communication modules, program monitor module.

2. support according to claim 1 cognition kinetic control system, it is characterised in that the main control unit respectively with Too net control unit, SRAM memory cell, communication interface converting unit, push-button unit, indicator unit, power supply unit are in star Connection；Said supply unit is powered for all units.

3. the kinetic control system of cognition is supported according to claim 1, it is characterised in that said supply unit is further wrapped Include step-down switching power supply module and its periphery protection, filtering, mu balanced circuit；The input connection of the step-down switching power supply module There is anti-surge circuit, make this gateway that there is the performance of anti-lightning and impact；The 220V that the step-down switching power supply module will be input into Alternating voltage is changed into 5V DC voltages；The output end of the step-down switching power supply module and linear voltage regulator is both provided with filtered electrical Road.

4. the kinetic control system of cognition is supported according to claim 1, it is characterised in that

The motion control function library module, for setting up control algolithm storehouse according to the Controlling model of controlled device；

The control module, for controlling the application program main logic process that controlled device performs movement instruction；

The EtherCAT bus communications module, adopts for the bus communication between controller and servo-driver, including state Collection and instruction transmission；

Described program monitors module, and the request for processing motion controller is responded, and including network request is updated With the interrupt requests based on hardware button.

5. a kind of using method of the kinetic control system for supporting cognition as any one of Claims 1 to 4, its feature exists In comprising the following steps：

Step S1：Upper electricity, initializes motion controller；

Step S2：Motion control main program is performed, while trigger performing watcher thread and EtherCAT bus communication threads；

Step S3：By EtherCAT bus protocols, network structure is checked, initialize servo-driver, Real-time Collection servo is driven Dynamic device status information；

Step S4：Servo-driver state parameter and motion control instruction parsing Motion Controlling Model are read, motion control is generated Instruction, if motion control instruction is sky, waits；

Step S5：Real-time Transmission motion control instruction, repeat step S3；

Step S6：If triggering hardware interrupts triggering, execution step S1；If triggering network updates request, configuration processor is downloaded, Finish rear execution step S1.

6. it is a kind of to support cognitive motion control method, it is characterised in that to comprise the following steps：

Main control unit performs motion control host process, and triggers EtherCAT bus communications thread and watcher thread；

By EtherCAT bus communication threads, check that network structure, initialization are watched according to EtherCAT bus communications layer protocol Take driver；

Semaphore is monitored by watcher thread：When interrupt signal is listened to, then main control unit resets；When listening to cognition When the change that thread sends is asked, online updating is carried out；

Meanwhile, the motion control task that host computer is sent is parsed by motion control host process：Determined according to motion control task The list of servo-driver state information parameters and motion control instruction；

According to EtherCAT bus application layer protocol Real-time Collection servo-driver status informations, and parse Motion Controlling Model life Into control command real-time Transmission to servo-driver.

7. the motion control method of cognition is supported according to claim 6, it is characterised in that the servo-driver state letter Breath is encapsulated according to CIA402 application layer protocols, including status word, real time speed information, real-time torque information, real-time end position Information, current kinetic control model.

8. support according to claim 6 cognition motion control method, it is characterised in that the motion control instruction according to CIA402 application layer protocols are encapsulated, including coding line, velocity information, torque information, terminal position information, motion control pattern.

9. the motion control method of cognition is supported according to claim 6, it is characterised in that the cognitive thread is used to parse Controller configuration information, monitoring system host state machine, inspection system storehouse updates and thinks the auxiliary that host process sends change request Control thread.

10. the motion control method of cognition is supported according to claim 6, it is characterised in that the cognitive thread sends and becomes More request includes：Find that host state machine or Runtime Library have new edition when cognitive thread is in supervisory control device host state machine and Runtime Library This, or, when the cognitive learning based on historical data finds there are more Optimal Parameters to produce, sent from cognitive thread to host process Change request, host process calling system more new demand servicing.